FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint. More...
#include <feature.h>
Inheritance diagram for pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >:
Public Types | |
| typedef pcl::PointCloud< PointRFT > | PointCloudLRF |
| typedef PointCloudLRF::ConstPtr | PointCloudLRFConstPtr |
| typedef PointCloudLRF::Ptr | PointCloudLRFPtr |
Public Member Functions | |
| FeatureWithLocalReferenceFrames () | |
| Empty constructor. | |
| PointCloudLRFConstPtr | getInputReferenceFrames () const |
| Get a pointer to the local reference frames. | |
| void | setInputReferenceFrames (const PointCloudLRFConstPtr &frames) |
| 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! | |
| virtual | ~FeatureWithLocalReferenceFrames () |
| Empty destructor. | |
Protected Types | |
| typedef Feature< PointInT, PointRFT >::Ptr | LRFEstimationPtr |
| Check if frames_ has been correctly initialized and compute it if needed. | |
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. | |
| bool | frames_never_defined_ |
| The user has never set the frames. | |
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.
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:
-
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.
template<typename PointInT , typename PointRFT >
| typedef pcl::PointCloud<PointRFT> pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRF |
template<typename PointInT , typename PointRFT >
| typedef PointCloudLRF::ConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFConstPtr |
template<typename PointInT , typename PointRFT >
| typedef PointCloudLRF::Ptr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFPtr |
Constructor & Destructor Documentation
template<typename PointInT , typename PointRFT >
| pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::FeatureWithLocalReferenceFrames | ( | ) | [inline] |
template<typename PointInT , typename PointRFT >
| virtual pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::~FeatureWithLocalReferenceFrames | ( | ) | [inline, virtual] |
Member Function Documentation
template<typename PointInT , typename PointRFT >
| PointCloudLRFConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::getInputReferenceFrames | ( | ) | const [inline] |
template<typename PointInT , typename PointRFT >
| bool pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::initLocalReferenceFrames | ( | const size_t & | indices_size, |
| const LRFEstimationPtr & | lrf_estimation = LRFEstimationPtr() |
||
| ) | [protected, virtual] |
Definition at line 291 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] frames the const boost shared pointer to a PointCloud of reference frames.
Member Data Documentation
template<typename PointInT , typename PointRFT >
PointCloudLRFConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_ [protected] |
template<typename PointInT , typename PointRFT >
bool pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_never_defined_ [protected] |
The documentation for this class was generated from the following files: