Point Cloud Library (PCL)
1.3.1
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PointCloud represents a templated PointCloud implementation. More...
#include <pcl/point_cloud.h>
Public Types | |
typedef PointT | PointType |
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > > | VectorType |
typedef boost::shared_ptr < PointCloud< PointT > > | Ptr |
typedef boost::shared_ptr < const PointCloud< PointT > > | ConstPtr |
typedef VectorType::iterator | iterator |
typedef VectorType::const_iterator | const_iterator |
Public Member Functions | |
PointCloud () | |
PointCloud (PointCloud< PointT > &pc) | |
Copy constructor (needed by compilers such as Intel C++) | |
PointCloud (const PointCloud< PointT > &pc) | |
Copy constructor (needed by compilers such as Intel C++) | |
PointCloud (const PointCloud< PointT > &pc, const std::vector< size_t > &indices) | |
Copy constructor from point cloud subset. | |
PointCloud & | operator+= (const PointCloud &rhs) |
PointT | at (int u, int v) const |
const PointT & | operator() (int u, int v) const |
PointT & | operator() (int u, int v) |
bool | isOrganized () const |
Return whether a dataset is organized (e.g., arranged in a structured grid). | |
Eigen::MatrixXf | getMatrixXfMap (int dim, int stride, int offset) |
Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. | |
Eigen::MatrixXf | getMatrixXfMap () |
Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud. | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
size_t | size () const |
void | reserve (size_t n) |
void | resize (size_t n) |
bool | empty () const |
const PointT & | operator[] (size_t n) const |
PointT & | operator[] (size_t n) |
const PointT & | at (size_t n) const |
PointT & | at (size_t n) |
const PointT & | front () const |
PointT & | front () |
const PointT & | back () const |
PointT & | back () |
void | push_back (const PointT &p) |
iterator | insert (iterator position, const PointT &x) |
void | insert (iterator position, size_t n, const PointT &x) |
template<class InputIterator > | |
void | insert (iterator position, InputIterator first, InputIterator last) |
iterator | erase (iterator position) |
iterator | erase (iterator first, iterator last) |
void | swap (PointCloud< PointT > &rhs) |
void | clear () |
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 | |
std_msgs::Header | header |
The point cloud header. | |
std::vector< PointT, Eigen::aligned_allocator < PointT > > | points |
The point data. | |
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::Vector4f | sensor_origin_ |
Sensor acquisition pose (origin/translation). | |
Eigen::Quaternionf | sensor_orientation_ |
Sensor acquisition pose (rotation). | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | |
Friends | |
boost::shared_ptr< MsgFieldMap > & | detail::getMapping (pcl::PointCloud< PointT > &p) |
PointCloud represents a templated PointCloud implementation.
typedef VectorType::const_iterator pcl::PointCloud::const_iterator |
Definition at line 228 of file point_cloud.h.
typedef boost::shared_ptr<const PointCloud<PointT> > pcl::PointCloud::ConstPtr |
Reimplemented in pcl::RangeImage, and pcl::RangeImagePlanar.
Definition at line 224 of file point_cloud.h.
typedef VectorType::iterator pcl::PointCloud::iterator |
Definition at line 227 of file point_cloud.h.
typedef PointT pcl::PointCloud::PointType |
Definition at line 221 of file point_cloud.h.
typedef boost::shared_ptr<PointCloud<PointT> > pcl::PointCloud::Ptr |
Reimplemented in pcl::RangeImage, and pcl::RangeImagePlanar.
Definition at line 223 of file point_cloud.h.
typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::PointCloud::VectorType |
Definition at line 222 of file point_cloud.h.
pcl::PointCloud::PointCloud | ( | ) | [inline] |
Definition at line 82 of file point_cloud.h.
pcl::PointCloud::PointCloud | ( | PointCloud< PointT > & | pc | ) | [inline] |
Copy constructor (needed by compilers such as Intel C++)
pc | the cloud to copy into this |
Definition at line 89 of file point_cloud.h.
pcl::PointCloud::PointCloud | ( | const PointCloud< PointT > & | pc | ) | [inline] |
Copy constructor (needed by compilers such as Intel C++)
pc | the cloud to copy into this |
Definition at line 97 of file point_cloud.h.
pcl::PointCloud::PointCloud | ( | const PointCloud< PointT > & | pc, |
const std::vector< size_t > & | indices | ||
) | [inline] |
Copy constructor from point cloud subset.
pc | the cloud to copy into this |
indices | the subset to copy |
Definition at line 106 of file point_cloud.h.
PointT pcl::PointCloud::at | ( | int | u, |
int | v | ||
) | const [inline] |
Definition at line 148 of file point_cloud.h.
const PointT& pcl::PointCloud::at | ( | size_t | n | ) | const [inline] |
Definition at line 243 of file point_cloud.h.
PointT& pcl::PointCloud::at | ( | size_t | n | ) | [inline] |
Definition at line 244 of file point_cloud.h.
const PointT& pcl::PointCloud::back | ( | ) | const [inline] |
Definition at line 247 of file point_cloud.h.
