bearing_angle_image.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
 *  Author: Qinghua Li, Yan Zhuang, Fei Yan
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/*
 * Brief interface for bearing-angle(BA) image
 * The class is used as an interface to generate bearing-angle(BA) image,
 * and do some necessary transformation.
 *
 *  Created on: 2012.01.07
 *      Author: Qinghua Li (qinghua__li@163.com)
 */

#ifndef BEARING_ANGLE_IMAGE_H_
#define BEARING_ANGLE_IMAGE_H_

#include <cmath>
#include <vector>
#include <QImage>
#include <opencv/cv.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

const double PI = 3.14159265358979323846;

class BearingAngleImage
{
  public:
    BearingAngleImage ();
    ~BearingAngleImage ();

  public:
    double getAngle (const pcl::PointXYZ &point1, const pcl::PointXYZ &point2);

    double getGray (double theta);

    IplImage* generateBAImage (std::vector< std::vector<pcl::PointXYZ> > &points, int width, int height);

    IplImage* getChannelsImage (IplImage* ipl_image);

    QImage cvIplImage2QImage (IplImage* ipl_image);

    IplImage* BA_image;
    IplImage* channels_image;
};

#endif // BEARING_ANGLE_IMAGE_H_