MeVisLab Toolbox Reference
mlPCLSupportTools.h
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1 // Copyright (c) Fraunhofer MEVIS, Germany. All rights reserved.
2 // **InsertLicense** code author="Wolf Spindler"
3 //----------------------------------------------------------------------------------
5 
12 //----------------------------------------------------------------------------------
13 #pragma once
14 
15 #include "MLPCLSupportSystem.h"
16 #include <mlPCLTypes.h>
17 #include <mlModuleIncludes.h>
18 #include <mlReleaseToolsString.h>
19 
20 ML_START_NAMESPACE
21 
22 class SubImage;
23 class PagedImage;
24 
26 namespace PCLSupportTools {
27 
28 //----------------------------------------------------------------------------------
31 //----------------------------------------------------------------------------------
32 MLPCLSUPPORT_EXPORT MLuint64 getSigned32BitMaximumLimit();
33 
34 //----------------------------------------------------------------------------------
37 //----------------------------------------------------------------------------------
38 MLPCLSUPPORT_EXPORT MLuint64 getUnsigned32BitMaximumLimit();
39 
40 //----------------------------------------------------------------------------------
42 //----------------------------------------------------------------------------------
43 inline Eigen::Vector3f castToEigenVector3f(const Vector3 &mlVec)
44 {
45  return Eigen::Vector3f(static_cast<float>(mlVec[0]),
46  static_cast<float>(mlVec[1]),
47  static_cast<float>(mlVec[2]));
48 }
49 
50 //----------------------------------------------------------------------------------
52 //----------------------------------------------------------------------------------
53 inline Eigen::Vector4f castToEigenVector4f(const Vector4 &mlVec)
54 {
55  return Eigen::Vector4f(static_cast<float>(mlVec[0]),
56  static_cast<float>(mlVec[1]),
57  static_cast<float>(mlVec[2]),
58  static_cast<float>(mlVec[3]));
59 }
60 
61 //----------------------------------------------------------------------------------
64 //----------------------------------------------------------------------------------
65 MLPCLSUPPORT_EXPORT void castToStdVector(const Eigen::VectorXf& eigenVec, std::vector<MLfloat>& stdVec);
66 
67 //----------------------------------------------------------------------------------
71 //----------------------------------------------------------------------------------
72 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
73 MLPCLSUPPORT_EXPORT std::string getPCLPointAsString(const pcl::PointXYZ &point, int numDecimalPlaces=-1);
74 MLPCLSUPPORT_EXPORT std::string getPCLPointAsString(const pcl::PointXYZLNormal &point, int numDecimalPlaces=-1);
75 MLPCLSUPPORT_EXPORT std::string getPCLPointAsString(const pcl::PointXYZRGBNormal &point, int numDecimalPlaces=-1);
76 MLPCLSUPPORT_EXPORT std::string getPCLPointAsString(const pcl::PointXYZINormal &point, int numDecimalPlaces=-1);
78 
79 //----------------------------------------------------------------------------------
83 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
84 //----------------------------------------------------------------------------------
85 MLPCLSUPPORT_EXPORT std::string getScalarMemberNameAsString(const pcl::PointXYZ &, size_t memberIdx);
86 MLPCLSUPPORT_EXPORT std::string getScalarMemberNameAsString(const pcl::PointXYZLNormal &, size_t memberIdx);
87 MLPCLSUPPORT_EXPORT std::string getScalarMemberNameAsString(const pcl::PointXYZRGBNormal &, size_t memberIdx);
88 MLPCLSUPPORT_EXPORT std::string getScalarMemberNameAsString(const pcl::PointXYZINormal &, size_t memberIdx);
90 
91 
92 //----------------------------------------------------------------------------------
95 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
96 //----------------------------------------------------------------------------------
97 inline size_t getNumberOfScalarPointMembers(const pcl::PointXYZ &) { return 4; }
98 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZ &) { return 4; }
99 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZPtr &) { return 4; }
100 
101 inline size_t getNumberOfScalarPointMembers(const pcl::PointXYZLNormal &) { return 10; }
102 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZLNormal &) { return 10; }
103 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZLNormalPtr &) { return 10; }
104 
105 inline size_t getNumberOfScalarPointMembers(const pcl::PointXYZRGBNormal &) { return 10; }
106 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZRGBNormal &) { return 10; }
107 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZRGBNormalPtr&) { return 10; }
108 
109 inline size_t getNumberOfScalarPointMembers(const pcl::PointXYZINormal &) { return 10; }
110 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZINormal &) { return 10; }
111 inline size_t getNumberOfScalarPointMembers(const MLPointCloudXYZINormalPtr &) { return 10; }
113 
114 //----------------------------------------------------------------------------------
116 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
117 //----------------------------------------------------------------------------------
118 inline bool hasNormals(const pcl::PointXYZ &) { return false; }
119 inline bool hasNormals(const MLPointCloudXYZ &) { return false; }
120 inline bool hasNormals(const MLPointCloudXYZPtr &) { return false; }
121 inline bool hasNormals(const pcl::PointXYZLNormal &) { return true; }
122 inline bool hasNormals(const MLPointCloudXYZLNormal &) { return true; }
123 inline bool hasNormals(const MLPointCloudXYZLNormalPtr &) { return true; }
124 inline bool hasNormals(const pcl::PointXYZRGBNormal &) { return true; }
125 inline bool hasNormals(const MLPointCloudXYZRGBNormal &) { return true; }
126 inline bool hasNormals(const MLPointCloudXYZRGBNormalPtr&) { return true; }
127 inline bool hasNormals(const pcl::PointXYZINormal &) { return true; }
128 inline bool hasNormals(const MLPointCloudXYZINormal &) { return true; }
129 inline bool hasNormals(const MLPointCloudXYZINormalPtr &) { return true; }
131 
132 //----------------------------------------------------------------------------------
136 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
137 //----------------------------------------------------------------------------------
138 inline size_t getMaximumNumberOfScalarPointMembers() { return 10; }
139 
140 //----------------------------------------------------------------------------------
146 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
147 //----------------------------------------------------------------------------------
148 MLPCLSUPPORT_EXPORT std::string getScalarMemberValueAsString(const pcl::PointXYZ &p,
149  size_t memberIdx,
150  int numDecimalPlaces=-1);
151 MLPCLSUPPORT_EXPORT std::string getScalarMemberValueAsString(const pcl::PointXYZLNormal &p,
152  size_t memberIdx,
153  int numDecimalPlaces=-1);
154 MLPCLSUPPORT_EXPORT std::string getScalarMemberValueAsString(const pcl::PointXYZRGBNormal &p,
155  size_t memberIdx,
156  int numDecimalPlaces=-1);
157 MLPCLSUPPORT_EXPORT std::string getScalarMemberValueAsString(const pcl::PointXYZINormal &p,
158  size_t memberIdx,
159  int numDecimalPlaces=-1);
161 
162 //----------------------------------------------------------------------------------
168 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
169 //----------------------------------------------------------------------------------
171 inline void setPointFromFields(pcl::PointXYZ &pnt, const std::vector<DoubleField*> &constantFields)
172 {
173  pnt.x = static_cast<float>(constantFields[0]->getDoubleValue());
174  pnt.y = static_cast<float>(constantFields[1]->getDoubleValue());
175  pnt.z = static_cast<float>(constantFields[2]->getDoubleValue());
176  pnt.data[3] = static_cast<float>(constantFields[3]->getDoubleValue());
177 }
178 inline void setPointFromFields(pcl::PointXYZLNormal &pnt, const std::vector<DoubleField*> &constantFields)
179 {
180  pnt.x = static_cast<float>(constantFields[0]->getDoubleValue());
181  pnt.y = static_cast<float>(constantFields[1]->getDoubleValue());
182  pnt.z = static_cast<float>(constantFields[2]->getDoubleValue());
183  pnt.data[3] = static_cast<float>(constantFields[3]->getDoubleValue());
184  pnt.normal_x = static_cast<float>(constantFields[4]->getDoubleValue());
185  pnt.normal_y = static_cast<float>(constantFields[5]->getDoubleValue());
186  pnt.normal_z = static_cast<float>(constantFields[6]->getDoubleValue());
187  pnt.data_n[3] = static_cast<float>(constantFields[7]->getDoubleValue());
188  pnt.curvature = static_cast<float>(constantFields[8]->getDoubleValue());
189  pnt.label = static_cast<std::uint32_t>(MLAbs(constantFields[9]->getDoubleValue())); // cast of neg float -> int is undefined.
190 }
191 inline void setPointFromFields(pcl::PointXYZRGBNormal &pnt, const std::vector<DoubleField*> &constantFields)
192 {
193  pnt.x = static_cast<float>(constantFields[0]->getDoubleValue());
194  pnt.y = static_cast<float>(constantFields[1]->getDoubleValue());
195  pnt.z = static_cast<float>(constantFields[2]->getDoubleValue());
196  pnt.data[3] = static_cast<float>(constantFields[3]->getDoubleValue());
197  pnt.normal_x = static_cast<float>(constantFields[4]->getDoubleValue());
198  pnt.normal_y = static_cast<float>(constantFields[5]->getDoubleValue());
199  pnt.normal_z = static_cast<float>(constantFields[6]->getDoubleValue());
200  pnt.data_n[3] = static_cast<float>(constantFields[7]->getDoubleValue());
201  pnt.curvature = static_cast<float>(constantFields[8]->getDoubleValue());
202  pnt.rgb = static_cast<float>(constantFields[9]->getDoubleValue());
203 }
204 inline void setPointFromFields(pcl::PointXYZINormal &pnt, const std::vector<DoubleField*> &constantFields)
205 {
206  pnt.x = static_cast<float>(constantFields[0]->getDoubleValue());
207  pnt.y = static_cast<float>(constantFields[1]->getDoubleValue());
208  pnt.z = static_cast<float>(constantFields[2]->getDoubleValue());
209  pnt.data[3] = static_cast<float>(constantFields[3]->getDoubleValue());
210  pnt.normal_x = static_cast<float>(constantFields[4]->getDoubleValue());
211  pnt.normal_y = static_cast<float>(constantFields[5]->getDoubleValue());
212  pnt.normal_z = static_cast<float>(constantFields[6]->getDoubleValue());
213  pnt.data_n[3] = static_cast<float>(constantFields[7]->getDoubleValue());
214  pnt.curvature = static_cast<float>(constantFields[8]->getDoubleValue());
215  pnt.intensity = static_cast<float>(constantFields[9]->getDoubleValue());
216 }
218 
219 //----------------------------------------------------------------------------------
223 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
224 //----------------------------------------------------------------------------------
226 inline void setPointFromScalar(pcl::PointXYZ &pnt, const float val)
227 {
228  pnt.x = val;
229  pnt.y = val;
230  pnt.z = val;
231  pnt.data[3] = val;
232 }
233 inline void setPointFromScalar(pcl::PointXYZLNormal &pnt, const float val)
234 {
235  pnt.x = val;
236  pnt.y = val;
237  pnt.z = val;
238  pnt.data[3] = val;
239  pnt.normal_x = val;
240  pnt.normal_y = val;
241  pnt.normal_z = val;
242  pnt.data_n[3] = val;
243  pnt.curvature = val;
244  pnt.label = static_cast<std::uint32_t>(MLAbs(val)); // Note: neg float -> uint is undefined.
245 }
246 inline void setPointFromScalar(pcl::PointXYZRGBNormal &pnt, const float val)
247 {
248  pnt.x = val;
249  pnt.y = val;
250  pnt.z = val;
251  pnt.data[3] = val;
252  pnt.normal_x = val;
253  pnt.normal_y = val;
254  pnt.normal_z = val;
255  pnt.data_n[3] = val;
256  pnt.curvature = val;
257  pnt.rgb = val;
258 }
259 inline void setPointFromScalar(pcl::PointXYZINormal &pnt, const float val)
260 {
261  pnt.x = val;
262  pnt.y = val;
263  pnt.z = val;
264  pnt.data[3] = val;
265  pnt.normal_x = val;
266  pnt.normal_y = val;
267  pnt.normal_z = val;
268  pnt.data_n[3] = val;
269  pnt.curvature = val;
270  pnt.intensity = val;
271 }
273 
274 //----------------------------------------------------------------------------------
278 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
279 //----------------------------------------------------------------------------------
281 inline void setFieldsFromPoint(const pcl::PointXYZ &pnt, std::vector<DoubleField*> &resultFields)
282 {
283  resultFields[0]->setDoubleValue(pnt.x );
284  resultFields[1]->setDoubleValue(pnt.y );
285  resultFields[2]->setDoubleValue(pnt.z );
286  resultFields[3]->setDoubleValue(pnt.data[3]);
287 }
288 inline void setFieldsFromPoint(const pcl::PointXYZLNormal &pnt, std::vector<DoubleField*> &resultFields)
289 {
290  resultFields[0]->setDoubleValue(pnt.x );
291  resultFields[1]->setDoubleValue(pnt.y );
292  resultFields[2]->setDoubleValue(pnt.z );
293  resultFields[3]->setDoubleValue(pnt.data[3] );
294  resultFields[4]->setDoubleValue(pnt.normal_x );
295  resultFields[5]->setDoubleValue(pnt.normal_y );
296  resultFields[6]->setDoubleValue(pnt.normal_z );
297  resultFields[7]->setDoubleValue(pnt.data_n[3]);
298  resultFields[8]->setDoubleValue(pnt.curvature);
299  resultFields[9]->setDoubleValue(static_cast<double>(pnt.label));
300 }
301 inline void setFieldsFromPoint(const pcl::PointXYZRGBNormal &pnt, std::vector<DoubleField*> &resultFields)
302 {
303  resultFields[0]->setDoubleValue(pnt.x );
304  resultFields[1]->setDoubleValue(pnt.y );
305  resultFields[2]->setDoubleValue(pnt.z );
306  resultFields[3]->setDoubleValue(pnt.data[3] );
307  resultFields[4]->setDoubleValue(pnt.normal_x );
308  resultFields[5]->setDoubleValue(pnt.normal_y );
309  resultFields[6]->setDoubleValue(pnt.normal_z );
310  resultFields[7]->setDoubleValue(pnt.data_n[3]);
311  resultFields[8]->setDoubleValue(pnt.curvature);
312  resultFields[9]->setDoubleValue(pnt.rgb );
313 }
314 inline void setFieldsFromPoint(const pcl::PointXYZINormal &pnt, std::vector<DoubleField*> &resultFields)
315 {
316  resultFields[0]->setDoubleValue(pnt.x );
317  resultFields[1]->setDoubleValue(pnt.y );
318  resultFields[2]->setDoubleValue(pnt.z );
319  resultFields[3]->setDoubleValue(pnt.data[3] );
320  resultFields[4]->setDoubleValue(pnt.normal_x );
321  resultFields[5]->setDoubleValue(pnt.normal_y );
322  resultFields[6]->setDoubleValue(pnt.normal_z );
323  resultFields[7]->setDoubleValue(pnt.data_n[3]);
324  resultFields[8]->setDoubleValue(pnt.curvature);
325  resultFields[9]->setDoubleValue(pnt.intensity);
326 }
328 
329 //----------------------------------------------------------------------------------
331 //----------------------------------------------------------------------------------
332 template <typename PCL_OBJECT_PTR_TYPE>
333 inline void createEmptyPCLObject(PCL_OBJECT_PTR_TYPE &retPCLObjectPtr)
334 {
335  typedef typename PCL_OBJECT_PTR_TYPE::element_type PCL_OBJECT_TYPE;
336  retPCLObjectPtr = PCL_OBJECT_PTR_TYPE(new PCL_OBJECT_TYPE);
337 }
338 
339 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
341 //----------------------------------------------------------------------------------
343 //----------------------------------------------------------------------------------
344 inline MLPointCloudXYZPtr createEmptyXYZPointCloud()
345 {
346  MLPointCloudXYZPtr retPointCloudPtr;
347  createEmptyPCLObject(retPointCloudPtr);
348  return retPointCloudPtr;
349 }
350 //----------------------------------------------------------------------------------
352 //----------------------------------------------------------------------------------
353 inline MLPointCloudXYZLNormalPtr createEmptyXYZLNormalPointCloud()
354 {
355  MLPointCloudXYZLNormalPtr retPointCloudPtr;
356  createEmptyPCLObject(retPointCloudPtr);
357  return retPointCloudPtr;
358 }
359 //----------------------------------------------------------------------------------
361 //----------------------------------------------------------------------------------
362 inline MLPointCloudXYZRGBNormalPtr createEmptyXYZRGBNormalPointCloud()
363 {
364  MLPointCloudXYZRGBNormalPtr retPointCloudPtr;
365  createEmptyPCLObject(retPointCloudPtr);
366  return retPointCloudPtr;
367 }
368 //----------------------------------------------------------------------------------
370 //----------------------------------------------------------------------------------
371 inline MLPointCloudXYZINormalPtr createEmptyXYZINormalPointCloud()
372 {
373  MLPointCloudXYZINormalPtr retPointCloudPtr;
374  createEmptyPCLObject(retPointCloudPtr);
375  return retPointCloudPtr;
376 }
377 //----------------------------------------------------------------------------------
379 //----------------------------------------------------------------------------------
380 inline MLPolygonMeshPtr createEmptyPolygonMesh()
381 {
382  MLPolygonMeshPtr retPolygonMeshPtr;
383  createEmptyPCLObject(retPolygonMeshPtr);
384  return retPolygonMeshPtr;
385 }
387 
388 //----------------------------------------------------------------------------------
390 //----------------------------------------------------------------------------------
391 enum PointCloudDefaultPatterns {
392  Empty = 0, //<! An empty point cloud.
393  OriginPoint, //<! A point cloud with one point at (0,0,0).
394  Triangle, //<! A point cloud with the points (0,0,0), (1,0,0), (0,1,0).
395  Square, //<! A point cloud with the points (0,0,0), (1,0,0), (0,1,0), (1,1,0).
396  Cube //<! A point cloud with the points (0,0,0), (1,0,0), (0,1,0), (1,1,0),
397  //<! (0,0,1), (1,0,1), (0,1,1), (1,1,1).
