pcl::PointRepresentation< PointT > Class Template Reference

PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensional vector. More...

#include <pcl/point_representation.h>

List of all members.

Public Types
typedef boost::shared_ptr < PointRepresentation< PointT > >	Ptr
typedef boost::shared_ptr < const PointRepresentation < PointT > >	ConstPtr
Public Member Functions
	PointRepresentation ()
	Empty constructor.
virtual	~PointRepresentation ()
	Empty destructor.
virtual void	copyToFloatArray (const PointT &p, float *out) const =0
	Copy point data from input point to a float array.
bool	isTrivial () const
	Returns whether this point representation is trivial.
virtual bool	isValid (const PointT &p) const
	Verify that the input point is valid.
template<typename OutputType >
void	vectorize (const PointT &p, OutputType &out) const
	Convert input point into a vector representation, rescaling by alpha.
void	setRescaleValues (const float *rescale_array)
	Set the rescale values to use when vectorizing points.
int	getNumberOfDimensions () const
	Return the number of dimensions in the point's vector representation.

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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 implemention of the pure virtual copyToFloatArray method.

Author:

Michael Dixon

Definition at line 55 of file point_representation.h.

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Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const PointRepresentation<PointT> > pcl::PointRepresentation< PointT >::ConstPtr

Reimplemented in pcl::CustomPointRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PPFSignature >, pcl::DefaultFeatureRepresentation< VFHSignature308 >, pcl::DefaultFeatureRepresentation< PFHRGBSignature250 >, pcl::DefaultFeatureRepresentation< NormalBasedSignature12 >, pcl::DefaultFeatureRepresentation< FPFHSignature33 >, pcl::DefaultFeatureRepresentation< PFHSignature125 >, and pcl::DefaultPointRepresentation< PointDefault >.

Definition at line 75 of file point_representation.h.

template<typename PointT>

typedef boost::shared_ptr<PointRepresentation<PointT> > pcl::PointRepresentation< PointT >::Ptr

Reimplemented in pcl::CustomPointRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PointDefault >, pcl::DefaultFeatureRepresentation< PPFSignature >, pcl::DefaultFeatureRepresentation< VFHSignature308 >, pcl::DefaultFeatureRepresentation< PFHRGBSignature250 >, pcl::DefaultFeatureRepresentation< NormalBasedSignature12 >, pcl::DefaultFeatureRepresentation< FPFHSignature33 >, pcl::DefaultFeatureRepresentation< PFHSignature125 >, and pcl::DefaultPointRepresentation< PointDefault >.

Definition at line 74 of file point_representation.h.

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Constructor & Destructor Documentation

template<typename PointT>

pcl::PointRepresentation< PointT >::PointRepresentation

(

)

[inline]

Empty constructor.

Definition at line 78 of file point_representation.h.

template<typename PointT>

virtual pcl::PointRepresentation< PointT >::~PointRepresentation

(

)

[inline, virtual]

Empty destructor.

Definition at line 81 of file point_representation.h.

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Member Function Documentation

template<typename PointT>

virtual void pcl::PointRepresentation< PointT >::copyToFloatArray	(	const PointT &	p,
		float *	out
	)		const [pure virtual]

Copy point data from input point to a float array.

This method must be overriden in all subclasses.

Parameters:

[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< ShapeContext >, 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 >, and pcl::DefaultPointRepresentation< PointDefault >.

template<typename PointT>

int pcl::PointRepresentation< PointT >::getNumberOfDimensions

(

)

const [inline]

Return the number of dimensions in the point's vector representation.

Definition at line 171 of file point_representation.h.

template<typename PointT>

bool pcl::PointRepresentation< PointT >::isTrivial

(

)

const [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 96 of file point_representation.h.

template<typename PointT>

virtual bool pcl::PointRepresentation< PointT >::isValid

(

const PointT &

p

)

const [inline, virtual]

Verify that the input point is valid.

Parameters:

p	The point to validate

Definition at line 102 of file point_representation.h.

template<typename PointT>

void pcl::PointRepresentation< PointT >::setRescaleValues

(

const float *

rescale_array

)

[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 163 of file point_representation.h.

template<typename PointT>

template<typename OutputType >

void pcl::PointRepresentation< PointT >::vectorize	(	const PointT &	p,
		OutputType &	out
	)		const [inline]

Convert input point into a vector representation, rescaling by alpha.

Parameters:

[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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The documentation for this class was generated from the following file:

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/common/include/pcl/point_representation.h