point_cloud_utilities.h
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1 #pragma once
2 
3 #include <pcl/point_cloud.h>
4 #include <pcl/point_types.h>
5 
6 #include <string>
7 
8 #include "nxLib.h"
9 
11 {
12  float minX = 0;
13  float minY = 0;
14  float minZ = 0;
15  float maxX = 0;
16  float maxY = 0;
17  float maxZ = 0;
18 
19  bool contains(float x, float y, float z) const
20  {
21  return (x >= minX && x <= maxX && y >= minY && y <= maxY && z >= minZ && z <= maxZ);
22  }
23 
24  bool isEmpty() const
25  {
26  return (minX >= maxX || minY >= maxY || minZ >= maxZ);
27  }
28 };
29 
33 pcl::PointCloud<pcl::PointXYZ>::Ptr pointCloudFromNxLib(NxLibItem const& node, std::string const& frame,
34  PointCloudROI const* roi = nullptr);
35 
42 pcl::PointCloud<pcl::PointNormal>::Ptr pointCloudWithNormalsFromNxLib(NxLibItem const& pointMapNode,
43  NxLibItem const& normalNode,
44  std::string const& frame,
45  PointCloudROI const* roi = nullptr);
46 
47 pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudTexturedFromNxLib(NxLibItem const& imageNode,
48  NxLibItem const& pointsNode,
49  std::string const& frame,
50  PointCloudROI const* roi = nullptr);
pcl::PointCloud< pcl::PointNormal >::Ptr pointCloudWithNormalsFromNxLib(NxLibItem const &pointMapNode, NxLibItem const &normalNode, std::string const &frame, PointCloudROI const *roi=nullptr)
pcl::PointCloud< pcl::PointXYZ >::Ptr pointCloudFromNxLib(NxLibItem const &node, std::string const &frame, PointCloudROI const *roi=nullptr)
pcl::PointCloud< pcl::PointXYZRGB >::Ptr pointCloudTexturedFromNxLib(NxLibItem const &imageNode, NxLibItem const &pointsNode, std::string const &frame, PointCloudROI const *roi=nullptr)
bool isEmpty() const
bool contains(float x, float y, float z) const


ensenso_camera
Author(s): Ensenso
autogenerated on Sat Jul 27 2019 03:51:24