Helios++
Helios software for LiDAR simulations
VHStaticObjectXYZRGBAdapter.h
1 #ifdef PCL_BINDING
2 
3 #pragma once
4 
5 #include <visualhelios/adapters/VHStaticObjectAdapter.h>
6 
7 namespace visualhelios{
8 
10 protected:
11  // *** ATTRIBUTES *** //
12  // ******************** //
17  pcl::PointCloud<pcl::PointXYZRGB>::Ptr polymesh;
18 
19 public:
20  // *** CONSTRUCTION / DESTRUCTION *** //
21  // ************************************ //
29  {}
30  virtual ~VHStaticObjectXYZRGBAdapter() = default;
31 
32  // *** BUILDING *** //
33  // ****************** //
37  void constructPolymesh() override;
41  void vertexToMesh(Vertex const & vertex) override;
42 
43  // *** GETTERS and SETTERS *** //
44  // ***************************** //
51  inline pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr getPolymesh() const
52  {return polymesh;}
53 };
54 }
55 
56 #endif
Class representing a scene part.
Definition: ScenePart.h:20
Class representing a vertex.
Definition: Vertex.h:14
Abstract class defining core mechanisms to adapt static objects to the visual Helios context based on...
Definition: VHStaticObjectAdapter.h:25
ScenePart & staticObj
The adapted static object.
Definition: VHStaticObjectAdapter.h:33
Definition: VHStaticObjectXYZRGBAdapter.h:9
VHStaticObjectXYZRGBAdapter(ScenePart &staticObj)
Constructor for the visual Helios static object adapter providing XYZ visualization with RGB color.
Definition: VHStaticObjectXYZRGBAdapter.h:27
pcl::PointCloud< pcl::PointXYZRGB >::Ptr polymesh
Polygon mesh representing the static object in a space with RGB color.
Definition: VHStaticObjectXYZRGBAdapter.h:17
void vertexToMesh(Vertex const &vertex) override
Definition: VHStaticObjectXYZRGBAdapter.cpp:16
void constructPolymesh() override
Definition: VHStaticObjectXYZRGBAdapter.cpp:9
pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr getPolymesh() const
Obtain the polygon mesh representing the static object in a space with RGB color.
Definition: VHStaticObjectXYZRGBAdapter.h:51