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>
Inheritance diagram for pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >:
Collaboration diagram for pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >:
Public Types | |
| using | PointCloudLRF = pcl::PointCloud< PointRFT > |
| using | PointCloudLRFPtr = typename PointCloudLRF::Ptr |
| using | PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr |
Public Member Functions | |
| FeatureWithLocalReferenceFrames () | |
| Empty constructor. More... | |
| virtual | ~FeatureWithLocalReferenceFrames ()=default |
| Default virtual 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 | |
| using | LRFEstimationPtr = typename Feature< PointInT, PointRFT >::Ptr |
| Check if frames_ has been correctly initialized and compute it if needed. More... | |
Protected Member Functions | |
| virtual bool | initLocalReferenceFrames (const std::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... | |
Detailed Description
template<typename PointInT, typename PointRFT>
class pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint.
- Attention
- This interface is for backward compatibility with existing code and in the future it could be merged with pcl::Feature. Subclasses should call the protected method initLocalReferenceFrames () to correctly initialize the frames_ member.
Member Typedef Documentation
◆ LRFEstimationPtr
|
protected |
Check if frames_ has been correctly initialized and compute it if needed.
- Parameters
-
input the subclass' input cloud dataset. lrf_estimation a pointer to a local reference frame estimation class to be used as default.
- Returns
- true if frames_ has been correctly initialized.
◆ PointCloudLRF
| using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRF = pcl::PointCloud<PointRFT> |
◆ PointCloudLRFConstPtr
| using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr |
◆ PointCloudLRFPtr
| using pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFPtr = typename PointCloudLRF::Ptr |
Constructor & Destructor Documentation
◆ FeatureWithLocalReferenceFrames()
|
inline |
◆ ~FeatureWithLocalReferenceFrames()
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virtualdefault |
Default virtual destructor.
Member Function Documentation
◆ getInputReferenceFrames()
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inline |
Get a pointer to the local reference frames.
Definition at line 468 of file feature.h.
References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_.
◆ initLocalReferenceFrames()
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protectedvirtual |
Definition at line 294 of file feature.hpp.
◆ setInputReferenceFrames()
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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!
- Parameters
-
[in] frames the const boost shared pointer to a PointCloud of reference frames.
Definition at line 460 of file feature.h.
References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_, and pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_never_defined_.
Member Data Documentation
◆ frames_
|
protected |
A boost shared pointer to the local reference frames.
Definition at line 475 of file feature.h.
Referenced by pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::getInputReferenceFrames(), and pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames().
◆ frames_never_defined_
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protected |
The user has never set the frames.
Definition at line 477 of file feature.h.
Referenced by pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames().
The documentation for this class was generated from the following files:
- pcl/features/feature.h
- pcl/features/impl/feature.hpp