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PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensional vector. More...

#include <pcl/point_representation.h>

Public Types

using Ptr = shared_ptr< PointRepresentation< PointT > >
using ConstPtr = shared_ptr< const PointRepresentation< PointT > >

Public Member Functions

virtual ~PointRepresentation ()=default
Empty destructor. More...
virtual void copyToFloatArray (const PointT &p, float *out) const =0
Copy point data from input point to a float array. More...
bool isTrivial () const
Returns whether this point representation is trivial. More...
virtual bool isValid (const PointT &p) const
Verify that the input point is valid. More...
template<typename OutputType >
void vectorize (const PointT &p, OutputType &out) const
Convert input point into a vector representation, rescaling by alpha. More...
void setRescaleValues (const float *rescale_array)
Set the rescale values to use when vectorizing points. More...
int getNumberOfDimensions () const
Return the number of dimensions in the point's vector representation. More...

Protected Attributes

int nr_dimensions_ = 0
The number of dimensions in this point's vector (i.e. More...
std::vector< float > alpha_
A vector containing the rescale factor to apply to each dimension. More...
bool trivial_ = false
Indicates whether this point representation is trivial. More...

Detailed Description

template<typename PointT>
class pcl::PointRepresentation< PointT >

PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensional vector.

Note
This is an abstract class. Subclasses must set nr_dimensions_ to the appropriate value in the constructor and provide an implementation of the pure virtual copyToFloatArray method.
Author
Michael Dixon

Definition at line 59 of file point_representation.h.

Member Typedef Documentation

ConstPtr

template<typename PointT >
using pcl::PointRepresentation< PointT >::ConstPtr = shared_ptr<const PointRepresentation<PointT> >

Definition at line 79 of file point_representation.h.

Ptr

template<typename PointT >
using pcl::PointRepresentation< PointT >::Ptr = shared_ptr<PointRepresentation<PointT> >

Definition at line 78 of file point_representation.h.

Constructor & Destructor Documentation

~PointRepresentation()

template<typename PointT >
virtual pcl::PointRepresentation< PointT >::~PointRepresentation ( )
virtualdefault

Empty destructor.

Member Function Documentation

copyToFloatArray()

template<typename PointT >
virtual void pcl::PointRepresentation< PointT >::copyToFloatArray ( const PointT & p,
float * out
) const
pure virtual

Copy point data from input point to a float array.

This method must be overridden in all subclasses.

Parameters
[in] p The input point
[out] out A pointer to a float array.

Implemented in pcl::DefaultFeatureRepresentation< VFHSignature308 >, pcl::DefaultPointRepresentation< UniqueShapeContext1960 >, pcl::DefaultPointRepresentation< SHOT352 >, pcl::DefaultPointRepresentation< SHOT1344 >, pcl::DefaultPointRepresentation< ShapeContext1980 >, pcl::DefaultPointRepresentation< PPFSignature >, pcl::DefaultFeatureRepresentation< PPFSignature >, pcl::GeneralizedIterativeClosestPoint6D::MyPointRepresentation, pcl::DefaultPointRepresentation< PointXYZI >, pcl::DefaultPointRepresentation< PointXYZ >, pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::MyPointRepresentation, pcl::DefaultPointRepresentation< PointNormal >, pcl::DefaultFeatureRepresentation< PointDefault >, pcl::DefaultPointRepresentation< PointDefault >, pcl::CustomPointRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PFHSignature125 >, pcl::DefaultFeatureRepresentation< PFHRGBSignature250 >, pcl::DefaultFeatureRepresentation< NormalBasedSignature12 >, pcl::DefaultPointRepresentation< Narf36 >, pcl::DefaultFeatureRepresentation< GASDSignature984 >, pcl::DefaultFeatureRepresentation< GASDSignature7992 >, pcl::DefaultFeatureRepresentation< GASDSignature512 >, and pcl::DefaultFeatureRepresentation< FPFHSignature33 >.

Referenced by pcl::PointRepresentation< SHOT1344 >::isValid(), and pcl::PointRepresentation< SHOT1344 >::vectorize().

getNumberOfDimensions()

template<typename PointT >
int pcl::PointRepresentation< PointT >::getNumberOfDimensions ( ) const
inline

Return the number of dimensions in the point's vector representation.

Definition at line 172 of file point_representation.h.

isTrivial()

template<typename PointT >
bool pcl::PointRepresentation< PointT >::isTrivial ( ) const
inline

Returns whether this point representation is trivial.

It is trivial if and only if the following conditions hold:

  • the relevant data consists only of float values
  • the vectorize operation directly copies the first nr_dimensions_ elements of PointT to the out array
  • sizeof(PointT) is a multiple of sizeof(float) In short, a trivial point representation converts the input point to a float array that is the same as if the point was reinterpret_casted to a float array of length nr_dimensions_ .

Definition at line 98 of file point_representation.h.

isValid()

template<typename PointT >
virtual bool pcl::PointRepresentation< PointT >::isValid ( const PointT & p ) const
inlinevirtual

Verify that the input point is valid.

Parameters
p The point to validate

Definition at line 104 of file point_representation.h.

setRescaleValues()

template<typename PointT >
void pcl::PointRepresentation< PointT >::setRescaleValues ( const float * rescale_array )
inline

Set the rescale values to use when vectorizing points.

Parameters
[in] rescale_array The array/vector of rescale values. Can be of any type that implements the [] operator.

Definition at line 165 of file point_representation.h.

vectorize()

template<typename PointT >
template<typename OutputType >
void pcl::PointRepresentation< PointT >::vectorize ( const PointT & p,
OutputType & out
) const
inline

Convert input point into a vector representation, rescaling by alpha.

Parameters
[in] p the input point
[out] out The output vector. Can be of any type that implements the [] operator.

Definition at line 144 of file point_representation.h.

Member Data Documentation

alpha_

template<typename PointT >
std::vector<float> pcl::PointRepresentation< PointT >::alpha_
protected

A vector containing the rescale factor to apply to each dimension.

Definition at line 65 of file point_representation.h.

Referenced by pcl::PointRepresentation< SHOT1344 >::isTrivial(), pcl::PointRepresentation< SHOT1344 >::setRescaleValues(), and pcl::PointRepresentation< SHOT1344 >::vectorize().

nr_dimensions_

template<typename PointT >
int pcl::PointRepresentation< PointT >::nr_dimensions_ = 0
protected

trivial_

template<typename PointT >
bool pcl::PointRepresentation< PointT >::trivial_ = false
protected

Indicates whether this point representation is trivial.

It is trivial if and only if the following conditions hold:

  • the relevant data consists only of float values
  • the vectorize operation directly copies the first nr_dimensions_ elements of PointT to the out array
  • sizeof(PointT) is a multiple of sizeof(float) In short, a trivial point representation converts the input point to a float array that is the same as if the point was reinterpret_casted to a float array of length nr_dimensions_ . This value says that this representation can be trivial; it is only trivial if setRescaleValues() has not been set.

Definition at line 75 of file point_representation.h.

Referenced by pcl::PointRepresentation< SHOT1344 >::isTrivial(), and pcl::PointRepresentation< SHOT1344 >::isValid().


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_point_representation.html