Point Cloud Library (PCL)
1.8.1
|
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint. More...
#include <pcl/features/feature.h>
Public Types | |
typedef pcl::PointCloud< PointRFT > | PointCloudLRF |
typedef PointCloudLRF::Ptr | PointCloudLRFPtr |
typedef PointCloudLRF::ConstPtr | PointCloudLRFConstPtr |
Public Member Functions | |
FeatureWithLocalReferenceFrames () | |
Empty constructor. More... | |
virtual | ~FeatureWithLocalReferenceFrames () |
Empty destructor. More... | |
void | setInputReferenceFrames (const PointCloudLRFConstPtr &frames) |
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More... | |
PointCloudLRFConstPtr | getInputReferenceFrames () const |
Get a pointer to the local reference frames. More... | |
Protected Types | |
typedef Feature< PointInT, PointRFT >::Ptr | LRFEstimationPtr |
Check if frames_ has been correctly initialized and compute it if needed. More... | |
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. More... | |
bool | frames_never_defined_ |
The user has never set the frames. More... | |
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint.
|
protected |
Check if frames_ has been correctly initialized and compute it if needed.
input | the subclass' input cloud dataset. |
lrf_estimation | a pointer to a local reference frame estimation class to be used as default. |
typedef pcl::PointCloud<PointRFT> pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRF |
typedef PointCloudLRF::ConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFConstPtr |
typedef PointCloudLRF::Ptr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFPtr |
|
inline |
|
inlinevirtual |
|
inline |
Get a pointer to the local reference frames.
Definition at line 475 of file feature.h.
References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_.
|
protectedvirtual |
Definition at line 293 of file feature.hpp.
|
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!
[in] | frames | the const boost shared pointer to a PointCloud of reference frames. |
Definition at line 467 of file feature.h.
References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_, and pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_never_defined_.
|
protected |
A boost shared pointer to the local reference frames.
Definition at line 482 of file feature.h.
Referenced by pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::getInputReferenceFrames(), and pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames().
|
protected |
The user has never set the frames.
Definition at line 484 of file feature.h.
Referenced by pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames().