PointCloudObject implementation for the PCLPointCloud types. More...

#include <PCLPointCloudObject.h>

Inheritance diagram for icl::geom::PCLPointCloudObject< PCLPointType >:

Public Member Functions
	PCLPointCloudObject (int width, int height=-1, const PCLPointType &init=PCLPointType())
	creates a PCLPointCloudObject with given width height and intial value
	PCLPointCloudObject (const PCLPointCloudObject< PCLPointType > &other)
	deeply copying copy constructor
PCLPointCloudObject < PCLPointType > &	operator= (const PCLPointCloudObject< PCLPointType > &other)
	deeply copying assignment operator
	PCLPointCloudObject (const pcl::PointCloud< PCLPointType > &cloud)
	const wrapper for given pcl-pointcloud (deep copy only)
	PCLPointCloudObject (pcl::PointCloud< PCLPointType > &cloud, bool deepCopy=true)
	wrapps given pcl-point-cloud (optionally shallowly copied)
	~PCLPointCloudObject ()
	Destructor.
pcl::PointCloud< PCLPointType > &	pcl () throw (utils::ICLException)
	grants access to the underlying pcl-point-cloud
const pcl::PointCloud < PCLPointType > &	pcl () const throw (utils::ICLException)
	grants access to the underlying pcl-point-cloud (const)
void	setPCL (const pcl::PointCloud< PCLPointType > &pcl)
	sets wrapped PCL point cloud (const, always deeply copied)
void	setPCL (pcl::PointCloud< PCLPointType > &pcl, bool deepCopy=true)
	sets wrapped PCL point cloud (const, always deeply copied)
virtual bool	supports (FeatureType t) const
	generic version, that trys to get an offset (can be optimized with specialization)
virtual bool	isOrganized () const
	returns whether pointcloud is 2D organized
virtual utils::Size	getSize () const throw (utils::ICLException)
	returns the 2D size of the pointcloud (throws exception if not ordered)
virtual int	getDim () const
	return the linearily ordered number of point in the point cloud
virtual void	setSize (const utils::Size &size)
	adapts the point cloud size
bool	isNull () const
virtual core::DataSegment < float, 1 >	selectIntensity ()
	well known feature Intensity (single float values)
virtual core::DataSegment < icl32s, 1 >	selectLabel ()
	well known feature Intensity (single 32bit int values)
virtual core::DataSegment < icl8u, 3 >	selectBGR ()
	well known feature Intensity (three byte vectors ordered BGR)
virtual core::DataSegment < icl8u, 4 >	selectBGRA ()
	well known feature Intensity (four byte vectors ordered BGRA)
virtual core::DataSegment < icl32s, 1 >	selectBGRA32s ()
	well known feature Intensity (single int value encoding byte-wise BGRA)
virtual core::DataSegment < float, 3 >	selectXYZ ()
	well know features XYZ (three floats, this feature must usually be available)
virtual core::DataSegment < float, 4 >	selectXYZH ()
	common way to store XYZ-data (4th float define homogeneous part)
virtual core::DataSegment < float, 4 >	selectNormal ()
	well known feature Normal (4 float values)
virtual core::DataSegment < float, 4 >	selectRGBA32f ()
	well known feature RGBA (4 float values, ordred RGBA)
virtual core::DataSegmentBase	select (const std::string &featureName)
	selects a dynamic feature
virtual PCLPointCloudObject < PCLPointType > *	copy () const
	deep copy interface
Private Types
typedef PCLPointType	Entry
	internally used typedef
Private Member Functions
int	offset (FeatureType) const
	this is actually specialized for the different types
icl8u *	data ()
	returns the data orignin pointer
const icl8u *	data () const
	returns the data orignin pointer (const)
template<class T , int N, FeatureType t>
core::DataSegment< T, N >	createSegment ()
	creates a data segment for a given feature type
void	deletePCL ()
	savely delets the pcl_image
Private Attributes
pcl::PointCloud< PCLPointType > *	m_pcl
	internal pcl::PointCloud data pointer
bool	m_ownPCL
	ownership flag

Detailed Description

template<class PCLPointType>
class icl::geom::PCLPointCloudObject< PCLPointType >

PointCloudObject implementation for the PCLPointCloud types.

