PointCloud specialization for Eigen matrices. More...

#include <pcl/point_cloud.h>

Collaboration diagram for pcl::PointCloud< Eigen::MatrixXf >:

Public Types
typedef boost::shared_ptr < PointCloud< Eigen::MatrixXf > >	Ptr
typedef boost::shared_ptr < const PointCloud < Eigen::MatrixXf > >	ConstPtr
Public Member Functions
	PointCloud ()
	Default constructor.
	PointCloud (PointCloud< Eigen::MatrixXf > &pc)
	Copy constructor (needed by compilers such as Intel C++)
template<typename PointT >
	PointCloud (PointCloud< PointT > &pc)
	Copy conversion constructor (needed by compilers such as Intel C++)
	PointCloud (const PointCloud< Eigen::MatrixXf > &pc)
	Copy constructor (needed by compilers such as Intel C++)
template<typename PointT >
	PointCloud (const PointCloud< PointT > &pc)
	Copy conversion constructor (needed by compilers such as Intel C++)
	PointCloud (const PointCloud &pc, const std::vector< int > &indices)
	Copy constructor from point cloud subset.
	PointCloud (uint32_t _width, uint32_t _height, uint32_t _dim)
	Initialize size constructor for organized point cloud datasets.
	PointCloud (uint32_t _num_points, uint32_t _dim)
	Initialize size constructor for unorganized point cloud datasets.
virtual	~PointCloud ()
	Destructor.
PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud.
const PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud.
Eigen::Map< Eigen::VectorXf >	at (int u, int v)
	Obtain the point given by the (u, v) coordinates.
Eigen::Map< Eigen::VectorXf >	operator() (int u, int v)
	Obtain the point given by the (u, v) coordinates.
bool	isOrganized () const
	Return whether a dataset is organized (e.g., arranged in a structured grid).
void	swap (PointCloud< Eigen::MatrixXf > &rhs)
	Swap a point cloud with another cloud.
void	clear ()
	Removes all points in a cloud and sets the width and height to 0.
Ptr	makeShared ()
	Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds.
ConstPtr	makeShared () const
	Copy the cloud to the heap and return a constant smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds.
Public Attributes
pcl::CloudProperties	properties
	A list of optional point cloud properties.
Eigen::MatrixXf	points
	The point data.
std::map< std::string, pcl::ChannelProperties >	channels
	The channel data information.
uint32_t	width
	The point cloud width (if organized as an image-structure).
uint32_t	height
	The point cloud height (if organized as an image-structure).
bool	is_dense
	True if no points are invalid (e.g., have NaN or Inf values).
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Detailed Description

template<>
class pcl::PointCloud< Eigen::MatrixXf >

PointCloud specialization for Eigen matrices.

For advanced users only!

Attention:: As opposed to the generic PointCloud<T> implementation where the point cloud data is stored in a std::vector<T>, this specialization uses an Eigen::MatrixXf. This means that this specialization is NOT suitable for other types of data other than floats, and should therefore be used with extreme caution!

Note:: Similar to PointCloud<T> where each data point represents a new element in the vector, we are storing each data point on a separate row in our MatrixXf, in a row-major format. This means that the data is aligned in memory in a row-major format. Please check that PCL is compiled using -DEIGEN_DEFAULT_TO_ROW_MAJOR.

Author:: Radu B. Rusu

Definition at line 545 of file point_cloud.h.

Member Typedef Documentation

typedef boost::shared_ptr<const PointCloud<Eigen::MatrixXf> > pcl::PointCloud< Eigen::MatrixXf >::ConstPtr

Definition at line 763 of file point_cloud.h.

typedef boost::shared_ptr<PointCloud<Eigen::MatrixXf> > pcl::PointCloud< Eigen::MatrixXf >::Ptr

Definition at line 762 of file point_cloud.h.

Constructor & Destructor Documentation

pcl::PointCloud< Eigen::MatrixXf >::PointCloud ( ) [inline]

Default constructor.

Sets is_dense to true, width and height to 0.

Definition at line 551 of file point_cloud.h.

pcl::PointCloud< Eigen::MatrixXf >::PointCloud ( PointCloud< Eigen::MatrixXf > & pc ) [inline]

Copy constructor (needed by compilers such as Intel C++)

Parameters:

[in] pc the cloud to copy into this

Definition at line 558 of file point_cloud.h.

template<typename PointT >

pcl::PointCloud< Eigen::MatrixXf >::PointCloud ( PointCloud< PointT > & pc ) [inline]

Copy conversion constructor (needed by compilers such as Intel C++)

Parameters:

[in] pc the cloud<T> to copy into this

Definition at line 567 of file point_cloud.h.

pcl::PointCloud< Eigen::MatrixXf >::PointCloud ( const PointCloud< Eigen::MatrixXf > & pc ) [inline]

Copy constructor (needed by compilers such as Intel C++)

Parameters:

[in] pc the cloud to copy into this

Definition at line 591 of file point_cloud.h.

template<typename PointT >

pcl::PointCloud< Eigen::MatrixXf >::PointCloud ( const PointCloud< PointT > & pc ) [inline]

Copy conversion constructor (needed by compilers such as Intel C++)

Parameters:

[in] pc the cloud<T> to copy into this

Definition at line 600 of file point_cloud.h.

pcl::PointCloud< Eigen::MatrixXf >::PointCloud	(	const PointCloud< Eigen::MatrixXf > &	pc,
		const std::vector< int > &	indices
	)		`[inline]`

Copy constructor from point cloud subset.

