Hi all,
I was trying to use the PCL common API with a point cloud having Eigen vectors as points. In overall, PCL supports sufficient abstraction for using Eigen and it is also useful to have Eigen Vectors because it enables calculations without the need of extra mappings. The problem is that in the common library I get a compilation error and as I can see some functions use member variables of the point cloud's point (x, y, z) assuming that this is implemented by the type*, which is not the case of regular Eigen vectors. Is this a limitation in the abstraction of PCL or I am not using the PCL API correctly? * E.g: https://github.com/PointCloudLibrary/pcl/blob/f980937662770a0f5499c8cbaf2f94ff4078c5cd/common/include/pcl/common/impl/common.hpp#L100 Thank you in advance, - Iason Sarantopoulos Iason Sarantopoulos Electrical and Computer Engineer _______________________________________________ [hidden email] / http://pointclouds.org http://pointclouds.org/mailman/listinfo/pcl-users |
PCL can support point type abstractions up to a certain level, but there are certain assumptions which take place and you just bumped into the most fundamental one. We assume that a point type which stores coordinates, defines members x, y and z. For more of these assumptions I recommend having a detailed look at https://github.com/PointCloudLibrary/pcl/blob/master/common/include/pcl/impl/point_types.hpp In order to fully exploit a good interaction between Eigen and PCL, Eigen::Map is your goto tool and it will be required constantly. Cheers --
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Hi Sergio, Thank you for the prompt reply, it is sufficiently clear. Regards. On Mon, Feb 5, 2018 at 2:25 PM, Sérgio Agostinho <[hidden email]> wrote:
Iason Sarantopoulos Electrical and Computer Engineer Research Assistant @ CERTH _______________________________________________ [hidden email] / http://pointclouds.org http://pointclouds.org/mailman/listinfo/pcl-users |
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