A point cloud. More...
#include <PointMatcher.h>
Classes | |
| struct | InvalidField |
| An exception thrown when one tries to access features or descriptors unexisting or of wrong dimensions. More... | |
| struct | Label |
| The name for a certain number of dim. More... | |
| struct | Labels |
| A vector of Label. More... | |
Public Types | |
| typedef const Eigen::Block < const Matrix > | ConstView |
| A view on a const feature or const descriptor. | |
| typedef Matrix::Index | Index |
| An index to a row or a column. | |
| typedef const Eigen::Block < const Int64Matrix > | TimeConstView |
| a view on a const time | |
| typedef Eigen::Block< Int64Matrix > | TimeView |
| A view on a time. | |
| typedef Eigen::Block< Matrix > | View |
| A view on a feature or descriptor. | |
Public Member Functions | |
| void | addDescriptor (const std::string &name, const Matrix &newDescriptor) |
| Add a descriptor by name, remove first if already exists. | |
| void | addFeature (const std::string &name, const Matrix &newFeature) |
| Add a feature by name, remove first if already exists. The 'pad' field will stay at the end for homogeneous transformation. | |
| void | addTime (const std::string &name, const Int64Matrix &newTime) |
| Add a time by name, remove first if already exists. | |
| void | allocateDescriptor (const std::string &name, const unsigned dim) |
| Makes sure a descriptor of a given name exists, if present, check its dimensions. | |
| void | allocateDescriptors (const Labels &newLabels) |
| Make sure a vector of descriptors of given names exist. | |
| void | allocateFeature (const std::string &name, const unsigned dim) |
| Makes sure a feature of a given name exists, if present, check its dimensions. | |
| void | allocateFeatures (const Labels &newLabels) |
| Make sure a vector of features of given names exist. | |
| void | allocateTime (const std::string &name, const unsigned dim) |
| Makes sure a time of a given name exists, if present, check its dimensions. | |
| void | allocateTimes (const Labels &newLabels) |
| Make sure a vector of time of given names exist. | |
| void | assertDescriptorConsistency () const |
| Assert if descriptors are not consistent with features. | |
| void | assertTimesConsistency () const |
| Assert if times are not consistent with features. | |
| void | concatenate (const DataPoints &dp) |
| Add another point cloud after the current one. Faster merge will be achieved if all descriptor and time labels are the same. If not, only the commun labels with be kept. | |
| void | conservativeResize (Index pointCount) |
| Resize the cloud to pointCount points, conserving existing ones. | |
| DataPoints | createSimilarEmpty () const |
| Create an empty DataPoints of similar dimensions and labels for features, descriptors and times. | |
| DataPoints | createSimilarEmpty (Index pointCount) const |
| Create an empty DataPoints with pointCount points of similar dimensions and labels, both for features and descriptors. | |
| DataPoints () | |
| Construct an empty point cloud. | |
| DataPoints (const Labels &featureLabels, const Labels &descriptorLabels, const size_t pointCount) | |
| Construct a point cloud from existing descriptions. | |
| DataPoints (const Labels &featureLabels, const Labels &descriptorLabels, const Labels &timeLabels, const size_t pointCount) | |
| Construct a point cloud from existing descriptions. | |
| DataPoints (const Matrix &features, const Labels &featureLabels) | |
| Construct a point cloud from existing features without any descriptor. | |
| DataPoints (const Matrix &features, const Labels &featureLabels, const Matrix &descriptors, const Labels &descriptorLabels) | |
| Construct a point cloud from existing features and descriptors. | |
| DataPoints (const Matrix &features, const Labels &featureLabels, const Matrix &descriptors, const Labels &descriptorLabels, const Int64Matrix ×, const Labels &timeLabels) | |
| Construct a point cloud from existing features, descriptors and times. | |
| bool | descriptorExists (const std::string &name) const |
| Look if a descriptor with a given name exist. | |
| bool | descriptorExists (const std::string &name, const unsigned dim) const |
| Look if a descriptor with a given name and dimension exist. | |
| bool | featureExists (const std::string &name) const |
| Look if a feature with a given name exist. | |
| bool | featureExists (const std::string &name, const unsigned dim) const |
| Look if a feature with a given name and dimension exist. | |
| Matrix | getDescriptorCopyByName (const std::string &name) const |
