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<li class="navelem"><a class="el" href="dir_39ef148c3cf3468c290ae8c03b3c03af.html">pcl</a></li><li class="navelem"><a class="el" href="dir_b593bb3fc72d2f70cac33be471187a95.html">range_image</a></li>  </ul>
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<div class="title">bearing_angle_image.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Qinghua Li, Yan Zhuang, Fei Yan</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     derived from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">/**</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">  * \file bearing_angle_image.h</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">  * Created on: July 07, 2012</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">  */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{<span class="comment"></span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">  /** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">    * \author: Qinghua Li (qinghua__li@163.com)</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html">   52</a></span>&#160;  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1_bearing_angle_image.html">BearingAngleImage</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt;PointXYZRGBA&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="comment">// ===== TYPEDEFS =====</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a68af1fb02f20db7eff813f2c17224558">   56</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_cloud.html">BaseClass</a> = <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointXYZRGBA&gt;</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span><span class="comment"></span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">      /** Constructor */</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">   60</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">BearingAngleImage</a> ();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:<span class="comment"></span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">      /** \brief Reset all values to an empty Bearing Angle image */</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">   65</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">reset</a> ();</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">      /** \brief Calculate the angle between the laser beam and the segment joining two consecutive</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">        * measurement points.</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">        * \param point1</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">        * \param point2</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keywordtype">double</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">   73</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">getAngle</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;point2);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">      /** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">   77</a></span>&#160;      <a class="code" href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">generateBAImage</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZ&gt;</a>&amp; point_cloud);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">      /**&lt; This point is used to be able to return a reference to a unknown gray point */</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">   81</a></span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a> <a class="code" href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">unobserved_point_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  };</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html">pcl::BearingAngleImage</a></div><div class="ttdoc">class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.</div><div class="ttdef"><b>Definition:</b> <a href="bearing__angle__image_8h_source.html#l00052">bearing_angle_image.h:53</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_a3de835144ad64107ede12ee961118aec"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#a3de835144ad64107ede12ee961118aec">pcl::BearingAngleImage::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Reset all values to an empty Bearing Angle image.</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_a42dd447d5e038c19511593dbac6fbfe2"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#a42dd447d5e038c19511593dbac6fbfe2">pcl::BearingAngleImage::unobserved_point_</a></div><div class="ttdeci">PointXYZRGBA unobserved_point_</div><div class="ttdoc">&lt; This point is used to be able to return a reference to a unknown gray point</div><div class="ttdef"><b>Definition:</b> <a href="bearing__angle__image_8h_source.html#l00081">bearing_angle_image.h:81</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_a873a6408f9836b322a2c9facc794aaec"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#a873a6408f9836b322a2c9facc794aaec">pcl::BearingAngleImage::BearingAngleImage</a></div><div class="ttdeci">BearingAngleImage()</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_ab09b966639c143f9556404c3ac7de0f2"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#ab09b966639c143f9556404c3ac7de0f2">pcl::BearingAngleImage::getAngle</a></div><div class="ttdeci">double getAngle(const PointXYZ &amp;point1, const PointXYZ &amp;point2)</div><div class="ttdoc">Calculate the angle between the laser beam and the segment joining two consecutive measurement points...</div></div>
<div class="ttc" id="aclasspcl_1_1_bearing_angle_image_html_ab6798ea0d4ace1e798816a64fe41cf72"><div class="ttname"><a href="classpcl_1_1_bearing_angle_image.html#ab6798ea0d4ace1e798816a64fe41cf72">pcl::BearingAngleImage::generateBAImage</a></div><div class="ttdeci">void generateBAImage(PointCloud&lt; PointXYZ &gt; &amp;point_cloud)</div><div class="ttdoc">Transform 3D point cloud into a 2D Bearing Angle(BA) image.</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div><div class="ttdoc">Defines all the PCL implemented PointT point type structures.</div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="apcl__macros_8h_html_a2b443b7908f11aed38b620b570e5ebce"><div class="ttname"><a href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a></div><div class="ttdeci">#define PCL_EXPORTS</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00324">pcl_macros.h:324</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00321">point_types.hpp:322</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00527">point_types.hpp:528</a></div></div>
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