35 #ifndef PCL_RANGE_IMAGE_SPHERICAL_H_
36 #define PCL_RANGE_IMAGE_SPHERICAL_H_
38 #include <pcl/range_image/range_image.h>
56 typedef boost::shared_ptr<RangeImageSpherical>
Ptr;
57 typedef boost::shared_ptr<const RangeImageSpherical>
ConstPtr;
88 calculate3DPoint (
float image_x,
float image_y,
float range, Eigen::Vector3f& point)
const;
98 getImagePoint (
const Eigen::Vector3f& point,
float& image_x,
float& image_y,
float& range)
const;
112 #include <pcl/range_image/impl/range_image_spherical.hpp>
114 #endif //#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_
boost::shared_ptr< RangeImageSpherical > Ptr
virtual PCL_EXPORTS ~RangeImageSpherical()
Destructor.
virtual RangeImage * getNew() const
Return a newly created RangeImagePlanar.
PCL_EXPORTS RangeImageSpherical()
Constructor.
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.
void getImagePointFromAngles(float angle_x, float angle_y, float &image_x, float &image_y) const
Get the image point corresponding to the given ranges.
void getAnglesFromImagePoint(float image_x, float image_y, float &angle_x, float &angle_y) const
Get the angles corresponding to the given image point.
virtual void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
Get imagePoint from 3D point in world coordinates.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
RangeImageSpherical is derived from the original range image and uses a slightly different spherical ...
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.
void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &point) const
Calculate the 3D point according to the given image point and range.
Ptr makeShared()
Get a boost shared pointer of a copy of this.
boost::shared_ptr< const RangeImageSpherical > ConstPtr