io.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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 * $Id: io.h 6126 2012-07-03 20:19:58Z aichim $
 *
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#ifndef PCL_COMMON_IO_H_
#define PCL_COMMON_IO_H_

#include <string>
#include <boost/fusion/sequence/intrinsic/at_key.hpp>
#include <pcl/pcl_base.h>
#include <pcl/PointIndices.h>
#include <pcl/ros/conversions.h>
#include <locale>

namespace pcl
{
  inline int
  getFieldIndex (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name)
  {
    // Get the index we need
    for (size_t d = 0; d < cloud.fields.size (); ++d)
      if (cloud.fields[d].name == field_name)
        return (static_cast<int>(d));
    return (-1);
  }

  template <typename PointT> inline int 
  getFieldIndex (const pcl::PointCloud<PointT> &cloud, const std::string &field_name, 
                 std::vector<sensor_msgs::PointField> &fields);

  template <typename PointT> inline int 
  getFieldIndex (const std::string &field_name, 
                 std::vector<sensor_msgs::PointField> &fields);

  template <typename PointT> inline void 
  getFields (const pcl::PointCloud<PointT> &cloud, std::vector<sensor_msgs::PointField> &fields);

  template <typename PointT> inline void 
  getFields (std::vector<sensor_msgs::PointField> &fields);

  template <typename PointT> inline std::string 
  getFieldsList (const pcl::PointCloud<PointT> &cloud);

  inline std::string
  getFieldsList (const sensor_msgs::PointCloud2 &cloud)
  {
    std::string result;
    for (size_t i = 0; i < cloud.fields.size () - 1; ++i)
      result += cloud.fields[i].name + " ";
    result += cloud.fields[cloud.fields.size () - 1].name;
    return (result);
  }

  inline int
  getFieldSize (const int datatype)
  {
    switch (datatype)
    {
      case sensor_msgs::PointField::INT8:
      case sensor_msgs::PointField::UINT8:
        return (1);

      case sensor_msgs::PointField::INT16:
      case sensor_msgs::PointField::UINT16:
        return (2);

      case sensor_msgs::PointField::INT32:
      case sensor_msgs::PointField::UINT32:
      case sensor_msgs::PointField::FLOAT32:
        return (4);

      case sensor_msgs::PointField::FLOAT64:
        return (8);

      default:
        return (0);
    }
  }

  PCL_EXPORTS void
  getFieldsSizes (const std::vector<sensor_msgs::PointField> &fields, 
                  std::vector<int> &field_sizes);

  inline int
  getFieldType (const int size, char type)
  {
    type = std::toupper (type, std::locale::classic ());
    switch (size)
    {
      case 1:
        if (type == 'I')
          return (sensor_msgs::PointField::INT8);
        if (type == 'U')
          return (sensor_msgs::PointField::UINT8);

      case 2:
        if (type == 'I')
          return (sensor_msgs::PointField::INT16);
        if (type == 'U')
          return (sensor_msgs::PointField::UINT16);

      case 4:
        if (type == 'I')
          return (sensor_msgs::PointField::INT32);
        if (type == 'U')
          return (sensor_msgs::PointField::UINT32);
        if (type == 'F')
          return (sensor_msgs::PointField::FLOAT32);

      case 8:
        return (sensor_msgs::PointField::FLOAT64);

      default:
        return (-1);
    }
  }

  inline char
  getFieldType (const int type)
  {
    switch (type)
    {
      case sensor_msgs::PointField::INT8:
      case sensor_msgs::PointField::INT16:
      case sensor_msgs::PointField::INT32:
        return ('I');

      case sensor_msgs::PointField::UINT8:
      case sensor_msgs::PointField::UINT16:
      case sensor_msgs::PointField::UINT32:
        return ('U');

      case sensor_msgs::PointField::FLOAT32:
      case sensor_msgs::PointField::FLOAT64:
        return ('F');
      default:
        return ('?');
    }
  }

  template <typename PointInT, typename PointOutT> void 
  copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                  pcl::PointCloud<PointOutT> &cloud_out);

