112 lines
4.9 KiB
C++
112 lines
4.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2012-, Open Perception, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <pcl/range_image/range_image.h>
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namespace pcl
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{
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/** \brief @b RangeImageSpherical is derived from the original range image and uses a slightly different
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* spherical projection. In the original range image, the image will appear more and more
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* "scaled down" along the y axis, the further away from the mean line of the image a point is.
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* This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors
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* that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the
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* range image. (This class is similar to RangeImagePlanar, but changes less of the behaviour of the base class.)
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* \author Andreas Muetzel
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* \ingroup range_image
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*/
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class RangeImageSpherical : public RangeImage
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{
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public:
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// =====TYPEDEFS=====
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using BaseClass = RangeImage;
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using Ptr = shared_ptr<RangeImageSpherical>;
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using ConstPtr = shared_ptr<const RangeImageSpherical>;
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// =====CONSTRUCTOR & DESTRUCTOR=====
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/** Constructor */
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PCL_EXPORTS RangeImageSpherical () {}
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/** Destructor */
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PCL_EXPORTS virtual ~RangeImageSpherical () {}
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/** Return a newly created RangeImagePlanar.
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* Reimplementation to return an image of the same type. */
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virtual RangeImage*
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getNew () const { return new RangeImageSpherical; }
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// =====PUBLIC METHODS=====
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/** \brief Get a boost shared pointer of a copy of this */
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inline Ptr
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makeShared () { return Ptr (new RangeImageSpherical (*this)); }
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// Since we reimplement some of these overloaded functions, we have to do the following:
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using RangeImage::calculate3DPoint;
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using RangeImage::getImagePoint;
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/** \brief Calculate the 3D point according to the given image point and range
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* \param image_x the x image position
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* \param image_y the y image position
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* \param range the range
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* \param point the resulting 3D point
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* \note Implementation according to planar range images (compared to spherical as in the original)
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*/
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virtual inline void
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calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const;
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/** \brief Calculate the image point and range from the given 3D point
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* \param point the resulting 3D point
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* \param image_x the resulting x image position
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* \param image_y the resulting y image position
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* \param range the resulting range
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* \note Implementation according to planar range images (compared to spherical as in the original)
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*/
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virtual inline void
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getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const;
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/** Get the angles corresponding to the given image point */
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inline void
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getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const;
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/** Get the image point corresponding to the given ranges */
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inline void
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getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const;
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};
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} // namespace end
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#include <pcl/range_image/impl/range_image_spherical.hpp> // Definitions of templated and inline functions
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