Point Cloud Library (PCL)  1.11.1-dev
pcl_base.h
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38 
39 #pragma once
40 
41 #if defined __GNUC__
42 # pragma GCC system_header
43 #endif
44 
45 // Include PCL macros such as PCL_ERROR, PCL_MAKE_ALIGNED_OPERATOR_NEW, etc
46 #include <pcl/memory.h>
47 #include <pcl/pcl_macros.h>
48 
49 // Point Cloud message includes. Needed everywhere.
50 #include <pcl/point_cloud.h>
51 #include <pcl/PointIndices.h>
52 #include <pcl/PCLPointCloud2.h>
53 #include <pcl/types.h>
54 
55 namespace pcl
56 {
57  // definitions used everywhere
58  using IndicesPtr = shared_ptr<Indices>;
59  using IndicesConstPtr = shared_ptr<const Indices>;
60 
61  //Used to denote that a value has not been set for an index_t variable
62  static constexpr index_t UNAVAILABLE = static_cast<index_t>(-1);
63 
64  /////////////////////////////////////////////////////////////////////////////////////////
65  /** \brief PCL base class. Implements methods that are used by most PCL algorithms.
66  * \ingroup common
67  */
68  template <typename PointT>
69  class PCLBase
70  {
71  public:
73  using PointCloudPtr = typename PointCloud::Ptr;
75 
78 
79  /** \brief Empty constructor. */
80  PCLBase ();
81 
82  /** \brief Copy constructor. */
83  PCLBase (const PCLBase& base);
84 
85  /** \brief Destructor. */
86  virtual ~PCLBase () = default;
87 
88  /** \brief Provide a pointer to the input dataset
89  * \param[in] cloud the const boost shared pointer to a PointCloud message
90  */
91  virtual void
92  setInputCloud (const PointCloudConstPtr &cloud);
93 
94  /** \brief Get a pointer to the input point cloud dataset. */
95  inline PointCloudConstPtr const
96  getInputCloud () const { return (input_); }
97 
98  /** \brief Provide a pointer to the vector of indices that represents the input data.
99  * \param[in] indices a pointer to the indices that represent the input data.
100  */
101  virtual void
102  setIndices (const IndicesPtr &indices);
103 
104  /** \brief Provide a pointer to the vector of indices that represents the input data.
105  * \param[in] indices a pointer to the indices that represent the input data.
106  */
107  virtual void
108  setIndices (const IndicesConstPtr &indices);
109 
110  /** \brief Provide a pointer to the vector of indices that represents the input data.
111  * \param[in] indices a pointer to the indices that represent the input data.
112  */
113  virtual void
114  setIndices (const PointIndicesConstPtr &indices);
115 
116  /** \brief Set the indices for the points laying within an interest region of
117  * the point cloud.
118  * \note you shouldn't call this method on unorganized point clouds!
119  * \param[in] row_start the offset on rows
120  * \param[in] col_start the offset on columns
121  * \param[in] nb_rows the number of rows to be considered row_start included
122  * \param[in] nb_cols the number of columns to be considered col_start included
123  */
124  virtual void
125  setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols);
126 
127  /** \brief Get a pointer to the vector of indices used. */
128  inline IndicesPtr
129  getIndices () { return (indices_); }
130 
131  /** \brief Get a pointer to the vector of indices used. */
132  inline IndicesConstPtr const
133  getIndices () const { return (indices_); }
134 
135  /** \brief Override PointCloud operator[] to shorten code
136  * \note this method can be called instead of (*input_)[(*indices_)[pos]]
137  * or (*input_)[(*indices_)[pos]]
138  * \param[in] pos position in indices_ vector
139  */
140  inline const PointT& operator[] (std::size_t pos) const
141  {
142  return ((*input_)[(*indices_)[pos]]);
143  }
144 
145  protected:
146  /** \brief The input point cloud dataset. */
148 
149  /** \brief A pointer to the vector of point indices to use. */
151 
152  /** \brief Set to true if point indices are used. */
154 
155  /** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */
157 
158  /** \brief This method should get called before starting the actual computation.
