Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Attributes
pcl::BearingAngleImage Class Reference

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:

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 = boost::shared_ptr< PointCloud< PointXYZRGBA > >
 
using ConstPtr = boost::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
 

Public Member Functions

 BearingAngleImage ()
 Constructor. More...
 
 ~BearingAngleImage ()
 Destructor. 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 constructor. More...
 
 PointCloud (PointCloud< PointXYZRGBA > &pc)
 Copy constructor (needed by compilers such as Intel C++) More...
 
 PointCloud (const PointCloud< PointXYZRGBA > &pc)
 Copy constructor (needed by compilers such as Intel C++) More...
 
 PointCloud (const PointCloud< PointXYZRGBA > &pc, const std::vector< int > &indices)
 Copy constructor from point cloud subset. More...
 
 PointCloud (uint32_t width_, uint32_t height_, const PointXYZRGBA &value_=PointXYZRGBA())
 Allocate constructor from point cloud subset. More...
 
virtual ~PointCloud ()
 Destructor. More...
 
PointCloudoperator+= (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 PointXYZRGBAat (int column, int row) const
 Obtain the point given by the (column, row) coordinates. More...
 
PointXYZRGBAat (int column, int row)
 Obtain the point given by the (column, row) coordinates. More...
 
const PointXYZRGBAat (std::size_t n) const
 
PointXYZRGBAat (std::size_t n)
 
const PointXYZRGBAoperator() (std::size_t column, std::size_t row) const
 Obtain the point given by the (column, row) coordinates. More...
 
PointXYZRGBAoperator() (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 ()
 Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud. More...
 
const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > getMatrixXfMap () const
 Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud. More...
 
iterator begin ()
 
const_iterator begin () const
 
iterator end ()
 
const_iterator end () const
 
std::size_t size () const
 
void reserve (std::size_t n)
 
bool empty () const
 
void resize (std::size_t n)
 Resize the cloud. More...
 
const PointXYZRGBAoperator[] (std::size_t n) const
 
PointXYZRGBAoperator[] (std::size_t n)
 
const PointXYZRGBAfront () const
 
PointXYZRGBAfront ()
 
const PointXYZRGBAback () const
 
PointXYZRGBAback ()
 
void 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...
 
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 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...
 
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...
 
- Protected Attributes inherited from pcl::PointCloud< PointXYZRGBA >
boost::shared_ptr< MsgFieldMapmapping_
 

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...
 
uint32_t width
 The point cloud width (if organized as an image-structure). More...
 
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.

Author
: Qinghua Li (qingh.nosp@m.ua__.nosp@m.li@16.nosp@m.3.co.nosp@m.m)

Definition at line 53 of file bearing_angle_image.h.

Member Typedef Documentation

◆ BaseClass

Definition at line 57 of file bearing_angle_image.h.

Constructor & Destructor Documentation

◆ BearingAngleImage()

pcl::BearingAngleImage::BearingAngleImage ( )

Constructor.

◆ ~BearingAngleImage()

pcl::BearingAngleImage::~BearingAngleImage ( )

Destructor.

Member Function Documentation

◆ generateBAImage()

void pcl::BearingAngleImage::generateBAImage ( PointCloud< PointXYZ > &  point_cloud)

Transform 3D point cloud into a 2D Bearing Angle(BA) image.

◆ getAngle()

double pcl::BearingAngleImage::getAngle ( const PointXYZ point1,
const PointXYZ point2 
)

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_

PointXYZRGBA pcl::BearingAngleImage::unobserved_point_
protected

< This point is used to be able to return a reference to a unknown gray point

Definition at line 84 of file bearing_angle_image.h.


The documentation for this class was generated from the following file: