range_image_spherical.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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 #ifndef PCL_RANGE_IMAGE_SPHERICAL_H_
00036 #define PCL_RANGE_IMAGE_SPHERICAL_H_
00037 
00038 #include <pcl/range_image/range_image.h>
00039 
00040 namespace pcl
00041 {
00051   class RangeImageSpherical : public RangeImage
00052   {
00053     public:
00054       // =====TYPEDEFS=====
00055       typedef RangeImage BaseClass;
00056       typedef boost::shared_ptr<RangeImageSpherical> Ptr;
00057       typedef boost::shared_ptr<const RangeImageSpherical> ConstPtr;
00058 
00059       // =====CONSTRUCTOR & DESTRUCTOR=====
00061       PCL_EXPORTS RangeImageSpherical () {}
00063       PCL_EXPORTS virtual ~RangeImageSpherical () {}
00064 
00067       virtual RangeImage*
00068       getNew () const { return new RangeImageSpherical; }
00069 
00070       // =====PUBLIC METHODS=====
00072       inline Ptr
00073       makeShared () { return Ptr (new RangeImageSpherical (*this)); }
00074 
00075 
00076       // Since we reimplement some of these overloaded functions, we have to do the following:
00077       using RangeImage::calculate3DPoint;
00078       using RangeImage::getImagePoint;
00079 
00087       virtual inline void
00088       calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const;
00089 
00097       virtual inline void
00098       getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const;
00099 
00101       inline void
00102       getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const;
00103 
00105       inline void
00106       getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const;
00107 
00108   };
00109 }  // namespace end
00110 
00111 
00112 #include <pcl/range_image/impl/range_image_spherical.hpp>  // Definitions of templated and inline functions
00113 
00114 #endif  //#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:32:01