45#include <pcl/point_cloud.h>
class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
void reset()
Reset all values to an empty Bearing Angle image.
PointXYZRGBA unobserved_point_
< This point is used to be able to return a reference to a unknown gray point
BearingAngleImage()
Constructor.
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.
Iterator class for point clouds with or without given indices.
PointCloud represents the base class in PCL for storing collections of 3D points.
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates.
A point structure representing Euclidean xyz coordinates, and the RGBA color.