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. More...

	PointCloud (PointCloud< Eigen::MatrixXf > &pc)
	Copy constructor (needed by compilers such as Intel C++) More...

template<typename PointT >
	PointCloud (PointCloud< PointT > &pc)
	Copy conversion constructor (needed by compilers such as Intel C++) More...

	PointCloud (const PointCloud< Eigen::MatrixXf > &pc)
	Copy constructor (needed by compilers such as Intel C++) More...

template<typename PointT >
	PointCloud (const PointCloud< PointT > &pc)
	Copy conversion constructor (needed by compilers such as Intel C++) More...

	PointCloud (const PointCloud &pc, const std::vector< int > &indices)
	Copy constructor from point cloud subset. More...

	PointCloud (uint32_t _width, uint32_t _height, uint32_t _dim)
	Initialize size constructor for organized point cloud datasets. More...

	PointCloud (uint32_t _num_points, uint32_t _dim)
	Initialize size constructor for unorganized point cloud datasets. More...

virtual	~PointCloud ()
	Destructor. More...

PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud. More...

const PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud. More...

Eigen::Map< Eigen::VectorXf >	at (int column, int row)
	Obtain the point given by the (column, row) coordinates. More...

Eigen::Map< Eigen::VectorXf >	operator() (int column, int row)
	Obtain the point given by the (column, row) coordinates. More...

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

bool	empty () const
	Return whether a dataset is empty (i.e., has no points) More...

size_t	size () const

void	swap (PointCloud< Eigen::MatrixXf > &rhs)
	Swap a point cloud with another cloud. More...

void	clear ()
	Removes all points in a cloud and sets the width and height to 0. More...

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. More...

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. More...

Public Attributes
pcl::CloudProperties	properties
	A list of optional point cloud properties. More...

Eigen::MatrixXf	points
	The point data. More...

std::map< std::string, pcl::ChannelProperties >	channels
	The channel data information. More...

uint32_t	width
	The point cloud width (if organized as an image-structure). More...

uint32_t	height
	The point cloud height (if organized as an image-structure). More...

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

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 624 of file point_cloud.h.

Member Typedef Documentation

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

Definition at line 851 of file point_cloud.h.

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

Definition at line 850 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 630 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 637 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 647 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 670 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 680 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 705 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 723 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 736 of file point_cloud.h.

virtual pcl::PointCloud< Eigen::MatrixXf >::~PointCloud ( )

inlinevirtual

Destructor.

Definition at line 746 of file point_cloud.h.

Member Function Documentation

Eigen::Map<Eigen::VectorXf> pcl::PointCloud< Eigen::MatrixXf >::at	(	int	column,
		int	row
	)

inline

Obtain the point given by the (column, row) coordinates.

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

Parameters

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 795 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 871 of file point_cloud.h.

bool pcl::PointCloud< Eigen::MatrixXf >::empty ( ) const

inline

Return whether a dataset is empty (i.e., has no points)

Definition at line 828 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 820 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 884 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 891 of file point_cloud.h.

Eigen::Map<Eigen::VectorXf> pcl::PointCloud< Eigen::MatrixXf >::operator()	(	int	column,
		int	row
	)

inline

Obtain the point given by the (column, row) coordinates.

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

Parameters

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 810 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 783 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 754 of file point_cloud.h.

size_t pcl::PointCloud< Eigen::MatrixXf >::size ( ) const

inline

Definition at line 853 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 859 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 840 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 845 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 848 of file point_cloud.h.

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

The point data.

Definition at line 837 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 834 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 843 of file point_cloud.h.

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

/builddir/build/BUILD/PCL-1.6.0-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 >