398 };
399 //----------------------------------------------------------------------------------
401 //----------------------------------------------------------------------------------
402 enum {
403  NumberOfPointCloudDefaultPatterns = 5
404 };
405 
406 //----------------------------------------------------------------------------------
408 //----------------------------------------------------------------------------------
409 enum PointCloudFillPatterns {
410  Fill = 0, //<! Fill with a given default value.
411  Indexed //<! Each point gets its index at data[3].
412 };
413 //----------------------------------------------------------------------------------
415 //----------------------------------------------------------------------------------
416 enum {
417  NumberOfPointCloudFillPatterns = 2
418 };
419 
420 //----------------------------------------------------------------------------------
423 //----------------------------------------------------------------------------------
424 template <typename POINT_CLOUD_TYPE>
425 inline void appendPoint(POINT_CLOUD_TYPE &pc,
426  const Vector3f &pos,
427  float fillValue)
428 {
429  typedef typename POINT_CLOUD_TYPE::PointType POINT_TYPE;
430  POINT_TYPE newPoint;
431  newPoint.x = pos.x;
432  newPoint.y = pos.y;
433  newPoint.z = pos.z;
434  newPoint.data[3] = fillValue;
435  pc.push_back(newPoint);
436 }
437 
438 //----------------------------------------------------------------------------------
441 //----------------------------------------------------------------------------------
442 template <typename POINT_CLOUD_TYPE>
443 inline void appendFillPattern(POINT_CLOUD_TYPE &pc,
444  PointCloudDefaultPatterns pattern,
445  PointCloudFillPatterns fillMode,
446  float fillValue=0.f)
447 {
448  // Counter for added points.
449  float index = 0;
450  bool useFillVal=false;
451  switch(fillMode){
452  case Fill: useFillVal=true; break;
453  case Indexed: useFillVal=false; break;
454  default:
455  ML_PRINT_ERROR("mlPCLMLTools.cpp: appendFillPattern", ML_BAD_PARAMETER,
456  "Bad fill mode, using fillMode 'Fill'.");
457  break;
458  }
459 
460  switch (pattern){
461  case Empty: break;
462  case OriginPoint:
463  appendPoint(pc, Vector3f(0,0,0), useFillVal ? fillValue : index); index+=1.f;
464  break;
465  case Triangle:
466  appendPoint(pc, Vector3f(0,0,0), useFillVal ? fillValue : index); index+=1.f;
467  appendPoint(pc, Vector3f(1,0,0), useFillVal ? fillValue : index); index+=1.f;
468  appendPoint(pc, Vector3f(0,1,0), useFillVal ? fillValue : index); index+=1.f;
469  break;
470  case Square:
471  appendPoint(pc, Vector3f(0,0,0), useFillVal ? fillValue : index); index+=1.f;
472  appendPoint(pc, Vector3f(1,0,0), useFillVal ? fillValue : index); index+=1.f;
473  appendPoint(pc, Vector3f(0,1,0), useFillVal ? fillValue : index); index+=1.f;
474  appendPoint(pc, Vector3f(1,1,0), useFillVal ? fillValue : index); index+=1.f;
475  break;
476  case Cube:
477  appendPoint(pc, Vector3f(0,0,0), useFillVal ? fillValue : index); index+=1.f;
478  appendPoint(pc, Vector3f(1,0,0), useFillVal ? fillValue : index); index+=1.f;
479  appendPoint(pc, Vector3f(0,1,0), useFillVal ? fillValue : index); index+=1.f;
480  appendPoint(pc, Vector3f(1,1,0), useFillVal ? fillValue : index); index+=1.f;
481  appendPoint(pc, Vector3f(0,0,1), useFillVal ? fillValue : index); index+=1.f;
482  appendPoint(pc, Vector3f(1,0,1), useFillVal ? fillValue : index); index+=1.f;
483  appendPoint(pc, Vector3f(0,1,1), useFillVal ? fillValue : index); index+=1.f;
484  appendPoint(pc, Vector3f(1,1,1), useFillVal ? fillValue : index); index+=1.f;
485  break;
486  default:
487  ML_PRINT_ERROR("mlPCLMLTools.cpp: appendFillPattern", ML_BAD_PARAMETER,
488  "Bad fill pattern, could not add points to point cloud.");
489  break;
490  }
491 }
492 
493 //----------------------------------------------------------------------------------
495 //----------------------------------------------------------------------------------
496 inline bool fourFloatsDiffer(const float data1[4],
497  const float data2[4],
498  double epsilon=FLT_EPSILON)
499 {
500  return ((MLAbs(data1[0] - data2[0]) >= epsilon) ||
501  (MLAbs(data1[1] - data2[1]) >= epsilon) ||
502  (MLAbs(data1[2] - data2[2]) >= epsilon) ||
503  (MLAbs(data1[3] - data2[3]) >= epsilon) );
504 }
505 
507 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
508 
509 //----------------------------------------------------------------------------------
514 //----------------------------------------------------------------------------------
515 template <typename POINT_TYPE1, typename POINT_TYPE2>
516 inline bool doPCLPointNonDataMembersDiffer(const POINT_TYPE1 &/*point1*/,
517  const POINT_TYPE2 &/*point2*/,
518  double /*epsilon*/=FLT_EPSILON)
519 {
520  return true;
521 }
522 
523 //----------------------------------------------------------------------------------
526 //----------------------------------------------------------------------------------
527 inline bool doPCLPointNonDataMembersDiffer(const pcl::PointXYZ &/*point1*/,
528  const pcl::PointXYZ &/*point2*/,
529  double /*epsilon*/=FLT_EPSILON)
530 {
531  return false;
532 }
533 
534 //----------------------------------------------------------------------------------
537 //----------------------------------------------------------------------------------
538 inline bool doPCLPointNonDataMembersDiffer(const pcl::PointXYZLNormal &point1,
539  const pcl::PointXYZLNormal &point2,
540  double epsilon=FLT_EPSILON)
541 {
542  return fourFloatsDiffer(point1.data_n, point2.data_n, epsilon) ||
543  (point1.label != point2.label) ||
544  (MLAbs(point1.curvature - point2.curvature) >= epsilon);
545 }
546 
547 //----------------------------------------------------------------------------------
550 //----------------------------------------------------------------------------------
551 inline bool doPCLPointNonDataMembersDiffer(const pcl::PointXYZRGBNormal &point1,
552  const pcl::PointXYZRGBNormal &point2,
553  double epsilon=FLT_EPSILON)
554 {
555  return fourFloatsDiffer(point1.data_n, point2.data_n, epsilon) ||
556  (point1.rgba != point2.rgba) ||
557  (MLAbs(point1.curvature - point2.curvature) >= epsilon);
558 }
559 
560 //----------------------------------------------------------------------------------
563 //----------------------------------------------------------------------------------
564 inline bool doPCLPointNonDataMembersDiffer(const pcl::PointXYZINormal &point1,
565  const pcl::PointXYZINormal &point2,
566  double epsilon=FLT_EPSILON)
567 {
568  return fourFloatsDiffer(point1.data_n, point2.data_n, epsilon) ||
569  (MLAbs(point1.intensity - point2.intensity) >= epsilon) ||
570  (MLAbs(point1.curvature - point2.curvature) >= epsilon);
571 }
573 
574 //----------------------------------------------------------------------------------
582 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
583 //----------------------------------------------------------------------------------
585 inline void setIntensityReplacement(pcl::PointXYZ & /*p*/, float /*value*/=1.f, MLuint8 /*opacity*/=0xff)
586 {
587  // There is no member which could be used for the intensity.
588 }
589 inline void setIntensityReplacement(pcl::PointXYZLNormal &p, float value=1.f, MLuint8 /*opacity*/=0xff)
590 {
591  p.curvature = value;
592 }
593 inline void setIntensityReplacement(pcl::PointXYZRGBNormal &p, float value=1.f, MLuint8 opacity=0xff /*opaque*/)
594 {
595  p.curvature = value;
596  p.r = p.g = p.b = static_cast<MLuint8>(value * 255.9999f);
597  p.a = opacity;
598 }
599 inline void setIntensityReplacement(pcl::PointXYZINormal &p, float value=1.f, MLuint8 /*opacity*/=0xff)
600 {
601  p.intensity = value;
602 }
604 
605 //----------------------------------------------------------------------------------
609 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
610 //----------------------------------------------------------------------------------
612 inline float getIntensityReplacement(const pcl::PointXYZ & /*p*/)
613 {
614  // There is no member which could be used for the intensity.
615  return 0.f;
616 }
617 inline float getIntensityReplacement(const pcl::PointXYZLNormal &p)
618 {
619  return p.curvature;
620 }
621 inline float getIntensityReplacement(const pcl::PointXYZRGBNormal &p)
622 {
623  return p.curvature;
624 }
625 inline float getIntensityReplacement(const pcl::PointXYZINormal &p)
626 {
627  return p.intensity;
628 }
630 
631 //----------------------------------------------------------------------------------
634 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
635 //----------------------------------------------------------------------------------
637 inline float getCurvature(const pcl::PointXYZ & /*p*/)
638 {
639  // There is no member which could be used as curvature.
640  return 0.f;
641 }
642 inline float getCurvature(const pcl::PointXYZLNormal &p)
643 {
644  return p.curvature;
645 }
646 inline float getCurvature(const pcl::PointXYZRGBNormal &p)
647 {
648  return p.curvature;
649 }
650 inline float getCurvature(const pcl::PointXYZINormal &p)
651 {
652  return p.curvature;
653 }
654 inline void setCurvature(pcl::PointXYZ & /*p*/, float /*curvature*/)
655 {
656  // This point type has no curvature which could be set.