Right now, the following pcl-point types are supported. Due to the non-inline implementation of the class, all other point-types are not available. For other point types, one can specialize the offset()-template in the source file.

pcl::PointXYZI
pcl::PointXYZL
pcl::PointXYZRGB
pcl::PointXYZRGBA
pcl::InterestPoint
pcl::PointXYZRGBNormal
pcl::PointXYZINormal

Member Typedef Documentation

template<class PCLPointType>

typedef PCLPointType icl::geom::PCLPointCloudObject< PCLPointType >::Entry [private]

internally used typedef

Constructor & Destructor Documentation

template<class PCLPointType>

icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject	(	int	width,
		int	height = `-1`,
		const PCLPointType &	init = `PCLPointType()`
	)

creates a PCLPointCloudObject with given width height and intial value

If the height value is -1, the PointCloud instance is assumed to be not ordered, e.g. only a 1D set of points instead of a 2D array

template<class PCLPointType>

icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject ( const PCLPointCloudObject< PCLPointType > & other )

deeply copying copy constructor

template<class PCLPointType>

icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject ( const pcl::PointCloud< PCLPointType > & cloud )

const wrapper for given pcl-pointcloud (deep copy only)

template<class PCLPointType>

icl::geom::PCLPointCloudObject< PCLPointType >::PCLPointCloudObject	(	pcl::PointCloud< PCLPointType > &	cloud,
		bool	deepCopy = `true`
	)

wrapps given pcl-point-cloud (optionally shallowly copied)

template<class PCLPointType>

icl::geom::PCLPointCloudObject< PCLPointType >::~PCLPointCloudObject ( )

Destructor.

Member Function Documentation

template<class PCLPointType>

virtual PCLPointCloudObject<PCLPointType>* icl::geom::PCLPointCloudObject< PCLPointType >::copy ( ) const [virtual]

deep copy interface

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

template<class T , int N, FeatureType t>

core::DataSegment<T,N> icl::geom::PCLPointCloudObject< PCLPointType >::createSegment ( ) [inline, private]

creates a data segment for a given feature type

template<class PCLPointType>

icl8u* icl::geom::PCLPointCloudObject< PCLPointType >::data ( ) [inline, private]

returns the data orignin pointer

template<class PCLPointType>

const icl8u* icl::geom::PCLPointCloudObject< PCLPointType >::data ( ) const [inline, private]

returns the data orignin pointer (const)

template<class PCLPointType>

void icl::geom::PCLPointCloudObject< PCLPointType >::deletePCL ( ) [private]

savely delets the pcl_image

template<class PCLPointType>

virtual int icl::geom::PCLPointCloudObject< PCLPointType >::getDim ( ) const [virtual]

return the linearily ordered number of point in the point cloud

Implements icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual utils::Size icl::geom::PCLPointCloudObject< PCLPointType >::getSize ( ) const throw (utils::ICLException) [virtual]

returns the 2D size of the pointcloud (throws exception if not ordered)

Implements icl::geom::PointCloudObjectBase.

template<class PCLPointType>

bool icl::geom::PCLPointCloudObject< PCLPointType >::isNull ( ) const

template<class PCLPointType>

virtual bool icl::geom::PCLPointCloudObject< PCLPointType >::isOrganized ( ) const [virtual]

returns whether pointcloud is 2D organized

Implements icl::geom::PointCloudObjectBase.

template<class PCLPointType>

int icl::geom::PCLPointCloudObject< PCLPointType >::offset ( FeatureType ) const [private]

this is actually specialized for the different types

Please note, offset needs to return -1 for non-supported feature types

template<class PCLPointType>

PCLPointCloudObject<PCLPointType>& icl::geom::PCLPointCloudObject< PCLPointType >::operator= ( const PCLPointCloudObject< PCLPointType > & other )

deeply copying assignment operator

for shallow copies, use

template<class PCLPointType>

pcl::PointCloud<PCLPointType>& icl::geom::PCLPointCloudObject< PCLPointType >::pcl ( ) throw (utils::ICLException)

