Range Image explanation

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Range Image explanation

ognjen011
I was wondering if I may get some explanation of the range image class and
the example posted  here
<http://pointclouds.org/documentation/tutorials/range_image_creation.php#range-image-creation>
. The attributes x,y,z of range image - what are they? Are they just
transformed points to the new coordinate system of the sensor (camera)?

Is the order of points preserved in the Range Image compared to the original
Point Cloud?

Finally, this might answer itself once I understand the Range Image class
better, but I tried reducing given example to only four corner points, and
printed them by alternately iterating through points of Range Image and
original Point Cloud. I got:

nan nan nan -inf
2.5 -0.5 -0.5
nan nan nan -inf
2.5 -0.5 0.5
nan nan nan -inf
1.5 0.5 -0.5
nan nan nan -inf
1.5 0.5 0.5

How can it be that none of the points are visible? The angles are unchanged
and should constitute the whole 360 sphere. Or am I misunderstanding that as
well?

Thanks in advance to all of you!



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Re: Range Image explanation

ognjen011
I just see I misinterpreted the meaning of this completely. Please ignore this question, and sorry for bothering you.

On Thu, May 10, 2018 at 6:20 PM, ognjen011 <[hidden email]> wrote:
I was wondering if I may get some explanation of the range image class and
the example posted  here
<http://pointclouds.org/documentation/tutorials/range_image_creation.php#range-image-creation>
. The attributes x,y,z of range image - what are they? Are they just
transformed points to the new coordinate system of the sensor (camera)?

Is the order of points preserved in the Range Image compared to the original
Point Cloud?

Finally, this might answer itself once I understand the Range Image class
better, but I tried reducing given example to only four corner points, and
printed them by alternately iterating through points of Range Image and
original Point Cloud. I got:

nan nan nan -inf
2.5 -0.5 -0.5
nan nan nan -inf
2.5 -0.5 0.5
nan nan nan -inf
1.5 0.5 -0.5
nan nan nan -inf
1.5 0.5 0.5

How can it be that none of the points are visible? The angles are unchanged
and should constitute the whole 360 sphere. Or am I misunderstanding that as
well?

Thanks in advance to all of you!



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Sent from: http://www.pcl-users.org/
_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users


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