pcl::RangeImageSpherical Class Reference

**RangeImageSpherical** is derived from the original range image and uses a slightly different spherical projection. In the original range image, the image will appear more and more "scaled down" along the y axis, the further away from the mean line of the image a point is. This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the range image. (This class is similar to RangeImagePlanar, but changes less of the behaviour of the base class.)
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`#include <range_image_spherical.h>`

Inheritance diagram for pcl::RangeImageSpherical:

## Public Types | |

typedef RangeImage | BaseClass |

typedef boost::shared_ptr < const RangeImageSpherical > | ConstPtr |

typedef boost::shared_ptr < RangeImageSpherical > | Ptr |

## Public Member Functions | |

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 | getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const |

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 | getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const |

virtual RangeImage * | getNew () const |

Ptr | makeShared () |

Get a boost shared pointer of a copy of this. | |

PCL_EXPORTS | RangeImageSpherical () |

virtual PCL_EXPORTS | ~RangeImageSpherical () |

**RangeImageSpherical** is derived from the original range image and uses a slightly different spherical projection. In the original range image, the image will appear more and more "scaled down" along the y axis, the further away from the mean line of the image a point is. This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the range image. (This class is similar to RangeImagePlanar, but changes less of the behaviour of the base class.)

Definition at line 51 of file range_image_spherical.h.

Reimplemented from pcl::RangeImage.

Definition at line 55 of file range_image_spherical.h.

typedef boost::shared_ptr<const RangeImageSpherical> pcl::RangeImageSpherical::ConstPtr |

Reimplemented from pcl::RangeImage.

Definition at line 57 of file range_image_spherical.h.

typedef boost::shared_ptr<RangeImageSpherical> pcl::RangeImageSpherical::Ptr |

Reimplemented from pcl::RangeImage.

Definition at line 56 of file range_image_spherical.h.

PCL_EXPORTS pcl::RangeImageSpherical::RangeImageSpherical | ( | ) | ` [inline]` |

Constructor

Definition at line 61 of file range_image_spherical.h.

virtual PCL_EXPORTS pcl::RangeImageSpherical::~RangeImageSpherical | ( | ) | ` [inline, virtual]` |

Destructor

Definition at line 63 of file range_image_spherical.h.

void pcl::RangeImageSpherical::calculate3DPoint | ( | float | image_x, |

float | image_y, |
||

float | range, |
||

Eigen::Vector3f & | point |
||

) | const` [inline, virtual]` |

Calculate the 3D point according to the given image point and range.

**Parameters:**-
image_x the x image position image_y the y image position range the range point the resulting 3D point

**Note:**- Implementation according to planar range images (compared to spherical as in the original)

Reimplemented from pcl::RangeImage.

Definition at line 44 of file range_image_spherical.hpp.

void pcl::RangeImageSpherical::getAnglesFromImagePoint | ( | float | image_x, |

float | image_y, |
||

float & | angle_x, |
||

float & | angle_y |
||

) | const` [inline]` |

Get the angles corresponding to the given image point

Reimplemented from pcl::RangeImage.

Definition at line 66 of file range_image_spherical.hpp.

void pcl::RangeImageSpherical::getImagePoint | ( | const Eigen::Vector3f & | point, |

float & | image_x, |
||

float & | image_y, |
||

float & | range |
||

) | const` [inline, virtual]` |

Calculate the image point and range from the given 3D point.

**Parameters:**-
point the resulting 3D point image_x the resulting x image position image_y the resulting y image position range the resulting range

**Note:**- Implementation according to planar range images (compared to spherical as in the original)

Reimplemented from pcl::RangeImage.

Definition at line 56 of file range_image_spherical.hpp.

void pcl::RangeImageSpherical::getImagePointFromAngles | ( | float | angle_x, |

float | angle_y, |
||

float & | image_x, |
||

float & | image_y |
||

) | const` [inline]` |

Get the image point corresponding to the given ranges

Reimplemented from pcl::RangeImage.

Definition at line 73 of file range_image_spherical.hpp.

virtual RangeImage* pcl::RangeImageSpherical::getNew | ( | ) | const` [inline, virtual]` |

Return a newly created RangeImagePlanar. Reimplmentation to return an image of the same type.

Reimplemented from pcl::RangeImage.

Definition at line 68 of file range_image_spherical.h.

Ptr pcl::RangeImageSpherical::makeShared | ( | ) | ` [inline]` |

Get a boost shared pointer of a copy of this.

Reimplemented from pcl::RangeImage.

Definition at line 73 of file range_image_spherical.h.

The documentation for this class was generated from the following files: