PCL
PolarTransform.h
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7 // pcl/PolarTransform.h - Released 2024-06-18T15:48:54Z
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50 // ----------------------------------------------------------------------------
51 
52 #ifndef __PCL_PolarTransform_h
53 #define __PCL_PolarTransform_h
54 
56 
57 #include <pcl/Defs.h>
58 #include <pcl/Diagnostics.h>
59 
61 #include <pcl/ParallelProcess.h>
62 
63 namespace pcl
64 {
65 
66 // ----------------------------------------------------------------------------
67 
87  public ParallelProcess
88 {
89 public:
90 
98  {
99  }
100 
105 
110  float InitialRotation() const
111  {
112  return m_initialAngle;
113  }
114 
118  void SetInitialRotation( float angle )
119  {
120  PCL_PRECONDITION( angle >= 0 && angle <= pcl::Const<float>::_2pi() )
121  if ( (m_initialAngle = angle) > m_finalAngle )
122  pcl::Swap( m_initialAngle, m_finalAngle );
123  }
124 
129  float FinalRotation() const
130  {
131  return m_finalAngle;
132  }
133 
137  void SetFinalRotation( float angle )
138  {
139  PCL_PRECONDITION( angle >= 0 && angle <= pcl::Const<float>::_2pi() )
140  if ( (m_finalAngle = angle) < m_initialAngle )
141  pcl::Swap( m_initialAngle, m_finalAngle );
142  }
143 
149  void SetRotationRange( float initialAngle, float finalAngle )
150  {
151  PCL_PRECONDITION( initialAngle >= 0 && initialAngle <= pcl::Const<float>::_2pi() )
152  PCL_PRECONDITION( finalAngle >= 0 && finalAngle <= pcl::Const<float>::_2pi() )
153  m_initialAngle = initialAngle;
154  m_finalAngle = finalAngle;
155  if ( m_finalAngle < m_initialAngle )
156  pcl::Swap( m_initialAngle, m_finalAngle );
157  }
158 
161  void GetNewSizes( int& w, int& h ) const override
162  {
163  // No change
164  }
165 
169  virtual bool IsLogPolar() const
170  {
171  return false;
172  }
173 
174 protected:
175 
176  float m_initialAngle = 0; // in radians
177  float m_finalAngle = pcl::Const<float>::_2pi();
178 };
179 
180 // ----------------------------------------------------------------------------
181 
203 class PCL_CLASS PolarTransform : public PolarTransformBase
204 {
205 public:
206 
213  : PolarTransformBase( p )
214  {
215  }
216 
220  PolarTransform( const PolarTransform& ) = default;
221 
222 protected:
223 
224  // Inherited from ImageTransformation.
225  void Apply( pcl::Image& ) const override;
226  void Apply( pcl::DImage& ) const override;
227  void Apply( pcl::UInt8Image& ) const override;
228  void Apply( pcl::UInt16Image& ) const override;
229  void Apply( pcl::UInt32Image& ) const override;
230 };
231 
232 // ----------------------------------------------------------------------------
233 
255 class PCL_CLASS LogPolarTransform : public PolarTransformBase
256 {
257 public:
258 
265  : PolarTransformBase( p )
266  {
267  }
268 
273 
277  bool IsLogPolar() const override
278  {
279  return true;
280  }
281 
282 protected:
283 
284  // Inherited from ImageTransformation.
285  void Apply( pcl::Image& ) const override;
286  void Apply( pcl::DImage& ) const override;
287  void Apply( pcl::UInt8Image& ) const override;
288  void Apply( pcl::UInt16Image& ) const override;
289  void Apply( pcl::UInt32Image& ) const override;
290 };
291 
292 // ----------------------------------------------------------------------------
293 
294 } // pcl
295 
296 #endif // __PCL_PolarTransform_h
297 
298 // ----------------------------------------------------------------------------
299 // EOF pcl/PolarTransform.h - Released 2024-06-18T15:48:54Z
Fundamental numeric constants.
Definition: Constants.h:73
static constexpr T _2pi()
Definition: Constants.h:114
Implements a generic, two-dimensional, shared or local image.
Definition: Image.h:278
Abstract base class of all PCL interpolating geometric image transformations.
In-place transformation to log-polar coordinates.
LogPolarTransform(PixelInterpolation &p)
void Apply(pcl::UInt32Image &) const override
void Apply(pcl::DImage &) const override
void Apply(pcl::UInt16Image &) const override
void Apply(pcl::UInt8Image &) const override
void Apply(pcl::Image &) const override
LogPolarTransform(const LogPolarTransform &)=default
A process using multiple concurrent execution threads.
Abstract root base class for all pixel interpolation algorithms.
Base class of polar transforms.
void SetInitialRotation(float angle)
void GetNewSizes(int &w, int &h) const override
PolarTransformBase(const PolarTransformBase &)=default
PolarTransformBase(PixelInterpolation &p)
void SetRotationRange(float initialAngle, float finalAngle)
void SetFinalRotation(float angle)
float FinalRotation() const
float InitialRotation() const
In-place transformation to polar coordinates.
PolarTransform(const PolarTransform &)=default
void Apply(pcl::Image &) const override
void Apply(pcl::DImage &) const override
void Apply(pcl::UInt8Image &) const override
PolarTransform(PixelInterpolation &p)
void Apply(pcl::UInt32Image &) const override
void Apply(pcl::UInt16Image &) const override
void Swap(GenericPoint< T > &p1, GenericPoint< T > &p2) noexcept
Definition: Point.h:1459
PCL root namespace.
Definition: AbstractImage.h:77