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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: point_cloud_handlers.h 5162 2012-03-17 22:30:39Z rusu $ 00037 * 00038 */ 00039 #ifndef PCL_POINT_CLOUD_HANDLERS_H_ 00040 #define PCL_POINT_CLOUD_HANDLERS_H_ 00041 00042 #include <pcl/visualization/common/common.h> 00043 // PCL includes 00044 #include <pcl/point_types.h> 00045 #include <pcl/point_cloud.h> 00046 #include <pcl/common/io.h> 00047 // VTK includes 00048 #include <pcl/visualization/vtk.h> 00049 00050 namespace pcl 00051 { 00052 namespace visualization 00053 { 00057 template <typename PointT> 00058 class PointCloudGeometryHandler 00059 { 00060 public: 00061 typedef pcl::PointCloud<PointT> PointCloud; 00062 typedef typename PointCloud::Ptr PointCloudPtr; 00063 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00064 00065 typedef typename boost::shared_ptr<PointCloudGeometryHandler<PointT> > Ptr; 00066 typedef typename boost::shared_ptr<const PointCloudGeometryHandler<PointT> > ConstPtr; 00067 00069 PointCloudGeometryHandler (const PointCloudConstPtr &cloud) : 00070 cloud_ (cloud), capable_ (false), 00071 field_x_idx_ (-1), field_y_idx_ (-1), field_z_idx_ (-1), 00072 fields_ () 00073 {} 00074 00076 virtual ~PointCloudGeometryHandler () {} 00077 00081 virtual std::string 00082 getName () const = 0; 00083 00085 virtual std::string 00086 getFieldName () const = 0; 00087 00089 inline bool 00090 isCapable () const { return (capable_); } 00091 00095 virtual void 00096 getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0; 00097 00098 protected: 00100 PointCloudConstPtr cloud_; 00101 00105 bool capable_; 00106 00108 int field_x_idx_; 00109 00111 int field_y_idx_; 00112 00114 int field_z_idx_; 00115 00117 std::vector<sensor_msgs::PointField> fields_; 00118 }; 00119 00121 00125 template <typename PointT> 00126 class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT> 00127 { 00128 public: 00129 typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud; 00130 typedef typename PointCloud::Ptr PointCloudPtr; 00131 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00132 00133 typedef typename boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointT> > Ptr; 00134 typedef typename boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> > ConstPtr; 00135 00137 PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud); 00138 00140 virtual ~PointCloudGeometryHandlerXYZ () {}; 00141 00143 virtual inline std::string 00144 getName () const { return ("PointCloudGeometryHandlerXYZ"); } 00145 00147 virtual std::string 00148 getFieldName () const { return ("xyz"); } 00149 00153 virtual void 00154 getGeometry (vtkSmartPointer<vtkPoints> &points) const; 00155 00156 private: 00157 // Members derived from the base class 00158 using PointCloudGeometryHandler<PointT>::cloud_; 00159 using PointCloudGeometryHandler<PointT>::capable_; 00160 using PointCloudGeometryHandler<PointT>::field_x_idx_; 00161 using PointCloudGeometryHandler<PointT>::field_y_idx_; 00162 using PointCloudGeometryHandler<PointT>::field_z_idx_; 00163 using PointCloudGeometryHandler<PointT>::fields_; 00164 }; 00165 00167 00172 template <typename PointT> 00173 class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT> 00174 { 00175 public: 00176 typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud; 00177 typedef typename PointCloud::Ptr PointCloudPtr; 00178 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00179 00180 typedef typename boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> > Ptr; 00181 typedef typename boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> > ConstPtr; 00182 00184 PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud); 00185 00187 virtual inline std::string 00188 getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); } 00189 00191 virtual std::string 00192 getFieldName () const { return ("normal_xyz"); } 00193 00197 virtual void 00198 getGeometry (vtkSmartPointer<vtkPoints> &points) const; 00199 00200 private: 00201 // Members derived from the base class 00202 using PointCloudGeometryHandler<PointT>::cloud_; 00203 using PointCloudGeometryHandler<PointT>::capable_; 00204 using PointCloudGeometryHandler<PointT>::field_x_idx_; 00205 using PointCloudGeometryHandler<PointT>::field_y_idx_; 00206 using PointCloudGeometryHandler<PointT>::field_z_idx_; 00207 using PointCloudGeometryHandler<PointT>::fields_; 00208 }; 00209 00211 00216 template <typename