void CylindricalPointProjector::projectIntervals(IntervalImage &intervalImage,
const DepthImage &depthImage,
const float worldRadius) const {
assert(depthImage.rows > 0 && depthImage.cols > 0 && "CylindricalPointProjector: Depth image has zero dimensions");
intervalImage.create(depthImage.rows, depthImage.cols);
for(int r = 0; r < depthImage.rows; r++){
const float *f = &depthImage(r, 0);
cv::Vec2i *i = &intervalImage(r, 0);
for(int c = 0; c < depthImage.cols; c++, f++, i++) {
*i = _projectInterval(r, c, *f, worldRadius);
}
}
}
void SphericalPointProjector::projectIntervals(IntervalImage &intervalImage,
const DepthImage &depthImage,
const float worldRadius) const {
if(_imageRows == 0 || _imageCols == 0) {
throw "SphericalPointProjector: Depth image has zero dimensions";
}
intervalImage.create(depthImage.rows, depthImage.cols);
for(int r = 0; r < depthImage.rows; r++){
const float *f = &depthImage(r, 0);
cv::Vec2i *i = &intervalImage(r, 0);
for(int c = 0; c < depthImage.cols; c++, f++, i++) {
*i = _projectInterval(r, c, *f, worldRadius);
}
}
}