Point Cloud Library (PCL)  1.12.0-dev
range_image_spherical.hpp
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35 
36 #pragma once
37 
38 #include <pcl/common/eigen.h>
39 #include <pcl/range_image/range_image_spherical.h>
40 #include <pcl/pcl_macros.h>
41 
42 
43 namespace pcl
44 {
45 
46 /////////////////////////////////////////////////////////////////////////
47 void
48 RangeImageSpherical::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const
49 {
50  float angle_x, angle_y;
51  getAnglesFromImagePoint (image_x, image_y, angle_x, angle_y);
52 
53  float cosY = std::cos (angle_y);
54  point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * std::cos (angle_x)*cosY);
55  point = to_world_system_ * point;
56 }
57 
58 /////////////////////////////////////////////////////////////////////////
59 inline void
60 RangeImageSpherical::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const
61 {
62  Eigen::Vector3f transformedPoint = to_range_image_system_ * point;
63  range = transformedPoint.norm ();
64  float angle_x = atan2LookUp (transformedPoint[0], transformedPoint[2]),
65  angle_y = asinLookUp (transformedPoint[1]/range);
66  getImagePointFromAngles (angle_x, angle_y, image_x, image_y);
67 }
68 /////////////////////////////////////////////////////////////////////////
69 void
70 RangeImageSpherical::getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const
71 {
72  angle_y = (image_y+static_cast<float> (image_offset_y_))*angular_resolution_y_ - 0.5f*static_cast<float> (M_PI);
73  angle_x = ((image_x+ static_cast<float> (image_offset_x_))*angular_resolution_x_ - static_cast<float> (M_PI));
74 }
75 /////////////////////////////////////////////////////////////////////////
76 void
77 RangeImageSpherical::getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const
78 {
79  image_x = (angle_x + static_cast<float> (M_PI))*angular_resolution_x_reciprocal_ - static_cast<float> (image_offset_x_);
80  image_y = (angle_y + 0.5f*static_cast<float> (M_PI))*angular_resolution_y_reciprocal_ - static_cast<float> (image_offset_y_);
81 }
82 } // namespace pcl
83 
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::RangeImage::image_offset_y_
int image_offset_y_
Position of the top left corner of the range image compared to an image of full size (360x180 degrees...
Definition: range_image.h:776
pcl::RangeImage::asinLookUp
static float asinLookUp(float value)
Query the asin lookup table.
Definition: range_image.hpp:53
pcl::RangeImage::angular_resolution_y_reciprocal_
float angular_resolution_y_reciprocal_
1.0/angular_resolution_y_ - provided for better performance of multiplication compared to division
Definition: range_image.h:774
pcl::RangeImage::to_world_system_
Eigen::Affine3f to_world_system_
Inverse of to_range_image_system_.
Definition: range_image.h:769
pcl::RangeImage::angular_resolution_y_
float angular_resolution_y_
Angular resolution of the range image in y direction in radians per pixel.
Definition: range_image.h:771
pcl::RangeImage::image_offset_x_
int image_offset_x_
Definition: range_image.h:776
pcl::RangeImage::angular_resolution_x_
float angular_resolution_x_
Angular resolution of the range image in x direction in radians per pixel.
Definition: range_image.h:770
pcl::RangeImage::to_range_image_system_
Eigen::Affine3f to_range_image_system_
Inverse of to_world_system_.
Definition: range_image.h:768
pcl::RangeImageSpherical::getAnglesFromImagePoint
void getAnglesFromImagePoint(float image_x, float image_y, float &angle_x, float &angle_y) const
Get the angles corresponding to the given image point.
Definition: range_image_spherical.hpp:70
M_PI
#define M_PI
Definition: pcl_macros.h:201
pcl::RangeImageSpherical::calculate3DPoint
virtual void calculate3DPoint(float image_x, float image_y, float range, Eigen::Vector3f &point) const
Calculate the 3D point according to the given image point and range.
Definition: range_image_spherical.hpp:48
pcl::RangeImageSpherical::getImagePointFromAngles
void getImagePointFromAngles(float angle_x, float angle_y, float &image_x, float &image_y) const
Get the image point corresponding to the given ranges.
Definition: range_image_spherical.hpp:77
pcl::RangeImage::atan2LookUp
static float atan2LookUp(float y, float x)
Query the std::atan2 lookup table.
Definition: range_image.hpp:63
pcl::RangeImageSpherical::getImagePoint
virtual void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
Calculate the image point and range from the given 3D point.
Definition: range_image_spherical.hpp:60
pcl::RangeImage::angular_resolution_x_reciprocal_
float angular_resolution_x_reciprocal_
1.0/angular_resolution_x_ - provided for better performance of multiplication compared to division
Definition: range_image.h:772