PointCloudConversions.h File Reference

#include <cassert>
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
#include <VisionX/interface/core/DataTypes.h>

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Namespaces
	visionx
	ArmarX headers.
	visionx::tools
	visionx::tools::detail

Enumerations
enum	PCLToDebugDrawerConversionMode { eConvertAsPoints, eConvertAsColors, eConvertAsLabels }

Functions
void	convertFromPCL (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr sourcePtr, visionx::ColoredPointCloud &target)
template<typename VisionXPointT , typename PclPointT >
std::vector< VisionXPointT >	convertFromPCL (const pcl::PointCloud< PclPointT > &source)
	Convert a PCL point cloud to a VisionX point cloud (as return value). More...
template<typename VisionXPointT , typename PclPointT >
void	convertFromPCL (const pcl::PointCloud< PclPointT > &source, std::vector< VisionXPointT > &target)
	Convert a PCL point cloud to a VisionX point cloud. More...
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZ >::Ptr sourcePtr, void **target)
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZI >::Ptr sourcePtr, void **target)
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZL >::Ptr sourcePtr, void **target)
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGB >::Ptr sourcePtr, void **target)
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGBA >::Ptr sourcePtr, void **target)
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGBL >::Ptr sourcePtr, void **target)
void	convertFromPCL (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &sourcePtr, void **target)
void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZ >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)
void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZL >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)
void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZRGBA >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)
void	convertFromPCLToDebugDrawer (const pcl::PointCloud< pcl::PointXYZRGBL >::Ptr &sourcePtr, armarx::DebugDrawer24BitColoredPointCloud &target, PCLToDebugDrawerConversionMode mode, float pointSize)
template<typename SourceT , typename TargetT >
void	convertLabel (const SourceT &source, TargetT &target)
	Convert label attribute. Use with visionx point type and PCL type with labels. More...
template<>
void	convertPointFromPCL (const pcl::PointXYZ &source, visionx::Point3D &target)
template<>
void	convertPointFromPCL (const pcl::PointXYZL &source, visionx::LabeledPoint3D &target)
template<>
void	convertPointFromPCL (const pcl::PointXYZRGBA &source, visionx::ColoredPoint3D &target)
template<>
void	convertPointFromPCL (const pcl::PointXYZRGBL &source, visionx::ColoredLabeledPoint3D &target)
template<typename PclPointT , typename VisionXPointT >
void	convertPointFromPCL (const PclPointT &p, VisionXPointT &v)
	Convert a PCL point type to a VisionX point type. More...
template<>
void	convertPointToPCL (const visionx::ColoredLabeledPoint3D &source, pcl::PointXYZRGBL &target)
template<>
void	convertPointToPCL (const visionx::ColoredPoint3D &source, pcl::PointXYZRGBA &target)
template<>
void	convertPointToPCL (const visionx::LabeledPoint3D &source, pcl::PointXYZL &target)
template<>
void	convertPointToPCL (const visionx::Point3D &source, pcl::PointXYZ &target)
template<typename PclPointT , typename VisionXPointT >
void	convertPointToPCL (const VisionXPointT &v, PclPointT &p)
	Convert a VisionX point type to a PCL point type. More...
template<typename SourceT , typename TargetT >
void	convertRGBA (const SourceT &source, TargetT &target)
	Convert r, g, b attributes. Use with visionx::RGBA and PCL type with RGBA. More...
template<typename PclPointT , typename VisionXPointT >
pcl::PointCloud< PclPointT >::Ptr	convertToPCL (const std::vector< VisionXPointT > &source)
	Convert a VisionX point cloud to a PCL point cloud (as return value). More...
template<typename PclPointT , typename VisionXPointT >
void	convertToPCL (const std::vector< VisionXPointT > &source, pcl::PointCloud< PclPointT > &target)
	Convert a VisionX point cloud to a PCL point cloud. More...
void	convertToPCL (const visionx::ColoredPointCloud &source, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZ >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZI >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZL >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGB >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGBA >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGBL >::Ptr targetPtr)
void	convertToPCL (void **source, visionx::MetaPointCloudFormatPtr pointCloudFormat, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr targetPtr)
template<typename SourceT , typename TargetT >
void	convertXYZ (const SourceT &source, TargetT &target)
	Convert x, y, z attributes. Use with visionx::Point3D and PCL type with XYZ. More...
size_t	getBytesPerPoint (visionx::PointContentType pointContent)
template<typename PointT >
visionx::PointContentType	getPointContentType ()
template<>
PointContentType	getPointContentType< pcl::PointNormal > ()
template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZ > ()
template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZI > ()
template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZL > ()
template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBA > ()
template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBL > ()
template<>
visionx::PointContentType	getPointContentType< pcl::PointXYZRGBNormal > ()
bool	isColored (visionx::PointContentType type)
	Indicate whether this point type contains colors. More...
bool	isLabeled (visionx::PointContentType type)
	Indicate whether this point type contains labels. More...
std::string	toString (visionx::PointContentType pointContent)