00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 /* \author Bastian Steder */ 00037 00038 #include "pcl/range_image/range_image.h" 00039 00040 /* ---[ */ 00041 int main (int argc, char** argv) { 00042 pcl::PointCloud<pcl::PointXYZ> pointCloud; 00043 00044 // Generate the data 00045 for (float y=-0.5f; y<=0.5f; y+=0.01f) { 00046 for (float z=-0.5f; z<=0.5f; z+=0.01f) { 00047 pcl::PointXYZ point; 00048 point.x = 2.0f - y; 00049 point.y = y; 00050 point.z = z; 00051 pointCloud.points.push_back(point); 00052 } 00053 } 00054 pointCloud.width = pointCloud.points.size(); 00055 pointCloud.height = 1; 00056 00057 // We now want to create a range image from the above point cloud, with a 1° angular resolution 00058 float angularResolution = 1.0f * (M_PI/180.0f); // 1.0 degree in radians 00059 float maxAngleWidth = 360.0f * (M_PI/180.0f); // 360.0 degree in radians 00060 float maxAngleHeight = 180.0f * (M_PI/180.0f); // 180.0 degree in radians 00061 Eigen::Affine3f sensorPose = (Eigen::Affine3f)Eigen::Translation3f(0.0f, 0.0f, 0.0f); 00062 pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME; 00063 float noiseLevel=0.00; 00064 float minRange = 0.0f; 00065 int borderSize = 1; 00066 00067 pcl::RangeImage rangeImage; 00068 rangeImage.createFromPointCloud(pointCloud, angularResolution, maxAngleWidth, maxAngleHeight, 00069 sensorPose, coordinate_frame, noiseLevel, minRange, borderSize); 00070 00071 std::cout << rangeImage << "\n"; 00072 } 00073 /* ]--- */