657 }
658 inline void setCurvature(pcl::PointXYZLNormal &p, float curvature)
659 {
660  p.curvature = curvature;
661 }
662 inline void setCurvature(pcl::PointXYZRGBNormal &p, float curvature)
663 {
664  p.curvature = curvature;
665 }
666 inline void setCurvature(pcl::PointXYZINormal &p, float curvature)
667 {
668  p.curvature = curvature;
669 }
671 
672 //----------------------------------------------------------------------------------
675 // NOTE: Implement all types explicitly, because VC14-32 compiler will
676 // matches RGBA type to default template version otherwise (which reads
677 // 0u or sets nothing).
678 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
679 //----------------------------------------------------------------------------------
681 inline unsigned int getPointRGBA(const pcl::PointXYZ & /*rgbaPnt*/)
682 {
683  return 0u;
684 }
685 inline unsigned int getPointRGBA(const pcl::PointXYZINormal & /*rgbaPnt*/)
686 {
687  return 0u;
688 }
689 inline unsigned int getPointRGBA(const pcl::PointXYZRGBNormal &rgbaPnt)
690 {
691  return rgbaPnt.rgba;
692 }
693 inline unsigned int getPointRGBA(const pcl::PointXYZLNormal & /*rgbaPnt*/)
694 {
695  return 0u;
696 }
697 inline void setPointRGBA(pcl::PointXYZ &/*rgbaPnt*/,
698  MLuint32 /*srcVal*/)
699 {
700 }
701 inline void setPointRGBA(pcl::PointXYZINormal &/*rgbaPnt*/,
702  MLuint32 /*srcVal*/)
703 {
704 }
705 inline void setPointRGBA(pcl::PointXYZRGBNormal &rgbaPnt,
706  MLuint32 srcVal)
707 {
708  rgbaPnt.rgba = srcVal;
709 }
710 inline void setPointRGBA(pcl::PointXYZLNormal &/*rgbaPnt*/,
711  MLuint32 /*srcVal*/)
712 {
713 }
715 
716 //----------------------------------------------------------------------------------
720 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
721 //----------------------------------------------------------------------------------
723 inline void setPointNormal(pcl::PointXYZ &/*p*/, float /*nx*/, float /*ny*/, float /*nz*/)
724 {
725  // There is no member which could be used for the intensity.
726 }
727 inline void setPointNormal(pcl::PointXYZLNormal &p, float nx, float ny, float nz)
728 {
729  p.normal_x = nx;
730  p.normal_y = ny;
731  p.normal_z = nz;
732 }
733 inline void setPointNormal(pcl::PointXYZRGBNormal &p, float nx, float ny, float nz)
734 {
735  p.normal_x = nx;
736  p.normal_y = ny;
737  p.normal_z = nz;
738 }
739 inline void setPointNormal(pcl::PointXYZINormal &p, float nx, float ny, float nz)
740 {
741  p.normal_x = nx;
742  p.normal_y = ny;
743  p.normal_z = nz;
744 }
746 
747 //----------------------------------------------------------------------------------
751 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
752 //----------------------------------------------------------------------------------
754 inline void getPointNormal(const pcl::PointXYZ & /*p*/, float &nx, float &ny, float &nz)
755 {
756  nx = 0.f;
757  ny = 0.f;
758  nz = 0.f;
759 }
760 inline void getPointNormal(const pcl::PointXYZLNormal &p, float &nx, float &ny, float &nz)
761 {
762  nx = p.normal_x;
763  ny = p.normal_y;
764  nz = p.normal_z;
765 }
766 inline void getPointNormal(const pcl::PointXYZRGBNormal &p, float &nx, float &ny, float &nz)
767 {
768  nx = p.normal_x;
769  ny = p.normal_y;
770  nz = p.normal_z;
771 }
772 inline void getPointNormal(const pcl::PointXYZINormal &p, float &nx, float &ny, float &nz)
773 {
774  nx = p.normal_x;
775  ny = p.normal_y;
776  nz = p.normal_z;
777 }
779 
780 //----------------------------------------------------------------------------------
782 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
783 //----------------------------------------------------------------------------------
785 inline bool hasNormal (const pcl::PointXYZ &){ return false;}
786 inline bool hasNormal (const pcl::PointXYZLNormal &){ return true ;}
787 inline bool hasNormal (const pcl::PointXYZRGBNormal &){ return true ;}
788 inline bool hasNormal (const pcl::PointXYZINormal &){ return true ;}
790 
791 //----------------------------------------------------------------------------------
793 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
794 //----------------------------------------------------------------------------------
796 inline bool hasLabel (const pcl::PointXYZ &){ return false;}
797 inline bool hasLabel (const pcl::PointXYZLNormal &){ return true ;}
798 inline bool hasLabel (const pcl::PointXYZRGBNormal &){ return false;}
799 inline bool hasLabel (const pcl::PointXYZINormal &){ return false;}
801 
802 //----------------------------------------------------------------------------------
804 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
805 //----------------------------------------------------------------------------------
807 inline bool hasRGBA (const pcl::PointXYZ &){ return false;}
808 inline bool hasRGBA (const pcl::PointXYZLNormal &){ return false;}
809 inline bool hasRGBA (const pcl::PointXYZRGBNormal &){ return true ;}
810 inline bool hasRGBA (const pcl::PointXYZINormal &){ return false;}
812 
813 //----------------------------------------------------------------------------------
815 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
816 //----------------------------------------------------------------------------------
818 inline bool hasIntensity(const pcl::PointXYZ &){ return false;}
819 inline bool hasIntensity(const pcl::PointXYZLNormal &){ return false;}
820 inline bool hasIntensity(const pcl::PointXYZRGBNormal &){ return false;}
821 inline bool hasIntensity(const pcl::PointXYZINormal &){ return true ;}
823 
824 //----------------------------------------------------------------------------------
826 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
827 //----------------------------------------------------------------------------------
829 inline bool hasCurvature(const pcl::PointXYZ &){ return false;}
830 inline bool hasCurvature(const pcl::PointXYZLNormal &){ return true ;}
831 inline bool hasCurvature(const pcl::PointXYZRGBNormal &){ return true ;}
832 inline bool hasCurvature(const pcl::PointXYZINormal &){ return true ;}
834 
835 //----------------------------------------------------------------------------------
837 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
838 //----------------------------------------------------------------------------------
840 inline bool hasIntensityReplacement(const pcl::PointXYZ &){ return false;}
841 inline bool hasIntensityReplacement(const pcl::PointXYZLNormal &){ return true ;}
842 inline bool hasIntensityReplacement(const pcl::PointXYZRGBNormal &){ return true ;}
843 inline bool hasIntensityReplacement(const pcl::PointXYZINormal &){ return true ;}
845 
846 //----------------------------------------------------------------------------------
868 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
869 //----------------------------------------------------------------------------------
870 template <typename POINT_TYPE>
871 inline void getPCLPointAsFormattedString(const POINT_TYPE &point,
872  std::string &formatStr,
873  int numDecimalPlaces,
874  size_t pointIndex)
875 {
876  // For performance reasons call the replace functions and the calculations for its parameters only if the corresponding
877  // replace value is available.
878  if (std::string::npos != formatStr.find("$(x)")){
879  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(x)", getScalarMemberValueAsString(point, 0, numDecimalPlaces));
880  }
881  if (std::string::npos != formatStr.find("$(data[0])")){
882  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data[0])", getScalarMemberValueAsString(point, 0, numDecimalPlaces));
883  }
884  if (std::string::npos != formatStr.find("$(y)")){
885  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(y)", getScalarMemberValueAsString(point, 1, numDecimalPlaces));
886  }
887  if (std::string::npos != formatStr.find("$(data[1])")){
888  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data[1])", getScalarMemberValueAsString(point, 1, numDecimalPlaces));
889  }
890  if (std::string::npos != formatStr.find("$(z)")){
891  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(z)", getScalarMemberValueAsString(point, 2, numDecimalPlaces));
892  }
893  if (std::string::npos != formatStr.find("$(data[2])")){
894  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data[2])", getScalarMemberValueAsString(point, 2, numDecimalPlaces));
895  }
896  if (std::string::npos != formatStr.find("$(data[3])")){
897  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data[3])", getScalarMemberValueAsString(point, 3, numDecimalPlaces));
898  }
899 
900  if (std::string::npos != formatStr.find("$(nx)")){
901  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(nx)", getScalarMemberValueAsString(point, 4, numDecimalPlaces));
902  }
903  if (std::string::npos != formatStr.find("$(data_n[0])")){
904  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data_n[0])", getScalarMemberValueAsString(point, 4, numDecimalPlaces));
905  }
906  if (std::string::npos != formatStr.find("$(ny)")){
907  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(ny)", getScalarMemberValueAsString(point, 5, numDecimalPlaces));
908  }
909  if (std::string::npos != formatStr.find("$(data_n[1])")){
910  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data_n[1])", getScalarMemberValueAsString(point, 5, numDecimalPlaces));
911  }
912  if (std::string::npos != formatStr.find("$(nz)")){
913  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(nz)", getScalarMemberValueAsString(point, 6, numDecimalPlaces));
914  }
915  if (std::string::npos != formatStr.find("$(data_n[2])")){
916  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data_n[2])", getScalarMemberValueAsString(point, 6, numDecimalPlaces));
917  }
918  if (std::string::npos != formatStr.find("$(data_n[3])")){
919  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(data_n[3])", getScalarMemberValueAsString(point, 7, numDecimalPlaces));
920  }
921 
922  if (std::string::npos != formatStr.find("$(ir)")){
923  const float ir = getIntensityReplacement(point);
924  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(ir)", hasIntensityReplacement(point) ?