159  *
160  * Internally, initCompute() does the following:
161  * - checks if an input dataset is given, and returns false otherwise
162  * - checks whether a set of input indices has been given. Returns true if yes.
163  * - if no input indices have been given, a fake set is created, which will be used until:
164  * - either a new set is given via setIndices(), or
165  * - a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices
166  */
167  bool
168  initCompute ();
169 
170  /** \brief This method should get called after finishing the actual computation.
171  */
172  bool
173  deinitCompute ();
174 
175  public:
177  };
178 
179  /////////////////////////////////////////////////////////////////////////////////////////
180  template <>
182  {
183  public:
187 
190 
191  /** \brief Empty constructor. */
192  PCLBase ();
193 
194  /** \brief destructor. */
195  virtual ~PCLBase () = default;
196 
197  /** \brief Provide a pointer to the input dataset
198  * \param cloud the const boost shared pointer to a PointCloud message
199  */
200  void
201  setInputCloud (const PCLPointCloud2ConstPtr &cloud);
202 
203  /** \brief Get a pointer to the input point cloud dataset. */
204  inline PCLPointCloud2ConstPtr const
205  getInputCloud () const { return (input_); }
206 
207  /** \brief Provide a pointer to the vector of indices that represents the input data.
208  * \param[in] indices a pointer to the indices that represent the input data.
209  */
210  void
211  setIndices (const IndicesPtr &indices);
212 
213  /** \brief Provide a pointer to the vector of indices that represents the input data.
214  * \param[in] indices a pointer to the indices that represent the input data.
215  */
216  void
217  setIndices (const PointIndicesConstPtr &indices);
218 
219  /** \brief Get a pointer to the vector of indices used. */
220  inline IndicesPtr const
221  getIndices () const { return (indices_); }
222 
223  protected:
224  /** \brief The input point cloud dataset. */
226 
227  /** \brief A pointer to the vector of point indices to use. */
229 
230  /** \brief Set to true if point indices are used. */
232 
233  /** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */
235 
236  /** \brief The size of each individual field. */
237  std::vector<uindex_t> field_sizes_;
238 
239  /** \brief The x-y-z fields indices. */
240  index_t x_idx_, y_idx_, z_idx_;
241 
242  /** \brief The desired x-y-z field names. */
243  std::string x_field_name_, y_field_name_, z_field_name_;
244 
245  bool initCompute ();
246  bool deinitCompute ();
247  public:
249  };
250 }
251 
252 #ifdef PCL_NO_PRECOMPILE
253 #include <pcl/impl/pcl_base.hpp>
254 #endif
pcl::PCLBase< pcl::PCLPointCloud2 >::fake_indices_
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
Definition: pcl_base.h:234
pcl::UNAVAILABLE
static constexpr index_t UNAVAILABLE
Definition: pcl_base.h:62
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::IndicesPtr
shared_ptr< Indices > IndicesPtr
Definition: pcl_base.h:58
pcl::PCLBase< PointXYZRGB >::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
pcl::PCLBase::PCLBase
PCLBase()
Empty constructor.
Definition: pcl_base.hpp:46
pcl::PCLBase::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:147
pcl::PCLBase< PointXYZRGB >::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
pcl::PCLPointCloud2::Ptr
shared_ptr< ::pcl::PCLPointCloud2 > Ptr
Definition: PCLPointCloud2.h:35
pcl::PCLBase< pcl::PCLPointCloud2 >::use_indices_
bool use_indices_
Set to true if point indices are used.
Definition: pcl_base.h:231
pcl::PCLBase< pcl::PCLPointCloud2 >::field_sizes_
std::vector< uindex_t > field_sizes_
The size of each individual field.
