point_cloud_handlers.hpp

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 * $Id: point_cloud_handlers.hpp 3771 2012-01-01 06:58:14Z rusu $
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#include <pcl/console/time.h>
#include <pcl/pcl_macros.h>

template <typename PointT> void
pcl::visualization::PointCloudColorHandlerCustom<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
  if (!capable_)
    return;

  if (!scalars)
    scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
  scalars->SetNumberOfComponents (3);
  
  vtkIdType nr_points = cloud_->points.size ();
  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);

  // Get a random color
  unsigned char* colors = new unsigned char[nr_points * 3];

  // Color every point
  for (vtkIdType cp = 0; cp < nr_points; ++cp)
  {
    colors[cp * 3 + 0] = r_;
    colors[cp * 3 + 1] = g_;
    colors[cp * 3 + 2] = b_;
  }
  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, 3 * nr_points, 0);
}

template <typename PointT> void
pcl::visualization::PointCloudColorHandlerRandom<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
  if (!capable_)
    return;

  if (!scalars)
    scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
  scalars->SetNumberOfComponents (3);
  
  vtkIdType nr_points = cloud_->points.size ();
  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);

  // Get a random color
  unsigned char* colors = new unsigned char[nr_points * 3];
  double r, g, b;
  pcl::visualization::getRandomColors (r, g, b);

  int r_ = pcl_lrint (r * 255.0), g_ = pcl_lrint (g * 255.0), b_ = pcl_lrint (b * 255.0);

  // Color every point
  for (vtkIdType cp = 0; cp < nr_points; ++cp)
  {
    colors[cp * 3 + 0] = r_;
    colors[cp * 3 + 1] = g_;
    colors[cp * 3 + 2] = b_;
  }
  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, 3 * nr_points, 0);
}

template <typename PointT>
pcl::visualization::PointCloudColorHandlerRGBField<PointT>::PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud) : 
  pcl::visualization::PointCloudColorHandler<PointT>::PointCloudColorHandler (cloud)
{
  // Handle the 24-bit packed RGB values
  field_idx_ = pcl::getFieldIndex (*cloud, "rgb", fields_);
  if (field_idx_ != -1)
  {
    capable_ = true;
    return;
  }
  else
  {
    field_idx_ = pcl::getFieldIndex (*cloud, "rgba", fields_);
    if (field_idx_ != -1)
      capable_ = true;
    else
      capable_ = false;
  }
}

template <typename PointT> void 
pcl::visualization::PointCloudColorHandlerRGBField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
  if (!capable_)
    return;

  if (!scalars)
    scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
  scalars->SetNumberOfComponents (3);

  vtkIdType nr_points = cloud_->points.size ();
  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
  unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);

  int j = 0;
  // If XYZ present, check if the points are invalid
  int x_idx = -1;
  for (size_t d = 0; d < fields_.size (); ++d)
    if (fields_[d].name == "x")
      x_idx = (int) d;

  if (x_idx != -1)
  {
    // Color every point
    for (vtkIdType cp = 0; cp < nr_points; ++cp)
    {
      // Copy the value at the specified field
      if (!pcl_isfinite (cloud_->points[cp].x) ||
          !pcl_isfinite (cloud_->points[cp].y) || 
          !pcl_isfinite (cloud_->points[cp].z))
        continue;

      int idx = j * 3;
      colors[idx    ] = cloud_->points[cp].r;
      colors[idx + 1] = cloud_->points[cp].g;
      colors[idx + 2] = cloud_->points[cp].b;
      j++;
    }
  }
  else
  {
    // Color every point
    for (vtkIdType cp = 0; cp < nr_points; ++cp)
    {
      int idx = cp * 3;
      colors[idx    ] = cloud_->points[cp].r;
      colors[idx + 1] = cloud_->points[cp].g;
      colors[idx + 2] = cloud_->points[cp].b;
    }
  }
}

template <typename PointT>
pcl::visualization::PointCloudColorHandlerHSVField<PointT>::PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud) : 
  pcl::visualization::PointCloudColorHandler<PointT>::PointCloudColorHandler (cloud)
{
  // Check for the presence of the "H" field
  field_idx_ = pcl::getFieldIndex (*cloud, "h", fields_);
  if (field_idx_ == -1)
  {
    capable_ = false;
    return;
  }

  // Check for the presence of the "S" field
  s_field_idx_ = pcl::getFieldIndex (*cloud, "s", fields_);
  if (s_field_idx_ == -1)
  {
    capable_ = false;
    return;
  }

  // Check for the presence of the "V" field
  v_field_idx_ = pcl::getFieldIndex (*cloud, "v", fields_);
  if (v_field_idx_ == -1)
  {
    capable_ = false;
    return;
  }
  capable_ = true;
}

template <typename PointT> void 
pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
  if (!capable_)
    return;

  if (!scalars)
    scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
  scalars->SetNumberOfComponents (3);

  vtkIdType nr_points = cloud_->points.size ();
  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
  unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);

  int j = 0;
  // If XYZ present, check if the points are invalid
  int x_idx = -1;
  
  for (size_t d = 0; d < fields_.size (); ++d)
    if (fields_[d].name == "x")
      x_idx = (int) d;

  if (x_idx != -1)
  {
    // Color every point
    for (vtkIdType cp = 0; cp < nr_points; ++cp)
    {
      // Copy the value at the specified field
      if (!pcl_isfinite (cloud_->points[cp].x) ||
          !pcl_isfinite (cloud_->points[cp].y) || 
          !pcl_isfinite (cloud_->points[cp].z))
        continue;

      int idx = j * 3;