925  ReleaseToolsString::toDblStr(ir, -1, static_cast<signed char>(numDecimalPlaces), false, true):
926  std::string());
927  }
928  if (std::string::npos != formatStr.find("$(curvature)")){
929  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(curvature)", getScalarMemberValueAsString(point, 8, numDecimalPlaces));
930  }
931  if (std::string::npos != formatStr.find("$(rgba)")){
932  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(rgba)", hasRGBA(point) ?
933  getScalarMemberValueAsString(point, 9, numDecimalPlaces) :
934  std::string());
935  }
936  if (std::string::npos != formatStr.find("$(intensity)")){
937  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(intensity)", hasIntensity(point) ?
938  getScalarMemberValueAsString(point, 9, numDecimalPlaces) :
939  std::string());
940  }
941  if (std::string::npos != formatStr.find("$(label)")){
942  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(label)", hasLabel(point) ?
943  getScalarMemberValueAsString(point, 9, numDecimalPlaces) :
944  std::string());
945  }
946  if (std::string::npos != formatStr.find("$(index)")){
947  formatStr = ReleaseToolsString::replaceAllStr1ByStr2(formatStr, "$(index)", ReleaseToolsString::toSize_tStr(pointIndex));
948  }
949 }
950 
951 //----------------------------------------------------------------------------------
969 //----------------------------------------------------------------------------------
970 template <typename POINT_CLOUD_TYPE>
971 inline std::string getPCLPointListAsString(const POINT_CLOUD_TYPE &pointCloud,
972  MLint maxNumShownPoints=ML_INT64_MAX,
973  MLint indexOfFirstPoint=0,
974  bool showIndices=true,
975  const std::string &lineSeparator="\n",
976  int numDecimalPlaces = -1,
977  const std::string &pointsPrintFormatStr="")
978 {
979  std::string retString;
980  const MLuint64 numPoints = pointCloud.points.size();
981  if ( (maxNumShownPoints>0) && (numPoints > 0) && (indexOfFirstPoint < mlrange_cast<MLint64>(numPoints)) ){
982 
983  // Correct input parameters if necessary.
984  if (indexOfFirstPoint < 0){ indexOfFirstPoint = 0; }
985  if (indexOfFirstPoint >= mlrange_cast<MLint64>(numPoints)){
986  indexOfFirstPoint = mlrange_cast<MLint>(numPoints)-1;
987  }
988  if (maxNumShownPoints > mlrange_cast<MLint64>(numPoints)){
989  maxNumShownPoints = mlrange_cast<MLint>(numPoints);
990  }
991  MLuint64 startPointIdx = mlrange_cast<MLuint64>(indexOfFirstPoint);
992  MLuint64 endPointIdx = mlrange_cast<MLuint64>(indexOfFirstPoint + maxNumShownPoints);
993  if (endPointIdx > numPoints){ endPointIdx = numPoints; } // endPointIdx itself is already excluded
994 
995  std::string idxPrefix = "";
996  const std::string colonStr = ":";
997 
998  // Use size_t for indices to avoid indexing warnings on 32 bit systems.
999  const size_t firstIdx = mlrange_cast<size_t>(startPointIdx);
1000  const size_t endIdx = mlrange_cast<size_t>(endPointIdx);
1001 
1002  // Guess to avoid too many resizes.
1003  retString.reserve((endIdx-firstIdx)*20);
1004 
1005  // Empty? Then use normal print, otherwise use formatted one.
1006  const bool isFormatted = !pointsPrintFormatStr.empty();
1007 
1008  // Print points into string (reserve to avoid expensive reallocations).
1009  std::string lineStr;
1010  lineStr.reserve(512);
1011  for (size_t c=firstIdx; c < endIdx; ++c){
1012  if (showIndices){
1013  idxPrefix = ReleaseToolsString::toMLUIntStr(c) + colonStr;
1014  }
1015  if (isFormatted){
1016  lineStr = pointsPrintFormatStr;
1017  getPCLPointAsFormattedString(pointCloud.points[c], lineStr, numDecimalPlaces, c);
1018  }
1019  else{
1020  lineStr = getPCLPointAsString(pointCloud.points[c], numDecimalPlaces);
1021  }
1022  retString += idxPrefix + lineStr + lineSeparator;
1023  }
1024  }
1025  return retString;
1026 }
1027 
1028 //----------------------------------------------------------------------------------
1031 //----------------------------------------------------------------------------------
1032 template <typename POINT_CLOUD_TYPE>
1033 inline std::string getPointStructureT(const POINT_CLOUD_TYPE &pointCloud)
1034 {
1035  std::string retStr;
1036  if (pointCloud.points.size() > 0){
1037  const size_t numMembers = PCLSupportTools::getNumberOfScalarPointMembers(pointCloud);
1038  for (size_t c=0; c < numMembers; ++c){
1039  if (c > 0){
1040  retStr += ", ";
1041  }
1042  retStr += PCLSupportTools::getScalarMemberNameAsString(pointCloud.points[0], c);
1043  }
1044  }
1045  return retStr;
1046 }
1047 
1050 #define _PCLSupportTools_NewLineDefaultArgumentString "\n"
1051 
1052 //----------------------------------------------------------------------------------
1064 //----------------------------------------------------------------------------------
1065 MLPCLSUPPORT_EXPORT std::string getPCLVerticesAsString(const std::vector<pcl::Vertices> &vertices,
1066  MLint maxNumShownVertices=ML_INT64_MAX,
1067  MLint indexOfFirstVertex=0,
1068  bool showIndices=true,
1069  const std::string &lineSeparator=_PCLSupportTools_NewLineDefaultArgumentString);
1070 
1071 //----------------------------------------------------------------------------------
1082 // See python PCLInfoTest for a test testing this functionality indirectly.
1083 //----------------------------------------------------------------------------------
1084 MLPCLSUPPORT_EXPORT std::string getPCLIndicesAsString(const std::vector<int> &indices,
1085  MLint maxNumShownIndices,
1086  MLint indexOfFirstIndex,
1087  bool showIndices,
1088  const std::string &lineSeparator=_PCLSupportTools_NewLineDefaultArgumentString);
1089 
1090 //----------------------------------------------------------------------------------
1097 //----------------------------------------------------------------------------------
1098 MLPCLSUPPORT_EXPORT void PCLExtractSubIndices(const std::vector<int> &subIndices,
1099  std::vector<int> &indices);
1100 
1101 //----------------------------------------------------------------------------------
1111 //----------------------------------------------------------------------------------
1112 MLPCLSUPPORT_EXPORT std::string getPointFieldValueAsString(std::uint8_t fd,
1113  const std::uint8_t *dataPtr,
1114  int numDecimalPlaces = -1);
1115 
1116 //----------------------------------------------------------------------------------
1122 //----------------------------------------------------------------------------------
1123 MLPCLSUPPORT_EXPORT std::string getPointFieldDataTypeString(std::uint8_t fd,
1124  bool aligned);
1125 
1126 //----------------------------------------------------------------------------------
1137 //----------------------------------------------------------------------------------
1138 MLPCLSUPPORT_EXPORT std::string getCloudDataString(const MLPolygonMesh &polygonMesh,
1139  MLint maxNumShownVertices=ML_INT64_MAX,
1140  MLint indexOfFirstVertex=0,
1141  bool showIndices=true,
1142  const std::string &lineSeparator=_PCLSupportTools_NewLineDefaultArgumentString,
1143  int numDecimalPlaces=-1);
1144 
1145 #if 0
1146 // Still untested. To be activated when needed.
1147 //----------------------------------------------------------------------------------
1154 //----------------------------------------------------------------------------------
1155 MLPCLSUPPORT_EXPORT double getPointFieldValueAsDouble(pcl::uint8_t fd,
1156  const pcl::uint8_t *dataPtr);
1157 
1158 //----------------------------------------------------------------------------------
1160 //----------------------------------------------------------------------------------
1161 MLPCLSUPPORT_EXPORT double getPointFieldValueAsfloat(pcl::uint8_t fd,
1162  const pcl::uint8_t *dataPtr);
1163 
1164 //----------------------------------------------------------------------------------
1166 //----------------------------------------------------------------------------------
1167 struct MLPCLSUPPORT_EXPORT XYZNormalAndValue {
1168  // Initializes all members to 0.
1169  inline XYZNormalAndValue():px(0.f),py(0.f),pz(0.f), nx(0.f),ny(0.f),nz(0.f), intensity(0.f), rgba(0), isRGBA(false){}
1170  // Initializes all members to 0.
1171  inline void clear(){ px=0.f; py=0.f; pz=0.f; nx=0.f; ny=0.f; nz=0.f; intensity=0.f; rgba=0; isRGBA=false; }
1172 
1174  float px,py,pz;
1176  float nx,ny,nz;
1178  float intensity;
1180  MLuint32 rgba;
1182  bool isRGBA;
1183 };
1184 
1185 //----------------------------------------------------------------------------------
1191 //----------------------------------------------------------------------------------
1192 MLPCLSUPPORT_EXPORT void getCloudDataGeometry(const MLPolygonMesh &polygonMesh,
1193  std::vector<XYZNormalAndValue> &geometry);
1194 #endif
1195 
1196 //----------------------------------------------------------------------------------
1198 //----------------------------------------------------------------------------------
1199 MLPCLSUPPORT_EXPORT std::string getCloudFieldsString(const std::vector<pcl::PCLPointField> &fields);
1200 
1201 //----------------------------------------------------------------------------------
1205 //----------------------------------------------------------------------------------
1206 template <typename POINT_CLOUD_TYPE>
1207 inline SubImageBoxd getBoxForPointCloud(const POINT_CLOUD_TYPE &inputPointCloud)
1208 {
1209  // Create empty return box.
1210  SubImageBoxd retBox;
1211  retBox.v1[0] = ML_FLOAT_MAX;
1212  retBox.v1[1] = ML_FLOAT_MAX;
1213  retBox.v1[2] = ML_FLOAT_MAX;
1214  retBox.v1[3] = 0.;
1215  retBox.v1[4] = 0.;
1216  retBox.v1[5] = 0.;
1217  retBox.v2[0] = -ML_FLOAT_MAX;
1218  retBox.v2[1] = -ML_FLOAT_MAX;
1219  retBox.v2[2] = -ML_FLOAT_MAX;
1220  retBox.v2[3] = 0.;
1221  retBox.v2[4] = 0.;
1222  retBox.v2[5] = 0.;
1223 
1224  const size_t numPoints = inputPointCloud.points.size();
1225  for (size_t c=0; c < numPoints; ++c){
1226  typedef typename POINT_CLOUD_TYPE::PointType PointType;
1227  const PointType &pnt = inputPointCloud.points[c];
1228  if (pnt.x < retBox.v1[0]){ retBox.v1[0] = pnt.x; }
1229  if (pnt.y < retBox.v1[1]){ retBox.v1[1] = pnt.y; }
1230  if (pnt.z < retBox.v1[2]){ retBox.v1[2] = pnt.z; }
1231 
1232  if (pnt.x > retBox.v2[0]){ retBox.v2[0] = pnt.x; }
1233  if (pnt.y > retBox.v2[1]){ retBox.v2[1] = pnt.y; }
1234  if (pnt.z > retBox.v2[2]){ retBox.v2[2] = pnt.z; }
1235  }
1236  return retBox;
1237 }
1238 
1239 //----------------------------------------------------------------------------------
1251 //----------------------------------------------------------------------------------
1252 template <typename POINT_CLOUD_TYPE>
1253 inline SubImageBox getBoxForPointCloud(const POINT_CLOUD_TYPE &pointCloud,
1254  Vector3f &pointCloudOrigin,
1255  bool includeAll)
1256 {
1257  pointCloudOrigin.assign(0,0,0);
1258  SubImageBox retBox;
1259  const SubImageBoxd doubleBox = getBoxForPointCloud(pointCloud);
1260  if (!doubleBox.isEmpty()){
1261  pointCloudOrigin.assign(static_cast<float>(doubleBox.v1[0]),
1262  static_cast<float>(doubleBox.v1[1]),
1263  static_cast<float>(doubleBox.v1[2]));
1264  if (!includeAll){
1265  retBox.v1.x = static_cast<MLint>(doubleBox.v1[0]);
1266  retBox.v1.y = static_cast<MLint>(doubleBox.v1[1]);
1267  retBox.v1.z = static_cast<MLint>(doubleBox.v1[2]);
1268  retBox.v2.x = static_cast<MLint>(doubleBox.v2[0]);
1269  retBox.v2.y = static_cast<MLint>(doubleBox.v2[1]);
1270  retBox.v2.z = static_cast<MLint>(doubleBox.v2[2]);
1271  }
1272  else{
1273  retBox.v1.x = static_cast<MLint>(std::floor(doubleBox.v1[0]));
1274  retBox.v1.y = static_cast<MLint>(std::floor(doubleBox.v1[1]));
1275  retBox.v1.z = static_cast<MLint>(std::floor(doubleBox.v1[2]));
1276  retBox.v2.x = static_cast<MLint>(std::ceil (doubleBox.v2[0]));
1277  retBox.v2.y = static_cast<MLint>(std::ceil (doubleBox.v2[1]));
1278  retBox.v2.z = static_cast<MLint>(std::ceil (doubleBox.v2[2]));
1279  }
1280  retBox.v1.c = 0;
1281  retBox.v1.t = 0;
1282  retBox.v1.u = 0;
1283  retBox.v2.c = 0;
1284  retBox.v2.t = 0;
1285  retBox.v2.u = 0;
1286  }
1287  return retBox;
1288 }
1289 
1290 //----------------------------------------------------------------------------------
1293 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1294 //----------------------------------------------------------------------------------
1295 enum { ML_PCL_NUMBER_OF_POINT_MEMBER_NAMES = 13 };
1296 
1297 //----------------------------------------------------------------------------------
1299 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1300 //----------------------------------------------------------------------------------
1301 extern MLPCLSUPPORT_EXPORT const char * const PointMemberNames[ML_PCL_NUMBER_OF_POINT_MEMBER_NAMES];
1302 
1303 //----------------------------------------------------------------------------------
1306 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1307 //----------------------------------------------------------------------------------
1308 enum { ML_PCL_NUMBER_OF_FLOAT_POINT_MEMBER_NAMES = 11 };
1309 
1310 //----------------------------------------------------------------------------------
1312 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1313 //----------------------------------------------------------------------------------
1314 extern MLPCLSUPPORT_EXPORT const char * const FloatPointMemberNames[ML_PCL_NUMBER_OF_FLOAT_POINT_MEMBER_NAMES];
1315 
1316 //----------------------------------------------------------------------------------
1319 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1320 //----------------------------------------------------------------------------------
1321 MLPCLSUPPORT_EXPORT size_t getByteOffset(const pcl::PointXYZ &pnt,
1322  const std::string &pointMemberName);
1323 
1324 //----------------------------------------------------------------------------------
1327 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1328 //----------------------------------------------------------------------------------
1329 MLPCLSUPPORT_EXPORT size_t getByteOffset(const pcl::PointXYZLNormal &pnt,
1330  const std::string &pointMemberName);
1331 
1332 //----------------------------------------------------------------------------------
1335 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1336 //----------------------------------------------------------------------------------
1337 MLPCLSUPPORT_EXPORT size_t getByteOffset(const pcl::PointXYZRGBNormal &pnt,
1338  const std::string &pointMemberName);
1339 
1340 //----------------------------------------------------------------------------------
1343 // Adapt this if a new PCL point type is integrated in the MeVisLab binding.
1344 //----------------------------------------------------------------------------------
1345 MLPCLSUPPORT_EXPORT size_t getByteOffset(const pcl::PointXYZINormal &pnt,
1346  const std::string &pointMemberName);
1347 
1348 };
1349 
1350 ML_END_NAMESPACE
1351 
MLPCLSupportSystem.h
Project global and OS specific declarations.
MLPCLSUPPORT_EXPORT
#define MLPCLSUPPORT_EXPORT
If included by external modules, exported symbols are declared as import symbols.
Definition: MLPCLSupportSystem.h:21
ml::SubImageBoxd
SubImageBoxd - SubImageBox with coordinates of float data type.
Definition: mlSubImageBoxd.h:33
ml::SubImageBoxd::v2
Vector6 v2
Corner v2 of the box region.
Definition: mlSubImageBoxd.h:43
ml::SubImageBoxd::isEmpty
bool isEmpty() const
Returns true if any component of v1 is greater than the corresponding component of v2 (which is defin...
Definition: mlSubImageBoxd.h:93
ml::SubImageBoxd::v1
Vector6 v1
Corner v1 of the box region.
Definition: mlSubImageBoxd.h:40
ml::TSubImageBox::v1
VectorType v1
Corner v1 of the subimage region (included in region).
Definition: mlSubImageBox.h:63
ml::TSubImageBox::v2
VectorType v2
Corner v2 of the subimage region (also included in region!).
Definition: mlSubImageBox.h:69
ml::TVector6DBase::c
ComponentType c
Color component of the vector.
Definition: mlImageVector.h:65
ml::TVector6DBase::t
ComponentType t
Time component of the vector.
Definition: mlImageVector.h:67
ml::TVector6DBase::u
ComponentType u
Unit/Modality/User component of the vector.
Definition: mlImageVector.h:69
ml::TVector6DBase::z
ComponentType z
Z component of the vector.
Definition: mlImageVector.h:63
ml::TVector6DBase::x
ComponentType x
X component of the vector.
Definition: mlImageVector.h:59
ml::TVector6DBase::y
ComponentType y
Y component of the vector.
Definition: mlImageVector.h:61
ml::Tvec3::assign
void assign(const DT px, const DT py, const DT pz)
Sets all components to the passed values.
Definition: mlVector3.h:171
ml::Vector3DataContainer::x
DT x
X-component of the vector, same as _buffer[0].
Definition: mlVector3.h:39
ml::Vector3DataContainer::z
DT z
Z-component of the vector, same as _buffer[2].
Definition: mlVector3.h:43
ml::Vector3DataContainer::y
DT y
Y-component of the vector, same as _buffer[1].
Definition: mlVector3.h:41
MLAbs
DT MLAbs(const DT val)
Defines a templated MLAbs version to circumvent fabs ambiguities on different platforms.
