pcl::PCLBase< pcl::PCLPointCloud2 > Class Reference

#include <pcl/pcl_base.h>

Inheritance diagram for pcl::PCLBase< pcl::PCLPointCloud2 >:

Collaboration diagram for pcl::PCLBase< pcl::PCLPointCloud2 >:

Public Types
using	PCLPointCloud2 = pcl::PCLPointCloud2
using	PCLPointCloud2Ptr = PCLPointCloud2::Ptr
using	PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr
using	PointIndicesPtr = PointIndices::Ptr
using	PointIndicesConstPtr = PointIndices::ConstPtr
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	PCLBase ()
	Empty constructor.
virtual	~PCLBase ()=default
	destructor.
void	setInputCloud (const PCLPointCloud2ConstPtr &cloud)
	Provide a pointer to the input dataset.
PCLPointCloud2ConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
IndicesPtr const	getIndices () const
	Get a pointer to the vector of indices used.
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const pcl::PCLPointCloud2 &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
bool	initCompute ()
bool	deinitCompute ()
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
PCLPointCloud2ConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
std::vector< uindex_t >	field_sizes_
	The size of each individual field.
index_t	x_idx_
	The x-y-z fields indices.
index_t	y_idx_
index_t	z_idx_
std::string	x_field_name_
	The desired x-y-z field names.
std::string	y_field_name_
std::string	z_field_name_
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

Definition at line 181 of file pcl_base.h.

Member Typedef Documentation

PCLPointCloud2

using pcl::PCLBase< pcl::PCLPointCloud2 >::PCLPointCloud2 = pcl::PCLPointCloud2

Definition at line 184 of file pcl_base.h.

PCLPointCloud2ConstPtr

using pcl::PCLBase< pcl::PCLPointCloud2 >::PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr

Definition at line 186 of file pcl_base.h.

PCLPointCloud2Ptr

using pcl::PCLBase< pcl::PCLPointCloud2 >::PCLPointCloud2Ptr = PCLPointCloud2::Ptr

Definition at line 185 of file pcl_base.h.

PointCloud

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointCloud

Definition at line 72 of file pcl_base.h.

PointCloudConstPtr

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointCloudConstPtr

Definition at line 74 of file pcl_base.h.

PointCloudPtr

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointCloudPtr

Definition at line 73 of file pcl_base.h.

PointIndicesConstPtr [1/2]

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointIndicesConstPtr

Definition at line 77 of file pcl_base.h.

PointIndicesConstPtr [2/2]

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointIndicesConstPtr = PointIndices::ConstPtr

Definition at line 189 of file pcl_base.h.

PointIndicesPtr [1/2]

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointIndicesPtr

Definition at line 76 of file pcl_base.h.

PointIndicesPtr [2/2]

using pcl::PCLBase< pcl::PCLPointCloud2 >::PointIndicesPtr = PointIndices::Ptr

Definition at line 188 of file pcl_base.h.

Constructor & Destructor Documentation

PCLBase() [1/3]

pcl::PCLBase< pcl::PCLPointCloud2 >::PCLBase

(

)

Empty constructor.

~PCLBase() [1/2]

virtual pcl::PCLBase< pcl::PCLPointCloud2 >::~PCLBase ( )

virtualdefault

destructor.

PCLBase() [2/3]

pcl::PCLBase< pcl::PCLPointCloud2 >::PCLBase

(

)

Empty constructor.

Definition at line 80 of file pcl_base.hpp.

PCLBase() [3/3]

pcl::PCLBase< pcl::PCLPointCloud2 >::PCLBase

(

const PCLBase< pcl::PCLPointCloud2 > &

base

)

Copy constructor.

Definition at line 83 of file pcl_base.hpp.

~PCLBase() [2/2]

virtual pcl::PCLBase< pcl::PCLPointCloud2 >::~PCLBase ( )

virtualdefault

Destructor.

Member Function Documentation

deinitCompute() [1/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::deinitCompute ( )

protected

This method should get called after finishing the actual computation.

Definition at line 173 of file pcl_base.hpp.

deinitCompute() [2/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::deinitCompute ( )

protected

References PCL_MAKE_ALIGNED_OPERATOR_NEW.

getIndices() [1/3]

IndicesPtr pcl::PCLBase< pcl::PCLPointCloud2 >::getIndices ( )

inline

Get a pointer to the vector of indices used.

Definition at line 129 of file pcl_base.h.

getIndices() [2/3]

IndicesConstPtr const pcl::PCLBase< pcl::PCLPointCloud2 >::getIndices ( ) const

inline

Get a pointer to the vector of indices used.

Definition at line 133 of file pcl_base.h.

getIndices() [3/3]

IndicesPtr const pcl::PCLBase< pcl::PCLPointCloud2 >::getIndices ( ) const

inline

Get a pointer to the vector of indices used.

Definition at line 221 of file pcl_base.h.

References indices_.

getInputCloud() [1/2]

PointCloudConstPtr const pcl::PCLBase< pcl::PCLPointCloud2 >::getInputCloud ( ) const

inline

Get a pointer to the input point cloud dataset.

Definition at line 96 of file pcl_base.h.

getInputCloud() [2/2]

PCLPointCloud2ConstPtr const pcl::PCLBase< pcl::PCLPointCloud2 >::getInputCloud ( ) const

inline

Get a pointer to the input point cloud dataset.

Definition at line 205 of file pcl_base.h.

