Point Cloud Library (PCL)  1.7.2
bearing_angle_image.h
1 /*
2  * Software License Agreement (BSD License)
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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 #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 BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
55  {
56  public:
57  // ===== TYPEDEFS =====
58  typedef pcl::PointCloud<PointXYZRGBA> BaseClass;
59 
60  // =====CONSTRUCTOR & DESTRUCTOR=====
61  /** Constructor */
62  BearingAngleImage ();
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 */
85  PointXYZRGBA unobserved_point_;
86  };
87 }
88 
89 #endif // PCL_BEARING_ANGLE_IMAGE_H_