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>
Public Types | |
| using | PointCloudLRF = pcl::PointCloud<PointRFT> |
| using | PointCloudLRFPtr = typename PointCloudLRF::Ptr |
| using | PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr |
Public Member Functions | |
| FeatureWithLocalReferenceFrames () | |
| Empty constructor. | |
| virtual | ~FeatureWithLocalReferenceFrames ()=default |
| Default virtual destructor. | |
| void | setInputReferenceFrames (const PointCloudLRFConstPtr &frames) |
| Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. | |
| PointCloudLRFConstPtr | getInputReferenceFrames () const |
| Get a pointer to the local reference frames. | |
Protected Types | |
| using | LRFEstimationPtr = typename Feature<PointInT, PointRFT>::Ptr |
| Check if frames_ has been correctly initialized and compute it if needed. | |
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. | |
| bool | frames_never_defined_ |
| The user has never set the frames. | |
Detailed Description
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 |
Empty constructor.
Definition at line 447 of file feature.h.
References frames_, and frames_never_defined_.
◆ ~FeatureWithLocalReferenceFrames()
|
virtualdefault |
Default virtual destructor.
Member Function Documentation
◆ getInputReferenceFrames()
|
inline |
◆ initLocalReferenceFrames()
|
protectedvirtual |
Definition at line 294 of file feature.hpp.
References frames_, and frames_never_defined_.
Referenced by pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::createBinDistanceShape(), pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
◆ setInputReferenceFrames()
|
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 frames_, and 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 FeatureWithLocalReferenceFrames(), getInputReferenceFrames(), initLocalReferenceFrames(), and setInputReferenceFrames().
◆ frames_never_defined_
|
protected |
The user has never set the frames.
Definition at line 477 of file feature.h.
Referenced by FeatureWithLocalReferenceFrames(), initLocalReferenceFrames(), and setInputReferenceFrames().
The documentation for this class was generated from the following files:
- pcl/features/feature.h
- pcl/features/impl/feature.hpp