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_
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
A point structure representing Euclidean xyz coordinates, and the RGBA color.
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
pcl::PointCloud< PointXYZRGBA > BaseClass
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point