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

Overview

Specialization mrpt::opengl::PointCloudAdapter <pcl::PointCloud<pcl::PointXYZ> > for an XYZ point cloud (without RGB)

#include <mrpt/maps/PCL_adapters.h>

template <>
class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZ>>
{
public:
    // typedefs

    typedef float coords_t;

    // fields

    static constexpr bool HAS_RGB = false;
    static constexpr bool HAS_RGBf = false;
    static constexpr bool HAS_RGBu8 = false;

    // construction

    PointCloudAdapter(const pcl::PointCloud<pcl::PointXYZ>& obj);

    // methods

    size_t size() const;
    void resize(size_t N);
    void setDimensions(size_t height, size_t width);

    template <typename T>
    void getPointXYZ(size_t idx, T& x, T& y, T& z) const;

    void setPointXYZ(size_t idx, const coords_t x, const coords_t y, const coords_t z);
    void setInvalidPoint(size_t idx);
};

Typedefs

typedef float coords_t

The type of each point XYZ coordinates.

Fields

static constexpr bool HAS_RGB = false

Has any color RGB info?

static constexpr bool HAS_RGBf = false

Has native RGB info (as floats)?

static constexpr bool HAS_RGBu8 = false

Has native RGB info (as uint8_t)?

Construction

PointCloudAdapter(const pcl::PointCloud<pcl::PointXYZ>& obj)

Constructor (accept a const ref for convenience)

Methods

size_t size() const

Get number of points.

void resize(size_t N)

Set number of points (to uninitialized values)

void setDimensions(size_t height, size_t width)

Set height and width (for organized)

template <typename T>
void getPointXYZ(size_t idx, T& x, T& y, T& z) const

Get XYZ coordinates of i’th point.

void setPointXYZ(size_t idx, const coords_t x, const coords_t y, const coords_t z)

Set XYZ coordinates of i’th point.

void setInvalidPoint(size_t idx)

Set Invalid Point.