39 #ifndef PCL_TYPE_CONVERSIONS_H
40 #define PCL_TYPE_CONVERSIONS_H
59 out.x = in.x; out.y = in.y; out.z = in.z;
60 out.
intensity = 0.299f * static_cast <
float> (in.r) + 0.587f * static_cast <float> (in.g) + 0.114f * static_cast <
float> (in.b);
71 out.intensity = 0.299f * static_cast <
float> (in.r) + 0.587f * static_cast <float> (in.g) + 0.114f * static_cast <
float> (in.b);
82 out.intensity =
static_cast<uint8_t
>(std::numeric_limits<uint8_t>::max() * 0.299f * static_cast <
float> (in.r)
83 + 0.587f * static_cast <float> (in.g) + 0.114f * static_cast <
float> (in.b));
94 out.intensity =
static_cast<uint32_t
>(
static_cast<float>(std::numeric_limits<uint32_t>::max()) * 0.299f * static_cast <float> (in.r)
95 + 0.587f * static_cast <
float> (in.g) + 0.114f * static_cast <float> (in.b));
106 const unsigned char max = std::max (in.r, std::max (in.g, in.b));
107 const unsigned char min = std::min (in.r, std::min (in.g, in.b));
109 out.
v = static_cast <
float> (max) / 255.f;
118 const float diff = static_cast <
float> (max - min);
119 out.
s = diff / static_cast <
float> (max);
127 if (max == in.r) out.
h = 60.f * ( static_cast <
float> (in.g - in.b) / diff);
128 else if (max == in.g) out.
h = 60.f * (2.f + static_cast <
float> (in.b - in.r) / diff);
129 else out.
h = 60.f * (4.f + static_cast <
float> (in.r - in.g) / diff);
131 if (out.
h < 0.f) out.
h += 360.f;
143 const unsigned char max = std::max (in.r, std::max (in.g, in.b));
144 const unsigned char min = std::min (in.r, std::min (in.g, in.b));
146 out.
v = static_cast <
float> (max) / 255.f;
155 const float diff = static_cast <
float> (max - min);
156 out.
s = diff / static_cast <
float> (max);
164 if (max == in.r) out.
h = 60.f * ( static_cast <
float> (in.g - in.b) / diff);
165 else if (max == in.g) out.
h = 60.f * (2.f + static_cast <
float> (in.b - in.r) / diff);
166 else out.
h = 60.f * (4.f + static_cast <
float> (in.r - in.g) / diff);
168 if (out.
h < 0.f) out.
h += 360.f;
179 out.x = in.x; out.y = in.y; out.z = in.z;
182 out.r = out.g = out.b =
static_cast<uint8_t
> (in.
v);
186 int i =
static_cast<int> (floorf (a));
187 float f = a -
static_cast<float> (i);
188 float p = in.
v * (1 - in.
s);
189 float q = in.
v * (1 - in.
s * f);
190 float t = in.
v * (1 - in.
s * (1 - f));
196 out.r =
static_cast<uint8_t
> (255 * in.
v);
197 out.g =
static_cast<uint8_t
> (255 * t);
198 out.b =
static_cast<uint8_t
> (255 * p);
203 out.r =
static_cast<uint8_t
> (255 * q);
204 out.g =
static_cast<uint8_t
> (255 * in.
v);
205 out.b =
static_cast<uint8_t
> (255 * p);
210 out.r =
static_cast<uint8_t
> (255 * p);
211 out.g =
static_cast<uint8_t
> (255 * in.
v);
212 out.b =
static_cast<uint8_t
> (255 * t);
217 out.r =
static_cast<uint8_t
> (255 * p);
218 out.g =
static_cast<uint8_t
> (255 * q);
219 out.b =
static_cast<uint8_t
> (255 * in.
v);
224 out.r =
static_cast<uint8_t
> (255 * t);
225 out.g =
static_cast<uint8_t
> (255 * p);
226 out.b =
static_cast<uint8_t
> (255 * in.
v);
231 out.r =
static_cast<uint8_t
> (255 * in.
v);
232 out.g =
static_cast<uint8_t
> (255 * p);
233 out.b =
static_cast<uint8_t
> (255 * q);
249 for (
size_t i = 0; i < in.
points.size (); i++)
267 for (
size_t i = 0; i < in.
points.size (); i++)
285 for (
size_t i = 0; i < in.
points.size (); i++)
303 for (
size_t i = 0; i < in.
points.size (); i++)
321 for (
size_t i = 0; i < in.
points.size (); i++)
339 for (
size_t i = 0; i < in.
points.size (); i++)
359 float bad_point = std::numeric_limits<float>::quiet_NaN();
360 int width_ = depth.
width;
361 int height_ = depth.
height;
362 float constant_ = 1.0f / focal;
364 for(
unsigned int v = 0; v < height_; v++)
366 for(
unsigned int u = 0; u < width_; u++)
370 float depth_ = depth.
at(u,v).intensity;
374 pt.x = pt.y = pt.z = bad_point;
378 pt.z = depth_ * 0.001f;
379 pt.x =
static_cast<float> (u) * pt.z * constant_;
380 pt.y = static_cast<float> (v) * pt.z * constant_;
382 pt.r = image.
at(u,v).r;
383 pt.g = image.
at(u,v).g;
384 pt.b = image.
at(u,v).b;
394 #endif //#ifndef PCL_TYPE_CONVERSIONS_H