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
135 inline IndicesConstPtr
const
179 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
208 setInputCloud (
const PCLPointCloud2ConstPtr &cloud);
211 inline PCLPointCloud2ConstPtr
const
218 setIndices (
const IndicesPtr &indices);
224 setIndices (
const PointIndicesConstPtr &indices);
227 inline IndicesPtr
const
253 bool deinitCompute ();
255 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
259 #ifdef PCL_NO_PRECOMPILE
260 #include <pcl/impl/pcl_base.hpp>
263 #endif //#ifndef PCL_PCL_BASE_H_
boost::shared_ptr< PointCloud< PointT > > Ptr
PointCloud::ConstPtr PointCloudConstPtr
IndicesPtr const getIndices()
Get a pointer to the vector of indices used.
boost::shared_ptr< PCLPointCloud2 > PCLPointCloud2Ptr
pcl::PCLPointCloud2 PCLPointCloud2
std::vector< int > field_sizes_
The size of each individual field.
boost::shared_ptr< std::vector< int > > IndicesPtr
This file defines compatibility wrappers for low level I/O functions.
IndicesPtr indices_
A pointer to the vector of point indices to use.
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...
boost::shared_ptr< PointIndices > PointIndicesPtr
IndicesConstPtr const getIndices() const
Get a pointer to the vector of indices used.
virtual ~PCLBase()
destructor.
PCLPointCloud2ConstPtr const getInputCloud() const
Get a pointer to the input point cloud dataset.
bool initCompute()
This method should get called before starting the actual computation.
PointCloudConstPtr const getInputCloud() const
Get a pointer to the input point cloud dataset.
boost::shared_ptr< PointIndices const > PointIndicesConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
const PointT & operator[](size_t pos) const
Override PointCloud operator[] to shorten code.
PointCloud::Ptr PointCloudPtr
std::string z_field_name_
boost::shared_ptr< PCLPointCloud2 const > PCLPointCloud2ConstPtr
pcl::PointCloud< PointT > PointCloud
boost::shared_ptr< PointIndices > PointIndicesPtr
boost::shared_ptr< PointIndices const > PointIndicesConstPtr
bool use_indices_
Set to true if point indices are used.
bool deinitCompute()
This method should get called after finishing the actual computation.
virtual void setIndices(const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
PCLBase()
Empty constructor.
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.
boost::shared_ptr< const std::vector< int > > IndicesConstPtr
IndicesPtr const getIndices() const
Get a pointer to the vector of indices used.
PointCloudConstPtr input_
The input point cloud dataset.
A point structure representing Euclidean xyz coordinates, and the RGB color.
PCLPointCloud2ConstPtr input_
The input point cloud dataset.
virtual ~PCLBase()
Destructor.
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud...