PointCloud represents the base class in PCL for storing collections of 3D points. More...

#include <point_cloud.h>

Public Types
typedef std::vector < PointCloud< PointT > , Eigen::aligned_allocator < PointCloud< PointT > > >	CloudVectorType
typedef VectorType::const_iterator	const_iterator
typedef boost::shared_ptr < const PointCloud< PointT > >	ConstPtr
typedef VectorType::iterator	iterator
typedef PointT	PointType
typedef boost::shared_ptr < PointCloud< PointT > >	Ptr
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	VectorType
Public Member Functions
const PointT &	at (int column, int row) const
	Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).
PointT &	at (int column, int row)
	Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).
const PointT &	at (size_t n) const
PointT &	at (size_t n)
const PointT &	back () const
PointT &	back ()
iterator	begin ()
const_iterator	begin () const
void	clear ()
	Removes all points in a cloud and sets the width and height to 0.
bool	empty () const
iterator	end ()
const_iterator	end () const
iterator	erase (iterator position)
	Erase a point in the cloud.
iterator	erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair.
const PointT &	front () const
PointT &	front ()
Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap (int dim, int stride, int offset)
	Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.
const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap (int dim, int stride, int offset) const
	Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.
Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap ()
	Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.
const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap () const
	Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.
iterator	insert (iterator position, const PointT &pt)
	Insert a new point in the cloud, given an iterator.
void	insert (iterator position, size_t n, const PointT &pt)
	Insert a new point in the cloud N times, given an iterator.
template<class InputIterator >
void	insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position.
bool	isOrganized () const
	Return whether a dataset is organized (e.g., arranged in a structured grid).
Ptr	makeShared () const
	Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one.
const PointT &	operator() (size_t column, size_t row) const
	Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).
PointT &	operator() (size_t column, size_t row)
	Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).
const PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud.
PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud.
const PointT &	operator[] (size_t n) const
PointT &	operator[] (size_t n)
	PointCloud ()
	Default constructor. Sets is_dense to true, width and height to 0, and the sensor_origin_ and sensor_orientation_ to identity.
	PointCloud (PointCloud< PointT > &pc)
	Copy constructor (needed by compilers such as Intel C++)
	PointCloud (const PointCloud< PointT > &pc)
	Copy constructor (needed by compilers such as Intel C++)
	PointCloud (const PointCloud< PointT > &pc, const std::vector< int > &indices)
	Copy constructor from point cloud subset.
	PointCloud (uint32_t width_, uint32_t height_, const PointT &value_=PointT())
	Allocate constructor from point cloud subset.
void	push_back (const PointT &pt)
	Insert a new point in the cloud, at the end of the container.
void	reserve (size_t n)
void	resize (size_t n)
	Resize the cloud.
size_t	size () const
void	swap (PointCloud< PointT > &rhs)
	Swap a point cloud with another cloud.
virtual	~PointCloud ()
	Destructor.
Public Attributes
std_msgs::Header	header
	The point cloud header. It contains information about the acquisition time.
uint32_t	height
	The point cloud height (if organized as an image-structure).
bool	is_dense
	True if no points are invalid (e.g., have NaN or Inf values).
std::vector< PointT, Eigen::aligned_allocator < PointT > >	points
	The point data.
Eigen::Quaternionf	sensor_orientation_
	Sensor acquisition pose (rotation).
Eigen::Vector4f	sensor_origin_
	Sensor acquisition pose (origin/translation).
uint32_t	width
	The point cloud width (if organized as an image-structure).
Protected Attributes
boost::shared_ptr< MsgFieldMap >	mapping_
Friends
boost::shared_ptr< MsgFieldMap > &	detail::getMapping (pcl::PointCloud< PointT > &p)

Detailed Description

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

PointCloud represents the base class in PCL for storing collections of 3D points.

The class is templated, which means you need to specify the type of data that it should contain. For example, to create a point cloud that holds 4 random XYZ data points, use:

 pcl::PointCloud<pcl::PointXYZ> cloud;
 cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ())); 
 cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ())); 
 cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ())); 
 cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ()));

The PointCloud class contains the following elements:

width - specifies the width of the point cloud dataset in the number of points. WIDTH has two meanings:
- it can specify the total number of points in the cloud (equal with POINTS see below) for unorganized datasets;
- it can specify the width (total number of points in a row) of an organized point cloud dataset. Mandatory.
height - specifies the height of the point cloud dataset in the number of points. HEIGHT has two meanings:
- it can specify the height (total number of rows) of an organized point cloud dataset;
- it is set to 1 for unorganized datasets (thus used to check whether a dataset is organized or not). Mandatory.
points - the data array where all points of type PointT are stored. Mandatory.

is_dense - specifies if all the data in points is finite (true), or whether it might contain Inf/NaN values (false). Mandatory.

sensor_origin_ - specifies the sensor acquisition pose (origin/translation). Optional.
sensor_orientation_ - specifies the sensor acquisition pose (rotation). Optional.

Author:: Patrick Mihelich, Radu B. Rusu

Definition at line 178 of file point_cloud.h.

Member Typedef Documentation

template<typename PointT>

typedef std::vector<PointCloud<PointT>, Eigen::aligned_allocator<PointCloud<PointT> > > pcl::PointCloud< PointT >::CloudVectorType

Definition at line 440 of file point_cloud.h.

template<typename PointT>

typedef VectorType::const_iterator pcl::PointCloud< PointT >::const_iterator

Definition at line 446 of file point_cloud.h.

template<typename PointT>

typedef boost::shared_ptr<const PointCloud<PointT> > pcl::PointCloud< PointT >::ConstPtr

Reimplemented in pcl::RangeImage, and pcl::RangeImagePlanar.

Definition at line 442 of file point_cloud.h.

template<typename PointT>

typedef VectorType::iterator pcl::PointCloud< PointT >::iterator

Definition at line 445 of file point_cloud.h.

template<typename PointT>

typedef PointT pcl::PointCloud< PointT >::PointType

Definition at line 438 of file point_cloud.h.

template<typename PointT>

typedef boost::shared_ptr<PointCloud<PointT> > pcl::PointCloud< PointT >::Ptr

Reimplemented in pcl::RangeImage, and pcl::RangeImagePlanar.

Definition at line 441 of file point_cloud.h.

template<typename PointT>

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::PointCloud< PointT >::VectorType

Definition at line 439 of file point_cloud.h.

Constructor & Destructor Documentation

template<typename PointT>

pcl::PointCloud< PointT >::PointCloud ( ) [inline]

Default constructor. Sets is_dense to true, width and height to 0, and the sensor_origin_ and sensor_orientation_ to identity.

Definition at line 185 of file point_cloud.h.

template<typename PointT>

pcl::PointCloud< PointT >::PointCloud ( PointCloud< PointT > & pc ) [inline]

Copy constructor (needed by compilers such as Intel C++)

Parameters:

[in] pc the cloud to copy into this

Definition at line 194 of file point_cloud.h.

template<typename PointT>

pcl::PointCloud< PointT >::PointCloud ( const PointCloud< PointT > & pc ) [inline]

Copy constructor (needed by compilers such as Intel C++)

Parameters:

[in] pc the cloud to copy into this

Definition at line 205 of file point_cloud.h.

template<typename PointT>

pcl::PointCloud< PointT >::PointCloud	(	const PointCloud< PointT > &	pc,
		const std::vector< int > &	indices
	)		`[inline]`

Copy constructor from point cloud subset.

Parameters:

[in]	pc	the cloud to copy into this
[in]	indices	the subset to copy

Definition at line 217 of file point_cloud.h.

template<typename PointT>

pcl::PointCloud< PointT >::PointCloud	(	uint32_t	width_,
		uint32_t	height_,
		const PointT &	value_ = `PointT ()`
	)		`[inline]`

Allocate constructor from point cloud subset.

Parameters:

[in]	width_	the cloud width
[in]	height_	the cloud height
[in]	value_	default value

Definition at line 234 of file point_cloud.h.

template<typename PointT>

virtual pcl::PointCloud< PointT >::~PointCloud ( ) [inline, virtual]

Destructor.

Definition at line 246 of file point_cloud.h.

Member Function Documentation

template<typename PointT>

const PointT& pcl::PointCloud< PointT >::at	(	int	column,
		int	row
	)		const `[inline]`

Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 292 of file point_cloud.h.

template<typename PointT>

PointT& pcl::PointCloud< PointT >::at	(	int	column,
		int	row
	)		`[inline]`

Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 306 of file point_cloud.h.

template<typename PointT>

const PointT& pcl::PointCloud< PointT >::at ( size_t n ) const [inline]

Definition at line 473 of file point_cloud.h.

template<typename PointT>

PointT& pcl::PointCloud< PointT >::at ( size_t n ) [inline]

Definition at line 474 of file point_cloud.h.

template<typename PointT>

const PointT& pcl::PointCloud< PointT >::back ( ) const [inline]

Definition at line 477 of file point_cloud.h.

template<typename PointT>

PointT& pcl::PointCloud< PointT >::back ( ) [inline]

Definition at line 478 of file point_cloud.h.

template<typename PointT>

iterator pcl::PointCloud< PointT >::begin ( ) [inline]

Definition at line 447 of file point_cloud.h.

template<typename PointT>

const_iterator pcl::PointCloud< PointT >::begin ( ) const [inline]

Definition at line 449 of file point_cloud.h.

template<typename PointT>

void pcl::PointCloud< PointT >::clear ( ) [inline]

Removes all points in a cloud and sets the width and height to 0.

