bearing_angle_image.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
 *  Author: Qinghua Li, Yan Zhuang, Fei Yan
 *
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/**
  * \file bearing_angle_image.h
  * Created on: July 07, 2012
  */
 
#pragma once
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
 
namespace pcl
{
  /** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
    * \author: Qinghua Li (qinghua__li@163.com)
    */
  class PCL_EXPORTS BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
  {
    public:
      // ===== TYPEDEFS =====
      using BaseClass = pcl::PointCloud<PointXYZRGBA>;
 
      // =====CONSTRUCTOR & DESTRUCTOR=====
      /** Constructor */
      BearingAngleImage ();
 
    public:
      /** \brief Reset all values to an empty Bearing Angle image */
      void
      reset ();
 
      /** \brief Calculate the angle between the laser beam and the segment joining two consecutive
        * measurement points.
        * \param point1
        * \param point2
        */
      double
      getAngle (const PointXYZ &point1, const PointXYZ &point2);
 
      /** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
      void
      generateBAImage (PointCloud<PointXYZ>& point_cloud);
 
    protected:
      /**< This point is used to be able to return a reference to a unknown gray point */
      PointXYZRGBA unobserved_point_;
  };
}