Hey,

quick question, I've been

digging around the pcl spherical range image to understand

how the PCL algo works and I've noticed the following equations in the getImagePoint function:

angle_x = atan2(point[0], point[1])

angle_y = asin(point[1], range)

to calculate the angles. Seeing these equations, I would assume

this algo is using a cylindrical model and not a spherical one (as it has been described

in the pcl documentation).

The theoretical model would be: (from papers)

Cylindrical model: theta = atan2(x,y), alpha = arcsin(z / range)

Spherical model: theta = arcsin(y/sqrt(x^2+y^2), alpha=arcsin(z/range)

Maybe anybody can chime in and knows a bit more about this... :)

Thanks!

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