made XYZRGB2XYZLAB templated and added array header

PointCloudLibrary · Apr 19, 2021 · fa0782c · fa0782c
1 parent 44d67bb
commit fa0782c
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/common/include/pcl/common/colors.h b/common/include/pcl/common/colors.h
@@ -41,6 +41,7 @@
 #include <pcl/point_types.h>
 
 #include <type_traits>  // for is_floating_point
+#include <array>        // for std::array especially in Clang Darwin and MSVC
 
 namespace pcl
 {

diff --git a/common/include/pcl/point_types_conversion.h b/common/include/pcl/point_types_conversion.h
@@ -136,12 +136,13 @@ namespace pcl
     if (out.h < 0.f) out.h += 360.f;
   }
 
-  /** \brief Convert a XYZRGBA point type to a XYZLAB
-    * \param[in] in the input XYZRGBA point
+  /** \brief Convert a XYZRGB-based point type to a XYZLAB
+    * \param[in] in the input XYZRGB(XYZRGBA, XYZRGBL, etc.) point
     * \param[out] out the output XYZLAB point
     */
+  template <typename PointXYZRGBTypes>
   inline void
-  PointXYZRGBAtoXYZLAB (const PointXYZRGBA& in,
+  PointXYZRGBtoXYZLAB (const PointXYZRGBTypes& in,
                         PointXYZLAB&        out)
   {
     out.x = in.x;

diff --git a/registration/src/gicp6d.cpp b/registration/src/gicp6d.cpp
@@ -62,7 +62,7 @@ GeneralizedIterativeClosestPoint6D::setInputSource(
   // in addition, convert colors of the cloud to CIELAB
   cloud_lab_->resize(cloud->size());
   for (std::size_t point_idx = 0; point_idx < cloud->size(); ++point_idx) {
-    PointXYZRGBAtoXYZLAB((*cloud)[point_idx], (*cloud_lab_)[point_idx]);
+    PointXYZRGBtoXYZLAB((*cloud)[point_idx], (*cloud_lab_)[point_idx]);
   }
 }
 
@@ -76,7 +76,7 @@ GeneralizedIterativeClosestPoint6D::setInputTarget(
   // in addition, convert colors of the cloud to CIELAB...
   target_lab_->resize(target->size());
   for (std::size_t point_idx = 0; point_idx < target->size(); ++point_idx) {
-    PointXYZRGBAtoXYZLAB((*target)[point_idx], (*target_lab_)[point_idx]);
+    PointXYZRGBtoXYZLAB((*target)[point_idx], (*target_lab_)[point_idx]);
   }
 
   // ...and build 6d-tree