bearing_angle_image.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
* Author: Qinghua Li, Yan Zhuang, Fei Yan
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/**
* \file bearing_angle_image.h
* Created on: July 07, 2012
*/
#pragma once
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
namespace pcl
{
/** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
* \author: Qinghua Li (qinghua__li@163.com)
*/
class PCL_EXPORTS BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
{
public:
// ===== TYPEDEFS =====
using BaseClass = pcl::PointCloud<PointXYZRGBA>;
// =====CONSTRUCTOR & DESTRUCTOR=====
/** Constructor */
BearingAngleImage ();
public:
/** \brief Reset all values to an empty Bearing Angle image */
void
reset ();
/** \brief Calculate the angle between the laser beam and the segment joining two consecutive
* measurement points.
* \param point1
* \param point2
*/
double
getAngle (const PointXYZ &point1, const PointXYZ &point2);
/** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
void
generateBAImage (PointCloud<PointXYZ>& point_cloud);
protected:
/**< This point is used to be able to return a reference to a unknown gray point */
PointXYZRGBA unobserved_point_;
};
}
pcl::BearingAngleImage
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
Definition: bearing_angle_image.h:53
pcl::BearingAngleImage::reset
void reset()
Reset all values to an empty Bearing Angle image.
pcl::BearingAngleImage::unobserved_point_
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point
Definition: bearing_angle_image.h:81
pcl::BearingAngleImage::BearingAngleImage
BearingAngleImage()
Constructor.
pcl::BearingAngleImage::getAngle
double getAngle(const PointXYZ &point1, const PointXYZ &point2)
Calculate the angle between the laser beam and the segment joining two consecutive measurement points...
pcl::BearingAngleImage::generateBAImage
void generateBAImage(PointCloud< PointXYZ > &point_cloud)
Transform 3D point cloud into a 2D Bearing Angle(BA) image.
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl
Definition: convolution.h:46
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:347
pcl::PointXYZRGBA
A point structure representing Euclidean xyz coordinates, and the RGBA color.
Definition: point_types.hpp:600