References input_.

initCompute() [1/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::initCompute ( )

protected

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

• checks if an input dataset is given, and returns false otherwise
• checks whether a set of input indices has been given. Returns true if yes.
• if no input indices have been given, a fake set is created, which will be used until:
  • either a new set is given via setIndices(), or
  • a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices

Definition at line 168 of file pcl_base.hpp.

initCompute() [2/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::initCompute ( )

protected

operator[]()

const pcl::PCLPointCloud2 & pcl::PCLBase< pcl::PCLPointCloud2 >::operator[] ( std::size_t pos ) const

inline

Override PointCloud operator[] to shorten code.

Note

this method can be called instead of (*input_)[(*indices_)[pos]] or (*input_)[(*indices_)[pos]]

Parameters

[in]

pos

position in indices_ vector

Definition at line 140 of file pcl_base.h.

setIndices() [1/6]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices ( const IndicesConstPtr & indices )

virtual

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in]

indices

a pointer to the indices that represent the input data.

Definition at line 108 of file pcl_base.hpp.

setIndices() [2/6]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices ( const IndicesPtr & indices )

virtual

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in]

indices

a pointer to the indices that represent the input data.

Definition at line 102 of file pcl_base.hpp.

setIndices() [3/6]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices

(

const IndicesPtr &

indices

)

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in]

indices

a pointer to the indices that represent the input data.

setIndices() [4/6]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices ( const PointIndicesConstPtr & indices )

virtual

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in]

indices

a pointer to the indices that represent the input data.

Definition at line 114 of file pcl_base.hpp.

setIndices() [5/6]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices

(

const PointIndicesConstPtr &

indices

)

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in]

indices

a pointer to the indices that represent the input data.

setIndices() [6/6]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices ( std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols )

virtual

Set the indices for the points laying within an interest region of the point cloud.

Note

you shouldn't call this method on unorganized point clouds!

Parameters

[in]	row_start	the offset on rows
[in]	col_start	the offset on columns
[in]	nb_rows	the number of rows to be considered row_start included
[in]	nb_cols	the number of columns to be considered col_start included

Definition at line 125 of file pcl_base.hpp.

setInputCloud() [1/2]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setInputCloud

(

const PCLPointCloud2ConstPtr &

cloud

)

Provide a pointer to the input dataset.

Parameters

cloud

the const boost shared pointer to a PointCloud message

setInputCloud() [2/2]

void pcl::PCLBase< pcl::PCLPointCloud2 >::setInputCloud ( const PointCloudConstPtr & cloud )

virtual

Provide a pointer to the input dataset.

Parameters

[in]

cloud

the const boost shared pointer to a PointCloud message

Definition at line 92 of file pcl_base.hpp.

Member Data Documentation

fake_indices_ [1/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::fake_indices_

protected

If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Definition at line 156 of file pcl_base.h.

fake_indices_ [2/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::fake_indices_

protected

If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Definition at line 234 of file pcl_base.h.

field_sizes_

std::vector<uindex_t> pcl::PCLBase< pcl::PCLPointCloud2 >::field_sizes_

protected

The size of each individual field.

Definition at line 237 of file pcl_base.h.

indices_ [1/2]

IndicesPtr pcl::PCLBase< pcl::PCLPointCloud2 >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 150 of file pcl_base.h.

indices_ [2/2]

IndicesPtr pcl::PCLBase< pcl::PCLPointCloud2 >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 228 of file pcl_base.h.

Referenced by pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilter(), pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilterIndices(), and getIndices().

input_ [1/2]

PointCloudConstPtr pcl::PCLBase< pcl::PCLPointCloud2 >::input_

protected

The input point cloud dataset.

Definition at line 147 of file pcl_base.h.

input_ [2/2]

PCLPointCloud2ConstPtr pcl::PCLBase< pcl::PCLPointCloud2 >::input_

protected

The input point cloud dataset.

Definition at line 225 of file pcl_base.h.

Referenced by pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilter(), pcl::ExtractIndices< pcl::PCLPointCloud2 >::applyFilterIndices(), and getInputCloud().

use_indices_ [1/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::use_indices_

protected

Set to true if point indices are used.

Definition at line 153 of file pcl_base.h.

use_indices_ [2/2]

bool pcl::PCLBase< pcl::PCLPointCloud2 >::use_indices_

protected

Set to true if point indices are used.

Definition at line 231 of file pcl_base.h.

Referenced by pcl::ExtractIndices< pcl::PCLPointCloud2 >::ExtractIndices().

x_field_name_

std::string pcl::PCLBase< pcl::PCLPointCloud2 >::x_field_name_

protected

The desired x-y-z field names.

Definition at line 243 of file pcl_base.h.

x_idx_

index_t pcl::PCLBase< pcl::PCLPointCloud2 >::x_idx_

protected

The x-y-z fields indices.

Definition at line 240 of file pcl_base.h.

y_field_name_

std::string pcl::PCLBase< pcl::PCLPointCloud2 >::y_field_name_

protected

Definition at line 243 of file pcl_base.h.

y_idx_

index_t pcl::PCLBase< pcl::PCLPointCloud2 >::y_idx_

protected

Definition at line 240 of file pcl_base.h.

z_field_name_

std::string pcl::PCLBase< pcl::PCLPointCloud2 >::z_field_name_

protected

Definition at line 243 of file pcl_base.h.

z_idx_

index_t pcl::PCLBase< pcl::PCLPointCloud2 >::z_idx_

protected

Definition at line 240 of file pcl_base.h.

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

• pcl/pcl_base.h
• pcl/impl/pcl_base.hpp