point_cloud_handlers.h

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 * $Id: point_cloud_handlers.h 3771 2012-01-01 06:58:14Z rusu $
 *
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#ifndef PCL_POINT_CLOUD_HANDLERS_H_
#define PCL_POINT_CLOUD_HANDLERS_H_

#include <pcl/visualization/common/common.h>
// PCL includes
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/common/io.h>
// VTK includes
#include <vtkSmartPointer.h>
#include <vtkDataArray.h>
#include <vtkUnsignedCharArray.h>
#include <vtkFloatArray.h>
#include <vtkPoints.h>

namespace pcl
{
  namespace visualization
  {
    template <typename PointT>
    class PointCloudGeometryHandler
    {
      public:
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandler<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandler<PointT> > ConstPtr;

        PointCloudGeometryHandler (const PointCloudConstPtr &cloud) : 
          cloud_ (cloud), capable_ (false)
        {}

        virtual std::string 
        getName () const = 0;

        virtual std::string 
        getFieldName () const  = 0;

        inline bool 
        isCapable () const { return (capable_); }

        virtual void 
        getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0;

        virtual Eigen::Vector4f
        getOrigin () const { return (cloud_->sensor_origin_); }

        virtual Eigen::Quaternion<float>
        getOrientation () const { return (cloud_->sensor_orientation_); }

      protected:
        PointCloudConstPtr cloud_;

        bool capable_;

        int field_x_idx_;

        int field_y_idx_;

        int field_z_idx_;

        std::vector<sensor_msgs::PointField> fields_;
    };


    template <typename PointT>
    class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT>
    {
      public:
        typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> > ConstPtr;

        PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);

        virtual inline std::string 
        getName () const { return ("PointCloudGeometryHandlerXYZ"); }

        virtual std::string 
        getFieldName () const { return ("xyz"); }

        virtual void 
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

      private:
        // Members derived from the base class
        using PointCloudGeometryHandler<PointT>::cloud_;
        using PointCloudGeometryHandler<PointT>::capable_;
        using PointCloudGeometryHandler<PointT>::field_x_idx_;
        using PointCloudGeometryHandler<PointT>::field_y_idx_;
        using PointCloudGeometryHandler<PointT>::field_z_idx_;
        using PointCloudGeometryHandler<PointT>::fields_;
    };


    template <typename PointT>
    class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT>
    {
      public:
        typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> > ConstPtr;

        PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);

        virtual inline std::string 
        getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }

        virtual std::string 
        getFieldName () const { return ("normal_xyz"); }

        virtual void 
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

      private:
        // Members derived from the base class
        using PointCloudGeometryHandler<PointT>::cloud_;
        using PointCloudGeometryHandler<PointT>::capable_;
        using PointCloudGeometryHandler<PointT>::field_x_idx_;
        using PointCloudGeometryHandler<PointT>::field_y_idx_;
        using PointCloudGeometryHandler<PointT>::field_z_idx_;
        using PointCloudGeometryHandler<PointT>::fields_;
    };


    template <typename PointT>
    class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT>
    {
      public:
        typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef typename boost::shared_ptr<PointCloudGeometryHandlerCustom<PointT> > Ptr;
        typedef typename boost::shared_ptr<const PointCloudGeometryHandlerCustom<PointT> > ConstPtr;

        PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud, 
                                         const std::string &x_field_name, 
                                         const std::string &y_field_name, 
                                         const std::string &z_field_name);

        virtual inline std::string 
        getName () const { return ("PointCloudGeometryHandlerCustom"); }

        virtual std::string 
        getFieldName () const { return (field_name_); }

        virtual void 
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

      private:
        // Members derived from the base class
        using PointCloudGeometryHandler<PointT>::cloud_;
        using PointCloudGeometryHandler<PointT>::capable_;
        using PointCloudGeometryHandler<PointT>::field_x_idx_;
        using PointCloudGeometryHandler<PointT>::field_y_idx_;
        using PointCloudGeometryHandler<PointT>::field_z_idx_;
        using PointCloudGeometryHandler<PointT>::fields_;

        std::string field_name_;
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandler<sensor_msgs::PointCloud2>
    {
      public:
        typedef sensor_msgs::PointCloud2 PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudGeometryHandler<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudGeometryHandler<PointCloud> > ConstPtr;

