bearing_angle_image.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
00005  *  Author: Qinghua Li, Yan Zhuang, Fei Yan
00006  *
00007  *  All rights reserved.
00008  *
00009  *  Redistribution and use in source and binary forms, with or without
00010  *  modification, are permitted provided that the following conditions
00011  *  are met:
00012  *
00013  *   * Redistributions of source code must retain the above copyright
00014  *     notice, this list of conditions and the following disclaimer.
00015  *   * Redistributions in binary form must reproduce the above
00016  *     copyright notice, this list of conditions and the following
00017  *     disclaimer in the documentation and/or other materials provided
00018  *     with the distribution.
00019  *   * Neither the name of Intelligent Robotics Lab, DLUT. nor the names
00020  *     of its contributors may be used to endorse or promote products
00021  *     derived from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  */
00036 
00037 /*
00038  * Brief interface for bearing-angle(BA) image
00039  * The class is used as an interface to generate bearing-angle(BA) image,
00040  * and do some necessary transformation.
00041  *
00042  *  Created on: 2012.01.07
00043  *      Author: Qinghua Li (qinghua__li@163.com)
00044  */
00045 
00046 #ifndef BEARING_ANGLE_IMAGE_H_
00047 #define BEARING_ANGLE_IMAGE_H_
00048 
00049 #include <cmath>
00050 #include <vector>
00051 #include <QImage>
00052 #include <opencv/cv.h>
00053 #include <pcl/io/pcd_io.h>
00054 #include <pcl/point_types.h>
00055 
00056 const double PI = 3.14159265358979323846;
00057 
00058 class BearingAngleImage
00059 {
00060   public:
00061     BearingAngleImage ();
00062     ~BearingAngleImage ();
00063 
00064   public:
00065     double getAngle (const pcl::PointXYZ &point1, const pcl::PointXYZ &point2);
00066 
00067     double getGray (double theta);
00068 
00069     IplImage* generateBAImage (std::vector< std::vector<pcl::PointXYZ> > &points, int width, int height);
00070 
00071     IplImage* getChannelsImage (IplImage* ipl_image);
00072 
00073     QImage cvIplImage2QImage (IplImage* ipl_image);
00074 
00075     IplImage* BA_image;
00076     IplImage* channels_image;
00077 };
00078 
00079 #endif // BEARING_ANGLE_IMAGE_H_


dlut_place_recognition
Author(s): Qinghua Li, Yan Zhuang, Fei Yan
autogenerated on Sun Oct 5 2014 23:29:57