PointT& pcl::PointCloud::back | ( | ) | [inline] |
Definition at line 248 of file point_cloud.h.
iterator pcl::PointCloud::begin | ( | ) | [inline] |
Definition at line 229 of file point_cloud.h.
const_iterator pcl::PointCloud::begin | ( | ) | const [inline] |
Definition at line 231 of file point_cloud.h.
void pcl::PointCloud::clear | ( | ) | [inline] |
Definition at line 294 of file point_cloud.h.
bool pcl::PointCloud::empty | ( | ) | const [inline] |
Definition at line 238 of file point_cloud.h.
iterator pcl::PointCloud::end | ( | ) | [inline] |
Definition at line 230 of file point_cloud.h.
const_iterator pcl::PointCloud::end | ( | ) | const [inline] |
Definition at line 232 of file point_cloud.h.
Definition at line 274 of file point_cloud.h.
Definition at line 281 of file point_cloud.h.
const PointT& pcl::PointCloud::front | ( | ) | const [inline] |
Definition at line 245 of file point_cloud.h.
PointT& pcl::PointCloud::front | ( | ) | [inline] |
Definition at line 246 of file point_cloud.h.
Eigen::MatrixXf pcl::PointCloud::getMatrixXfMap | ( | int | dim, |
int | stride, | ||
int | offset | ||
) | [inline] |
Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.
dim | the number of dimensions to consider for each point (will become the number of rows) |
stride | the number of values in each point (will be the number of values that separate two of the columns) |
offset | the number of dimensions to skip from the beginning of each point (note stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point) |
Definition at line 187 of file point_cloud.h.
Eigen::MatrixXf pcl::PointCloud::getMatrixXfMap | ( | ) | [inline] |
Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.
Definition at line 196 of file point_cloud.h.
Definition at line 256 of file point_cloud.h.
void pcl::PointCloud::insert | ( | iterator | position, |
size_t | n, | ||
const PointT & | x | ||
) | [inline] |
Definition at line 263 of file point_cloud.h.
void pcl::PointCloud::insert | ( | iterator | position, |
InputIterator | first, | ||
InputIterator | last | ||
) | [inline] |
Definition at line 270 of file point_cloud.h.
bool pcl::PointCloud::isOrganized | ( | ) | const [inline] |
Return whether a dataset is organized (e.g., arranged in a structured grid).
Definition at line 173 of file point_cloud.h.
Ptr pcl::PointCloud::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.
Reimplemented in pcl::RangeImage, and pcl::RangeImagePlanar.
Definition at line 306 of file point_cloud.h.
ConstPtr pcl::PointCloud::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.
Definition at line 312 of file point_cloud.h.
const PointT& pcl::PointCloud::operator() | ( | int | u, |
int | v | ||
) | const [inline] |
Definition at line 158 of file point_cloud.h.
PointT& pcl::PointCloud::operator() | ( | int | u, |
int | v | ||
) | [inline] |
Definition at line 164 of file point_cloud.h.
PointCloud& pcl::PointCloud::operator+= | ( | const PointCloud & | rhs | ) | [inline] |
Definition at line 119 of file point_cloud.h.
const PointT& pcl::PointCloud::operator[] | ( | size_t | n | ) | const [inline] |
Definition at line 241 of file point_cloud.h.
PointT& pcl::PointCloud::operator[] | ( | size_t | n | ) | [inline] |
Definition at line 242 of file point_cloud.h.
void pcl::PointCloud::push_back | ( | const PointT & | p | ) | [inline] |
Definition at line 251 of file point_cloud.h.
void pcl::PointCloud::reserve | ( | size_t | n | ) | [inline] |
Definition at line 236 of file point_cloud.h.
void pcl::PointCloud::resize | ( | size_t | n | ) | [inline] |
Definition at line 237 of file point_cloud.h.
size_t pcl::PointCloud::size | ( | ) | const [inline] |
Definition at line 235 of file point_cloud.h.
void pcl::PointCloud::swap | ( | PointCloud< PointT > & | rhs | ) | [inline] |
Definition at line 288 of file point_cloud.h.
boost::shared_ptr<MsgFieldMap>& detail::getMapping | ( | pcl::PointCloud< PointT > & | p | ) | [friend] |
Definition at line 321 of file point_cloud.h.
The point cloud header.
It contains information about the acquisition time, as well as a transform frame (see tf).
Definition at line 203 of file point_cloud.h.
uint32_t pcl::PointCloud::height |
The point cloud height (if organized as an image-structure).
Definition at line 211 of file point_cloud.h.
True if no points are invalid (e.g., have NaN or Inf values).
Definition at line 214 of file point_cloud.h.
std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::PointCloud::points |
The point data.
Definition at line 206 of file point_cloud.h.
Eigen::Quaternionf pcl::PointCloud::sensor_orientation_ |
Sensor acquisition pose (rotation).
Definition at line 219 of file point_cloud.h.
Eigen::Vector4f pcl::PointCloud::sensor_origin_ |
Sensor acquisition pose (origin/translation).
Definition at line 217 of file point_cloud.h.
uint32_t pcl::PointCloud::width |
The point cloud width (if organized as an image-structure).
Definition at line 209 of file point_cloud.h.