Definition at line 580 of file point_cloud.h.

template<typename PointT>

bool pcl::PointCloud< PointT >::empty ( ) const [inline]

Definition at line 455 of file point_cloud.h.

template<typename PointT>

iterator pcl::PointCloud< PointT >::end ( ) [inline]

Definition at line 448 of file point_cloud.h.

template<typename PointT>

const_iterator pcl::PointCloud< PointT >::end ( ) const [inline]

Definition at line 450 of file point_cloud.h.

template<typename PointT>

iterator pcl::PointCloud< PointT >::erase ( iterator position ) [inline]

Erase a point in the cloud.

Note:: This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in] position what data point to erase

Returns:: returns the new position iterator

Definition at line 541 of file point_cloud.h.

template<typename PointT>

iterator pcl::PointCloud< PointT >::erase	(	iterator	first,
		iterator	last
	)		`[inline]`

Erase a set of points given by a (first, last) iterator pair.

Note:: This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	first	where to start erasing points from
[in]	last	where to stop erasing points from

Returns:: returns the new position iterator

Definition at line 556 of file point_cloud.h.

template<typename PointT>

const PointT& pcl::PointCloud< PointT >::front ( ) const [inline]

Definition at line 475 of file point_cloud.h.

template<typename PointT>

PointT& pcl::PointCloud< PointT >::front ( ) [inline]

Definition at line 476 of file point_cloud.h.

template<typename PointT>

Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointT >::getMatrixXfMap	(	int	dim,
		int	stride,
		int	offset
	)		`[inline]`

Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.

Note:: This method is for advanced users only! Use with care!

Attention:: Since 1.4.0, Eigen matrices are forced to Row Major to increase the efficiency of the algorithms in PCL This means that the behavior of getMatrixXfMap changed, and is now correctly mapping 1-1 with a PointCloud structure, that is: number of points in a cloud = rows in a matrix, number of point dimensions = columns in a matrix

Parameters:

[in]	dim	the number of dimensions to consider for each point
[in]	stride	the number of values in each point (will be the number of values that separate two of the columns)
[in]	offset	the number of dimensions to skip from the beginning of each point (stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point)

Note:: for getting only XYZ coordinates out of PointXYZ use dim=3, stride=4 and offset=0 due to the alignment.

Attention:: PointT types are most of the time aligned, so the offsets are not continuous!

Definition at line 364 of file point_cloud.h.

template<typename PointT>

const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointT >::getMatrixXfMap	(	int	dim,
		int	stride,
		int	offset
	)		const `[inline]`

Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.

Note:: This method is for advanced users only! Use with care!

Attention:: Since 1.4.0, Eigen matrices are forced to Row Major to increase the efficiency of the algorithms in PCL This means that the behavior of getMatrixXfMap changed, and is now correctly mapping 1-1 with a PointCloud structure, that is: number of points in a cloud = rows in a matrix, number of point dimensions = columns in a matrix

Parameters:

[in]	dim	the number of dimensions to consider for each point
[in]	stride	the number of values in each point (will be the number of values that separate two of the columns)
[in]	offset	the number of dimensions to skip from the beginning of each point (stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point)

Note:: for getting only XYZ coordinates out of PointXYZ use dim=3, stride=4 and offset=0 due to the alignment.

Attention:: PointT types are most of the time aligned, so the offsets are not continuous!

Definition at line 388 of file point_cloud.h.

template<typename PointT>

Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointT >::getMatrixXfMap ( ) [inline]

Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.

Note:: This method is for advanced users only! Use with care!

Attention:: PointT types are most of the time aligned, so the offsets are not continuous! See getMatrixXfMap for more information.

Definition at line 403 of file point_cloud.h.

template<typename PointT>

const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointT >::getMatrixXfMap ( ) const [inline]

Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.

Note:: This method is for advanced users only! Use with care!

Attention:: PointT types are most of the time aligned, so the offsets are not continuous! See getMatrixXfMap for more information.

Definition at line 414 of file point_cloud.h.

template<typename PointT>

iterator pcl::PointCloud< PointT >::insert	(	iterator	position,
		const PointT &	pt
	)		`[inline]`

Insert a new point in the cloud, given an iterator.

Note:: This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	position	where to insert the point
[in]	pt	the point to insert

Returns:: returns the new position iterator

Definition at line 499 of file point_cloud.h.

template<typename PointT>

void pcl::PointCloud< PointT >::insert	(	iterator	position,
		size_t	n,
		const PointT &	pt
	)		`[inline]`

Insert a new point in the cloud N times, given an iterator.

Note:: This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	position	where to insert the point
[in]	n	the number of times to insert the point
[in]	pt	the point to insert

Definition at line 514 of file point_cloud.h.

template<typename PointT>

template<class InputIterator >

void pcl::PointCloud< PointT >::insert	(	iterator	position,
		InputIterator	first,
		InputIterator	last
	)		`[inline]`

Insert a new range of points in the cloud, at a certain position.