Definition: mlTypeDefTraits.h:104
ML_BAD_PARAMETER
#define ML_BAD_PARAMETER
A bad/invalid parameter (or even an inappropriate image) has been passed to a module or an algorithm,...
Definition: mlTypeDefs.h:823
ML_PRINT_ERROR
#define ML_PRINT_ERROR(FUNC_NAME, REASON, HANDLING)
Like ML_PRINT_ERROR_DUMP(FUNC_NAME, REASON, HANDLING, RT_OBJ) without a runtime object to be dumped.
Definition: mlErrorMacros.h:346
_PCLSupportTools_NewLineDefaultArgumentString
#define _PCLSupportTools_NewLineDefaultArgumentString
A default argument used in some functions for strings and which describes a newline,...
Definition: mlPCLSupportTools.h:1050
mlPCLTypes.h
Basic types used in the MeVislab binding of the Point Cloud Library(PCL).
mlReleaseToolsString.h
Tool class for some string operations.
ML_FLOAT_MAX
#define ML_FLOAT_MAX
Definition: mlTypeDefs.h:204
MLuint64
UINT64 MLuint64
Introduce platform-independent 64-bit unsigned integer type.
Definition: mlTypeDefs.h:425
ML_INT64_MAX
#define ML_INT64_MAX
Definition: mlTypeDefs.h:467
MLuint32
unsigned int MLuint32
Definition: mlTypeDefs.h:185
MLuint8
unsigned char MLuint8
Definition: mlTypeDefs.h:109
MLint
MLint64 MLint
A signed ML integer type with at least 64 bits used for index calculations on very large images even ...
Definition: mlTypeDefs.h:490
boost::vertices
std::pair< boost::graph_traits< ml_graph_ptr >::vertex_iterator, boost::graph_traits< ml_graph_ptr >::vertex_iterator > vertices(ml_graph_ptr g)
Returns an iterator-range providing access to all the vertices in the graph g.
Definition: mlGraphToBoostGraph.h:248
ml::PCLSupportTools::PointCloudDefaultPatterns
PointCloudDefaultPatterns
An enumerator defining some basic default patterns for point clouds.
Definition: mlPCLSupportTools.h:391
ml::PCLSupportTools::setPointNormal
void setPointNormal(pcl::PointXYZINormal &p, float nx, float ny, float nz)
Definition: mlPCLSupportTools.h:739
ml::PCLSupportTools::PointMemberNames
MLPCLSUPPORT_EXPORT const char *const PointMemberNames[ML_PCL_NUMBER_OF_POINT_MEMBER_NAMES]
Possible members of points as strings which might appear in current implementation.
ml::PCLSupportTools::setIntensityReplacement
void setIntensityReplacement(pcl::PointXYZINormal &p, float value=1.f, MLuint8=0xff)
Definition: mlPCLSupportTools.h:599
ml::PCLSupportTools::setCurvature
void setCurvature(pcl::PointXYZINormal &p, float curvature)
Definition: mlPCLSupportTools.h:666
ml::PCLSupportTools::getUnsigned32BitMaximumLimit
MLPCLSUPPORT_EXPORT MLuint64 getUnsigned32BitMaximumLimit()
Returns the maximum number of entries allowed in data structured with 32 bit unsigned indexing,...
ml::PCLSupportTools::hasLabel
bool hasLabel(const pcl::PointXYZINormal &)
Definition: mlPCLSupportTools.h:799
ml::PCLSupportTools::doPCLPointNonDataMembersDiffer
bool doPCLPointNonDataMembersDiffer(const pcl::PointXYZINormal &point1, const pcl::PointXYZINormal &point2, double epsilon=FLT_EPSILON)
Returns true if differences between corresponding non data members of point1 and point2 are found whi...
Definition: mlPCLSupportTools.h:564
ml::PCLSupportTools::getCloudFieldsString
MLPCLSUPPORT_EXPORT std::string getCloudFieldsString(const std::vector< pcl::PCLPointField > &fields)
Converts the pointField vector fields to a human readable string.
ml::PCLSupportTools::setPointRGBA
void setPointRGBA(pcl::PointXYZLNormal &, MLuint32)
Definition: mlPCLSupportTools.h:710
ml::PCLSupportTools::fourFloatsDiffer
bool fourFloatsDiffer(const float data1[4], const float data2[4], double epsilon=FLT_EPSILON)
Returns true if differences between corresponding data1 and data2 entries are >= epsilon,...
Definition: mlPCLSupportTools.h:496
ml::PCLSupportTools::hasNormal
bool hasNormal(const pcl::PointXYZINormal &)
Definition: mlPCLSupportTools.h:788
ml::PCLSupportTools::FloatPointMemberNames
MLPCLSUPPORT_EXPORT const char *const FloatPointMemberNames[ML_PCL_NUMBER_OF_FLOAT_POINT_MEMBER_NAMES]
Number of possible float members as strings which might appear in current implementation.
ml::PCLSupportTools::castToEigenVector4f
Eigen::Vector4f castToEigenVector4f(const Vector4 &mlVec)
Convenience function to convert an ML Vector4f to an Eigen::Vector4f.
Definition: mlPCLSupportTools.h:53
ml::PCLSupportTools::castToStdVector
MLPCLSUPPORT_EXPORT void castToStdVector(const Eigen::VectorXf &eigenVec, std::vector< MLfloat > &stdVec)
Convenience function to convert an Eigen::VectorXf to a std::vector<MLfloat>, e.g.
ml::PCLSupportTools::getByteOffset
MLPCLSUPPORT_EXPORT size_t getByteOffset(const pcl::PointXYZINormal &pnt, const std::string &pointMemberName)
Returns the offset in bytes between the given member described as string and the first member in the ...
ml::PCLSupportTools::getCloudDataString
MLPCLSUPPORT_EXPORT std::string getCloudDataString(const MLPolygonMesh &polygonMesh, MLint maxNumShownVertices=ML_INT64_MAX, MLint indexOfFirstVertex=0, bool showIndices=true, const std::string &lineSeparator=_PCLSupportTools_NewLineDefaultArgumentString, int numDecimalPlaces=-1)
Converts the cloud data of polygonMesh to a human readable string.
ml::PCLSupportTools::PCLExtractSubIndices
MLPCLSUPPORT_EXPORT void PCLExtractSubIndices(const std::vector< int > &subIndices, std::vector< int > &indices)
Extract all indices from indices if they are listed in subIndices in the order as given in subIndices...
ml::PCLSupportTools::getPointStructureT
std::string getPointStructureT(const POINT_CLOUD_TYPE &pointCloud)
Returns an empty string if pointCloud.points are empty, otherwise a concatenated, comma separated str...
Definition: mlPCLSupportTools.h:1033
ml::PCLSupportTools::createEmptyPCLObject
void createEmptyPCLObject(PCL_OBJECT_PTR_TYPE &retPCLObjectPtr)
Creates an empty point cloud of type POINT_CLOUD_PTR_TYPE.
Definition: mlPCLSupportTools.h:333
ml::PCLSupportTools::createEmptyXYZINormalPointCloud
MLPointCloudXYZINormalPtr createEmptyXYZINormalPointCloud()
Creates an empty PointCloudXYZLNormal point cloud.
Definition: mlPCLSupportTools.h:371
ml::PCLSupportTools::getPCLIndicesAsString
MLPCLSUPPORT_EXPORT std::string getPCLIndicesAsString(const std::vector< int > &indices, MLint maxNumShownIndices, MLint indexOfFirstIndex, bool showIndices, const std::string &lineSeparator=_PCLSupportTools_NewLineDefaultArgumentString)
Converts at most maxNumShownIndices indices from indices starting at position indexOfFirstIndex into ...
ml::PCLSupportTools::PointCloudFillPatterns
PointCloudFillPatterns
An enumerator defining some basic value fill patterns for point clouds.
Definition: mlPCLSupportTools.h:409
ml::PCLSupportTools::getSigned32BitMaximumLimit
MLPCLSUPPORT_EXPORT MLuint64 getSigned32BitMaximumLimit()
Returns the maximum number of entries allowed in data structured with 32 bit signed indexing,...
ml::PCLSupportTools::hasIntensityReplacement
bool hasIntensityReplacement(const pcl::PointXYZINormal &)
Definition: mlPCLSupportTools.h:843
ml::PCLSupportTools::castToEigenVector3f
Eigen::Vector3f castToEigenVector3f(const Vector3 &mlVec)
Convenience function to convert an ML Vector3f to an Eigen::Vector3f.
Definition: mlPCLSupportTools.h:43
ml::PCLSupportTools::getPCLVerticesAsString
MLPCLSUPPORT_EXPORT std::string getPCLVerticesAsString(const std::vector< pcl::Vertices > &vertices, MLint maxNumShownVertices=ML_INT64_MAX, MLint indexOfFirstVertex=0, bool showIndices=true, const std::string &lineSeparator=_PCLSupportTools_NewLineDefaultArgumentString)
Converts at most maxNumShownVertices vertices from vertices starting at position indexOfFirstVertex i...
ml::PCLSupportTools::createEmptyPolygonMesh
MLPolygonMeshPtr createEmptyPolygonMesh()
Creates an empty pcl::PolygonMesh object.