        PointCloudGeometryHandler (const PointCloudConstPtr &cloud) : 
          cloud_ (cloud), capable_ (false)
        {
          fields_ = cloud_->fields;
        }

        virtual std::string 
        getName () const = 0;

        virtual std::string 
        getFieldName () const  = 0;

        inline bool 
        isCapable () const { return (capable_); }

        virtual void 
        getGeometry (vtkSmartPointer<vtkPoints> &points) const;

      protected:
        PointCloudConstPtr cloud_;

        bool capable_;

        int field_x_idx_;

        int field_y_idx_;

        int field_z_idx_;

        std::vector<sensor_msgs::PointField> fields_;
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
    {
      public:
        typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> > ConstPtr;

        PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);

        virtual inline 
        std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); }

        virtual std::string 
        getFieldName () const { return ("xyz"); }
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandlerSurfaceNormal<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
    {
      public:
        typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> > ConstPtr;

        PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);

        virtual inline std::string 
        getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }

        virtual std::string 
        getFieldName () const { return ("normal_xyz"); }
    };


    template <>
    class PCL_EXPORTS PointCloudGeometryHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
    {
      public:
        typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;

        PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud, 
                                         const std::string &x_field_name, 
                                         const std::string &y_field_name, 
                                         const std::string &z_field_name);

        virtual inline std::string 
        getName () const { return ("PointCloudGeometryHandlerCustom"); }

        virtual std::string 
        getFieldName () const { return (field_name_); }

      private:
        std::string field_name_;
    };


    template <typename PointT>
    class PointCloudColorHandler
    {
      public:
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<PointCloudColorHandler<PointT> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandler<PointT> > ConstPtr;

        PointCloudColorHandler (const PointCloudConstPtr &cloud) : 
          cloud_ (cloud), capable_ (false)
        {}

        inline bool 
        isCapable () const { return (capable_); }

        virtual std::string 
        getName () const = 0;

        virtual std::string 
        getFieldName () const = 0;

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;

      protected:
        PointCloudConstPtr cloud_;

        bool capable_;

        int field_idx_;

        std::vector<sensor_msgs::PointField> fields_;
    };
   

    template <typename PointT>
    class PointCloudColorHandlerRandom : public PointCloudColorHandler<PointT>
    {
      typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointT> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointT> > ConstPtr;

        PointCloudColorHandlerRandom (const PointCloudConstPtr &cloud) : 
          PointCloudColorHandler<PointT> (cloud) 
        { 
          capable_ = true; 
        }

        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerRandom"); }

        virtual std::string 
        getFieldName () const { return ("[random]"); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        // Members derived from the base class
        using PointCloudColorHandler<PointT>::cloud_;
        using PointCloudColorHandler<PointT>::capable_;
    };


    template <typename PointT>
    class PointCloudColorHandlerCustom : public PointCloudColorHandler<PointT>
    {
      typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerCustom<PointT> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerCustom<PointT> > ConstPtr;

        PointCloudColorHandlerCustom (const PointCloudConstPtr &cloud, 
                                      double r, double g, double b) 
          : PointCloudColorHandler<PointT> (cloud)
        { 
          capable_ = true; 
          r_ = r;
          g_ = g;
          b_ = b;
        }

        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerCustom"); }

        virtual std::string 
        getFieldName () const { return (""); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        // Members derived from the base class
        using PointCloudColorHandler<PointT>::cloud_;
        using PointCloudColorHandler<PointT>::capable_;

        double r_, g_, b_;
    };


    template <typename PointT>
    class PointCloudColorHandlerRGBField : public PointCloudColorHandler<PointT>
    {
      typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointT> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointT> > ConstPtr;

        PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud);

        virtual std::string 
        getFieldName () const { return ("rgb"); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerRGBField"); }

      private:
        // Members derived from the base class
        using PointCloudColorHandler<PointT>::cloud_;
        using PointCloudColorHandler<PointT>::capable_;
        using PointCloudColorHandler<PointT>::field_idx_;
        using PointCloudColorHandler<PointT>::fields_;
    };


    template <typename PointT>
    class PointCloudColorHandlerHSVField : public PointCloudColorHandler<PointT>
    {
      typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerHSVField<PointT> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerHSVField<PointT> > ConstPtr;

        PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud);

        virtual std::string 
        getFieldName () const { return ("hsv"); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerHSVField"); }
        
        int s_field_idx_;

        int v_field_idx_;
      private:
        // Members derived from the base class
        using PointCloudColorHandler<PointT>::cloud_;
        using PointCloudColorHandler<PointT>::capable_;
        using PointCloudColorHandler<PointT>::field_idx_;
        using PointCloudColorHandler<PointT>::fields_;
    };


    template <typename PointT>
    class PointCloudColorHandlerGenericField : public PointCloudColorHandler<PointT>
    {
      typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointT> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointT> > ConstPtr;

        PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud, 
                                            const std::string &field_name);

        virtual std::string getFieldName () const { return (field_name_); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerGenericField"); }

      private:
        using PointCloudColorHandler<PointT>::cloud_;
        using PointCloudColorHandler<PointT>::capable_;
        using PointCloudColorHandler<PointT>::field_idx_;
        using PointCloudColorHandler<PointT>::fields_;

        std::string field_name_;
    };


    template <>
    class PCL_EXPORTS PointCloudColorHandler<sensor_msgs::PointCloud2>
    {
      public:
        typedef sensor_msgs::PointCloud2 PointCloud;
        typedef PointCloud::Ptr PointCloudPtr;
        typedef PointCloud::ConstPtr PointCloudConstPtr;
        
        typedef boost::shared_ptr<PointCloudColorHandler<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandler<PointCloud> > ConstPtr;

        PointCloudColorHandler (const PointCloudConstPtr &cloud) : 
          cloud_ (cloud), capable_ (false)
        {}

        inline bool 
        isCapable () const { return (capable_); }

        virtual std::string 
        getName () const = 0;

        virtual std::string 
        getFieldName () const = 0;

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;

      protected:
        PointCloudConstPtr cloud_;

        bool capable_;

        int field_idx_;
    };


    template <>
    class PCL_EXPORTS PointCloudColorHandlerRandom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
    {
      typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointCloud> > ConstPtr;

        PointCloudColorHandlerRandom (const PointCloudConstPtr &cloud) : 
          PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud) 
        { 
          capable_ = true; 
        }

        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerRandom"); }

        virtual std::string 
        getFieldName () const { return ("[random]"); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
    };


    template <>
    class PCL_EXPORTS PointCloudColorHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
    {
      typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      public:
        PointCloudColorHandlerCustom (const PointCloudConstPtr &cloud, 
                                      double r, double g, double b) : 
          PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud)
        { 
          capable_ = true; 
          r_ = r;
          g_ = g;
          b_ = b;
        }

        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerCustom"); }

        virtual std::string 
        getFieldName () const { return (""); }

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        double r_, g_, b_;
    };


    template <>
    class PCL_EXPORTS PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
    {
      typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointCloud> > ConstPtr;

        PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud);

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerRGBField"); }

        virtual std::string 
        getFieldName () const { return ("rgb"); }
    };


    template <>
    class PCL_EXPORTS PointCloudColorHandlerHSVField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
    {
      typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerHSVField<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerHSVField<PointCloud> > ConstPtr;

        PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud);

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerHSVField"); }

        virtual std::string 
        getFieldName () const { return ("hsv"); }

        int s_field_idx_;

        int v_field_idx_;
     };


    template <>
    class PCL_EXPORTS PointCloudColorHandlerGenericField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
    {
      typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
      typedef PointCloud::Ptr PointCloudPtr;
      typedef PointCloud::ConstPtr PointCloudConstPtr;

      public:
        typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointCloud> > Ptr;
        typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointCloud> > ConstPtr;

        PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud, 
                                            const std::string &field_name);

        virtual void 
        getColor (vtkSmartPointer<vtkDataArray> &scalars) const;

      protected:
        virtual inline std::string 
        getName () const { return ("PointCloudColorHandlerGenericField"); }

        virtual std::string 
        getFieldName () const { return (field_name_); }

      private:
        std::string field_name_;
    };

  }
}

#include "pcl/visualization/impl/point_cloud_handlers.hpp"

#endif