Point Cloud Library (PCL)
1.7.1
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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 | |
typedef boost::shared_ptr< PointRepresentation< PointT > > | Ptr |
typedef boost::shared_ptr< const PointRepresentation< PointT > > | ConstPtr |
Public Member Functions | |
PointRepresentation () | |
Empty constructor. More... | |
virtual | ~PointRepresentation () |
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_ |
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_ |
Indicates whether this point representation is trivial. More... | |
PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensional vector.
Definition at line 55 of file point_representation.h.
typedef boost::shared_ptr<const PointRepresentation<PointT> > pcl::PointRepresentation< PointT >::ConstPtr |
Definition at line 75 of file point_representation.h.
typedef boost::shared_ptr<PointRepresentation<PointT> > pcl::PointRepresentation< PointT >::Ptr |
Definition at line 74 of file point_representation.h.
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inline |
Empty constructor.
Definition at line 78 of file point_representation.h.
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inlinevirtual |
Empty destructor.
Definition at line 81 of file point_representation.h.
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pure virtual |
Copy point data from input point to a float array.
This method must be overriden in all subclasses.
[in] | p | The input point |
[out] | out | A pointer to a float array. |
Implemented in pcl::CustomPointRepresentation< PointDefault >, pcl::DefaultPointRepresentation< SHOT1344 >, pcl::DefaultPointRepresentation< SHOT352 >, pcl::DefaultPointRepresentation< ShapeContext1980 >, pcl::DefaultPointRepresentation< Narf36 >, pcl::DefaultPointRepresentation< PPFSignature >, pcl::DefaultPointRepresentation< PointNormal >, pcl::DefaultPointRepresentation< PointXYZI >, pcl::DefaultPointRepresentation< PointXYZ >, pcl::DefaultFeatureRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PPFSignature >, pcl::DefaultFeatureRepresentation< VFHSignature308 >, pcl::DefaultFeatureRepresentation< PFHRGBSignature250 >, pcl::DefaultFeatureRepresentation< NormalBasedSignature12 >, pcl::DefaultFeatureRepresentation< FPFHSignature33 >, pcl::DefaultFeatureRepresentation< PFHSignature125 >, pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::MyPointRepresentation, and pcl::DefaultPointRepresentation< PointDefault >.
Referenced by pcl::PointRepresentation< Narf * >::isValid(), and pcl::PointRepresentation< Narf * >::vectorize().
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inline |
Return the number of dimensions in the point's vector representation.
Definition at line 171 of file point_representation.h.
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inline |
Returns whether this point representation is trivial.
It is trivial if and only if the following conditions hold:
Definition at line 96 of file point_representation.h.
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inlinevirtual |
Verify that the input point is valid.
p | The point to validate |
Definition at line 102 of file point_representation.h.
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inline |
Set the rescale values to use when vectorizing points.
[in] | rescale_array | The array/vector of rescale values. Can be of any type that implements the [] operator. |
Definition at line 163 of file point_representation.h.
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inline |
Convert input point into a vector representation, rescaling by alpha.
[in] | p | the input point |
[out] | out | The output vector. Can be of any type that implements the [] operator. |
Definition at line 142 of file point_representation.h.
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protected |
A vector containing the rescale factor to apply to each dimension.
Definition at line 61 of file point_representation.h.
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protected |
The number of dimensions in this point's vector (i.e.
the "k" in "k-D")
Definition at line 59 of file point_representation.h.
Referenced by pcl::PointRepresentation< Narf * >::isValid(), pcl::PointRepresentation< Narf * >::setRescaleValues(), and pcl::PointRepresentation< Narf * >::vectorize().
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protected |
Indicates whether this point representation is trivial.
It is trivial if and only if the following conditions hold:
Definition at line 71 of file point_representation.h.