Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT > Class Template Reference

FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint. More...

#include <pcl/features/feature.h>

+ Inheritance diagram for pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >:
+ Collaboration diagram for pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >:

Public Types

using PointCloudLRF = pcl::PointCloud< PointRFT >
 
using PointCloudLRFPtr = typename PointCloudLRF::Ptr
 
using PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr
 

Public Member Functions

 FeatureWithLocalReferenceFrames ()
 Empty constructor. More...
 
virtual ~FeatureWithLocalReferenceFrames ()=default
 Default virtual destructor. More...
 
void setInputReferenceFrames (const PointCloudLRFConstPtr &frames)
 Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More...
 
PointCloudLRFConstPtr getInputReferenceFrames () const
 Get a pointer to the local reference frames. More...
 

Protected Types

using LRFEstimationPtr = typename Feature< PointInT, PointRFT >::Ptr
 Check if frames_ has been correctly initialized and compute it if needed. More...
 

Protected Member Functions

virtual bool initLocalReferenceFrames (const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())
 

Protected Attributes

PointCloudLRFConstPtr frames_
 A boost shared pointer to the local reference frames. More...
 
bool frames_never_defined_
 The user has never set the frames. More...
 

Detailed Description

template<typename PointInT, typename PointRFT>
class pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >

FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint.

Attention
This interface is for backward compatibility with existing code and in the future it could be merged with pcl::Feature. Subclasses should call the protected method initLocalReferenceFrames () to correctly initialize the frames_ member.
Author
Nicola Fioraio

Definition at line 439 of file feature.h.

Member Typedef Documentation

◆ LRFEstimationPtr

template<typename PointInT , typename PointRFT >
using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::LRFEstimationPtr = typename Feature<PointInT, PointRFT>::Ptr
protected

Check if frames_ has been correctly initialized and compute it if needed.

Parameters
inputthe subclass' input cloud dataset.
lrf_estimationa pointer to a local reference frame estimation class to be used as default.
Returns
true if frames_ has been correctly initialized.

Definition at line 484 of file feature.h.

◆ PointCloudLRF

template<typename PointInT , typename PointRFT >
using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRF = pcl::PointCloud<PointRFT>

Definition at line 442 of file feature.h.

◆ PointCloudLRFConstPtr

template<typename PointInT , typename PointRFT >
using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr

Definition at line 444 of file feature.h.

◆ PointCloudLRFPtr

template<typename PointInT , typename PointRFT >
using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFPtr = typename PointCloudLRF::Ptr

Definition at line 443 of file feature.h.

Constructor & Destructor Documentation

◆ FeatureWithLocalReferenceFrames()

template<typename PointInT , typename PointRFT >
pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::FeatureWithLocalReferenceFrames ( )
inline

Empty constructor.

Definition at line 447 of file feature.h.

◆ ~FeatureWithLocalReferenceFrames()

template<typename PointInT , typename PointRFT >
virtual pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::~FeatureWithLocalReferenceFrames ( )
virtualdefault

Default virtual destructor.

Member Function Documentation

◆ getInputReferenceFrames()

template<typename PointInT , typename PointRFT >
PointCloudLRFConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::getInputReferenceFrames ( ) const
inline

Get a pointer to the local reference frames.

Definition at line 468 of file feature.h.

References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_.

◆ initLocalReferenceFrames()

template<typename PointInT , typename PointRFT >
bool pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::initLocalReferenceFrames ( const std::size_t &  indices_size,
const LRFEstimationPtr lrf_estimation = LRFEstimationPtr() 
)
protectedvirtual

Definition at line 294 of file feature.hpp.

◆ setInputReferenceFrames()

template<typename PointInT , typename PointRFT >
void pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames ( const PointCloudLRFConstPtr frames)
inline

Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset.

In case of search surface is set to be different from the input cloud, local reference frames should correspond to the input cloud, not the search surface!

Parameters
[in]framesthe const boost shared pointer to a PointCloud of reference frames.

Definition at line 460 of file feature.h.

References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_, and pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_never_defined_.

Member Data Documentation

◆ frames_

template<typename PointInT , typename PointRFT >
PointCloudLRFConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_
protected

◆ frames_never_defined_

template<typename PointInT , typename PointRFT >
bool pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_never_defined_
protected

The user has never set the frames.

Definition at line 477 of file feature.h.

Referenced by pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames().


The documentation for this class was generated from the following files: