| 557 | } |
| 558 | |
| 559 | bool |
| 560 | Track::getPointXYZRGB(pcl::PointXYZRGB& p) |
| 561 | { |
| 562 | if(visibility_ == Track::NOT_VISIBLE) |
| 563 | return false; |
| 564 | |
| 565 | double _x, _y; |
| 566 | filter_->getState(_x, _y); |
| 567 | |
| 568 | p.x = float(_x); |
| 569 | p.y = float(_y); |
| 570 | p.z = float(z_); |
| 571 | uchar* rgb_ptr = (uchar*)&p.rgb; |
| 572 | *rgb_ptr++ = uchar(color_(0) * 255.0f); |
| 573 | *rgb_ptr++ = uchar(color_(1) * 255.0f); |
| 574 | *rgb_ptr++ = uchar(color_(2) * 255.0f); |
| 575 | return true; |
| 576 | } |
| 577 | |
| 578 | void |
| 579 | Track::toMsg(opt_msgs::Track& track_msg, bool vertical) |
no test coverage detected