generic class that covers one single point of different possible types provided by the Point Cloud Library (PCL). More...

#include <pclStructures.h>

Public Member Functions
	PCLPoint ()
	empty constructor creates invalid point type

	PCLPoint (ito::tPCLPointType type)
	constructor with desired point type. The specific point is created but not initialized with desired values.

void	copyFromVoidPtrAndType (void *ptr, ito::tPCLPointType type)
	helper function to copy the content of a given pointer representing a specific point of given type into this object.

	PCLPoint (const pcl::PointXYZ &point)
	copy constructor from point of PCL type pcl::PointXYZ

	PCLPoint (const pcl::PointXYZI &point)
	copy constructor from point of PCL type pcl::PointXYZI

	PCLPoint (const pcl::PointXYZRGBA &point)
	copy constructor from point of PCL type pcl::PointXYZRGBA

	PCLPoint (const pcl::PointNormal &point)
	copy constructor from point of PCL type pcl::PointNormal

	PCLPoint (const pcl::PointXYZINormal &point)
	copy constructor from point of PCL type pcl::PointXYZINormal

	PCLPoint (const pcl::PointXYZRGBNormal &point)
	copy constructor from point of PCL type pcl::PointXYZRGBNormal

	PCLPoint (const PCLPoint &p)
	copy constructor from another instance of PCLPoint

PCLPoint &	operator= (const PCLPoint &p)
	assigns the given PCLPoint data to this object

	~PCLPoint ()
	destructor

ito::tPCLPointType	getType () const
	returns type of covered point type or ito::pclInvalid if invalid point.

const pcl::PointXYZ &	getPointXYZ () const
	if this object covers a point of type ito::PointXYZ, this point is returned as pcl::PointXYZ object. More...

const pcl::PointXYZI &	getPointXYZI () const
	if this object covers a point of type ito::PointXYZI, this point is returned as pcl::PointXYZI object. More...

const pcl::PointXYZRGBA &	getPointXYZRGBA () const
	if this object covers a point of type ito::PointXYZRGBA, this point is returned as pcl::PointXYZRGBA object. More...

const pcl::PointNormal &	getPointXYZNormal () const
	if this object covers a point of type ito::PointXYZNormal, this point is returned as pcl::PointNormal object. More...

const pcl::PointXYZINormal &	getPointXYZINormal () const
	if this object covers a point of type ito::PointXYZINormal, this point is returned as pcl::PointXYZINormal object. More...

const pcl::PointXYZRGBNormal &	getPointXYZRGBNormal () const
	if this object covers a point of type ito::PointXYZRGBNormal, this point is returned as pcl::PointXYZRGBNormal object. More...

pcl::PointXYZ &	getPointXYZ ()

pcl::PointXYZI &	getPointXYZI ()

pcl::PointXYZRGBA &	getPointXYZRGBA ()

pcl::PointNormal &	getPointXYZNormal ()

pcl::PointXYZINormal &	getPointXYZINormal ()

pcl::PointXYZRGBNormal &	getPointXYZRGBNormal ()

bool	getXYZ (float &x, float &y, float &z)

bool	setXYZ (float x, float y, float z, int mask=0xFFFF)

bool	getNormal (float &nx, float &ny, float &nz)

bool	setNormal (float nx, float ny, float nz, int mask=0xFFFF)

bool	getRGBA (uint8_t &r, uint8_t &g, uint8_t &b, uint8_t &a)

bool	setRGBA (uint8_t r, uint8_t g, uint8_t b, uint8_t a, int mask=0xFFFF)

bool	getIntensity (float &intensity)

bool	setIntensity (float intensity)

bool	getCurvature (float &curvature)

bool	setCurvature (float curvature)

Private Attributes
void *	m_genericPoint

ito::tPCLPointType	m_type

Friends
template<typename _Tp >
_Tp *	getPointPtrInternal (ito::PCLPoint &point)

template<typename _Tp >
const _Tp *	getPointPtrInternal (const ito::PCLPoint &point)

Detailed Description

generic class that covers one single point of different possible types provided by the Point Cloud Library (PCL).

The possible types are compatible to PCLPointCloud and described in ito::tPCLPointType:

ito::pclXYZ: x, y, z ito::pclXYZI: x, y, z, intensity ito::pclXYZRGBA: x, y, z, color (red, green, blue, alpha) ito::pclXYZNormal: x, y, z, normal_x, normal_y, normal_z, curvature ito::pclXYZINormal ito::pclXYZRGBNormal

The specific type is saved in the member m_type whereas m_genericPoint points to the value.

Member Function Documentation

const pcl::PointXYZ & ito::PCLPoint::getPointXYZ ( ) const

if this object covers a point of type ito::PointXYZ, this point is returned as pcl::PointXYZ object.

Exceptions

pcl::PCLException if this point is not of type ito::PointXYZ

const pcl::PointXYZI & ito::PCLPoint::getPointXYZI ( ) const

if this object covers a point of type ito::PointXYZI, this point is returned as pcl::PointXYZI object.

Exceptions

pcl::PCLException if this point is not of type ito::PointXYZI

const pcl::PointXYZINormal & ito::PCLPoint::getPointXYZINormal ( ) const

if this object covers a point of type ito::PointXYZINormal, this point is returned as pcl::PointXYZINormal object.

Exceptions

pcl::PCLException if this point is not of type ito::PointXYZINormal

const pcl::PointNormal & ito::PCLPoint::getPointXYZNormal ( ) const

if this object covers a point of type ito::PointXYZNormal, this point is returned as pcl::PointNormal object.

Exceptions

pcl::PCLException if this point is not of type ito::PointXYZNormal

const pcl::PointXYZRGBA & ito::PCLPoint::getPointXYZRGBA ( ) const

if this object covers a point of type ito::PointXYZRGBA, this point is returned as pcl::PointXYZRGBA object.

Exceptions

pcl::PCLException if this point is not of type ito::PointXYZRGBA

const pcl::PointXYZRGBNormal & ito::PCLPoint::getPointXYZRGBNormal ( ) const

if this object covers a point of type ito::PointXYZRGBNormal, this point is returned as pcl::PointXYZRGBNormal object.

Exceptions

pcl::PCLException if this point is not of type ito::PointXYZRGBNormal

Member Data Documentation

void* ito::PCLPoint::m_genericPoint

private

generic pointer that holds an instance of the corresponding classes pcl::PointXYZ, pcl::PointNormal... (depending on m_type)

ito::tPCLPointType ito::PCLPoint::m_type

private

type covered by this object

The documentation for this class was generated from the following files:

C:/itom/sources/itom/PointCloud/pclStructures.h
C:/itom/sources/itom/PointCloud/pclStructures.cpp

Public Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

Member Data Documentation