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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>

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 ()
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

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 448 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
input the subclass' input cloud dataset.
lrf_estimation a pointer to a local reference frame estimation class to be used as default.
Returns
true if frames_ has been correctly initialized.

Definition at line 492 of file feature.h.

PointCloudLRF

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

Definition at line 451 of file feature.h.

PointCloudLRFConstPtr

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

Definition at line 453 of file feature.h.

PointCloudLRFPtr

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

Definition at line 452 of file feature.h.

Constructor & Destructor Documentation

FeatureWithLocalReferenceFrames()

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

Empty constructor.

Definition at line 456 of file feature.h.

~FeatureWithLocalReferenceFrames()

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

Empty destructor.

Definition at line 459 of file feature.h.

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 476 of file feature.h.

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] frames the const boost shared pointer to a PointCloud of reference frames.

Definition at line 468 of file feature.h.

Member Data Documentation

frames_

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

A boost shared pointer to the local reference frames.

Definition at line 483 of file feature.h.

Referenced by pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >::getInputReferenceFrames(), and pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >::setInputReferenceFrames().

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 485 of file feature.h.

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

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_feature_with_local_reference_frames.html