43#include <pcl/point_cloud.h>
44#include <pcl/common/point_tests.h>
82template<
typename Po
intT>
99 typename std::vector<std::uint8_t>&)
108 for (std::size_t i = 0; i < cloud_size; ++i)
138 typename std::vector<std::uint8_t>&,
165 static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
205 typename std::vector<std::uint8_t>&,
230 static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
260template <
typename Po
intT>
297 for (std::size_t i = 0; i < cloud_size; ++i)
306 std::uint8_t
grayvalue =
static_cast<std::uint8_t
>(0.2989 * point.r
396 static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
498 static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
Iterator class for point clouds with or without given indices.
std::size_t size() const
Size of the range the iterator is going through.
static void convert(typename std::vector< float > &depthData_arg, typename std::vector< std::uint8_t > &, bool, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, pcl::PointCloud< PointT > &cloud_arg)
Convert disparity image to point cloud.
static void convert(const pcl::PointCloud< PointT > &cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool convertToMono, typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &rgbData_arg)
Convert point cloud to disparity image and rgb image.
static void convert(typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &, bool, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud< PointT > &cloud_arg)
Convert disparity image to point cloud.
static void convert(typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &rgbData_arg, bool monoImage_arg, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud< PointT > &cloud_arg)
Convert disparity image to point cloud.
static void convert(const pcl::PointCloud< PointT > &cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool, typename std::vector< std::uint16_t > &disparityData_arg, typename std::vector< std::uint8_t > &)
Convert point cloud to disparity image.
static void convert(typename std::vector< float > &depthData_arg, typename std::vector< std::uint8_t > &rgbData_arg, bool monoImage_arg, std::size_t width_arg, std::size_t height_arg, float focalLength_arg, pcl::PointCloud< PointT > &cloud_arg)
Convert disparity image to point cloud.
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Defines all the PCL and non-PCL macros used.
A point structure representing Euclidean xyz coordinates, and the RGBA color.
A point structure representing Euclidean xyz coordinates, and the RGB color.
static const unsigned int channels
static const bool hasColor
static const std::size_t bytesPerPoint