Specialization mrpt::utils::PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGBA> > for an XYZ point cloud with RGB.
Definition at line 146 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. | |
Public Member Functions | |
PointCloudAdapter (const pcl::PointCloud< pcl::PointXYZRGBA > &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::PointXYZRGBA > & | m_obj |
typedef float mrpt::utils::PointCloudAdapter< pcl::PointCloud< pcl::PointXYZRGBA > >::coords_t |
The type of each point XYZ coordinates.
Definition at line 151 of file maps/PCL_adapters.h.
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Constructor (accept a const ref for convenience)
Definition at line 157 of file maps/PCL_adapters.h.
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Get RGBf color of i'th point.
Definition at line 205 of file maps/PCL_adapters.h.
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Get RGBu8 color of i'th point.
Definition at line 216 of file maps/PCL_adapters.h.
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Get XYZ coordinates of i'th point.
Definition at line 165 of file maps/PCL_adapters.h.
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Get XYZ_RGBf coordinates of i'th point.
Definition at line 178 of file maps/PCL_adapters.h.
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Get XYZ_RGBu8 coordinates of i'th point.
Definition at line 192 of file maps/PCL_adapters.h.
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Set number of points (to uninitialized values)
Definition at line 161 of file maps/PCL_adapters.h.
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Set XYZ_RGBf coordinates of i'th point.
Definition at line 210 of file maps/PCL_adapters.h.
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Set RGBu8 coordinates of i'th point.
Definition at line 221 of file maps/PCL_adapters.h.
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Set XYZ coordinates of i'th point.
Definition at line 170 of file maps/PCL_adapters.h.
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Set XYZ_RGBf coordinates of i'th point.
Definition at line 184 of file maps/PCL_adapters.h.
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Set XYZ_RGBu8 coordinates of i'th point.
Definition at line 198 of file maps/PCL_adapters.h.
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Get number of points.
Definition at line 159 of file maps/PCL_adapters.h.
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Has any color RGB info?
Definition at line 152 of file maps/PCL_adapters.h.
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Has native RGB info (as floats)?
Definition at line 153 of file maps/PCL_adapters.h.
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Has native RGB info (as uint8_t)?
Definition at line 154 of file maps/PCL_adapters.h.
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private |
Definition at line 149 of file maps/PCL_adapters.h.
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