mlPCLMLTools.h File Reference

A collection of converter tools between the libraries ML and PCL. More...

#include "MLPCLMLAdaptersSystem.h"
#include <mlPCLTypes.h>
#include <mlPCLSupportTools.h>
#include <mlModuleIncludes.h>
#include <mlReleaseToolsString.h>
#include <mlPointList.h>
#include <mlVectorList.h>
#include <mlXMarkerList.h>

Go to the source code of this file.

Classes
struct	ml::PCLMLTools::ImageToPointCloudConversionParameters
	A container with parameters for the conversion from ML images to point clouds. More...

Namespaces
namespace	ml
	Main documentation file for ML users and developers.
namespace	ml::PCLMLTools
	Namespace with a collection of converter tools between the libraries ML and PCL.

Functions
MLPCL_MLAdapters_EXPORT Vector3f	ml::PCLMLTools::getVector3fFromVoxVal (MLDataType dt, const MLTypeData *voxVal)
	Tries to get any sensible Vector3f from the given voxVal if it is of any ML vector type; otherwise a zero vector is returned.
template<typename POINT_CLOUD_TYPE >
void	ml::PCLMLTools::transformTo (POINT_CLOUD_TYPE &pointCloud, const Matrix4 &voxelToWorldMatrix, bool toWorld)
	Performs a voxelToWorld transformation of all point coordinates of pointCloud.
template<typename POINT_CLOUD_PTR_TYPE >
bool	ml::PCLMLTools::appendSubImageVoxelsToPointCloud (const SubImage &subImg, const ImageToPointCloudConversionParameters &convParams, POINT_CLOUD_PTR_TYPE retPointCloudPtr)
	Creates a point cloud from an ML SubImage.
template<typename POINT_CLOUD_PTR_TYPE >
MLErrorCode	ml::PCLMLTools::createPointCloudFromPagedImage (PagedImage &inImg, const ImageToPointCloudConversionParameters &convParams, POINT_CLOUD_PTR_TYPE &retPointCloudPtr)
	Creates a point cloud from an ML image.
template<typename POINT_TYPE >
void	ml::PCLMLTools::assignPointDataFromXMarker (const XMarker &xMarker, POINT_TYPE &point)
	Generically assigns an XMarker to a any at least 3D point cloud point; only data[0] - data[2] are assigned from xMarker.pos and data[3] is set to 1.
void	ml::PCLMLTools::assignPointDataFromXMarker (const XMarker &xMarker, pcl::PointXYZLNormal &point)
	Special version to assign an XMarker to a PointXYZLNormal point; data[0] - data[2] are assigned from xMarker.pos, data_n[0] - data_n[2] are assigned from xMarker.vec, label is cast from xMarker.type.
void	ml::PCLMLTools::assignPointDataFromXMarker (const XMarker &xMarker, pcl::PointXYZRGBNormal &point)
	Special version to assign an XMarker to a PointXYZRGBNormal point; data[0] - data[2] are assigned from xMarker.pos, data_n[0] - data_n[2] are assigned from xMarker.vec, rgba (unit32) is cast from xMarker.type.
void	ml::PCLMLTools::assignPointDataFromXMarker (const XMarker &xMarker, pcl::PointXYZINormal &point)
	Special version to assign an XMarker to a PointXYZINormal point; data[0] - data[2] are assigned from xMarker.pos, data_n[0] - data_n[2] are assigned from xMarker.vec, intensity is cast from xMarker.type.
template<typename POINT_CLOUD_PTR_TYPE >
void	ml::PCLMLTools::createPointCloudFromBaseList (const Base *inBaseList, POINT_CLOUD_PTR_TYPE &retPointCloudPtr)
	Creates a point cloud from any of the following Base lists: PointList, VectorList, XMarkerList, or XMarkerListContainer.
template<typename POINT_TYPE >
void	ml::PCLMLTools::assignXMarkerFromPointData (const POINT_TYPE &point, XMarker &xMarker)
	Generically assigns a point cloud point to an XMarker; only data[0] - data[2] are assigned from point to xMarker.pos.
void	ml::PCLMLTools::assignXMarkerFromPointData (const pcl::PointXYZLNormal &point, XMarker &xMarker)
	Special version to assign a PointXYZLNormal point to an XMarker; data[0] - data[2] are assigned to xMarker.pos, data_n[0] - data_n[2] are assigned to xMarker.vec, label is cast to xMarker.type.
void	ml::PCLMLTools::assignXMarkerFromPointData (const pcl::PointXYZRGBNormal &point, XMarker &xMarker)
	Special version to assign a PointXYZRGBNormal point to an XMarker; data[0] - data[2] are assigned to xMarker.pos, data_n[0] - data_n[2] are assigned to xMarker.vec, rgba (uint32) is cast to xMarker.type.
void	ml::PCLMLTools::assignXMarkerFromPointData (const pcl::PointXYZINormal &point, XMarker &xMarker)
	Special version to assign a PointXYZINormal point to an XMarker; data[0] - data[2] are assigned to xMarker.pos, data_n[0] - data_n[2] are assigned to xMarker.vec, intensity is cast to xMarker.type.
template<typename POINT_CLOUD_TYPE >
void	ml::PCLMLTools::convertPointCloudToXMarkerList (POINT_CLOUD_TYPE &inputPointCloud, XMarkerList &outputList)
	Creates a point cloud from any of the following Base lists: PointList, VectorList, XMarkerList, or XMarkerListContainer.
void	ml::PCLMLTools::setVectorReplacement (pcl::PointXYZ &, const Vector3f &)
	If the point type has any normal-like members then any vector components of an ML vector-like voxel type are assigned to them.
template<typename PCL_POINT_TYPE >
void	ml::PCLMLTools::setVectorReplacement (PCL_POINT_TYPE &p, const Vector3f &vf)

Detailed Description

A collection of converter tools between the libraries ML and PCL.

Author

"Wolf Spindler"

Date

2015-12-18

A collection of converter tools between the libraries ML and PCL.

Definition in file mlPCLMLTools.h.