| Get descriptor by name, return a matrix containing a copy of the requested descriptor. | |
| unsigned | getDescriptorDim () const |
| Return the total number of descriptors. | |
| unsigned | getDescriptorDimension (const std::string &name) const |
| Return the dimension of a descriptor with a given name. Return 0 if the name is not found. | |
| ConstView | getDescriptorRowViewByName (const std::string &name, const unsigned row) const |
| Get a const view on a descriptor row by name and number, throw an exception if it does not exist. | |
| View | getDescriptorRowViewByName (const std::string &name, const unsigned row) |
| Get a view on a descriptor by row name and number, throw an exception if it does not exist. | |
| unsigned | getDescriptorStartingRow (const std::string &name) const |
| Return the starting row of a descriptor with a given name. Return 0 if the name is not found. | |
| ConstView | getDescriptorViewByName (const std::string &name) const |
| Get a const view on a descriptor by name, throw an exception if it does not exist. | |
| View | getDescriptorViewByName (const std::string &name) |
| Get a view on a descriptor by name, throw an exception if it does not exist. | |
| unsigned | getEuclideanDim () const |
| Return the dimension of the point cloud. | |
| Matrix | getFeatureCopyByName (const std::string &name) const |
| Get feature by name, return a matrix containing a copy of the requested feature. | |
| unsigned | getFeatureDimension (const std::string &name) const |
| Return the dimension of a feature with a given name. Return 0 if the name is not found. | |
| ConstView | getFeatureRowViewByName (const std::string &name, const unsigned row) const |
| Get a const view on a feature row by name and number, throw an exception if it does not exist. | |
| View | getFeatureRowViewByName (const std::string &name, const unsigned row) |
| Get a view on a feature by row name and number, throw an exception if it does not exist. | |
| unsigned | getFeatureStartingRow (const std::string &name) const |
| Return the starting row of a feature with a given name. Return 0 if the name is not found. | |
| ConstView | getFeatureViewByName (const std::string &name) const |
| Get a const view on a feature by name, throw an exception if it does not exist. | |
| View | getFeatureViewByName (const std::string &name) |
| Get a view on a feature by name, throw an exception if it does not exist. | |
| unsigned | getHomogeneousDim () const |
| Return the dimension of the point cloud in homogeneous coordinates (one more than Euclidean dimension) | |
| unsigned | getNbGroupedDescriptors () const |
| Return the number of grouped descriptors (e.g., normals can have 3 components but would count as only one) | |
| unsigned | getNbPoints () const |
| Return the number of points contained in the point cloud. | |
| Int64Matrix | getTimeCopyByName (const std::string &name) const |
| Get time by name, return a matrix containing a copy of the requested time. | |
| unsigned | getTimeDim () const |
| Return the total number of times. | |
| unsigned | getTimeDimension (const std::string &name) const |
| Return the dimension of a time with a given name. Return 0 if the name is not found. | |
| TimeConstView | getTimeRowViewByName (const std::string &name, const unsigned row) const |
| Get a const view on a time row by name and number, throw an exception if it does not exist. | |
| TimeView | getTimeRowViewByName (const std::string &name, const unsigned row) |
| Get a view on a time by row name and number, throw an exception if it does not exist. | |
| unsigned | getTimeStartingRow (const std::string &name) const |
| Return the starting row of a time with a given name. Return 0 if the name is not found. | |
| TimeConstView | getTimeViewByName (const std::string &name) const |
| Get a const view on a time by name, throw an exception if it does not exist. | |
| TimeView | getTimeViewByName (const std::string &name) |
| Get a view on a time by name, throw an exception if it does not exist. | |
| bool | operator== (const DataPoints &that) const |
| Return whether two point-clouds are identical (same data and same labels) | |
| void | removeDescriptor (const std::string &name) |
| Remove a descriptor by name, the whole matrix will be copied. | |
| void | removeFeature (const std::string &name) |
| Remove a feature by name, the whole matrix will be copied. | |
| void | removeTime (const std::string &name) |
| Remove a descriptor by name, the whole matrix will be copied. | |
| void | save (const std::string &fileName, bool binary=false) const |
