vision
YarpCloudUtils-pcl-inst.hpp
1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 #ifndef __YARP_CLOUD_UTILS_PCL_INST_HPP__
4 #define __YARP_CLOUD_UTILS_PCL_INST_HPP__
5 
6 #include <string>
7 
8 #include <yarp/os/Searchable.h>
9 #include <yarp/sig/PointCloud.h>
10 #include <yarp/sig/Vector.h>
11 
12 #define YCU_PCL_SIGNATURES(in, out) \
13  template bool meshFromCloud(const in &, out &, yarp::sig::VectorOf<int> &, const yarp::sig::VectorOf<yarp::os::Property> &); \
14  template bool meshFromCloud(const in &, out &, yarp::sig::VectorOf<int> &, const yarp::os::Searchable &, const std::string &); \
15  template bool processCloud(const in &, out &, const yarp::sig::VectorOf<yarp::os::Property> &); \
16  template bool processCloud(const in &, out &, const yarp::os::Searchable &, const std::string &);
17 
18 namespace roboticslab::YarpCloudUtils
19 {
20 
21 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudXY)
22 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudXYZ)
23 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudNormal)
24 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudXYZRGBA)
25 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudXYZI)
26 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudInterestPointXYZ)
27 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudXYZNormal)
28 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXY, yarp::sig::PointCloudXYZNormalRGBA)
29 
30 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudXY)
31 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudXYZ)
32 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudNormal)
33 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudXYZRGBA)
34 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudXYZI)
35 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudInterestPointXYZ)
36 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudXYZNormal)
37 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZ, yarp::sig::PointCloudXYZNormalRGBA)
38 
39 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudXY)
40 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudXYZ)
41 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudNormal)
42 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudXYZRGBA)
43 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudXYZI)
44 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudInterestPointXYZ)
45 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudXYZNormal)
46 YCU_PCL_SIGNATURES(yarp::sig::PointCloudNormal, yarp::sig::PointCloudXYZNormalRGBA)
47 
48 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudXY)
49 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudXYZ)
50 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudNormal)
51 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudXYZRGBA)
52 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudXYZI)
53 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudInterestPointXYZ)
54 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudXYZNormal)
55 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZRGBA, yarp::sig::PointCloudXYZNormalRGBA)
56 
57 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudXY)
58 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudXYZ)
59 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudNormal)
60 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudXYZRGBA)
61 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudXYZI)
62 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudInterestPointXYZ)
63 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudXYZNormal)
64 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZI, yarp::sig::PointCloudXYZNormalRGBA)
65 
66 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudXY)
67 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudXYZ)
68 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudNormal)
69 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudXYZRGBA)
70 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudXYZI)
71 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudInterestPointXYZ)
72 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudXYZNormal)
73 YCU_PCL_SIGNATURES(yarp::sig::PointCloudInterestPointXYZ, yarp::sig::PointCloudXYZNormalRGBA)
74 
75 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudXY)
76 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudXYZ)
77 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudNormal)
78 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudXYZRGBA)
79 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudXYZI)
80 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudInterestPointXYZ)
81 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudXYZNormal)
82 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormal, yarp::sig::PointCloudXYZNormalRGBA)
83 
84 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudXY)
85 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudXYZ)
86 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudNormal)
87 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudXYZRGBA)
88 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudXYZI)
89 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudInterestPointXYZ)
90 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudXYZNormal)
91 YCU_PCL_SIGNATURES(yarp::sig::PointCloudXYZNormalRGBA, yarp::sig::PointCloudXYZNormalRGBA)
92 
93 } // namespace roboticslab::YarpCloudUtils
94 
95 #endif // __YARP_CLOUD_UTILS_PCL_INST_HPP__
roboticslab::YarpCloudUtils
Collection of cloud-related utilities for YARP.
Definition: YarpCloudUtils-pcl-inst.hpp:19
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