      // Fill color data with HSV here:
      if (cloud_->points[cp].s == 0)
      {
        colors[idx] = colors[idx+1] = colors[idx+2] = cloud_->points[cp].v;
        return;
      } 
      float a = cloud_->points[cp].h / 60;
      int   i = floor (a);
      float f = a - i;
      float p = cloud_->points[cp].v * (1 - cloud_->points[cp].s);
      float q = cloud_->points[cp].v * (1 - cloud_->points[cp].s * f);
      float t = cloud_->points[cp].v * (1 - cloud_->points[cp].s * (1 - f));

      switch (i) 
      {
        case 0:
          colors[idx] = cloud_->points[cp].v; colors[idx+1] = t; colors[idx+2] = p; break;
        case 1:
          colors[idx] = q; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = p; break;
        case 2:
          colors[idx] = p; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = t; break;
        case 3:
          colors[idx] = p; colors[idx+1] = q; colors[idx+2] = cloud_->points[cp].v; break;
        case 4:
          colors[idx] = t; colors[idx+1] = p; colors[idx+2] = cloud_->points[cp].v; break;
        default:
          colors[idx] = cloud_->points[cp].v; colors[idx+1] = p; colors[idx+2] = q; break;
      }
      j++;
    }
  }
  else
  {
    // Color every point
    for (vtkIdType cp = 0; cp < nr_points; ++cp)
    {
      int idx = cp * 3;

      // Fill color data with HSV here:
      if (cloud_->points[cp].s == 0)
      {
        colors[idx] = colors[idx+1] = colors[idx+2] = cloud_->points[cp].v;
        return;
      } 
      float a = cloud_->points[cp].h / 60;
      int   i = floor (a);
      float f = a - i;
      float p = cloud_->points[cp].v * (1 - cloud_->points[cp].s);
      float q = cloud_->points[cp].v * (1 - cloud_->points[cp].s * f);
      float t = cloud_->points[cp].v * (1 - cloud_->points[cp].s * (1 - f));

      switch (i) 
      {
        case 0:
          colors[idx] = cloud_->points[cp].v; colors[idx+1] = t; colors[idx+2] = p; break;
        case 1:
          colors[idx] = q; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = p; break;
        case 2:
          colors[idx] = p; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = t; break;
        case 3:
          colors[idx] = p; colors[idx+1] = q; colors[idx+2] = cloud_->points[cp].v; break;
        case 4:
          colors[idx] = t; colors[idx+1] = p; colors[idx+2] = cloud_->points[cp].v; break;
        default:
          colors[idx] = cloud_->points[cp].v; colors[idx+1] = p; colors[idx+2] = q; break;
      }
    }
  }
}

template <typename PointT>
pcl::visualization::PointCloudColorHandlerGenericField<PointT>::PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud, 
    const std::string &field_name) : pcl::visualization::PointCloudColorHandler<PointT>::PointCloudColorHandler (cloud)
{
  field_name_ = field_name;
  field_idx_  = pcl::getFieldIndex (*cloud, field_name, fields_);
  if (field_idx_ != -1)
    capable_ = true;
  else
    capable_ = false;
}

template <typename PointT> void 
pcl::visualization::PointCloudColorHandlerGenericField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
  if (!capable_)
    return;

  if (!scalars)
    scalars = vtkSmartPointer<vtkFloatArray>::New ();
  scalars->SetNumberOfComponents (1);

  vtkIdType nr_points = cloud_->points.size ();
  reinterpret_cast<vtkFloatArray*>(&(*scalars))->SetNumberOfTuples (nr_points);

  typedef typename pcl::traits::fieldList<PointT>::type FieldList;

  float* colors = new float[nr_points];
  float field_data;

  int j = 0;
  // If XYZ present, check if the points are invalid
  int x_idx = -1;
  for (size_t d = 0; d < fields_.size (); ++d)
    if (fields_[d].name == "x")
      x_idx = d;

  if (x_idx != -1)
  {
    // Color every point
    for (vtkIdType cp = 0; cp < nr_points; ++cp)
    {
      // Copy the value at the specified field
      if (!pcl_isfinite (cloud_->points[cp].x) || !pcl_isfinite (cloud_->points[cp].y) || !pcl_isfinite (cloud_->points[cp].z))
        continue;

      uint8_t* pt_data = (uint8_t*)&cloud_->points[cp];
      //memcpy (&field_data, pt_data + fields_[field_idx_].offset, sizeof (float));
      memcpy (&field_data, pt_data + fields_[field_idx_].offset, pcl::getFieldSize (fields_[field_idx_].datatype));

