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

#include <pclStructures.h>

Public Member Functions
	PCLPointCloud ()
	constructor for an empty, invalid point cloud

	PCLPointCloud (ito::tPCLPointType type)
	constructor for an empty point cloud of the desired type

	PCLPointCloud (pcl::PointCloud< pcl::PointXYZ >::Ptr pclPtr)
	constructor from given shared pointer of pcl::PointCloud<pcl::PointXYZ>

	PCLPointCloud (pcl::PointCloud< pcl::PointXYZI >::Ptr pclPtr)
	constructor from given shared pointer of pcl::PointCloud<pcl::PointXYZI>

	PCLPointCloud (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr pclPtr)
	constructor from given shared pointer of pcl::PointCloud<pcl::PointXYZRGBA>

	PCLPointCloud (pcl::PointCloud< pcl::PointNormal >::Ptr pclPtr)
	constructor from given shared pointer of pcl::PointCloud<pcl::PointNormal>

	PCLPointCloud (pcl::PointCloud< pcl::PointXYZINormal >::Ptr pclPtr)
	constructor from given shared pointer of pcl::PointCloud<pcl::PointXYZINormal>

	PCLPointCloud (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr pclPtr)
	constructor from given shared pointer of pcl::PointCloud<pcl::PointXYZRGBNormal>

	PCLPointCloud (uint32_t width_, uint32_t height_, ito::tPCLPointType type_, const PCLPoint &value_=PCLPoint())
	creates a point cloud with given width_, height_ and type_ and sets all points to the given value_. More...

	PCLPointCloud (PCLPointCloud &pc)
	copy constructor

	PCLPointCloud (const PCLPointCloud &pc)
	copy constructor

	PCLPointCloud (const PCLPointCloud &pc, const std::vector< int > &indices)
	copy constructor that creates the point cloud from a given point cloud and a vector of point indices that should be copied only. More...

	~PCLPointCloud ()
	destructor

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

int	hasRGB () const
	if this cloud has color components returns != 0, else 0

int	hasNormal () const
	if this cloud has the normal components returns != 0, else 0

int	hasIntensity () const
	if this cloud has the intensity component returns != 0, else 0

int	hasCurvature () const
	if this cloud has the curvature component returns != 0, else 0

pcl::PointCloud< pcl::PointXYZ >::Ptr	toPointXYZ () const
	returns a shared pointer to the internal pcl::PointCloud<pcl::PointXYZ> cloud. More...

pcl::PointCloud< pcl::PointXYZI >::Ptr	toPointXYZI () const
	returns a shared pointer to the internal pcl::PointCloud<pcl::PointXYZI> cloud. More...

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	toPointXYZRGBA () const
	returns a shared pointer to the internal pcl::PointCloud<pcl::PointXYZRGBA> cloud. More...

pcl::PointCloud< pcl::PointNormal >::Ptr	toPointXYZNormal () const
	returns a shared pointer to the internal pcl::PointCloud<pcl::PointNormal> cloud. More...

pcl::PointCloud< pcl::PointXYZINormal >::Ptr	toPointXYZINormal () const
	returns a shared pointer to the internal pcl::PointCloud<pcl::PointXYZINormal> cloud. More...

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr	toPointXYZRGBNormal () const
	returns a shared pointer to the internal pcl::PointCloud<pcl::PointXYZRGBNormal> cloud. More...

pcl::PointCloud< pcl::PointXYZ >::ConstPtr	toPointXYZConst () const
	returns a constant shared pointer to the internal pcl::PointCloud<pcl::PointXYZ> cloud. More...

pcl::PointCloud< pcl::PointXYZI >::ConstPtr	toPointXYZIConst () const
	returns a constant shared pointer to the internal pcl::PointCloud<pcl::PointXYZI> cloud. More...

pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr	toPointXYZRGBAConst () const
	returns a constant shared pointer to the internal pcl::PointCloud<pcl::PointXYZRGBA> cloud. More...

pcl::PointCloud< pcl::PointNormal >::ConstPtr	toPointXYZNormalConst () const
	returns a constant shared pointer to the internal pcl::PointCloud<pcl::PointNormal> cloud. More...

pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr	toPointXYZINormalConst () const
	returns a constant shared pointer to the internal pcl::PointCloud<pcl::PointXYZINormal> cloud. More...

pcl::PointCloud< pcl::PointXYZRGBNormal >::ConstPtr	toPointXYZRGBNormalConst () const
	returns a constant shared pointer to the internal pcl::PointCloud<pcl::PointXYZRGBNormal> cloud. More...

PCLPointCloud &	operator+= (const PCLPointCloud &rhs)
	appends another point cloud to this point cloud More...

const PCLPointCloud	operator+ (const PCLPointCloud &rhs)
	returns a point cloud consisting of points of this and another point cloud. More...

PCLPointCloud &	operator= (const PCLPointCloud &copy)
	assigment operator

PCLPointCloud	copy () const
	make a deep copy of this point cloud

const PCLPoint	operator[] (size_t n) const
	returns point at given position n. More...

const PCLPoint	at (size_t n) const
	returns point at given position n. More...

void	set_item (size_t n, PCLPoint &point)
	sets the point at position n to the value given by point. More...

bool	isOrganized () const
	returns true if this point cloud is organized, hence its height is > 1. In organized clouds adjacent points are pretended to be neighbours in the world, too.

uint32_t	width () const
	returns width of this point cloud

uint32_t	height () const
	returns height of this point cloud (1 if not organized, else > 1)

size_t	size () const
	returns the number of points in this point cloud (width() * height())

bool	is_dense () const
	returns true if this point cloud only contains points with valid components, else at least one point with nan or inf component is present

void	set_width (uint32_t width)
	setter to set the width of the point cloud

void	set_height (uint32_t height)
	setter to set the height of the point cloud

void	set_dense (bool dense)
	setter to set the dense property of this point cloud

void	scaleXYZ (float32 scaleX, float32 scaleY, float32 scaleZ)
	scale every point in this cloud by scaleX, scaleY and scaleZ in X, Y and Z direction. Other point properties are not influenced by this.

void	moveXYZ (float32 dX, float32 dY, float32 dZ)
	scale every point in this cloud by scaleX, scaleY and scaleZ in X, Y and Z direction. Other point properties are not influenced by this.

std_msgs::Header	header () const
	returns the header structure of this point cloud for a conversion to the old pcl::PCLPointCloud2 structure used in the pcl::PolygonMesh.

std::string	getFieldsList () const
	returns a space separated string with the names of all components in the point cloud, e.g. "x y z"

std::vector< sensor_msgs::PointField >	getFieldsInfo () const
	returns vector with information about all fields contained in the specific point cloud (each info struct contains the name, offset, datatype, ... of any field)

unsigned char *	genericPointAccess (size_t &strideBytes) const
	returns the pointer to the first point in the current cloud or NULL if the cloud is invalid, strideBytes is the number of bytes to jump from one point to the next one.

void	push_back (const ito::PCLPoint &pt)
	adds a new point to this cloud

bool	empty () const
	returns true if point cloud is empty, else false

void	reserve (size_t n)
	reserves a space of n elements for the point cloud without resizing it

void	resize (size_t n)
	resizes the point cloud to n points. Each point is arbitrarily initialized

void	clear ()
	clears all points in the point cloud

void	erase (uint32_t startIndex, uint32_t endIndex)
	clears the points from [startIndex, endIndex]

void	insert (uint32_t index, const ito::PCLPoint &point)
	inserts point at given index

Protected Member Functions
void	setInvalid ()
	clears this point cloud and sets the type to ito::pclInvalid. An existing point cloud is implicitely deleted.

void	createEmptyPointCloud (ito::tPCLPointType type)
	creates an empty point cloud of given type. An existing point cloud is implicitely deleted.

Private Member Functions
int	getFuncListIndex () const

int	getFuncListIndex (const ito::tPCLPointType &type) const

Private Attributes
pcl::PointCloud< pcl::PointXYZ >::Ptr	m_pcXYZ

pcl::PointCloud< pcl::PointXYZI >::Ptr	m_pcXYZI

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	m_pcXYZRGBA

pcl::PointCloud< pcl::PointNormal >::Ptr	m_pcXYZNormal

pcl::PointCloud< pcl::PointXYZINormal >::Ptr	m_pcXYZINormal

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr	m_pcXYZRGBNormal

ito::tPCLPointType	m_type

Friends
template<typename _Tp >
pcl::PointCloud< _Tp > *	getPointCloudPtrInternal (ito::PCLPointCloud &pc)

template<typename _Tp >
const pcl::PointCloud< _Tp > *	getPointCloudPtrInternal (const ito::PCLPointCloud &pc)

template<typename _Tp >
std_msgs::Header	GetHeaderFunc (ito::PCLPointCloud &pc)

