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

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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 80 of file PCL_adapters.h.

#include <mrpt/slam/PCL_adapters.h>

List of all members.

Public Types
typedef float	coords_t
	The type of each point XYZ coordinates.
Public Member Functions
	PointCloudAdapter (const pcl::PointCloud< pcl::PointXYZRGB > &obj)
	Constructor (accept a const ref for convenience)
size_t	size () const
	Get number of points.
void	resize (const size_t N)
	Set number of points (to uninitialized values)
template<typename T >
void	getPointXYZ (const size_t idx, T &x, T &y, T &z) const
	Get XYZ coordinates of i'th point.
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.
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.
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.
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.
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.
void	getPointRGBf (const size_t idx, float &r, float &g, float &b) const
	Get RGBf color of i'th point.
void	setPointRGBf (const size_t idx, const float r, const float g, const float b)
	Set XYZ_RGBf coordinates of i'th point.
void	getPointRGBu8 (const size_t idx, uint8_t &r, uint8_t &g, uint8_t &b) const
	Get RGBu8 color of i'th point.
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.
Static Public Attributes
static const int	HAS_RGB = 1
	Has any color RGB info?
static const int	HAS_RGBf = 0
	Has native RGB info (as floats)?
static const int	HAS_RGBu8 = 1
	Has native RGB info (as uint8_t)?
Private Attributes
pcl::PointCloud < pcl::PointXYZRGB > &	m_obj

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Member Typedef Documentation

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

The type of each point XYZ coordinates.

Definition at line 85 of file PCL_adapters.h.

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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 91 of file PCL_adapters.h.

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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 139 of file 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 150 of file 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 99 of file 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 112 of file 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 126 of file 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 95 of file 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 144 of file 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 155 of file 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 104 of file PCL_adapters.h.

References Eigen::internal::y.

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 118 of file PCL_adapters.h.

References Eigen::internal::y.

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 132 of file PCL_adapters.h.

References Eigen::internal::y.

size_t mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGB > >::size

(

)

const [inline]

Get number of points.

Definition at line 93 of file PCL_adapters.h.

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Member Data Documentation

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

Has any color RGB info?

Definition at line 86 of file 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 87 of file 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 88 of file PCL_adapters.h.

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

Definition at line 83 of file PCL_adapters.h.