Point Cloud Library (PCL)  1.11.0
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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 #pragma once
43 
44 #include <cmath>
45 #include <pcl/point_types.h>
46 #include <pcl/point_cloud.h>
47 
48 namespace pcl
49 {
50  /** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
51  * \author: Qinghua Li (qinghua__li@163.com)
52  */
53  class PCL_EXPORTS BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
54  {
55  public:
56  // ===== TYPEDEFS =====
58 
59  // =====CONSTRUCTOR & DESTRUCTOR=====
60  /** Constructor */
62 
63  public:
64  /** \brief Reset all values to an empty Bearing Angle image */
65  void
66  reset ();
67 
68  /** \brief Calculate the angle between the laser beam and the segment joining two consecutive
69  * measurement points.
70  * \param point1
71  * \param point2
72  */
73  double
74  getAngle (const PointXYZ &point1, const PointXYZ &point2);
75 
76  /** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
77  void
78  generateBAImage (PointCloud<PointXYZ>& point_cloud);
79 
80  protected:
81  /**< This point is used to be able to return a reference to a unknown gray point */
83  };
84 }
A point structure representing Euclidean xyz coordinates, and the RGBA color.
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
A point structure representing Euclidean xyz coordinates.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point