PCL
PolarTransform.h
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6 // ----------------------------------------------------------------------------
7 // pcl/PolarTransform.h - Released 2019-11-07T10:59:34Z
8 // ----------------------------------------------------------------------------
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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 
104  PolarTransformBase( const PolarTransformBase& ) = default;
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  {
214  }
215 
219  PolarTransform( const PolarTransform& ) = default;
220 
221 protected:
222 
223  // Inherited from ImageTransformation.
224  void Apply( pcl::Image& ) const override;
225  void Apply( pcl::DImage& ) const override;
226  void Apply( pcl::UInt8Image& ) const override;
227  void Apply( pcl::UInt16Image& ) const override;
228  void Apply( pcl::UInt32Image& ) const override;
229 };
230 
231 // ----------------------------------------------------------------------------
232 
254 class PCL_CLASS LogPolarTransform : public PolarTransformBase
255 {
256 public:
257 
264  {
265  }
266 
270  LogPolarTransform( const LogPolarTransform& ) = default;
271 
275  bool IsLogPolar() const override
276  {
277  return true;
278  }
279 
280 protected:
281 
282  // Inherited from ImageTransformation.
283  void Apply( pcl::Image& ) const override;
284  void Apply( pcl::DImage& ) const override;
285  void Apply( pcl::UInt8Image& ) const override;
286  void Apply( pcl::UInt16Image& ) const override;
287  void Apply( pcl::UInt32Image& ) const override;
288 };
289 
290 // ----------------------------------------------------------------------------
291 
292 } // pcl
293 
294 #endif // __PCL_PolarTransform_h
295 
296 // ----------------------------------------------------------------------------
297 // EOF pcl/PolarTransform.h - Released 2019-11-07T10:59:34Z
Fundamental numeric constants.
Definition: Constants.h:72
LogPolarTransform(PixelInterpolation &p)
void Swap(GenericPoint< T > &p1, GenericPoint< T > &p2)
Definition: Point.h:1402
In-place transformation to log-polar coordinates.
In-place transformation to polar coordinates.
PCL root namespace.
Definition: AbstractImage.h:76
void SetInitialRotation(float angle)
16-bit unsigned integer image.
void SetRotationRange(float initialAngle, float finalAngle)
PolarTransformBase(PixelInterpolation &p)
void Apply(FI i, FI j, F f)
Definition: Utility.h:249
64-bit floating point real image.
32-bit unsigned integer image.
8-bit unsigned integer image.
Abstract base class of all PCL interpolating geometric image transformations.
static constexpr T _2pi()
Definition: Constants.h:114
float FinalRotation() const
void SetFinalRotation(float angle)
float InitialRotation() const
Abstract root base class for all pixel interpolation algorithms.
void GetNewSizes(int &w, int &h) const override
Base class of polar transforms.
PolarTransform(PixelInterpolation &p)
32-bit floating point real image.
A process using multiple concurrent execution threads.