Note:: This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	position	where to insert the data
[in]	first	where to start inserting the points from
[in]	last	where to stop inserting the points from

Definition at line 528 of file point_cloud.h.

template<typename PointT>

bool pcl::PointCloud< PointT >::isOrganized ( ) const [inline]

Return whether a dataset is organized (e.g., arranged in a structured grid).

Note:: The height value must be different than 1 for a dataset to be organized.

Definition at line 342 of file point_cloud.h.

template<typename PointT>

Ptr pcl::PointCloud< PointT >::makeShared ( ) const [inline]

Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. The changes of the returned cloud are not mirrored back to this one.

Returns:: shared pointer to the copy of the cloud

Definition at line 593 of file point_cloud.h.

template<typename PointT>

const PointT& pcl::PointCloud< PointT >::operator()	(	size_t	column,
		size_t	row
	)		const `[inline]`

Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 321 of file point_cloud.h.

template<typename PointT>

PointT& pcl::PointCloud< PointT >::operator()	(	size_t	column,
		size_t	row
	)		`[inline]`

Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 332 of file point_cloud.h.

template<typename PointT>

const PointCloud pcl::PointCloud< PointT >::operator+ ( const PointCloud< PointT > & rhs ) [inline]

Add a point cloud to another cloud.

Parameters:

[in] rhs the cloud to add to the current cloud

Returns:: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 280 of file point_cloud.h.

template<typename PointT>

PointCloud& pcl::PointCloud< PointT >::operator+= ( const PointCloud< PointT > & rhs ) [inline]

Add a point cloud to the current cloud.

Parameters:

[in] rhs the cloud to add to the current cloud

Returns:: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 254 of file point_cloud.h.

template<typename PointT>

const PointT& pcl::PointCloud< PointT >::operator[] ( size_t n ) const [inline]

Definition at line 471 of file point_cloud.h.

template<typename PointT>

PointT& pcl::PointCloud< PointT >::operator[] ( size_t n ) [inline]

Definition at line 472 of file point_cloud.h.

template<typename PointT>

void pcl::PointCloud< PointT >::push_back ( const PointT & pt ) [inline]

Insert a new point in the cloud, at the end of the container.

Note:: This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in] pt the point to insert

Definition at line 485 of file point_cloud.h.

template<typename PointT>

void pcl::PointCloud< PointT >::reserve ( size_t n ) [inline]

Definition at line 454 of file point_cloud.h.

template<typename PointT>

void pcl::PointCloud< PointT >::resize ( size_t n ) [inline]

Resize the cloud.

Parameters:

[in] n the new cloud size

Definition at line 460 of file point_cloud.h.

template<typename PointT>

size_t pcl::PointCloud< PointT >::size ( ) const [inline]

Definition at line 453 of file point_cloud.h.

template<typename PointT>

void pcl::PointCloud< PointT >::swap ( PointCloud< PointT > & rhs ) [inline]

Swap a point cloud with another cloud.

Parameters:

[in,out] rhs point cloud to swap this with

Definition at line 568 of file point_cloud.h.

Friends And Related Function Documentation

template<typename PointT>

boost::shared_ptr<MsgFieldMap>& detail::getMapping ( pcl::PointCloud< PointT > & p ) [friend]

Member Data Documentation

template<typename PointT>

std_msgs::Header pcl::PointCloud< PointT >::header

The point cloud header. It contains information about the acquisition time.

Definition at line 420 of file point_cloud.h.

template<typename PointT>

uint32_t pcl::PointCloud< PointT >::height

The point cloud height (if organized as an image-structure).

Definition at line 428 of file point_cloud.h.

template<typename PointT>

bool pcl::PointCloud< PointT >::is_dense

True if no points are invalid (e.g., have NaN or Inf values).

Definition at line 431 of file point_cloud.h.

template<typename PointT>

boost::shared_ptr<MsgFieldMap> pcl::PointCloud< PointT >::mapping_ [protected]

Definition at line 597 of file point_cloud.h.

template<typename PointT>

std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::PointCloud< PointT >::points

The point data.

Definition at line 423 of file point_cloud.h.

template<typename PointT>

Eigen::Quaternionf pcl::PointCloud< PointT >::sensor_orientation_

Sensor acquisition pose (rotation).

Definition at line 436 of file point_cloud.h.

template<typename PointT>

Eigen::Vector4f pcl::PointCloud< PointT >::sensor_origin_

Sensor acquisition pose (origin/translation).

Definition at line 434 of file point_cloud.h.

template<typename PointT>

uint32_t pcl::PointCloud< PointT >::width

The point cloud width (if organized as an image-structure).

Definition at line 426 of file point_cloud.h.

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

point_cloud.h

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

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