  PCL_EXPORTS bool 
  concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1, 
                         const sensor_msgs::PointCloud2 &cloud2, 
                         sensor_msgs::PointCloud2 &cloud_out);

  PCL_EXPORTS void 
  copyPointCloud (const sensor_msgs::PointCloud2 &cloud_in, 
                  const std::vector<int> &indices, 
                  sensor_msgs::PointCloud2 &cloud_out);

  PCL_EXPORTS void 
  copyPointCloud (const sensor_msgs::PointCloud2 &cloud_in, 
                  sensor_msgs::PointCloud2 &cloud_out);

  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const std::vector<int> &indices, 
                  pcl::PointCloud<PointT> &cloud_out);
  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const std::vector<int, Eigen::aligned_allocator<int> > &indices, 
                  pcl::PointCloud<PointT> &cloud_out);

  template <typename PointInT, typename PointOutT> void 
  copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                  const std::vector<int> &indices, 
                  pcl::PointCloud<PointOutT> &cloud_out);

  template <typename PointInT, typename PointOutT> void 
  copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                  const std::vector<int, Eigen::aligned_allocator<int> > &indices, 
                  pcl::PointCloud<PointOutT> &cloud_out);

  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const PointIndices &indices, 
                  pcl::PointCloud<PointT> &cloud_out);

  template <typename PointInT, typename PointOutT> void 
  copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                  const PointIndices &indices, 
                  pcl::PointCloud<PointOutT> &cloud_out);

  template <typename PointT> void 
  copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 
                  const std::vector<pcl::PointIndices> &indices, 
                  pcl::PointCloud<PointT> &cloud_out);

  template <typename PointInT, typename PointOutT> void 
  copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 
                  const std::vector<pcl::PointIndices> &indices, 
                  pcl::PointCloud<PointOutT> &cloud_out);

  template <typename PointIn1T, typename PointIn2T, typename PointOutT> void 
  concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in, 
                     const pcl::PointCloud<PointIn2T> &cloud2_in, 
                     pcl::PointCloud<PointOutT> &cloud_out);

  PCL_EXPORTS bool
  concatenateFields (const sensor_msgs::PointCloud2 &cloud1_in, 
                     const sensor_msgs::PointCloud2 &cloud2_in, 
                     sensor_msgs::PointCloud2 &cloud_out);

  PCL_EXPORTS bool 
  getPointCloudAsEigen (const sensor_msgs::PointCloud2 &in, Eigen::MatrixXf &out);

  PCL_EXPORTS bool 
  getEigenAsPointCloud (Eigen::MatrixXf &in, sensor_msgs::PointCloud2 &out);
  
  namespace io 
  {
    template <std::size_t N> void 
    swapByte (char* bytes);

    template <> inline void 
    swapByte<1> (char* bytes) { bytes[0] = bytes[0]; }

  
    template <> inline void 
    swapByte<2> (char* bytes) { std::swap (bytes[0], bytes[1]); }
  
    template <> inline void 
    swapByte<4> (char* bytes)
    {
      std::swap (bytes[0], bytes[3]);
      std::swap (bytes[1], bytes[2]);
    }
  
    template <> inline void 
    swapByte<8> (char* bytes)
    {
      std::swap (bytes[0], bytes[7]);
      std::swap (bytes[1], bytes[6]);
      std::swap (bytes[2], bytes[5]);
      std::swap (bytes[3], bytes[4]);
    }
  
    template <typename T> void 
    swapByte (T& value)
    {
      pcl::io::swapByte<sizeof(T)> (reinterpret_cast<char*> (&value));
    }
  }
}

#include <pcl/common/impl/io.hpp>

#endif  //#ifndef PCL_COMMON_IO_H_