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mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > > Class Template Reference

Detailed Description

template<>
class mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >

Specialization mrpt::utils::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGB> > for an XYZ point cloud with RGB.

Definition at line 68 of file maps/PCL_adapters.h.

#include <mrpt/maps/PCL_adapters.h>

Public Types

typedef float coords_t
 The type of each point XYZ coordinates. More...
 

Public Member Functions

 PointCloudAdapter (const pcl::PointCloud< pcl::PointXYZRGB > &obj)
 Constructor (accept a const ref for convenience) More...
 
size_t size () const
 Get number of points. More...
 
void resize (const size_t N)
 Set number of points (to uninitialized values) More...
 
template<typename T >
void getPointXYZ (const size_t idx, T &x, T &y, T &z) const
 Get XYZ coordinates of i'th point. More...
 
void setPointXYZ (const size_t idx, const coords_t x, const coords_t y, const coords_t z)
 Set XYZ coordinates of i'th point. More...
 
template<typename T >
void getPointXYZ_RGBf (const size_t idx, T &x, T &y, T &z, float &r, float &g, float &b) const
 Get XYZ_RGBf coordinates of i'th point. More...
 
void setPointXYZ_RGBf (const size_t idx, const coords_t x, const coords_t y, const coords_t z, const float r, const float g, const float b)
 Set XYZ_RGBf coordinates of i'th point. More...
 
template<typename T >
void getPointXYZ_RGBu8 (const size_t idx, T &x, T &y, T &z, uint8_t &r, uint8_t &g, uint8_t &b) const
 Get XYZ_RGBu8 coordinates of i'th point. More...
 
void setPointXYZ_RGBu8 (const size_t idx, const coords_t x, const coords_t y, const coords_t z, const uint8_t r, const uint8_t g, const uint8_t b)
 Set XYZ_RGBu8 coordinates of i'th point. More...
 
void getPointRGBf (const size_t idx, float &r, float &g, float &b) const
 Get RGBf color of i'th point. More...
 
void setPointRGBf (const size_t idx, const float r, const float g, const float b)
 Set XYZ_RGBf coordinates of i'th point. More...
 
void getPointRGBu8 (const size_t idx, uint8_t &r, uint8_t &g, uint8_t &b) const
 Get RGBu8 color of i'th point. More...
 
void setPointRGBu8 (const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
 Set RGBu8 coordinates of i'th point. More...
 

Static Public Attributes

static const int HAS_RGB = 1
 Has any color RGB info? More...
 
static const int HAS_RGBf = 0
 Has native RGB info (as floats)? More...
 
static const int HAS_RGBu8 = 1
 Has native RGB info (as uint8_t)? More...
 

Private Attributes

pcl::PointCloud
< pcl::PointXYZRGB > & 
m_obj
 

Member Typedef Documentation

typedef float mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::coords_t

The type of each point XYZ coordinates.

Definition at line 73 of file maps/PCL_adapters.h.

Constructor & Destructor Documentation

mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::PointCloudAdapter ( const pcl::PointCloud< pcl::PointXYZRGB > &  obj)
inline

Constructor (accept a const ref for convenience)

Definition at line 79 of file maps/PCL_adapters.h.

Member Function Documentation

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::getPointRGBf ( const size_t  idx,
float &  r,
float &  g,
float &  b 
) const
inline

Get RGBf color of i'th point.

Definition at line 127 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::getPointRGBu8 ( const size_t  idx,
uint8_t r,
uint8_t g,
uint8_t b 
) const
inline

Get RGBu8 color of i'th point.

Definition at line 138 of file maps/PCL_adapters.h.

template<typename T >
void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::getPointXYZ ( const size_t  idx,
T &  x,
T &  y,
T &  z 
) const
inline

Get XYZ coordinates of i'th point.

Definition at line 87 of file maps/PCL_adapters.h.

template<typename T >
void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::getPointXYZ_RGBf ( const size_t  idx,
T &  x,
T &  y,
T &  z,
float &  r,
float &  g,
float &  b 
) const
inline

Get XYZ_RGBf coordinates of i'th point.

Definition at line 100 of file maps/PCL_adapters.h.

template<typename T >
void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::getPointXYZ_RGBu8 ( const size_t  idx,
T &  x,
T &  y,
T &  z,
uint8_t r,
uint8_t g,
uint8_t b 
) const
inline

Get XYZ_RGBu8 coordinates of i'th point.

Definition at line 114 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::resize ( const size_t  N)
inline

Set number of points (to uninitialized values)

Definition at line 83 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::setPointRGBf ( const size_t  idx,
const float  r,
const float  g,
const float  b 
)
inline

Set XYZ_RGBf coordinates of i'th point.

Definition at line 132 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::setPointRGBu8 ( const size_t  idx,
const uint8_t  r,
const uint8_t  g,
const uint8_t  b 
)
inline

Set RGBu8 coordinates of i'th point.

Definition at line 143 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::setPointXYZ ( const size_t  idx,
const coords_t  x,
const coords_t  y,
const coords_t  z 
)
inline

Set XYZ coordinates of i'th point.

Definition at line 92 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::setPointXYZ_RGBf ( const size_t  idx,
const coords_t  x,
const coords_t  y,
const coords_t  z,
const float  r,
const float  g,
const float  b 
)
inline

Set XYZ_RGBf coordinates of i'th point.

Definition at line 106 of file maps/PCL_adapters.h.

void mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::setPointXYZ_RGBu8 ( const size_t  idx,
const coords_t  x,
const coords_t  y,
const coords_t  z,
const uint8_t  r,
const uint8_t  g,
const uint8_t  b 
)
inline

Set XYZ_RGBu8 coordinates of i'th point.

Definition at line 120 of file maps/PCL_adapters.h.

size_t mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::size ( ) const
inline

Get number of points.

Definition at line 81 of file maps/PCL_adapters.h.

Member Data Documentation

const int mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::HAS_RGB = 1
static

Has any color RGB info?

Definition at line 74 of file maps/PCL_adapters.h.

const int mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::HAS_RGBf = 0
static

Has native RGB info (as floats)?

Definition at line 75 of file maps/PCL_adapters.h.

const int mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::HAS_RGBu8 = 1
static

Has native RGB info (as uint8_t)?

Definition at line 76 of file maps/PCL_adapters.h.

pcl::PointCloud<pcl::PointXYZRGB>& mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::m_obj
private

Definition at line 71 of file maps/PCL_adapters.h.




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