Fawkes API
Fawkes Development Version
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Adapter class for PCL point types. More...
#include <>>
Public Member Functions | |
PointCloudStorageAdapter (RefPtr< pcl::PointCloud< PointT > > cloud) | |
Constructor. More... | |
PointCloudStorageAdapter (const PointCloudStorageAdapter< PointT > *p) | |
Copy constructor. More... | |
pcl::PointCloud< PointT >::Ptr | cloud_ptr () |
Get PCL shared pointer to cloud. More... | |
pcl::PointCloud< PointT >::ConstPtr | cloud_const_ptr () |
Get PCL const shared pointer to cloud. More... | |
virtual StorageAdapter * | clone () const |
Clone this storage adapter. More... | |
virtual void | transform (const std::string &target_frame, const tf::Transformer &transformer) |
Transform point cloud. More... | |
virtual void | transform (const std::string &target_frame, const Time &target_time, const std::string &fixed_frame, const tf::Transformer &transformer) |
Transform point cloud. More... | |
virtual const char * | get_typename () |
Get typename of storage adapter. More... | |
virtual size_t | point_size () const |
Get size of a point. More... | |
virtual unsigned int | width () const |
Get width of point cloud. More... | |
virtual unsigned int | height () const |
Get height of point cloud. More... | |
virtual size_t | num_points () const |
Get numer of points in point cloud. More... | |
virtual void * | data_ptr () const |
Get pointer on data. More... | |
virtual std::string | frame_id () const |
Get frame ID of point cloud. More... | |
virtual void | get_time (fawkes::Time &time) const |
Get last capture time. More... | |
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virtual | ~StorageAdapter () |
Virtual empty destructor. More... | |
template<typename PointT > | |
bool | is_pointtype () const |
Check if storage adapter is for specified point type. More... | |
template<typename PointT > | |
PointCloudStorageAdapter< PointT > * | as_pointtype () |
Transform to specific PointCloudStorageAdapter. More... | |
Public Attributes | |
const RefPtr< pcl::PointCloud< PointT > > | cloud |
The point cloud. More... | |
Adapter class for PCL point types.
The adapter class is required to store point clouds of arbitrary point types.
Definition at line 38 of file storage_adapter.h.
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inline |
Copy constructor.
p | storage adapter to copy |
Definition at line 83 of file storage_adapter.h.
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virtual |
Clone this storage adapter.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 146 of file storage_adapter.h.
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Get PCL const shared pointer to cloud.
Definition at line 98 of file storage_adapter.h.
References fawkes::pcl_utils::StorageAdapter::clone(), and fawkes::pcl_utils::StorageAdapter::transform().
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Get PCL shared pointer to cloud.
Definition at line 92 of file storage_adapter.h.
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inlinevirtual |
Get pointer on data.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 116 of file storage_adapter.h.
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inlinevirtual |
Get frame ID of point cloud.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 117 of file storage_adapter.h.
References fawkes::pcl_utils::StorageAdapter::get_time().
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Get last capture time.
time | upon return contains last capture time |
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 154 of file storage_adapter.h.
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inlinevirtual |
Get typename of storage adapter.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 111 of file storage_adapter.h.
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inlinevirtual |
Get height of point cloud.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 114 of file storage_adapter.h.
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inlinevirtual |
Get numer of points in point cloud.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 115 of file storage_adapter.h.
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inlinevirtual |
Get size of a point.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 112 of file storage_adapter.h.
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Transform point cloud.
target_frame | frame to transform to |
transformer | transformer to get transform from |
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 162 of file storage_adapter.h.
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virtual |
Transform point cloud.
target_frame | frame to transform to |
target_time | time for which to transform |
fixed_frame | frame fixed over time |
transformer | transformer to get transform from |
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 172 of file storage_adapter.h.
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inlinevirtual |
Get width of point cloud.
Implements fawkes::pcl_utils::StorageAdapter.
Definition at line 113 of file storage_adapter.h.
const RefPtr<pcl::PointCloud<PointT> > fawkes::pcl_utils::PointCloudStorageAdapter< PointT >::cloud |
The point cloud.
Definition at line 87 of file storage_adapter.h.
Referenced by fawkes::PointCloudManager::get_pointcloud().