| Save a point cloud to a file, determine format from extension. | |
| void | setColFrom (Index thisCol, const DataPoints &that, Index thatCol) |
| Set column thisCol equal to column thatCol of that, copy features and descriptors if any. Assumes sizes are similar. | |
| void | swapCols (Index iCol, Index jCol) |
| Swap column i and j in the point cloud, swap also features and descriptors if any. Assumes sizes are similar. | |
| bool | timeExists (const std::string &name) const |
| Look if a time with a given name exist. | |
| bool | timeExists (const std::string &name, const unsigned dim) const |
| Look if a time with a given name and dimension exist. | |
Static Public Member Functions | |
| static DataPoints | load (const std::string &fileName) |
| Load a point cloud from a file, determine format from extension. | |
Public Attributes | |
| Labels | descriptorLabels |
| labels of descriptors | |
| Matrix | descriptors |
| descriptors of points in the cloud, might be empty | |
| Labels | featureLabels |
| labels of features | |
| Matrix | features |
| features of points in the cloud | |
| Labels | timeLabels |
| labels of times. | |
| Int64Matrix | times |
| time associated to each points, might be empty | |
Private Member Functions | |
| template<typename MatrixType > | |
| void | addField (const std::string &name, const MatrixType &newField, Labels &labels, MatrixType &data) const |
| Add a descriptor or feature by name, remove first if already exists. | |
| template<typename MatrixType > | |
| void | allocateField (const std::string &name, const unsigned dim, Labels &labels, MatrixType &data) const |
| Make sure a field of a given name exists, if present, check its dimensions. | |
| template<typename MatrixType > | |
| void | allocateFields (const Labels &newLabels, Labels &labels, MatrixType &data) const |
| Make sure a vector of fields of given names exist. | |
| void | assertConsistency (const std::string &dataName, const int dataRows, const int dataCols, const Labels &labels) const |
| Assert if a matrix is not consistent with features. | |
| template<typename MatrixType > | |
| void | concatenateLabelledMatrix (Labels *labels, MatrixType *data, const Labels extraLabels, const MatrixType extraData) |
| Add another matrix after the current one. Faster merge will be achieved if all labels are the same. If not, only the commun labels with be kept. | |
| bool | fieldExists (const std::string &name, const unsigned dim, const Labels &labels) const |
| Look if a descriptor or a feature with a given name and dimension exist. | |
| template<typename MatrixType > | |
| const Eigen::Block< const MatrixType > | getConstViewByName (const std::string &name, const Labels &labels, const MatrixType &data, const int viewRow=-1) const |
| unsigned | getFieldDimension (const std::string &name, const Labels &labels) const |
| Return the dimension of a feature or a descriptor with a given name. Return 0 if the name is not found. | |
| unsigned | getFieldStartingRow (const std::string &name, const Labels &labels) const |
| Return the starting row of a feature or a descriptor with a given name. Return 0 if the name is not found. | |
| template<typename MatrixType > | |
| Eigen::Block< MatrixType > | getViewByName (const std::string &name, const Labels &labels, MatrixType &data, const int viewRow=-1) const |
| template<typename MatrixType > | |
| void | removeField (const std::string &name, Labels &labels, MatrixType &data) const |
| Remove a descriptor or feature by name, no copy is done. | |
A point cloud.
For every point, it has features and, optionally, descriptors. Features are typically the coordinates of the point in the space. Descriptors contain information attached to the point, such as its color, its normal vector, etc. In both features and descriptors, every point can have multiple channels. Every channel has a dimension and a name. For instance, a typical 3D cloud might have the channels x, y, z, w of dimension 1 as features (using homogeneous coordinates), and the channel normal of size 3 as descriptor. There are no sub-channels, such as normal.x, for the sake of simplicity. Moreover, the position of the points is in homogeneous coordinates because they need both translation and rotation, while the normals need only rotation. All channels contain scalar values of type ScalarType.
Definition at line 199 of file PointMatcher.h.
| typedef const Eigen::Block<const Matrix> PointMatcher< T >::DataPoints::ConstView |
A view on a const feature or const descriptor.
