C++ (Cpp) getAnglesFromImagePoint Examples

Example #1

File: range_image_spherical.hpp Project: tfili/pcl

void
RangeImageSpherical::calculate3DPoint (double image_x, double image_y, double range, Eigen::Vector3d& point) const
{
  double angle_x, angle_y;
  getAnglesFromImagePoint (image_x, image_y, angle_x, angle_y);

  double cosY = cos (angle_y);
  point = Eigen::Vector3d (range * sin (angle_x) * cosY, range * sin (angle_y), range * cos (angle_x)*cosY);
  point = to_world_system_ * point;
}

Example #2

File: range_image_spherical.hpp Project: 2php/pcl

void
RangeImageSpherical::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const
{
  float angle_x, angle_y;
  getAnglesFromImagePoint (image_x, image_y, angle_x, angle_y);

  float cosY = cosf (angle_y);
  point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY);
  point = to_world_system_ * point;
}