class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image. More...
#include <pcl/range_image/bearing_angle_image.h>
Inheritance diagram for pcl::BearingAngleImage:
Collaboration diagram for pcl::BearingAngleImage:
Public Types | |
| using | BaseClass = pcl::PointCloud< PointXYZRGBA > |
| Public Types inherited from pcl::PointCloud< PointXYZRGBA > | |
| using | PointType = PointXYZRGBA |
| using | VectorType = std::vector< PointXYZRGBA, Eigen::aligned_allocator< PointXYZRGBA > > |
| using | CloudVectorType = std::vector< PointCloud< PointXYZRGBA >, Eigen::aligned_allocator< PointCloud< PointXYZRGBA > > > |
| using | Ptr = shared_ptr< PointCloud< PointXYZRGBA > > |
| using | ConstPtr = shared_ptr< const PointCloud< PointXYZRGBA > > |
| using | value_type = PointXYZRGBA |
| using | reference = PointXYZRGBA & |
| using | const_reference = const PointXYZRGBA & |
| using | difference_type = typename VectorType::difference_type |
| using | size_type = typename VectorType::size_type |
| using | iterator = typename VectorType::iterator |
| using | const_iterator = typename VectorType::const_iterator |
| using | reverse_iterator = typename VectorType::reverse_iterator |
| using | const_reverse_iterator = typename VectorType::const_reverse_iterator |
Public Member Functions | |
| BearingAngleImage () | |
| Constructor. More... | |
| void | reset () |
| Reset all values to an empty Bearing Angle image. More... | |
| double | getAngle (const PointXYZ &point1, const PointXYZ &point2) |
| Calculate the angle between the laser beam and the segment joining two consecutive measurement points. More... | |
| void | generateBAImage (PointCloud< PointXYZ > &point_cloud) |
| Transform 3D point cloud into a 2D Bearing Angle(BA) image. More... | |
| Public Member Functions inherited from pcl::PointCloud< PointXYZRGBA > | |
| PointCloud ()=default | |
| Default constructor. More... | |
| PointCloud (const PointCloud< PointXYZRGBA > &pc, const Indices &indices) | |
| Copy constructor from point cloud subset. More... | |
| PointCloud (std::uint32_t width_, std::uint32_t height_, const PointXYZRGBA &value_=PointXYZRGBA()) | |
| Allocate constructor from point cloud subset. More... | |
| PointCloud & | operator+= (const PointCloud &rhs) |
| Add a point cloud to the current cloud. More... | |
| PointCloud | operator+ (const PointCloud &rhs) |
| Add a point cloud to another cloud. More... | |
| const PointXYZRGBA & | at (int column, int row) const |
| Obtain the point given by the (column, row) coordinates. More... | |
| PointXYZRGBA & | at (int column, int row) |
| Obtain the point given by the (column, row) coordinates. More... | |
| const PointXYZRGBA & | at (std::size_t n) const |
| PointXYZRGBA & | at (std::size_t n) |
| const PointXYZRGBA & | operator() (std::size_t column, std::size_t row) const |
| Obtain the point given by the (column, row) coordinates. More... | |
| PointXYZRGBA & | operator() (std::size_t column, std::size_t row) |
| Obtain the point given by the (column, row) coordinates. More... | |
| bool | isOrganized () const |
| Return whether a dataset is organized (e.g., arranged in a structured grid). More... | |
| Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > | getMatrixXfMap (int dim, int stride, int offset) |
| Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. More... | |
| const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > | getMatrixXfMap (int dim, int stride, int offset) const |
| Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. More... | |
| Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > | getMatrixXfMap () |
| const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > | getMatrixXfMap () const |
| iterator | begin () noexcept |
| const_iterator | begin () const noexcept |
| iterator | end () noexcept |
| const_iterator | end () const noexcept |
| const_iterator | cbegin () const noexcept |
| const_iterator | cend () const noexcept |
| reverse_iterator | rbegin () noexcept |
| const_reverse_iterator | rbegin () const noexcept |
| reverse_iterator | rend () noexcept |
| const_reverse_iterator | rend () const noexcept |
| const_reverse_iterator | crbegin () const noexcept |
| const_reverse_iterator | crend () const noexcept |
| std::size_t | size () const |
| index_t | max_size () const noexcept |
| void | reserve (std::size_t n) |
| bool | empty () const |
| PointXYZRGBA * | data () noexcept |
| const PointXYZRGBA * | data () const noexcept |
| void | resize (std::size_t count) |
Resizes the container to contain count elements. More... | |
| void | resize (uindex_t new_width, uindex_t new_height) |
Resizes the container to contain new_width * new_height elements. More... | |
| void | resize (index_t count, const PointXYZRGBA &value) |
| Resizes the container to contain count elements. More... | |
| void | resize (index_t new_width, index_t new_height, const PointXYZRGBA &value) |
| Resizes the container to contain count elements. More... | |
| const PointXYZRGBA & | operator[] (std::size_t n) const |
| PointXYZRGBA & | operator[] (std::size_t n) |
| const PointXYZRGBA & | front () const |
| PointXYZRGBA & | front () |
| const PointXYZRGBA & | back () const |
| PointXYZRGBA & | back () |
| void | assign (index_t count, const PointXYZRGBA &value) |
Replaces the points with count copies of value More... | |
| void | assign (index_t new_width, index_t new_height, const PointXYZRGBA &value) |
Replaces the points with new_width * new_height copies of value More... | |
