42 #ifndef PCL_BEARING_ANGLE_IMAGE_H_ 43 #define PCL_BEARING_ANGLE_IMAGE_H_ 46 #include <pcl/point_types.h> 47 #include <pcl/point_cloud.h> 89 #endif // PCL_BEARING_ANGLE_IMAGE_H_
A point structure representing Euclidean xyz coordinates, and the RGBA color.
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
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...
A point structure representing Euclidean xyz coordinates.
BearingAngleImage()
Constructor.
virtual ~BearingAngleImage()
Destructor.
void generateBAImage(PointCloud< PointXYZ > &point_cloud)
Transform 3D point cloud into a 2D Bearing Angle(BA) image.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
pcl::PointCloud< PointXYZRGBA > BaseClass
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point