Permalink
Browse files

Refactor point cloud processing

  • Loading branch information...
jolting committed Oct 11, 2018
1 parent c6cb3d2 commit 8f882211b630cd76fb4d1b788245660521b62b31
@@ -367,11 +367,11 @@ class PointCloudAdapter<mrpt::maps::CColouredPointsMap>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 1;
static constexpr bool HAS_RGB = true;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 1;
static constexpr bool HAS_RGBf = true;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 0;
static constexpr bool HAS_RGBu8 = false;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const mrpt::maps::CColouredPointsMap& obj)
@@ -1176,7 +1176,6 @@ namespace opengl
* \ingroup mrpt_adapters_grp*/
template <>
class PointCloudAdapter<mrpt::maps::CPointsMap>
: public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CPointsMap, float>
{
private:
mrpt::maps::CPointsMap& m_obj;
@@ -1185,11 +1184,11 @@ class PointCloudAdapter<mrpt::maps::CPointsMap>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 0;
static constexpr bool HAS_RGB = false;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 0;
static constexpr bool HAS_RGBu8 = false;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const mrpt::maps::CPointsMap& obj)
@@ -151,8 +151,6 @@ namespace opengl
* \ingroup mrpt_adapters_grp*/
template <>
class PointCloudAdapter<mrpt::maps::CSimplePointsMap>
: public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CSimplePointsMap,
float>
{
private:
mrpt::maps::CSimplePointsMap& m_obj;
@@ -161,11 +159,11 @@ class PointCloudAdapter<mrpt::maps::CSimplePointsMap>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 0;
static constexpr bool HAS_RGB = false;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 0;
static constexpr bool HAS_RGBu8 = false;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const mrpt::maps::CSimplePointsMap& obj)
@@ -159,8 +159,6 @@ namespace opengl
* mrpt_adapters_grp*/
template <>
class PointCloudAdapter<mrpt::maps::CWeightedPointsMap>
: public detail::PointCloudAdapterHelperNoRGB<
mrpt::maps::CWeightedPointsMap, float>
{
private:
mrpt::maps::CWeightedPointsMap& m_obj;
@@ -169,11 +167,11 @@ class PointCloudAdapter<mrpt::maps::CWeightedPointsMap>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 0;
static constexpr bool HAS_RGB = false;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 0;
static constexpr bool HAS_RGBu8 = false;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const mrpt::maps::CWeightedPointsMap& obj)
@@ -25,8 +25,6 @@ namespace mrpt::opengl
* point cloud (without RGB) \ingroup mrpt_adapters_grp */
template <>
class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZ>>
: public detail::PointCloudAdapterHelperNoRGB<
pcl::PointCloud<pcl::PointXYZ>, float>
{
private:
pcl::PointCloud<pcl::PointXYZ>& m_obj;
@@ -35,11 +33,11 @@ class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZ>>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 0;
static constexpr bool HAS_RGB = false;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 0;
static constexpr bool HAS_RGBu8 = false;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const pcl::PointCloud<pcl::PointXYZ>& obj)
@@ -96,11 +94,11 @@ class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGB>>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 1;
static constexpr bool HAS_RGB = true;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 1;
static constexpr bool HAS_RGBu8 = true;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const pcl::PointCloud<pcl::PointXYZRGB>& obj)
@@ -247,11 +245,11 @@ class PointCloudAdapter<pcl::PointCloud<pcl::PointXYZRGBA>>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 1;
static constexpr bool HAS_RGB = true;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 1;
static constexpr bool HAS_RGBu8 = true;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const pcl::PointCloud<pcl::PointXYZRGBA>& obj)
@@ -795,8 +795,6 @@ namespace opengl
* \ingroup mrpt_adapters_grp */
template <>
class PointCloudAdapter<mrpt::obs::CObservation3DRangeScan>
: public detail::PointCloudAdapterHelperNoRGB<
mrpt::obs::CObservation3DRangeScan, float>
{
private:
mrpt::obs::CObservation3DRangeScan& m_obj;
@@ -805,11 +803,11 @@ class PointCloudAdapter<mrpt::obs::CObservation3DRangeScan>
/** The type of each point XYZ coordinates */
using coords_t = float;
/** Has any color RGB info? */
static const int HAS_RGB = 0;
static constexpr bool HAS_RGB = false;
/** Has native RGB info (as floats)? */
static const int HAS_RGBf = 0;
static constexpr bool HAS_RGBf = false;
/** Has native RGB info (as uint8_t)? */
static const int HAS_RGBu8 = 0;
static constexpr bool HAS_RGBu8 = false;
/** Constructor (accept a const ref for convenience) */
inline PointCloudAdapter(const mrpt::obs::CObservation3DRangeScan& obj)
Oops, something went wrong.

0 comments on commit 8f88221

Please sign in to comment.