template<typename _Tp >
std_msgs::Header	GetHeaderFunc (const ito::PCLPointCloud *pc)

template<typename _Tp >
uint32_t	GetWidthFunc (const ito::PCLPointCloud *pc)

template<typename _Tp >
uint32_t	GetHeightFunc (const ito::PCLPointCloud *pc)

template<typename _Tp >
void	SetHeightFunc (ito::PCLPointCloud *pc, uint32_t height)

template<typename _Tp >
bool	GetDenseFunc (const ito::PCLPointCloud *pc)

template<typename _Tp >
void	SetDenseFunc (ito::PCLPointCloud *pc, bool dense)

template<typename _Tp >
void	SetWidthFunc (ito::PCLPointCloud *pc, uint32_t width)

template<typename _Tp >
void	PcAddFunc (ito::PCLPointCloud pc1, const ito::PCLPointCloud pc2, ito::PCLPointCloud *pcRes)

template<typename _Tp >
void	SetItemFunc (ito::PCLPointCloud *pc, size_t n, ito::PCLPoint &point)

template<typename _Tp >
void	PushBackFunc (ito::PCLPointCloud *pc, const ito::PCLPoint &point)

template<typename _Tp >
bool	EmptyFunc (const ito::PCLPointCloud *pc)

template<typename _Tp >
void	ReserveResizeFunc (ito::PCLPointCloud *pc, size_t n, bool reserveNotResize)

template<typename _Tp >
void	ClearFunc (ito::PCLPointCloud *pc)

template<typename _Tp >
void	EraseFunc (ito::PCLPointCloud *pc, uint32_t startIndex, uint32_t endIndex)

template<typename _Tp >
void	InsertFunc (ito::PCLPointCloud *pc, uint32_t index, const ito::PCLPoint &point)

template<typename _Tp >
void	ScaleXYZFunc (ito::PCLPointCloud *pc, ito::float32 scaleX, ito::float32 scaleY, ito::float32 scaleZ)

template<typename _Tp >
std::string	GetFieldsListFunc (const ito::PCLPointCloud *pc)

Detailed Description

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

The possible types are compatible to PCLPoint 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 different members are available each one holding a shared pointer to the point cloud of one specific type. Only one of those shared pointers can contain a valid point cloud.

Constructor & Destructor Documentation

ito::PCLPointCloud::PCLPointCloud	(	uint32_t	width_,
		uint32_t	height_,
		ito::tPCLPointType	type_,
		const PCLPoint &	value_ = `PCLPoint()`
	)

creates a point cloud with given width_, height_ and type_ and sets all points to the given value_.

Exceptions

pcl::PCLException if type of value_ is not invalid but does not fit to desired type_

ito::PCLPointCloud::PCLPointCloud	(	const PCLPointCloud &	pc,
		const std::vector< int > &	indices
	)

copy constructor that creates the point cloud from a given point cloud and a vector of point indices that should be copied only.

Exceptions

pcl::PCLException if indices contain invalid values or are longer than the number of points in pc.

Member Function Documentation

const ito::PCLPoint ito::PCLPointCloud::at ( size_t n ) const

returns point at given position n.

Exceptions

pcl::PCLException if cloud is invalid or n is out of bounds

const PCLPointCloud ito::PCLPointCloud::operator+ ( const PCLPointCloud & rhs )

returns a point cloud consisting of points of this and another point cloud.

Exceptions

pcl::PCLException if both point clouds have different types or one of both clouds is invalid.

PCLPointCloud & ito::PCLPointCloud::operator+= ( const PCLPointCloud & rhs )

appends another point cloud to this point cloud

Exceptions

pcl::PCLException if both point clouds have different types or one of both clouds is invalid.

const ito::PCLPoint ito::PCLPointCloud::operator[] ( size_t n ) const

returns point at given position n.

Exceptions

pcl::PCLException if cloud is invalid or n is out of bounds

void ito::PCLPointCloud::set_item	(	size_t	n,
		PCLPoint &	point
	)

sets the point at position n to the value given by point.

Exceptions

pcl::PCLException if cloud is invalid, n is out of bounds or the type of point does not fit to this point cloud.

pcl::PointCloud<pcl::PointXYZ>::Ptr ito::PCLPointCloud::toPointXYZ ( ) const

inline

returns a shared pointer to the internal pcl::PointCloud<pcl::PointXYZ> cloud.

Exceptions