84 lines
2.9 KiB
C
84 lines
2.9 KiB
C
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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 <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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}
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