mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > > Class Template Reference

Detailed Description

template<>
class mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >

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

Definition at line 239 of file PCL_adapters.h.

#include <mrpt/maps/PCL_adapters.h>

Public Types
using	coords_t = float
	The type of each point XYZ coordinates. More...

Public Member Functions
	PointCloudAdapter (const pcl::PointCloud< pcl::PointXYZRGBA > &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...
void	setDimensions (size_t height, size_t width)
	Set height and width (for organized) 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...
void	setInvalidPoint (const size_t idx)
	Set Invalid 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 constexpr bool	HAS_RGB = true
	Has any color RGB info? More...
static constexpr bool	HAS_RGBf = false
	Has native RGB info (as floats)? More...
static constexpr bool	HAS_RGBu8 = true
	Has native RGB info (as uint8_t)? More...

Private Attributes
pcl::PointCloud< pcl::PointXYZRGBA > &	m_obj

Member Typedef Documentation

coords_t

using mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::coords_t = float

The type of each point XYZ coordinates.

Definition at line 246 of file PCL_adapters.h.

Constructor & Destructor Documentation

PointCloudAdapter()

mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::PointCloudAdapter ( const pcl::PointCloud< pcl::PointXYZRGBA > &  obj )

inline

Constructor (accept a const ref for convenience)

Definition at line 255 of file PCL_adapters.h.

Member Function Documentation

getPointRGBf()

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

inline

Get RGBf color of i'th point.

Definition at line 353 of file PCL_adapters.h.

getPointRGBu8()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 372 of file PCL_adapters.h.

getPointXYZ()

template<typename T >

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::getPointXYZ ( const size_t  idx, T &  x, T &  y, T &  z  ) const

inline

Get XYZ coordinates of i'th point.

Definition at line 272 of file PCL_adapters.h.

getPointXYZ_RGBf()

template<typename T >

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 299 of file PCL_adapters.h.

getPointXYZ_RGBu8()

template<typename T >

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 326 of file PCL_adapters.h.

resize()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::resize ( const size_t  N )

inline

Set number of points (to uninitialized values)

Definition at line 262 of file PCL_adapters.h.

setDimensions()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::setDimensions ( size_t  height, size_t  width  )

inline

Set height and width (for organized)

Definition at line 264 of file PCL_adapters.h.

setInvalidPoint()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::setInvalidPoint ( const size_t  idx )

inline

Set Invalid Point.

Definition at line 291 of file PCL_adapters.h.

setPointRGBf()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 362 of file PCL_adapters.h.

setPointRGBu8()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 381 of file PCL_adapters.h.

setPointXYZ()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 280 of file PCL_adapters.h.

setPointXYZ_RGBf()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 311 of file PCL_adapters.h.

setPointXYZ_RGBu8()

void mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::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 339 of file PCL_adapters.h.

size()

size_t mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::size ( ) const

inline

Get number of points.

Definition at line 260 of file PCL_adapters.h.

Member Data Documentation

HAS_RGB

constexpr bool mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::HAS_RGB = true

static

Has any color RGB info?

Definition at line 248 of file PCL_adapters.h.

HAS_RGBf

constexpr bool mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::HAS_RGBf = false

static

Has native RGB info (as floats)?

Definition at line 250 of file PCL_adapters.h.

HAS_RGBu8

constexpr bool mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::HAS_RGBu8 = true

static

Has native RGB info (as uint8_t)?

Definition at line 252 of file PCL_adapters.h.

m_obj

pcl::PointCloud<pcl::PointXYZRGBA>& mrpt::opengl::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::m_obj

private

Definition at line 242 of file PCL_adapters.h.