| void | assign (InputIterator first, InputIterator last) |
Replaces the points with copies of those in the range [first, last) More... | |
| void | assign (InputIterator first, InputIterator last, index_t new_width) |
Replaces the points with copies of those in the range [first, last) More... | |
| void | assign (std::initializer_list< PointXYZRGBA > ilist) |
Replaces the points with the elements from the initializer list ilist More... | |
| void | assign (std::initializer_list< PointXYZRGBA > ilist, index_t new_width) |
Replaces the points with the elements from the initializer list ilist More... | |
| void | push_back (const PointXYZRGBA &pt) |
| Insert a new point in the cloud, at the end of the container. More... | |
| void | transient_push_back (const PointXYZRGBA &pt) |
| Insert a new point in the cloud, at the end of the container. More... | |
| reference | emplace_back (Args &&...args) |
| Emplace a new point in the cloud, at the end of the container. More... | |
| reference | transient_emplace_back (Args &&...args) |
| Emplace a new point in the cloud, at the end of the container. More... | |
| iterator | insert (iterator position, const PointXYZRGBA &pt) |
| Insert a new point in the cloud, given an iterator. More... | |
| void | insert (iterator position, std::size_t n, const PointXYZRGBA &pt) |
| Insert a new point in the cloud N times, given an iterator. More... | |
| void | insert (iterator position, InputIterator first, InputIterator last) |
| Insert a new range of points in the cloud, at a certain position. More... | |
| iterator | transient_insert (iterator position, const PointXYZRGBA &pt) |
| Insert a new point in the cloud, given an iterator. More... | |
| void | transient_insert (iterator position, std::size_t n, const PointXYZRGBA &pt) |
| Insert a new point in the cloud N times, given an iterator. More... | |
| void | transient_insert (iterator position, InputIterator first, InputIterator last) |
| Insert a new range of points in the cloud, at a certain position. More... | |
| iterator | emplace (iterator position, Args &&...args) |
| Emplace a new point in the cloud, given an iterator. More... | |
| iterator | transient_emplace (iterator position, Args &&...args) |
| Emplace a new point in the cloud, given an iterator. More... | |
| iterator | erase (iterator position) |
| Erase a point in the cloud. More... | |
| iterator | erase (iterator first, iterator last) |
| Erase a set of points given by a (first, last) iterator pair. More... | |
| iterator | transient_erase (iterator position) |
| Erase a point in the cloud. More... | |
| iterator | transient_erase (iterator first, iterator last) |
| Erase a set of points given by a (first, last) iterator pair. More... | |
| void | swap (PointCloud< PointXYZRGBA > &rhs) |
| Swap a point cloud with another cloud. More... | |
| void | clear () |
| Removes all points in a cloud and sets the width and height to 0. More... | |
| Ptr | makeShared () const |
| Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. More... | |
Protected Attributes | |
| PointXYZRGBA | unobserved_point_ |
| < This point is used to be able to return a reference to a unknown gray point More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from pcl::PointCloud< PointXYZRGBA > | |
| static bool | concatenate (pcl::PointCloud< PointXYZRGBA > &cloud1, const pcl::PointCloud< PointXYZRGBA > &cloud2) |
| static bool | concatenate (const pcl::PointCloud< PointXYZRGBA > &cloud1, const pcl::PointCloud< PointXYZRGBA > &cloud2, pcl::PointCloud< PointXYZRGBA > &cloud_out) |
| Public Attributes inherited from pcl::PointCloud< PointXYZRGBA > | |
| pcl::PCLHeader | header |
| The point cloud header. More... | |
| std::vector< PointXYZRGBA, Eigen::aligned_allocator< PointXYZRGBA > > | points |
| The point data. More... | |
| std::uint32_t | width |
| The point cloud width (if organized as an image-structure). More... | |
| std::uint32_t | height |
| The point cloud height (if organized as an image-structure). More... | |
| bool | is_dense |
| True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields). More... | |
| Eigen::Vector4f | sensor_origin_ |
| Sensor acquisition pose (origin/translation). More... | |
| Eigen::Quaternionf | sensor_orientation_ |
| Sensor acquisition pose (rotation). More... | |
Detailed Description
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
Definition at line 52 of file bearing_angle_image.h.
Member Typedef Documentation
◆ BaseClass
Definition at line 56 of file bearing_angle_image.h.
Constructor & Destructor Documentation
◆ BearingAngleImage()
| pcl::BearingAngleImage::BearingAngleImage | ( | ) |
Constructor.
Member Function Documentation
◆ generateBAImage()
| void pcl::BearingAngleImage::generateBAImage | ( | PointCloud< PointXYZ > & | point_cloud | ) |
Transform 3D point cloud into a 2D Bearing Angle(BA) image.
◆ getAngle()
Calculate the angle between the laser beam and the segment joining two consecutive measurement points.
- Parameters
-
point1 point2
◆ reset()
| void pcl::BearingAngleImage::reset | ( | ) |
Reset all values to an empty Bearing Angle image.
Member Data Documentation
◆ unobserved_point_
|
protected |
< This point is used to be able to return a reference to a unknown gray point
Definition at line 81 of file bearing_angle_image.h.
The documentation for this class was generated from the following file:
- pcl/range_image/bearing_angle_image.h