Parameters:

[in]	pc	the cloud to copy into this
[in]	indices	the subset to copy

Definition at line 626 of file point_cloud.h.

pcl::PointCloud< Eigen::MatrixXf >::PointCloud	(	uint32_t	_width,
		uint32_t	_height,
		uint32_t	_dim
	)		`[inline]`

Initialize size constructor for organized point cloud datasets.

Sets is_dense to true.

Parameters:

[in]	_width	the number of points in the cloud per row (if organized set to the width of the image, else set to the total number of points)
[in]	_height	the number of points in the cloud per column (if organized set to the height of the image, else set to 1)
[in]	_dim	the number of dimensions that each point entry will have (e.g., 3=3D, 6=6D)

Definition at line 647 of file point_cloud.h.

pcl::PointCloud< Eigen::MatrixXf >::PointCloud	(	uint32_t	_num_points,
		uint32_t	_dim
	)		`[inline]`

Initialize size constructor for unorganized point cloud datasets.

Sets is_dense to true.

Parameters:

[in]	_num_points	the number of points in the cloud. Sets width to _num_points and height to 1.
[in]	_dim	the number of dimensions that each point entry will have (e.g., 3=3D, 6=6D)

Definition at line 658 of file point_cloud.h.

virtual pcl::PointCloud< Eigen::MatrixXf >::~PointCloud ( ) [inline, virtual]

Destructor.

Definition at line 666 of file point_cloud.h.

Member Function Documentation

Eigen::Map<Eigen::VectorXf> pcl::PointCloud< Eigen::MatrixXf >::at	(	int	u,
		int	v
	)		`[inline]`

Obtain the point given by the (u, v) coordinates.

Only works on organized datasets (those that have height != 1).

Parameters:

[in]	u	the u coordinate
[in]	v	the v coordinate

Definition at line 715 of file point_cloud.h.

void pcl::PointCloud< Eigen::MatrixXf >::clear ( ) [inline]

Removes all points in a cloud and sets the width and height to 0.

Definition at line 781 of file point_cloud.h.

bool pcl::PointCloud< Eigen::MatrixXf >::isOrganized ( ) const [inline]

Return whether a dataset is organized (e.g., arranged in a structured grid).

Note:: The height value must be different than 1 for a dataset to be organized.

Definition at line 740 of file point_cloud.h.

Ptr pcl::PointCloud< Eigen::MatrixXf >::makeShared ( ) [inline]

Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds.

The changes of the returned cloud are not mirrored back to this one.

Returns:: shared pointer to the copy of the cloud

Definition at line 794 of file point_cloud.h.

ConstPtr pcl::PointCloud< Eigen::MatrixXf >::makeShared ( ) const [inline]

Copy the cloud to the heap and return a constant smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds.

Returns:: const shared pointer to the copy of the cloud

Definition at line 801 of file point_cloud.h.

Eigen::Map<Eigen::VectorXf> pcl::PointCloud< Eigen::MatrixXf >::operator()	(	int	u,
		int	v
	)		`[inline]`

Obtain the point given by the (u, v) coordinates.

Only works on organized datasets (those that have height != 1).

Parameters:

[in]	u	the u coordinate
[in]	v	the v coordinate

Definition at line 730 of file point_cloud.h.

const PointCloud pcl::PointCloud< Eigen::MatrixXf >::operator+ ( const PointCloud< Eigen::MatrixXf > & rhs ) [inline]

Add a point cloud to another cloud.

Parameters:

[in] rhs the cloud to add to the current cloud

Returns:: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 703 of file point_cloud.h.

PointCloud& pcl::PointCloud< Eigen::MatrixXf >::operator+= ( const PointCloud< Eigen::MatrixXf > & rhs ) [inline]

Add a point cloud to the current cloud.

Parameters:

[in] rhs the cloud to add to the current cloud

Returns:: the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 674 of file point_cloud.h.

void pcl::PointCloud< Eigen::MatrixXf >::swap ( PointCloud< Eigen::MatrixXf > & rhs ) [inline]

Swap a point cloud with another cloud.

Parameters:

[in,out] rhs point cloud to swap this with

Definition at line 769 of file point_cloud.h.

Member Data Documentation

std::map<std::string, pcl::ChannelProperties> pcl::PointCloud< Eigen::MatrixXf >::channels

The channel data information.

We need the entries to be ordered here.

Definition at line 752 of file point_cloud.h.

pcl::PointCloud< Eigen::MatrixXf >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 804 of file point_cloud.h.

uint32_t pcl::PointCloud< Eigen::MatrixXf >::height

The point cloud height (if organized as an image-structure).

Definition at line 757 of file point_cloud.h.

bool pcl::PointCloud< Eigen::MatrixXf >::is_dense

True if no points are invalid (e.g., have NaN or Inf values).

Definition at line 760 of file point_cloud.h.

Eigen::MatrixXf pcl::PointCloud< Eigen::MatrixXf >::points

The point data.

Definition at line 749 of file point_cloud.h.

pcl::CloudProperties pcl::PointCloud< Eigen::MatrixXf >::properties

A list of optional point cloud properties.

See CloudProperties for more information.

Definition at line 746 of file point_cloud.h.

uint32_t pcl::PointCloud< Eigen::MatrixXf >::width

The point cloud width (if organized as an image-structure).

Definition at line 755 of file point_cloud.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/common/include/pcl/point_cloud.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<> class pcl::PointCloud< Eigen::MatrixXf >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<>
class pcl::PointCloud< Eigen::MatrixXf >