Point Cloud Library (PCL)
1.11.0
pcl
range_image
bearing_angle_image.h
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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
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* Author: Qinghua Li, Yan Zhuang, Fei Yan
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Intelligent Robotics Lab, DLUT. nor the names
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* of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/**
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* \file bearing_angle_image.h
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* Created on: July 07, 2012
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*/
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#pragma once
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#include <cmath>
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#include <
pcl/point_types.h
>
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#include <pcl/point_cloud.h>
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namespace
pcl
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{
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/** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
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* \author: Qinghua Li (qinghua__li@163.com)
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*/
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class
PCL_EXPORTS
BearingAngleImage
:
public
pcl::PointCloud
<PointXYZRGBA>
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{
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public
:
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// ===== TYPEDEFS =====
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using
BaseClass
=
pcl::PointCloud<PointXYZRGBA>
;
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// =====CONSTRUCTOR & DESTRUCTOR=====
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/** Constructor */
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BearingAngleImage
();
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public
:
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/** \brief Reset all values to an empty Bearing Angle image */
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void
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reset ();
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/** \brief Calculate the angle between the laser beam and the segment joining two consecutive
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* measurement points.
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* \param point1
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* \param point2
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*/
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double
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getAngle (
const
PointXYZ
&point1,
const
PointXYZ
&point2);
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/** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
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void
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generateBAImage (
PointCloud<PointXYZ>
& point_cloud);
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protected
:
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/**< This point is used to be able to return a reference to a unknown gray point */
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PointXYZRGBA
unobserved_point_
;
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};
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}
pcl
Definition:
convolution.h:46
point_types.h
pcl::BearingAngleImage::unobserved_point_
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point
Definition:
bearing_angle_image.h:82
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition:
projection_matrix.h:52
pcl::BearingAngleImage
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
Definition:
bearing_angle_image.h:53
pcl::PointXYZRGBA
A point structure representing Euclidean xyz coordinates, and the RGBA color.
Definition:
point_types.hpp:553
pcl::PointXYZ
A point structure representing Euclidean xyz coordinates.
Definition:
point_types.hpp:300
PCL_EXPORTS
#define PCL_EXPORTS
Definition:
pcl_macros.h:331