Point Cloud Library (PCL)  1.9.1-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 >:

Public Types

typedef pcl::PointCloud< PointRFT > PointCloudLRF
 
typedef PointCloudLRF::Ptr PointCloudLRFPtr
 
typedef PointCloudLRF::ConstPtr PointCloudLRFConstPtr
 

Public Member Functions

 FeatureWithLocalReferenceFrames ()
 Empty constructor. More...
 
virtual ~FeatureWithLocalReferenceFrames ()
 Empty 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

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

Protected Member Functions

virtual bool initLocalReferenceFrames (const 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 446 of file feature.h.

Member Typedef Documentation

template<typename PointInT , typename PointRFT >
typedef Feature<PointInT, PointRFT>::Ptr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::LRFEstimationPtr
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 490 of file feature.h.

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

Definition at line 449 of file feature.h.

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

Definition at line 451 of file feature.h.

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

Definition at line 450 of file feature.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 454 of file feature.h.

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

Empty destructor.

Definition at line 457 of file feature.h.

Member Function Documentation

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

Get a pointer to the local reference frames.

Definition at line 474 of file feature.h.

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

Definition at line 293 of file feature.hpp.

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 466 of file feature.h.

Member Data Documentation

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

A boost shared pointer to the local reference frames.

Definition at line 481 of file feature.h.

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

The user has never set the frames.

Definition at line 483 of file feature.h.


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