Definition: pcl_base.h:237
types.h
Defines basic non-point types used by PCL.
pcl::IndicesConstPtr
shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:59
pcl::PCLBase::getIndices
IndicesPtr getIndices()
Get a pointer to the vector of indices used.
Definition: pcl_base.h:129
pcl::PCLBase::operator[]
const PointT & operator[](std::size_t pos) const
Override PointCloud operator[] to shorten code.
Definition: pcl_base.h:140
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::PCLBase< PointXYZRGB >::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_base.h:77
pcl::PCLBase< pcl::PCLPointCloud2 >::PCLPointCloud2ConstPtr
PCLPointCloud2::ConstPtr PCLPointCloud2ConstPtr
Definition: pcl_base.h:186
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::index_t
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:120
pcl::PCLBase< pcl::PCLPointCloud2 >::getInputCloud
const PCLPointCloud2ConstPtr getInputCloud() const
Get a pointer to the input point cloud dataset.
Definition: pcl_base.h:205
pcl::PCLBase::use_indices_
bool use_indices_
Set to true if point indices are used.
Definition: pcl_base.h:153
pcl::PCLBase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition: pcl_base.hpp:65
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::PCLBase< pcl::PCLPointCloud2 >::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: pcl_base.h:228
pcl::PointIndices::ConstPtr
shared_ptr< const ::pcl::PointIndices > ConstPtr
Definition: PointIndices.h:14
pcl::PCLBase< pcl::PCLPointCloud2 >::PCLPointCloud2Ptr
PCLPointCloud2::Ptr PCLPointCloud2Ptr
Definition: pcl_base.h:185
pcl::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: PointIndices.h:25
pcl::PCLPointCloud2::ConstPtr
shared_ptr< const ::pcl::PCLPointCloud2 > ConstPtr
Definition: PCLPointCloud2.h:36
pcl::PCLBase< pcl::PCLPointCloud2 >::input_
PCLPointCloud2ConstPtr input_
The input point cloud dataset.
Definition: pcl_base.h:225
pcl::PCLBase::setIndices
virtual void setIndices(const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data.
Definition: pcl_base.hpp:72
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
pcl::PCLBase< pcl::PCLPointCloud2 >::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: pcl_base.h:188
pcl::PCLBase::~PCLBase
virtual ~PCLBase()=default
Destructor.
pcl::PointIndices::Ptr
shared_ptr< ::pcl::PointIndices > Ptr
Definition: PointIndices.h:13
pcl::PCLPointCloud2
Definition: PCLPointCloud2.h:16
pcl::PCLBase< pcl::PCLPointCloud2 >::z_field_name_
std::string z_field_name_
Definition: pcl_base.h:243
pcl::PCLBase::getInputCloud
const PointCloudConstPtr getInputCloud() const
Get a pointer to the input point cloud dataset.
Definition: pcl_base.h:96
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::PCLBase::deinitCompute
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition: pcl_base.hpp:171
pcl::PCLBase::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition: pcl_base.h:150
pcl::PCLBase< pcl::PCLPointCloud2 >::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition: pcl_base.h:189
pcl::PCLBase::fake_indices_
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.
Definition: pcl_base.h:156
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::PCLBase< pcl::PCLPointCloud2 >::z_idx_
index_t z_idx_
Definition: pcl_base.h:240
pcl::PCLBase< PointXYZRGB >::PointIndicesPtr
PointIndices::Ptr PointIndicesPtr
Definition: pcl_base.h:76
pcl::PCLBase::initCompute
bool initCompute()
This method should get called before starting the actual computation.
Definition: pcl_base.hpp:138
pcl::PCLBase::getIndices
const IndicesConstPtr getIndices() const
Get a pointer to the vector of indices used.
Definition: pcl_base.h:133
pcl::PCLBase< pcl::PCLPointCloud2 >::getIndices
const IndicesPtr getIndices() const
Get a pointer to the vector of indices used.
Definition: pcl_base.h:221
memory.h
Defines functions, macros and traits for allocating and using memory.
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:337