range_image_planar.h
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00001 /*
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00034 
00035 #ifndef PCL_RANGE_IMAGE_PLANAR_H_
00036 #define PCL_RANGE_IMAGE_PLANAR_H_
00037 
00038 #include <pcl/range_image/range_image.h>
00039 
00040 namespace pcl
00041 {
00049   class RangeImagePlanar : public RangeImage
00050   {
00051     public:
00052       // =====TYPEDEFS=====
00053       typedef RangeImage BaseClass;
00054       typedef boost::shared_ptr<RangeImagePlanar> Ptr;
00055       typedef boost::shared_ptr<const RangeImagePlanar> ConstPtr;
00056       
00057       // =====CONSTRUCTOR & DESTRUCTOR=====
00059       PCL_EXPORTS RangeImagePlanar ();
00061       PCL_EXPORTS ~RangeImagePlanar ();
00062 
00065       virtual RangeImage* 
00066       getNew () const { return new RangeImagePlanar; }
00067       
00068       // =====PUBLIC METHODS=====
00070       inline Ptr 
00071       makeShared () { return Ptr (new RangeImagePlanar (*this)); } 
00072       
00083       PCL_EXPORTS void
00084       setDisparityImage (const float* disparity_image, int di_width, int di_height,
00085                          float focal_length, float base_line, float desired_angular_resolution=-1);
00086       
00099       PCL_EXPORTS void
00100       setDepthImage (const float* depth_image, int di_width, int di_height, float di_center_x, float di_center_y,
00101                      float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1);
00102       
00115       PCL_EXPORTS void
00116       setDepthImage (const unsigned short* depth_image, int di_width, int di_height, float di_center_x, float di_center_y,
00117                      float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1);
00118       
00132       template <typename PointCloudType> void
00133       createFromPointCloudWithFixedSize (const PointCloudType& point_cloud,
00134                                          int di_width, int di_height, float di_center_x, float di_center_y,
00135                                          float di_focal_length_x, float di_focal_length_y,
00136                                          const Eigen::Affine3f& sensor_pose,
00137                                          CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f,
00138                                          float min_range=0.0f);
00139       
00140       // Since we reimplement some of these overloaded functions, we have to do the following:
00141       using RangeImage::calculate3DPoint;
00142       using RangeImage::getImagePoint;
00143       
00151       virtual inline void
00152       calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const;
00153       
00161       virtual inline void 
00162       getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const;
00163       
00177       PCL_EXPORTS virtual void
00178       getSubImage (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width,
00179                    int sub_image_height, int combine_pixels, RangeImage& sub_image) const;
00180       
00182       PCL_EXPORTS virtual void 
00183       getHalfImage (RangeImage& half_image) const;
00184       
00185     protected:
00186       float focal_length_x_, focal_length_y_; 
00187       float focal_length_x_reciprocal_, focal_length_y_reciprocal_;  
00188       float center_x_, center_y_;      
00189   };
00190 }  // namespace end
00191 
00192 
00193 #include <pcl/range_image/impl/range_image_planar.hpp>  // Definitions of templated and inline functions
00194 
00195 #endif  //#ifndef PCL_RANGE_IMAGE_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:37