Definition at line 206 of file PointMatcher.h.
| typedef Matrix::Index PointMatcher< T >::DataPoints::Index |
An index to a row or a column.
Definition at line 210 of file PointMatcher.h.
| typedef const Eigen::Block<const Int64Matrix> PointMatcher< T >::DataPoints::TimeConstView |
a view on a const time
Definition at line 208 of file PointMatcher.h.
| typedef Eigen::Block<Int64Matrix> PointMatcher< T >::DataPoints::TimeView |
A view on a time.
Definition at line 204 of file PointMatcher.h.
| typedef Eigen::Block<Matrix> PointMatcher< T >::DataPoints::View |
A view on a feature or descriptor.
Definition at line 202 of file PointMatcher.h.
| PointMatcher< T >::DataPoints::DataPoints | ( | ) |
Construct an empty point cloud.
Definition at line 97 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::DataPoints | ( | const Labels & | featureLabels, |
| const Labels & | descriptorLabels, | ||
| const size_t | pointCount | ||
| ) |
Construct a point cloud from existing descriptions.
Definition at line 102 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::DataPoints | ( | const Labels & | featureLabels, |
| const Labels & | descriptorLabels, | ||
| const Labels & | timeLabels, | ||
| const size_t | pointCount | ||
| ) |
Construct a point cloud from existing descriptions.
Definition at line 113 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::DataPoints | ( | const Matrix & | features, |
| const Labels & | featureLabels | ||
| ) |
Construct a point cloud from existing features without any descriptor.
Definition at line 131 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::DataPoints | ( | const Matrix & | features, |
| const Labels & | featureLabels, | ||
| const Matrix & | descriptors, | ||
| const Labels & | descriptorLabels | ||
| ) |
Construct a point cloud from existing features and descriptors.
Definition at line 138 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::DataPoints | ( | const Matrix & | features, |
| const Labels & | featureLabels, | ||
| const Matrix & | descriptors, | ||
| const Labels & | descriptorLabels, | ||
| const Int64Matrix & | times, | ||
| const Labels & | timeLabels | ||
| ) |
Construct a point cloud from existing features, descriptors and times.
Definition at line 147 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::addDescriptor | ( | const std::string & | name, |
| const Matrix & | newDescriptor | ||
| ) |
Add a descriptor by name, remove first if already exists.
Definition at line 532 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::addFeature | ( | const std::string & | name, |
| const Matrix & | newFeature | ||
| ) |
Add a feature by name, remove first if already exists. The 'pad' field will stay at the end for homogeneous transformation.
Definition at line 435 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::addField | ( | const std::string & | name, |
| const MatrixType & | newField, | ||
| Labels & | labels, | ||
| MatrixType & | data | ||
| ) | const [private] |
Add a descriptor or feature by name, remove first if already exists.
Definition at line 827 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::addTime | ( | const std::string & | name, |
| const Int64Matrix & | newTime | ||
| ) |
Add a time by name, remove first if already exists.
Definition at line 636 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateDescriptor | ( | const std::string & | name, |
| const unsigned | dim | ||
| ) |
Makes sure a descriptor of a given name exists, if present, check its dimensions.
Definition at line 518 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateDescriptors | ( | const Labels & | newLabels | ) |
Make sure a vector of descriptors of given names exist.
Definition at line 525 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateFeature | ( | const std::string & | name, |
| const unsigned | dim | ||
| ) |
Makes sure a feature of a given name exists, if present, check its dimensions.
Definition at line 421 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateFeatures | ( | const Labels & | newLabels | ) |
Make sure a vector of features of given names exist.
Definition at line 428 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateField | ( | const std::string & | name, |
| const unsigned | dim, | ||
| Labels & | labels, | ||
| MatrixType & | data | ||
| ) | const [private] |
Make sure a field of a given name exists, if present, check its dimensions.
Definition at line 760 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateFields | ( | const Labels & | newLabels, |
| Labels & | labels, | ||
| MatrixType & | data | ||
| ) | const [private] |
Make sure a vector of fields of given names exist.
Definition at line 785 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateTime | ( | const std::string & | name, |
| const unsigned | dim | ||
| ) |
Makes sure a time of a given name exists, if present, check its dimensions.
Definition at line 621 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::allocateTimes | ( | const Labels & | newLabels | ) |
Make sure a vector of time of given names exist.
Definition at line 628 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::assertConsistency | ( | const std::string & | dataName, |
| const int | dataRows, | ||
| const int | dataCols, | ||
| const Labels & | labels | ||
| ) | const [private] |
Assert if a matrix is not consistent with features.
Definition at line 722 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::assertDescriptorConsistency | ( | ) | const |
Assert if descriptors are not consistent with features.
Definition at line 610 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::assertTimesConsistency | ( | ) | const |
Assert if times are not consistent with features.
Definition at line 715 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::concatenate | ( | const DataPoints & | dp | ) |
Add another point cloud after the current one. Faster merge will be achieved if all descriptor and time labels are the same. If not, only the commun labels with be kept.
Definition at line 225 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::concatenateLabelledMatrix | ( | Labels * | labels, |
| MatrixType * | data, | ||
| const Labels | extraLabels, | ||
| const MatrixType | extraData | ||
| ) | [private] |
Add another matrix after the current one. Faster merge will be achieved if all labels are the same. If not, only the commun labels with be kept.
Definition at line 257 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::conservativeResize | ( | Index | pointCount | ) |
Resize the cloud to pointCount points, conserving existing ones.
Definition at line 327 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints PointMatcher< T >::DataPoints::createSimilarEmpty | ( | ) | const |
Create an empty DataPoints of similar dimensions and labels for features, descriptors and times.
Definition at line 339 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints PointMatcher< T >::DataPoints::createSimilarEmpty | ( | Index | pointCount | ) | const |
Create an empty DataPoints with pointCount points of similar dimensions and labels, both for features and descriptors.
Definition at line 366 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::descriptorExists | ( | const std::string & | name | ) | const |
Look if a descriptor with a given name exist.
Definition at line 582 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::descriptorExists | ( | const std::string & | name, |
| const unsigned | dim | ||
| ) | const |
Look if a descriptor with a given name and dimension exist.
Definition at line 589 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::featureExists | ( | const std::string & | name | ) | const |
Look if a feature with a given name exist.
Definition at line 486 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::featureExists | ( | const std::string & | name, |
| const unsigned | dim | ||
| ) | const |
Look if a feature with a given name and dimension exist.
Definition at line 493 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::fieldExists | ( | const std::string & | name, |
| const unsigned | dim, | ||
| const Labels & | labels | ||
| ) | const [private] |
Look if a descriptor or a feature with a given name and dimension exist.
Definition at line 973 of file pointmatcher/DataPoints.cpp.
| const Eigen::Block< const MatrixType > PointMatcher< T >::DataPoints::getConstViewByName | ( | const std::string & | name, |
| const Labels & | labels, | ||
| const MatrixType & | data, | ||
| const int | viewRow = -1 |
||
| ) | const [private] |
Get a const view on a matrix by name, throw an exception if it does not exist. If viewRow is given, only return this row, otherwise return the full view
Definition at line 921 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::Matrix PointMatcher< T >::DataPoints::getDescriptorCopyByName | ( | const std::string & | name | ) | const |
Get descriptor by name, return a matrix containing a copy of the requested descriptor.
Definition at line 547 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getDescriptorDim | ( | ) | const |
Return the total number of descriptors.
Definition at line 186 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getDescriptorDimension | ( | const std::string & | name | ) | const |
Return the dimension of a descriptor with a given name. Return 0 if the name is not found.
Definition at line 596 of file pointmatcher/DataPoints.cpp.
| const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getDescriptorRowViewByName | ( | const std::string & | name, |
| const unsigned | row | ||
| ) | const |
Get a const view on a descriptor row by name and number, throw an exception if it does not exist.
Definition at line 568 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getDescriptorRowViewByName | ( | const std::string & | name, |
| const unsigned | row | ||
| ) |
Get a view on a descriptor by row name and number, throw an exception if it does not exist.
Definition at line 575 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getDescriptorStartingRow | ( | const std::string & | name | ) | const |
Return the starting row of a descriptor with a given name. Return 0 if the name is not found.
