Point Cloud Library (PCL) 1.12.0
bearing_angle_image.h
1/*
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3 *
4 * Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
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#pragma once
43
44#include <pcl/point_types.h>
45#include <pcl/point_cloud.h>
46
47namespace pcl
48{
49 /** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
50 * \author: Qinghua Li (qinghua__li@163.com)
51 */
52 class PCL_EXPORTS BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
53 {
54 public:
55 // ===== TYPEDEFS =====
57
58 // =====CONSTRUCTOR & DESTRUCTOR=====
59 /** Constructor */
61
62 public:
63 /** \brief Reset all values to an empty Bearing Angle image */
64 void
66
67 /** \brief Calculate the angle between the laser beam and the segment joining two consecutive
68 * measurement points.
69 * \param point1
70 * \param point2
71 */
72 double
73 getAngle (const PointXYZ &point1, const PointXYZ &point2);
74
75 /** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
76 void
78
79 protected:
80 /**< This point is used to be able to return a reference to a unknown gray point */
82 };
83}
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
void reset()
Reset all values to an empty Bearing Angle image.
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point
BearingAngleImage()
Constructor.
double getAngle(const PointXYZ &point1, const PointXYZ &point2)
Calculate the angle between the laser beam and the segment joining two consecutive measurement points...
void generateBAImage(PointCloud< PointXYZ > &point_cloud)
Transform 3D point cloud into a 2D Bearing Angle(BA) image.
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
Defines all the PCL implemented PointT point type structures.
#define PCL_EXPORTS
Definition: pcl_macros.h:323
A point structure representing Euclidean xyz coordinates.
A point structure representing Euclidean xyz coordinates, and the RGBA color.