38 #ifndef PCL_PCL_BASE_H_
39 #define PCL_PCL_BASE_H_
42 # pragma GCC system_header
46 #include <pcl/pcl_macros.h>
48 #include <boost/shared_ptr.hpp>
49 #include <Eigen/StdVector>
53 #include <pcl/point_cloud.h>
54 #include <pcl/PointIndices.h>
55 #include <pcl/PCLPointCloud2.h>
60 typedef boost::shared_ptr <std::vector<int> >
IndicesPtr;
67 template <
typename Po
intT>
98 inline PointCloudConstPtr
const
117 setIndices (
const PointIndicesConstPtr &indices);
128 setIndices (
size_t row_start,
size_t col_start,
size_t nb_rows,
size_t nb_cols);
131 inline IndicesPtr
const
175 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
204 setInputCloud (
const PCLPointCloud2ConstPtr &cloud);
207 inline PCLPointCloud2ConstPtr
const
214 setIndices (
const IndicesPtr &indices);
220 setIndices (
const PointIndicesConstPtr &indices);
223 inline IndicesPtr
const
249 bool deinitCompute ();
251 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
255 #ifdef PCL_NO_PRECOMPILE
256 #include <pcl/impl/pcl_base.hpp>
259 #endif //#ifndef PCL_PCL_BASE_H_
PCLBase()
Empty constructor.
std::vector< int > field_sizes_
The size of each individual field.
PointCloud::ConstPtr PointCloudConstPtr
boost::shared_ptr< PCLPointCloud2 > PCLPointCloud2Ptr
boost::shared_ptr< PointIndices > PointIndicesPtr
PointCloudConstPtr const getInputCloud()
Get a pointer to the input point cloud dataset.
pcl::PCLPointCloud2 PCLPointCloud2
IndicesPtr const getIndices()
Get a pointer to the vector of indices used.
IndicesPtr indices_
A pointer to the vector of point indices to use.
bool use_indices_
Set to true if point indices are used.
PCLPointCloud2ConstPtr const getInputCloud()
Get a pointer to the input point cloud dataset.
boost::shared_ptr< std::vector< int > > IndicesPtr
boost::shared_ptr< PointIndices const > PointIndicesConstPtr
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud...
boost::shared_ptr< PointIndices > PointIndicesPtr
boost::shared_ptr< PCLPointCloud2 const > PCLPointCloud2ConstPtr
PCLPointCloud2ConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
bool initCompute()
This method should get called before starting the actual computation.
std::string z_field_name_
const PointT & operator[](size_t pos)
Override PointCloud operator[] to shorten code.
PointCloudConstPtr input_
The input point cloud dataset.
pcl::PointCloud< PointT > PointCloud
PointCloud::Ptr PointCloudPtr
bool deinitCompute()
This method should get called after finishing the actual computation.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
virtual ~PCLBase()
Destructor.
boost::shared_ptr< PointIndices const > PointIndicesConstPtr
boost::shared_ptr< const std::vector< int > > IndicesConstPtr
virtual ~PCLBase()
destructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
virtual void setIndices(const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data.
boost::shared_ptr< PointCloud< PointT > > Ptr
IndicesPtr const getIndices()
Get a pointer to the vector of indices used.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
bool use_indices_
Set to true if point indices are used.
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud...