Point Cloud Library (PCL)
1.7.1
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PCL base class. More...
#include <pcl/pcl_base.h>
Public Types | |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Protected Attributes | |
PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
PCL base class.
Implements methods that are used by most PCL algorithms.
Definition at line 68 of file pcl_base.h.
typedef pcl::PointCloud<PointT> pcl::PCLBase< PointT >::PointCloud |
Definition at line 71 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase< PointT >::PointCloudConstPtr |
Definition at line 73 of file pcl_base.h.
typedef PointCloud::Ptr pcl::PCLBase< PointT >::PointCloudPtr |
Definition at line 72 of file pcl_base.h.
typedef boost::shared_ptr<PointIndices const> pcl::PCLBase< PointT >::PointIndicesConstPtr |
Definition at line 76 of file pcl_base.h.
typedef boost::shared_ptr<PointIndices> pcl::PCLBase< PointT >::PointIndicesPtr |
Definition at line 75 of file pcl_base.h.
pcl::PCLBase< PointT >::PCLBase | ( | ) |
Empty constructor.
Definition at line 46 of file pcl_base.hpp.
pcl::PCLBase< PointT >::PCLBase | ( | const PCLBase< PointT > & | base | ) |
Copy constructor.
Definition at line 56 of file pcl_base.hpp.
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inlinevirtual |
Destructor.
Definition at line 85 of file pcl_base.h.
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protected |
This method should get called after finishing the actual computation.
Definition at line 174 of file pcl_base.hpp.
Referenced by pcl::FilterIndices< pcl::pcl::PCLPointCloud2 >::filter(), and pcl::Filter< pcl::PointXYZRGBL >::filter().
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Get a pointer to the vector of indices used.
Definition at line 132 of file pcl_base.h.
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inline |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
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This method should get called before starting the actual computation.
Internally, initCompute() does the following:
Definition at line 139 of file pcl_base.hpp.
Referenced by pcl::FilterIndices< pcl::pcl::PCLPointCloud2 >::filter(), and pcl::Filter< pcl::PointXYZRGBL >::filter().
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inline |
Override PointCloud operator[] to shorten code.
[in] | pos | position in indices_ vector |
Definition at line 139 of file pcl_base.h.
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Provide a pointer to the vector of indices that represents the input data.
[in] | indices | a pointer to the indices that represent the input data. |
Definition at line 73 of file pcl_base.hpp.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().
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Provide a pointer to the vector of indices that represents the input data.
[in] | indices | a pointer to the indices that represent the input data. |
Definition at line 82 of file pcl_base.hpp.
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virtual |
Provide a pointer to the vector of indices that represents the input data.
[in] | indices | a pointer to the indices that represent the input data. |
Definition at line 91 of file pcl_base.hpp.
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Set the indices for the points laying within an interest region of the point cloud.
[in] | row_start | the offset on rows |
[in] | col_start | the offset on columns |
[in] | nb_rows | the number of rows to be considered row_start included |
[in] | nb_cols | the number of columns to be considered col_start included |
Definition at line 100 of file pcl_base.hpp.
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virtual |
Provide a pointer to the input dataset.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Reimplemented in pcl::GrabCut< PointT >, pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >, and pcl::PCA< PointT >.
Definition at line 66 of file pcl_base.hpp.
Referenced by pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute(), pcl::SIFTKeypoint< PointInT, PointOutT >::detectKeypoints(), pcl::NormalDistributionsTransform< PointSource, PointTarget >::init(), pcl::OrganizedMultiPlaneSegmentation< PointT, PointNT, PointLT >::segment(), pcl::PCA< PointT >::setInputCloud(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::setInputCloud(), pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar >::setInputSource(), pcl::Registration< PointSource, PointTarget >::setInputSource(), pcl::HypothesisVerification< ModelT, SceneT >::setSceneCloud(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::simplifyCloud().
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If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
Definition at line 155 of file pcl_base.h.
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A pointer to the vector of point indices to use.
Definition at line 149 of file pcl_base.h.
Referenced by pcl::PCLBase< PointXYZRGB >::getIndices(), pcl::PCLBase< PointXYZRGB >::operator[](), and pcl::PCLBase< PointXYZRGB >::~PCLBase().
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The input point cloud dataset.
Definition at line 146 of file pcl_base.h.
Referenced by pcl::Filter< pcl::PointXYZRGBL >::filter(), pcl::PCLBase< PointXYZRGB >::getInputCloud(), pcl::PCLBase< PointXYZRGB >::operator[](), and pcl::PCLBase< PointXYZRGB >::~PCLBase().
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Set to true if point indices are used.
Definition at line 152 of file pcl_base.h.
Referenced by pcl::ExtractIndices< PointT >::ExtractIndices().