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 |
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| using | Ptr = shared_ptr< PointRepresentation< PointT > > |
| using | ConstPtr = shared_ptr< const PointRepresentation< PointT > > |
Public Member Functions |
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| virtual | ~PointRepresentation ()=default |
| Empty destructor. More... |
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| virtual void | copyToFloatArray (const PointT &p, float *out) const =0 |
| Copy point data from input point to a float array. More... |
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| bool | isTrivial () const |
| Returns whether this point representation is trivial. More... |
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| virtual bool | isValid (const PointT &p) const |
| Verify that the input point is valid. More... |
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| template<typename OutputType > | |
| void | vectorize (const PointT &p, OutputType &out) const |
| Convert input point into a vector representation, rescaling by alpha. More... |
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| void | setRescaleValues (const float *rescale_array) |
| Set the rescale values to use when vectorizing points. More... |
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| int | getNumberOfDimensions () const |
| Return the number of dimensions in the point's vector representation. More... |
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Protected Attributes |
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| int | nr_dimensions_ = 0 |
| The number of dimensions in this point's vector (i.e. More... |
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| std::vector< float > | alpha_ |
| A vector containing the rescale factor to apply to each dimension. More... |
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| bool | trivial_ = false |
| Indicates whether this point representation is trivial. More... |
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Detailed Description
template<typename PointT>
class pcl::PointRepresentation< PointT >
PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensional vector.
- Note
- This is an abstract class. Subclasses must set nr_dimensions_ to the appropriate value in the constructor and provide an implementation of the pure virtual copyToFloatArray method.
Definition at line 59 of file point_representation.h.
Member Typedef Documentation
ConstPtr
| using pcl::PointRepresentation< PointT >::ConstPtr = shared_ptr<const PointRepresentation<PointT> > |
Definition at line 79 of file point_representation.h.
Ptr
| using pcl::PointRepresentation< PointT >::Ptr = shared_ptr<PointRepresentation<PointT> > |
Definition at line 78 of file point_representation.h.
Constructor & Destructor Documentation
~PointRepresentation()
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virtualdefault |
Empty destructor.
Member Function Documentation
copyToFloatArray()
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pure virtual |
Copy point data from input point to a float array.
This method must be overridden in all subclasses.
- Parameters
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[in] p The input point [out] out A pointer to a float array.
Implemented in pcl::DefaultFeatureRepresentation< VFHSignature308 >, pcl::DefaultPointRepresentation< UniqueShapeContext1960 >, pcl::DefaultPointRepresentation< SHOT352 >, pcl::DefaultPointRepresentation< SHOT1344 >, pcl::DefaultPointRepresentation< ShapeContext1980 >, pcl::DefaultPointRepresentation< PPFSignature >, pcl::DefaultFeatureRepresentation< PPFSignature >, pcl::GeneralizedIterativeClosestPoint6D::MyPointRepresentation, pcl::DefaultPointRepresentation< PointXYZI >, pcl::DefaultPointRepresentation< PointXYZ >, pcl::registration::TransformationValidationEuclidean< PointSource, PointTarget, Scalar >::MyPointRepresentation, pcl::DefaultPointRepresentation< PointNormal >, pcl::DefaultFeatureRepresentation< PointDefault >, pcl::DefaultPointRepresentation< PointDefault >, pcl::CustomPointRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PFHSignature125 >, pcl::DefaultFeatureRepresentation< PFHRGBSignature250 >, pcl::DefaultFeatureRepresentation< NormalBasedSignature12 >, pcl::DefaultPointRepresentation< Narf36 >, pcl::DefaultFeatureRepresentation< GASDSignature984 >, pcl::DefaultFeatureRepresentation< GASDSignature7992 >, pcl::DefaultFeatureRepresentation< GASDSignature512 >, and pcl::DefaultFeatureRepresentation< FPFHSignature33 >.
Referenced by pcl::PointRepresentation< SHOT1344 >::isValid(), and pcl::PointRepresentation< SHOT1344 >::vectorize().
getNumberOfDimensions()
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inline |
Return the number of dimensions in the point's vector representation.
Definition at line 172 of file point_representation.h.
isTrivial()
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inline |
Returns whether this point representation is trivial.
It is trivial if and only if the following conditions hold:
- the relevant data consists only of float values
- the vectorize operation directly copies the first nr_dimensions_ elements of PointT to the out array
- sizeof(PointT) is a multiple of sizeof(float) In short, a trivial point representation converts the input point to a float array that is the same as if the point was reinterpret_casted to a float array of length nr_dimensions_ .
Definition at line 98 of file point_representation.h.
isValid()
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inlinevirtual |
Verify that the input point is valid.
- Parameters
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p The point to validate
Definition at line 104 of file point_representation.h.
setRescaleValues()
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inline |
Set the rescale values to use when vectorizing points.
- Parameters
-
[in] rescale_array The array/vector of rescale values. Can be of any type that implements the [] operator.
Definition at line 165 of file point_representation.h.
vectorize()
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inline |
Convert input point into a vector representation, rescaling by alpha.
- Parameters
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[in] p the input point [out] out The output vector. Can be of any type that implements the [] operator.
Definition at line 144 of file point_representation.h.
Member Data Documentation
alpha_
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protected |
A vector containing the rescale factor to apply to each dimension.
Definition at line 65 of file point_representation.h.
Referenced by pcl::PointRepresentation< SHOT1344 >::isTrivial(), pcl::PointRepresentation< SHOT1344 >::setRescaleValues(), and pcl::PointRepresentation< SHOT1344 >::vectorize().
nr_dimensions_
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protected |
The number of dimensions in this point's vector (i.e.
the "k" in "k-D")
Definition at line 63 of file point_representation.h.
Referenced by pcl::PointRepresentation< SHOT1344 >::getNumberOfDimensions(), pcl::PointRepresentation< SHOT1344 >::isValid(), pcl::PointRepresentation< SHOT1344 >::setRescaleValues(), and pcl::PointRepresentation< SHOT1344 >::vectorize().
trivial_
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protected |
Indicates whether this point representation is trivial.
It is trivial if and only if the following conditions hold:
- the relevant data consists only of float values
- the vectorize operation directly copies the first nr_dimensions_ elements of PointT to the out array
- sizeof(PointT) is a multiple of sizeof(float) In short, a trivial point representation converts the input point to a float array that is the same as if the point was reinterpret_casted to a float array of length nr_dimensions_ . This value says that this representation can be trivial; it is only trivial if setRescaleValues() has not been set.
Definition at line 75 of file point_representation.h.
Referenced by pcl::PointRepresentation< SHOT1344 >::isTrivial(), and pcl::PointRepresentation< SHOT1344 >::isValid().
The documentation for this class was generated from the following file:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_point_representation.html
