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
using	VectorType
using	CloudVectorType
using	Ptr
using	ConstPtr
using	value_type
using	reference
using	const_reference
using	difference_type
using	size_type
using	iterator
using	const_iterator
using	reverse_iterator
using	const_reverse_iterator

Public Member Functions
	BearingAngleImage ()
	Constructor.
void	reset ()
	Reset all values to an empty Bearing Angle image.
double	getAngle (const PointXYZ &point1, const PointXYZ &point2)
	Calculate the angle between the laser beam and the segment joining two consecutive measurement points.
void	generateBAImage (PointCloud< PointXYZ > &point_cloud)
	Transform 3D point cloud into a 2D Bearing Angle(BA) image.
Public Member Functions inherited from pcl::PointCloud< PointXYZRGBA >
	PointCloud ()=default
	Default constructor.
	PointCloud (const PointCloud< PointXYZRGBA > &pc, const Indices &indices)
	Copy constructor from point cloud subset.
	PointCloud (std::uint32_t width_, std::uint32_t height_, const PointXYZRGBA &value_=PointXYZRGBA())
	Allocate constructor from point cloud subset.
PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud.
PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud.
const PointXYZRGBA &	at (int column, int row) const
	Obtain the point given by the (column, row) coordinates.
PointXYZRGBA &	at (int column, int row)
	Obtain the point given by the (column, row) coordinates.
const PointXYZRGBA &	operator() (std::size_t column, std::size_t row) const
	Obtain the point given by the (column, row) coordinates.
PointXYZRGBA &	operator() (std::size_t column, std::size_t row)
	Obtain the point given by the (column, row) coordinates.
bool	isOrganized () const
	Return whether a dataset is organized (e.g., arranged in a structured grid).
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.
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.
Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap ()
const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap () const
iterator	begin () noexcept
iterator	end () noexcept
const_iterator	begin () const noexcept
const_iterator	end () const noexcept
const_iterator	cbegin () const noexcept
const_iterator	cend () const noexcept
reverse_iterator	rbegin () noexcept
reverse_iterator	rend () noexcept
const_reverse_iterator	rbegin () const 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.
void	resize (uindex_t new_width, uindex_t new_height)
	Resizes the container to contain new_width * new_height elements.
void	resize (index_t count, const PointXYZRGBA &value)
	Resizes the container to contain count elements.
void	resize (index_t new_width, index_t new_height, const PointXYZRGBA &value)
	Resizes the container to contain count elements.
const PointXYZRGBA &	operator[] (std::size_t n) const
PointXYZRGBA &	operator[] (std::size_t n)
const PointXYZRGBA &	at (std::size_t n) const
PointXYZRGBA &	at (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.
void	assign (index_t new_width, index_t new_height, const PointXYZRGBA &value)
	Replaces the points with new_width * new_height copies of value.
void	assign (InputIterator first, InputIterator last)
	Replaces the points with copies of those in the range [first, last).
void	assign (InputIterator first, InputIterator last, index_t new_width)
	Replaces the points with copies of those in the range [first, last).
void	assign (std::initializer_list< PointXYZRGBA > ilist)
	Replaces the points with the elements from the initializer list ilist.
void	assign (std::initializer_list< PointXYZRGBA > ilist, index_t new_width)
	Replaces the points with the elements from the initializer list ilist.
void	push_back (const PointXYZRGBA &pt)
	Insert a new point in the cloud, at the end of the container.
void	transient_push_back (const PointXYZRGBA &pt)
	Insert a new point in the cloud, at the end of the container.
reference	emplace_back (Args &&...args)
	Emplace a new point in the cloud, at the end of the container.
reference	transient_emplace_back (Args &&...args)
	Emplace a new point in the cloud, at the end of the container.
iterator	insert (iterator position, const PointXYZRGBA &pt)
	Insert a new point in the cloud, given an iterator.
iterator	transient_insert (iterator position, const PointXYZRGBA &pt)
	Insert a new point in the cloud, given an iterator.
void	insert (iterator position, std::size_t n, const PointXYZRGBA &pt)
	Insert a new point in the cloud N times, given an iterator.
void	transient_insert (iterator position, std::size_t n, const PointXYZRGBA &pt)
	Insert a new point in the cloud N times, given an iterator.
void	insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position.
void	transient_insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position.
iterator	emplace (iterator position, Args &&...args)
	Emplace a new point in the cloud, given an iterator.
iterator	transient_emplace (iterator position, Args &&...args)
	Emplace a new point in the cloud, given an iterator.
iterator	erase (iterator position)
	Erase a point in the cloud.
iterator	transient_erase (iterator position)
	Erase a point in the cloud.
iterator	erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair.
iterator	transient_erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair.
void	swap (PointCloud< PointXYZRGBA > &rhs)
	Swap a point cloud with another cloud.
void	clear ()
	Removes all points in a cloud and sets the width and height to 0.
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.

Protected Attributes
PointXYZRGBA	unobserved_point_
	< This point is used to be able to return a reference to a unknown gray point

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.
std::vector< PointXYZRGBA, Eigen::aligned_allocator< PointXYZRGBA > >	points
	The point data.
std::uint32_t	width
	The point cloud width (if organized as an image-structure).
std::uint32_t	height
	The point cloud height (if organized as an image-structure).
bool	is_dense
	True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Eigen::Vector4f	sensor_origin_
	Sensor acquisition pose (origin/translation).
Eigen::Quaternionf	sensor_orientation_
	Sensor acquisition pose (rotation).

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 52 of file bearing_angle_image.h.

Member Typedef Documentation

◆ BaseClass

using pcl::BearingAngleImage::BaseClass = pcl::PointCloud<PointXYZRGBA>

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.

References pcl::PointCloud< PointXYZRGBA >::PointCloud().

◆ 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 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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members