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#ifndef PCL_RANGE_IMAGE_PLANAR_IMPL_HPP_
#define PCL_RANGE_IMAGE_PLANAR_IMPL_HPP_

#include <pcl/pcl_macros.h>
#include <pcl/common/eigen.h>

namespace pcl
{

/////////////////////////////////////////////////////////////////////////
template <typename PointCloudType> void
RangeImagePlanar::createFromPointCloudWithFixedSize (const PointCloudType& point_cloud,
                                                     int di_width, int di_height,
                                                     float di_center_x, float di_center_y,
                                                     float di_focal_length_x, float di_focal_length_y,
                                                     const Eigen::Affine3f& sensor_pose,
                                                     CoordinateFrame coordinate_frame, float noise_level,
                                                     float min_range)
{
  //std::cout << "Starting to create range image from "<<point_cloud.points.size ()<<" points.\n";

  width = di_width;
  height = di_height;
  center_x_ = di_center_x;
  center_y_ = di_center_y;
  focal_length_x_ = di_focal_length_x;
  focal_length_y_ = di_focal_length_y;
  focal_length_x_reciprocal_ = 1 / focal_length_x_;
  focal_length_y_reciprocal_ = 1 / focal_length_y_;

  is_dense = false;
  
  getCoordinateFrameTransformation (coordinate_frame, to_world_system_);
  to_world_system_ = sensor_pose * to_world_system_;

  to_range_image_system_ = to_world_system_.inverse (Eigen::Isometry);

  unsigned int size = width*height;
  points.clear ();
  points.resize (size, unobserved_point);

  int top=height, right=-1, bottom=-1, left=width;
  doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);

  // Do not crop
  //cropImage (border_size, top, right, bottom, left);

  recalculate3DPointPositions ();
}


/////////////////////////////////////////////////////////////////////////
void
RangeImagePlanar::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const
{
  //cout << __PRETTY_FUNCTION__ << " called.\n";
  float delta_x = (image_x+static_cast<float> (image_offset_x_)-center_x_)*focal_length_x_reciprocal_,
        delta_y = (image_y+static_cast<float> (image_offset_y_)-center_y_)*focal_length_y_reciprocal_;
  point[2] = range / (std::sqrt (delta_x*delta_x + delta_y*delta_y + 1));
  point[0] = delta_x*point[2];
  point[1] = delta_y*point[2];
  point = to_world_system_ * point;
}

/////////////////////////////////////////////////////////////////////////
inline void 
RangeImagePlanar::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const 
{
  Eigen::Vector3f transformedPoint = to_range_image_system_ * point;
  if (transformedPoint[2]<=0)  // Behind the observer?
  {
    image_x = image_y = range = -1.0f;
    return;
  }
  range = transformedPoint.norm ();
  
  image_x = center_x_ + focal_length_x_*transformedPoint[0]/transformedPoint[2] - static_cast<float> (image_offset_x_);
  image_y = center_y_ + focal_length_y_*transformedPoint[1]/transformedPoint[2] - static_cast<float> (image_offset_y_);
}

}  // namespace end

#endif