      if (!pcl_isfinite (field_data))
        continue;

      colors[j] = field_data;
      j++;
    }
  }
  else
  {
    // Color every point
    for (vtkIdType cp = 0; cp < nr_points; ++cp)
    {
      uint8_t* pt_data = (uint8_t*)&cloud_->points[cp];
      //memcpy (&field_data, pt_data + fields_[field_idx_].offset, sizeof (float));
      memcpy (&field_data, pt_data + fields_[field_idx_].offset, pcl::getFieldSize (fields_[field_idx_].datatype));

      if (!pcl_isfinite (field_data))
        continue;

      colors[j] = field_data;
      j++;
    }
  }
  reinterpret_cast<vtkFloatArray*>(&(*scalars))->SetArray (colors, j, 0);
}

template <typename PointT>
pcl::visualization::PointCloudGeometryHandlerXYZ<PointT>::PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud) 
  : pcl::visualization::PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex (*cloud, "x", fields_);
  if (field_x_idx_ == -1)
    return;
  field_y_idx_ = pcl::getFieldIndex (*cloud, "y", fields_);
  if (field_y_idx_ == -1)
    return;
  field_z_idx_ = pcl::getFieldIndex (*cloud, "z", fields_);
  if (field_z_idx_ == -1)
    return;
  capable_ = true;
}

template <typename PointT> void 
pcl::visualization::PointCloudGeometryHandlerXYZ<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;

  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();

  vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
  data->SetNumberOfComponents (3);
  vtkIdType nr_points = cloud_->points.size ();

  // Add all points
  vtkIdType j = 0;    // true point index
  float* pts = new float[nr_points * 3];

  // If the dataset has no invalid values, just copy all of them
  if (cloud_->is_dense)
  {
    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      pts[i * 3 + 0] = cloud_->points[i].x;
      pts[i * 3 + 1] = cloud_->points[i].y;
      pts[i * 3 + 2] = cloud_->points[i].z;
    }
    data->SetArray (&pts[0], nr_points * 3, 0);
    points->SetData (data);
  }
  // Need to check for NaNs, Infs, ec
  else
  {
    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      // Check if the point is invalid
      if (!pcl_isfinite (cloud_->points[i].x) || !pcl_isfinite (cloud_->points[i].y) || !pcl_isfinite (cloud_->points[i].z))
        continue;

      pts[j * 3 + 0] = cloud_->points[i].x;
      pts[j * 3 + 1] = cloud_->points[i].y;
      pts[j * 3 + 2] = cloud_->points[i].z;
      // Set j and increment
      j++;
    }
    data->SetArray (&pts[0], j * 3, 0);
    points->SetData (data);
  }
}

template <typename PointT>
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<PointT>::PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud) 
  : pcl::visualization::PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex (*cloud, "normal_x", fields_);
  if (field_x_idx_ == -1)
    return;
  field_y_idx_ = pcl::getFieldIndex (*cloud, "normal_y", fields_);
  if (field_y_idx_ == -1)
    return;
  field_z_idx_ = pcl::getFieldIndex (*cloud, "normal_z", fields_);
  if (field_z_idx_ == -1)
    return;
  capable_ = true;
}

template <typename PointT> void 
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;

  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();
  points->SetNumberOfPoints (cloud_->points.size ());

  // Add all points
  double p[3];
  for (vtkIdType i = 0; i < (int)cloud_->points.size (); ++i)
  {
    p[0] = cloud_->points[i].normal[0];
    p[1] = cloud_->points[i].normal[1];
    p[2] = cloud_->points[i].normal[2];

    points->SetPoint (i, p);
  }
}

template <typename PointT>
pcl::visualization::PointCloudGeometryHandlerCustom<PointT>::PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
    const std::string &x_field_name, const std::string &y_field_name, const std::string &z_field_name) : pcl::visualization::PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex (*cloud, x_field_name, fields_);
  if (field_x_idx_ == -1)
    return;
  field_y_idx_ = pcl::getFieldIndex (*cloud, y_field_name, fields_);
  if (field_y_idx_ == -1)
    return;
  field_z_idx_ = pcl::getFieldIndex (*cloud, z_field_name, fields_);
  if (field_z_idx_ == -1)
    return;
  field_name_ = x_field_name + y_field_name + z_field_name;
  capable_ = true;
}

template <typename PointT> void 
pcl::visualization::PointCloudGeometryHandlerCustom<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;

  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();
  points->SetNumberOfPoints (cloud_->points.size ());

  float data;
  // Add all points
  double p[3];
  for (vtkIdType i = 0; i < (int)cloud_->points.size (); ++i)
  {
    // Copy the value at the specified field
    uint8_t* pt_data = (uint8_t*)&cloud_->points[i];
    memcpy (&data, pt_data + fields_[field_x_idx_].offset, sizeof (float));
    p[0] = data;

    memcpy (&data, pt_data + fields_[field_y_idx_].offset, sizeof (float));
    p[1] = data;

    memcpy (&data, pt_data + fields_[field_z_idx_].offset, sizeof (float));
    p[2] = data;

    points->SetPoint (i, p);
  }
}