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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2013, Intelligent Robotics Lab, DLUT.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Author: Qinghua Li, Yan Zhuang, Fei Yan</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <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> <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> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <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> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of Intelligent Robotics Lab, DLUT. nor the names</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <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> <span class="comment"> * derived from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <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> <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> <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> <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> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"></span> </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment">/**</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * \file bearing_angle_image.h</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> * Created on: July 07, 2012</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <pcl/point_cloud.h></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <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> {<span class="comment"></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <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> <span class="comment"> * \author: Qinghua Li ([email protected])</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <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>  <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><PointXYZRGBA></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <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>  <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<PointXYZRGBA></a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="comment">// =====CONSTRUCTOR & DESTRUCTOR=====</span><span class="comment"></span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <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>  <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>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">public</span>:<span class="comment"></span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <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>  <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>  <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> <span class="comment"></span> </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <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> <span class="comment"> * measurement points.</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * \param point1</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> * \param point2</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <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>  <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> &point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &point2);</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"></span> </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <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>  <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>  <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<PointXYZ></a>& point_cloud);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="comment"> /**< 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>  <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>  };</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> }</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">< 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 &point1, const PointXYZ &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< PointXYZ > &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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