Point Cloud Library (PCL)
1.14.1-dev
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Custom point representation to perform kdtree searches in more than 3 (i.e. More...
#include <pcl/registration/gicp6d.h>
Public Types | |
using | Ptr = shared_ptr< MyPointRepresentation > |
using | ConstPtr = shared_ptr< const MyPointRepresentation > |
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using | Ptr = shared_ptr< PointRepresentation< PointXYZLAB > > |
using | ConstPtr = shared_ptr< const PointRepresentation< PointXYZLAB > > |
Public Member Functions | |
MyPointRepresentation () | |
~MyPointRepresentation () override=default | |
Ptr | makeShared () const |
void | copyToFloatArray (const PointXYZLAB &p, float *out) const override |
Copy point data from input point to a float array. More... | |
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virtual | ~PointRepresentation ()=default |
Empty destructor. More... | |
bool | isTrivial () const |
Returns whether this point representation is trivial. More... | |
virtual bool | isValid (const PointXYZLAB &p) const |
Verify that the input point is valid. More... | |
void | vectorize (const PointXYZLAB &p, OutputType &out) const |
Convert input point into a vector representation, rescaling by alpha. More... | |
void | vectorize (const PointXYZLAB &p, float *out) const |
void | vectorize (const PointXYZLAB &p, std::vector< float > &out) const |
void | setRescaleValues (const float *rescale_array) |
Set the rescale values to use when vectorizing points. More... | |
int | getNumberOfDimensions () const |
Return the number of dimensions in the point's vector representation. More... | |
Additional Inherited Members | |
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int | nr_dimensions_ |
The number of dimensions in this point's vector (i.e. More... | |
std::vector< float > | alpha_ |
A vector containing the rescale factor to apply to each dimension. More... | |
bool | trivial_ |
Indicates whether this point representation is trivial. More... | |
Custom point representation to perform kdtree searches in more than 3 (i.e.
in all 6) dimensions.
using pcl::GeneralizedIterativeClosestPoint6D::MyPointRepresentation::ConstPtr = shared_ptr<const MyPointRepresentation> |
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inline |
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overridedefault |
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inlineoverridevirtual |
Copy point data from input point to a float array.
This method must be overridden in all subclasses.
[in] | p | The input point |
[out] | out | A pointer to a float array. |
Implements pcl::PointRepresentation< PointXYZLAB >.
Definition at line 151 of file gicp6d.h.
References pcl::_PointXYZLAB::a, pcl::_PointXYZLAB::b, and pcl::_PointXYZLAB::L.
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inline |