Definition at line 603 of file pointmatcher/DataPoints.cpp.
| const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getDescriptorViewByName | ( | const std::string & | name | ) | const |
Get a const view on a descriptor by name, throw an exception if it does not exist.
Definition at line 554 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getDescriptorViewByName | ( | const std::string & | name | ) |
Get a view on a descriptor by name, throw an exception if it does not exist.
Definition at line 561 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getEuclideanDim | ( | ) | const |
Return the dimension of the point cloud.
Definition at line 165 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::Matrix PointMatcher< T >::DataPoints::getFeatureCopyByName | ( | const std::string & | name | ) | const |
Get feature by name, return a matrix containing a copy of the requested feature.
Definition at line 451 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getFeatureDimension | ( | const std::string & | name | ) | const |
Return the dimension of a feature with a given name. Return 0 if the name is not found.
Definition at line 500 of file pointmatcher/DataPoints.cpp.
| const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getFeatureRowViewByName | ( | const std::string & | name, |
| const unsigned | row | ||
| ) | const |
Get a const view on a feature row by name and number, throw an exception if it does not exist.
Definition at line 472 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getFeatureRowViewByName | ( | const std::string & | name, |
| const unsigned | row | ||
| ) |
Get a view on a feature by row name and number, throw an exception if it does not exist.
Definition at line 479 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getFeatureStartingRow | ( | const std::string & | name | ) | const |
Return the starting row of a feature with a given name. Return 0 if the name is not found.
Definition at line 507 of file pointmatcher/DataPoints.cpp.
| const PointMatcher< T >::DataPoints::ConstView PointMatcher< T >::DataPoints::getFeatureViewByName | ( | const std::string & | name | ) | const |
Get a const view on a feature by name, throw an exception if it does not exist.
Definition at line 458 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::View PointMatcher< T >::DataPoints::getFeatureViewByName | ( | const std::string & | name | ) |
Get a view on a feature by name, throw an exception if it does not exist.
Definition at line 465 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getFieldDimension | ( | const std::string & | name, |
| const Labels & | labels | ||
| ) | const [private] |
Return the dimension of a feature or a descriptor with a given name. Return 0 if the name is not found.
Definition at line 991 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getFieldStartingRow | ( | const std::string & | name, |
| const Labels & | labels | ||
| ) | const [private] |
Return the starting row of a feature or a descriptor with a given name. Return 0 if the name is not found.
Definition at line 1004 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getHomogeneousDim | ( | ) | const |
Return the dimension of the point cloud in homogeneous coordinates (one more than Euclidean dimension)
Definition at line 172 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getNbGroupedDescriptors | ( | ) | const |
Return the number of grouped descriptors (e.g., normals can have 3 components but would count as only one)
Definition at line 179 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getNbPoints | ( | ) | const |
Return the number of points contained in the point cloud.
Definition at line 158 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::Int64Matrix PointMatcher< T >::DataPoints::getTimeCopyByName | ( | const std::string & | name | ) | const |
Get time by name, return a matrix containing a copy of the requested time.
Definition at line 650 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getTimeDim | ( | ) | const |
Return the total number of times.
Definition at line 193 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getTimeDimension | ( | const std::string & | name | ) | const |
Return the dimension of a time with a given name. Return 0 if the name is not found.
Definition at line 701 of file pointmatcher/DataPoints.cpp.
| const PointMatcher< T >::DataPoints::TimeConstView PointMatcher< T >::DataPoints::getTimeRowViewByName | ( | const std::string & | name, |
| const unsigned | row | ||
| ) | const |
Get a const view on a time row by name and number, throw an exception if it does not exist.
Definition at line 672 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::TimeView PointMatcher< T >::DataPoints::getTimeRowViewByName | ( | const std::string & | name, |
| const unsigned | row | ||
| ) |
Get a view on a time by row name and number, throw an exception if it does not exist.
Definition at line 679 of file pointmatcher/DataPoints.cpp.
| unsigned PointMatcher< T >::DataPoints::getTimeStartingRow | ( | const std::string & | name | ) | const |
Return the starting row of a time with a given name. Return 0 if the name is not found.
Definition at line 708 of file pointmatcher/DataPoints.cpp.
| const PointMatcher< T >::DataPoints::TimeConstView PointMatcher< T >::DataPoints::getTimeViewByName | ( | const std::string & | name | ) | const |
Get a const view on a time by name, throw an exception if it does not exist.
Definition at line 658 of file pointmatcher/DataPoints.cpp.
| PointMatcher< T >::DataPoints::TimeView PointMatcher< T >::DataPoints::getTimeViewByName | ( | const std::string & | name | ) |
Get a view on a time by name, throw an exception if it does not exist.
Definition at line 665 of file pointmatcher/DataPoints.cpp.
| Eigen::Block< MatrixType > PointMatcher< T >::DataPoints::getViewByName | ( | const std::string & | name, |
| const Labels & | labels, | ||
| MatrixType & | data, | ||
| const int | viewRow = -1 |
||
| ) | const [private] |
Get a view on a matrix by name, throw an exception if it does not exist If viewRow is given, only return this row, otherwise return the full view
Definition at line 948 of file pointmatcher/DataPoints.cpp.
| template PointMatcher< double >::DataPoints PointMatcher< T >::DataPoints::load | ( | const std::string & | fileName | ) | [static] |
Load a point cloud from a file, determine format from extension.
Definition at line 375 of file pointmatcher/IO.cpp.
| bool PointMatcher< T >::DataPoints::operator== | ( | const DataPoints & | that | ) | const |
Return whether two point-clouds are identical (same data and same labels)
Definition at line 200 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::removeDescriptor | ( | const std::string & | name | ) |
Remove a descriptor by name, the whole matrix will be copied.
Definition at line 539 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::removeFeature | ( | const std::string & | name | ) |
Remove a feature by name, the whole matrix will be copied.
Definition at line 444 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::removeField | ( | const std::string & | name, |
| Labels & | labels, | ||
| MatrixType & | data | ||
| ) | const [private] |
Remove a descriptor or feature by name, no copy is done.
Definition at line 884 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::removeTime | ( | const std::string & | name | ) |
Remove a descriptor by name, the whole matrix will be copied.
Definition at line 643 of file pointmatcher/DataPoints.cpp.
| template void PointMatcher< T >::DataPoints::save | ( | const std::string & | fileName, |
| bool | binary = false |
||
| ) | const |
Save a point cloud to a file, determine format from extension.
Definition at line 809 of file pointmatcher/IO.cpp.
| void PointMatcher< T >::DataPoints::setColFrom | ( | Index | thisCol, |
| const DataPoints & | that, | ||
| Index | thatCol | ||
| ) |
Set column thisCol equal to column thatCol of that, copy features and descriptors if any. Assumes sizes are similar.
Definition at line 392 of file pointmatcher/DataPoints.cpp.
| void PointMatcher< T >::DataPoints::swapCols | ( | Index | iCol, |
| Index | jCol | ||
| ) |
Swap column i and j in the point cloud, swap also features and descriptors if any. Assumes sizes are similar.
Definition at line 405 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::timeExists | ( | const std::string & | name | ) | const |
Look if a time with a given name exist.
Definition at line 687 of file pointmatcher/DataPoints.cpp.
| bool PointMatcher< T >::DataPoints::timeExists | ( | const std::string & | name, |
| const unsigned | dim | ||
| ) | const |
Look if a time with a given name and dimension exist.
Definition at line 694 of file pointmatcher/DataPoints.cpp.
| Labels PointMatcher< T >::DataPoints::descriptorLabels |
labels of descriptors
Definition at line 326 of file PointMatcher.h.
| Matrix PointMatcher< T >::DataPoints::descriptors |
descriptors of points in the cloud, might be empty
Definition at line 325 of file PointMatcher.h.
| Labels PointMatcher< T >::DataPoints::featureLabels |
labels of features
Definition at line 324 of file PointMatcher.h.
| Matrix PointMatcher< T >::DataPoints::features |
features of points in the cloud
Definition at line 323 of file PointMatcher.h.
| Labels PointMatcher< T >::DataPoints::timeLabels |
labels of times.
Definition at line 328 of file PointMatcher.h.
| Int64Matrix PointMatcher< T >::DataPoints::times |
time associated to each points, might be empty
Definition at line 327 of file PointMatcher.h.