grants access to the underlying pcl-point-cloud

template<class PCLPointType>

const pcl::PointCloud<PCLPointType>& icl::geom::PCLPointCloudObject< PCLPointType >::pcl ( ) const throw (utils::ICLException)

grants access to the underlying pcl-point-cloud (const)

template<class PCLPointType>

virtual core::DataSegmentBase icl::geom::PCLPointCloudObject< PCLPointType >::select ( const std::string & featureName ) [virtual]

selects a dynamic feature

some pcl types support special features that can be selected by a string ID. By default, the featureName 'all' can be used to create a DataSegment that give access to all data entries as floats

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<icl8u,3> icl::geom::PCLPointCloudObject< PCLPointType >::selectBGR ( ) [virtual]

well known feature Intensity (three byte vectors ordered BGR)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<icl8u,4> icl::geom::PCLPointCloudObject< PCLPointType >::selectBGRA ( ) [virtual]

well known feature Intensity (four byte vectors ordered BGRA)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<icl32s,1> icl::geom::PCLPointCloudObject< PCLPointType >::selectBGRA32s ( ) [virtual]

well known feature Intensity (single int value encoding byte-wise BGRA)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<float,1> icl::geom::PCLPointCloudObject< PCLPointType >::selectIntensity ( ) [virtual]

well known feature Intensity (single float values)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<icl32s,1> icl::geom::PCLPointCloudObject< PCLPointType >::selectLabel ( ) [virtual]

well known feature Intensity (single 32bit int values)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<float,4> icl::geom::PCLPointCloudObject< PCLPointType >::selectNormal ( ) [virtual]

well known feature Normal (4 float values)

in the PCL, the 4th value is sometimes used to store a local curvature value

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<float,4> icl::geom::PCLPointCloudObject< PCLPointType >::selectRGBA32f ( ) [virtual]

well known feature RGBA (4 float values, ordred RGBA)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<float,3> icl::geom::PCLPointCloudObject< PCLPointType >::selectXYZ ( ) [virtual]

well know features XYZ (three floats, this feature must usually be available)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual core::DataSegment<float,4> icl::geom::PCLPointCloudObject< PCLPointType >::selectXYZH ( ) [virtual]

common way to store XYZ-data (4th float define homogeneous part)

Reimplemented from icl::geom::PointCloudObjectBase.

template<class PCLPointType>

void icl::geom::PCLPointCloudObject< PCLPointType >::setPCL ( const pcl::PointCloud< PCLPointType > & pcl )

sets wrapped PCL point cloud (const, always deeply copied)

template<class PCLPointType>

void icl::geom::PCLPointCloudObject< PCLPointType >::setPCL	(	pcl::PointCloud< PCLPointType > &	pcl,
		bool	deepCopy = `true`
	)

sets wrapped PCL point cloud (const, always deeply copied)

template<class PCLPointType>

virtual void icl::geom::PCLPointCloudObject< PCLPointType >::setSize ( const utils::Size & size ) [virtual]

adapts the point cloud size

if the sizes height is smaller than 1, the cloud becomes un-organized

Implements icl::geom::PointCloudObjectBase.

template<class PCLPointType>

virtual bool icl::geom::PCLPointCloudObject< PCLPointType >::supports ( FeatureType t ) const [virtual]

generic version, that trys to get an offset (can be optimized with specialization)

Implements icl::geom::PointCloudObjectBase.

Member Data Documentation

template<class PCLPointType>

bool icl::geom::PCLPointCloudObject< PCLPointType >::m_ownPCL [private]

ownership flag

template<class PCLPointType>

pcl::PointCloud<PCLPointType>* icl::geom::PCLPointCloudObject< PCLPointType >::m_pcl [private]

internal pcl::PointCloud data pointer

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

/home/jenkins/workspace/icl-manual-trunk/icl-manual/ICLGeom/src/ICLGeom/PCLPointCloudObject.h

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<class PCLPointType> class icl::geom::PCLPointCloudObject< PCLPointType >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class PCLPointType>
class icl::geom::PCLPointCloudObject< PCLPointType >