Point Cloud Library (PCL)  1.9.1
bearing_angle_image.h
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5  * Author: Qinghua Li, Yan Zhuang, Fei Yan
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36 
37 /**
38  * \file bearing_angle_image.h
39  * \Created on: July 07, 2012
40  */
41 
42 #ifndef PCL_BEARING_ANGLE_IMAGE_H_
43 #define PCL_BEARING_ANGLE_IMAGE_H_
44 
45 #include <cmath>
46 #include <pcl/point_types.h>
47 #include <pcl/point_cloud.h>
48 
49 namespace pcl
50 {
51  /** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
52  * \author: Qinghua Li (qinghua__li@163.com)
53  */
54  class PCL_EXPORTS BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
55  {
56  public:
57  // ===== TYPEDEFS =====
59 
60  // =====CONSTRUCTOR & DESTRUCTOR=====
61  /** Constructor */
63  /** Destructor */
64  virtual ~BearingAngleImage ();
65 
66  public:
67  /** \brief Reset all values to an empty Bearing Angle image */
68  void
69  reset ();
70 
71  /** \brief Calculate the angle between the laser beam and the segment joining two consecutive
72  * measurement points.
73  * \param point1
74  * \param point2
75  */
76  double
77  getAngle (const PointXYZ &point1, const PointXYZ &point2);
78 
79  /** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
80  void
81  generateBAImage (PointCloud<PointXYZ>& point_cloud);
82 
83  protected:
84  /**< This point is used to be able to return a reference to a unknown gray point */
86  };
87 }
88 
89 #endif // PCL_BEARING_ANGLE_IMAGE_H_
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
point_types.h
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:85
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::BearingAngleImage
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
Definition: bearing_angle_image.h:54
pcl::PointXYZRGBA
A point structure representing Euclidean xyz coordinates, and the RGBA color.
Definition: point_types.hpp:552
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition: point_types.hpp:287
pcl::BearingAngleImage::BaseClass
pcl::PointCloud< PointXYZRGBA > BaseClass
Definition: bearing_angle_image.h:58