Definition: mlPCLSupportTools.h:380
ml::PCLSupportTools::setPointFromFields
void setPointFromFields(pcl::PointXYZINormal &pnt, const std::vector< DoubleField * > &constantFields)
Definition: mlPCLSupportTools.h:204
ml::PCLSupportTools::appendFillPattern
void appendFillPattern(POINT_CLOUD_TYPE &pc, PointCloudDefaultPatterns pattern, PointCloudFillPatterns fillMode, float fillValue=0.f)
Creates a PointCloud point cloud filled with a set of points defined by pattern and fillMode; does no...
Definition: mlPCLSupportTools.h:443
ml::PCLSupportTools::getIntensityReplacement
float getIntensityReplacement(const pcl::PointXYZINormal &p)
Definition: mlPCLSupportTools.h:625
ml::PCLSupportTools::getBoxForPointCloud
SubImageBox getBoxForPointCloud(const POINT_CLOUD_TYPE &pointCloud, Vector3f &pointCloudOrigin, bool includeAll)
Returns an ML SubImageBox corresponding to pointCloud.
Definition: mlPCLSupportTools.h:1253
ml::PCLSupportTools::getPointNormal
void getPointNormal(const pcl::PointXYZINormal &p, float &nx, float &ny, float &nz)
Definition: mlPCLSupportTools.h:772
ml::PCLSupportTools::getMaximumNumberOfScalarPointMembers
size_t getMaximumNumberOfScalarPointMembers()
From the point cloud type with the largest number of scalar members returns the number of scalar valu...
Definition: mlPCLSupportTools.h:138
ml::PCLSupportTools::getPointFieldValueAsString
MLPCLSUPPORT_EXPORT std::string getPointFieldValueAsString(std::uint8_t fd, const std::uint8_t *dataPtr, int numDecimalPlaces=-1)
Reinterprets the data at position dataPtr as a pcl::PointField::PointFieldTypes enumerator given by f...
ml::PCLSupportTools::getNumberOfScalarPointMembers
size_t getNumberOfScalarPointMembers(const MLPointCloudXYZINormalPtr &)
Definition: mlPCLSupportTools.h:111
ml::PCLSupportTools::hasCurvature
bool hasCurvature(const pcl::PointXYZINormal &)
Definition: mlPCLSupportTools.h:832
ml::PCLSupportTools::getPointFieldDataTypeString
MLPCLSUPPORT_EXPORT std::string getPointFieldDataTypeString(std::uint8_t fd, bool aligned)
Returns a human readable string for a pcl::PCLPointField::PointFieldTypes enumerator.
ml::PCLSupportTools::getPointRGBA
unsigned int getPointRGBA(const pcl::PointXYZLNormal &)
Definition: mlPCLSupportTools.h:693
ml::PCLSupportTools::hasIntensity
bool hasIntensity(const pcl::PointXYZINormal &)
Definition: mlPCLSupportTools.h:821
ml::PCLSupportTools::createEmptyXYZLNormalPointCloud
MLPointCloudXYZLNormalPtr createEmptyXYZLNormalPointCloud()
Creates an empty PointCloudXYZLNormal point cloud.
Definition: mlPCLSupportTools.h:353
ml::PCLSupportTools::getPCLPointAsString
MLPCLSUPPORT_EXPORT std::string getPCLPointAsString(const pcl::PointXYZINormal &point, int numDecimalPlaces=-1)
ml::PCLSupportTools::appendPoint
void appendPoint(POINT_CLOUD_TYPE &pc, const Vector3f &pos, float fillValue)
Appends a new point to pc with data[0-2] given by pos and data[3] by fillValue; does nothing if pc is...
Definition: mlPCLSupportTools.h:425
ml::PCLSupportTools::createEmptyXYZPointCloud
MLPointCloudXYZPtr createEmptyXYZPointCloud()
Creates an empty PointCloudXYZ point cloud.
Definition: mlPCLSupportTools.h:344
ml::PCLSupportTools::setFieldsFromPoint
void setFieldsFromPoint(const pcl::PointXYZINormal &pnt, std::vector< DoubleField * > &resultFields)
Definition: mlPCLSupportTools.h:314
ml::PCLSupportTools::hasRGBA
bool hasRGBA(const pcl::PointXYZINormal &)
Definition: mlPCLSupportTools.h:810
ml::PCLSupportTools::getPCLPointListAsString
std::string getPCLPointListAsString(const POINT_CLOUD_TYPE &pointCloud, MLint maxNumShownPoints=ML_INT64_MAX, MLint indexOfFirstPoint=0, bool showIndices=true, const std::string &lineSeparator="\n", int numDecimalPlaces=-1, const std::string &pointsPrintFormatStr="")
Converts at most maxNumShownPoints from pointCloud starting at position indexOfFirstPoint into a stri...
Definition: mlPCLSupportTools.h:971
ml::PCLSupportTools::setPointFromScalar
void setPointFromScalar(pcl::PointXYZINormal &pnt, const float val)
Definition: mlPCLSupportTools.h:259
ml::PCLSupportTools::hasNormals
bool hasNormals(const MLPointCloudXYZINormalPtr &)
Definition: mlPCLSupportTools.h:129
ml::PCLSupportTools::createEmptyXYZRGBNormalPointCloud
MLPointCloudXYZRGBNormalPtr createEmptyXYZRGBNormalPointCloud()
Creates an empty PointCloudXYZRGBNormal point cloud.
Definition: mlPCLSupportTools.h:362
ml::PCLSupportTools::getCurvature
float getCurvature(const pcl::PointXYZINormal &p)
Definition: mlPCLSupportTools.h:650
ml::PCLSupportTools::getScalarMemberValueAsString
MLPCLSUPPORT_EXPORT std::string getScalarMemberValueAsString(const pcl::PointXYZINormal &p, size_t memberIdx, int numDecimalPlaces=-1)
ml::PCLSupportTools::getScalarMemberNameAsString
MLPCLSUPPORT_EXPORT std::string getScalarMemberNameAsString(const pcl::PointXYZINormal &, size_t memberIdx)
ml::PCLSupportTools::getPCLPointAsFormattedString
void getPCLPointAsFormattedString(const POINT_TYPE &point, std::string &formatStr, int numDecimalPlaces, size_t pointIndex)
Replaces placeholders in formatStr with values from the given point.
Definition: mlPCLSupportTools.h:871
ml::ReleaseToolsString::toSize_tStr
MLRELEASE_TOOLS_EXPORT std::string toSize_tStr(size_t val, signed char fieldWidth=-1, bool padWithZeros=false)
Tool function to convert a size_t to a string.
ml::ReleaseToolsString::toMLUIntStr
MLRELEASE_TOOLS_EXPORT std::string toMLUIntStr(MLuint val, signed char fieldWidth=-1, bool padWithZeros=false)
Tool function to convert an MLuint to a string.
ml::ReleaseToolsString::toDblStr
MLRELEASE_TOOLS_EXPORT std::string toDblStr(MLdouble val, signed char fieldWidth=-1, signed char numDecimalPlaces=-1, bool padWithZeros=false, bool considerValAsFloat=false)
Tool function to print an MLdouble value to a std::string.
ml::ReleaseToolsString::replaceAllStr1ByStr2
MLRELEASE_TOOLS_EXPORT std::string replaceAllStr1ByStr2(const std::string &inStr, const std::string &str1, const std::string &str2)
Same as replaceAllStr1ByStr2InStr with the difference that the changed string is returned and inStr r...
ml::MLPointCloudXYZRGBNormalPtr
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr MLPointCloudXYZRGBNormalPtr
The basic pointer type of a point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:100
ml::MLPointCloudXYZLNormalPtr
pcl::PointCloud< pcl::PointXYZLNormal >::Ptr MLPointCloudXYZLNormalPtr
The basic pointer type of a point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:93
ml::MLPointCloudXYZPtr
pcl::PointCloud< pcl::PointXYZ >::Ptr MLPointCloudXYZPtr
The basic pointer type of a point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:86
ml::MLPointCloudXYZ
pcl::PointCloud< pcl::PointXYZ > MLPointCloudXYZ
The basic point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:83
ml::MLPointCloudXYZRGBNormal
pcl::PointCloud< pcl::PointXYZRGBNormal > MLPointCloudXYZRGBNormal
The basic point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:97
ml::MLPointCloudXYZLNormal
pcl::PointCloud< pcl::PointXYZLNormal > MLPointCloudXYZLNormal
The basic point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:90
ml::MLPolygonMeshPtr
pcl::PolygonMesh::Ptr MLPolygonMeshPtr
The basic pointer type of a pcl::PolygonMesh in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:114
ml::MLPolygonMesh
pcl::PolygonMesh MLPolygonMesh
The basic polygon type of a pcl::PolygonMesh used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:111
ml::Vector3f
Tvec3< MLfloat > Vector3f
A vector with three components of type float.
Definition: mlVector3.h:280
ml::MLPointCloudXYZINormalPtr
pcl::PointCloud< pcl::PointXYZINormal >::Ptr MLPointCloudXYZINormalPtr
The basic pointer type of a point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:107
ml::MLPointCloudXYZINormal
pcl::PointCloud< pcl::PointXYZINormal > MLPointCloudXYZINormal
The basic point cloud type used in the PCL MeVisLab binding.
Definition: mlPCLTypes.h:104
ml::Vector4f
Tvec4< MLfloat > Vector4f
A vector with four components of type float.
Definition: mlVector4.h:156