PointT> 00217 class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT> 00218 { 00219 public: 00220 typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud; 00221 typedef typename PointCloud::Ptr PointCloudPtr; 00222 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00223 00224 typedef typename boost::shared_ptr<PointCloudGeometryHandlerCustom<PointT> > Ptr; 00225 typedef typename boost::shared_ptr<const PointCloudGeometryHandlerCustom<PointT> > ConstPtr; 00226 00228 PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud, 00229 const std::string &x_field_name, 00230 const std::string &y_field_name, 00231 const std::string &z_field_name); 00232 00234 virtual inline std::string 00235 getName () const { return ("PointCloudGeometryHandlerCustom"); } 00236 00238 virtual std::string 00239 getFieldName () const { return (field_name_); } 00240 00244 virtual void 00245 getGeometry (vtkSmartPointer<vtkPoints> &points) const; 00246 00247 private: 00248 // Members derived from the base class 00249 using PointCloudGeometryHandler<PointT>::cloud_; 00250 using PointCloudGeometryHandler<PointT>::capable_; 00251 using PointCloudGeometryHandler<PointT>::field_x_idx_; 00252 using PointCloudGeometryHandler<PointT>::field_y_idx_; 00253 using PointCloudGeometryHandler<PointT>::field_z_idx_; 00254 using PointCloudGeometryHandler<PointT>::fields_; 00255 00257 std::string field_name_; 00258 }; 00259 00261 00264 template <> 00265 class PCL_EXPORTS PointCloudGeometryHandler<sensor_msgs::PointCloud2> 00266 { 00267 public: 00268 typedef sensor_msgs::PointCloud2 PointCloud; 00269 typedef PointCloud::Ptr PointCloudPtr; 00270 typedef PointCloud::ConstPtr PointCloudConstPtr; 00271 00272 typedef boost::shared_ptr<PointCloudGeometryHandler<PointCloud> > Ptr; 00273 typedef boost::shared_ptr<const PointCloudGeometryHandler<PointCloud> > ConstPtr; 00274 00276 PointCloudGeometryHandler (const PointCloudConstPtr &cloud, const Eigen::Vector4f &sensor_origin = Eigen::Vector4f::Zero ()) 00277 : cloud_ (cloud) 00278 , capable_ (false) 00279 { 00280 fields_ = cloud_->fields; 00281 } 00282 00284 virtual std::string 00285 getName () const = 0; 00286 00288 virtual std::string 00289 getFieldName () const = 0; 00290 00292 inline bool 00293 isCapable () const { return (capable_); } 00294 00298 virtual void 00299 getGeometry (vtkSmartPointer<vtkPoints> &points) const; 00300 00301 protected: 00303 PointCloudConstPtr cloud_; 00304 00308 bool capable_; 00309 00311 int field_x_idx_; 00312 00314 int field_y_idx_; 00315 00317 int field_z_idx_; 00318 00320 std::vector<sensor_msgs::PointField> fields_; 00321 }; 00322 00324 00328 template <> 00329 class PCL_EXPORTS PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2> 00330 { 00331 public: 00332 typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00333 typedef PointCloud::Ptr PointCloudPtr; 00334 typedef PointCloud::ConstPtr PointCloudConstPtr; 00335 00336 typedef boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> > Ptr; 00337 typedef boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> > ConstPtr; 00338 00340 PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud); 00341 00343 virtual ~PointCloudGeometryHandlerXYZ () {} 00344 00346 virtual inline 00347 std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); } 00348 00350 virtual std::string 00351 getFieldName () const { return ("xyz"); } 00352 }; 00353 00355 00360 template <> 00361 class PCL_EXPORTS PointCloudGeometryHandlerSurfaceNormal<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2> 00362 { 00363 public: 00364 typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00365 typedef PointCloud::Ptr PointCloudPtr; 00366 typedef PointCloud::ConstPtr PointCloudConstPtr; 00367 00368 typedef boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> > Ptr; 00369 typedef boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> > ConstPtr; 00370 00372 PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud); 00373 00375 virtual inline std::string 00376 getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); } 00377 00379 virtual std::string 00380 getFieldName () const { return ("normal_xyz"); } 00381 }; 00382 00384 00389 template <> 00390 class PCL_EXPORTS PointCloudGeometryHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2> 00391 { 00392 public: 00393 typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00394 typedef PointCloud::Ptr PointCloudPtr; 00395 typedef PointCloud::ConstPtr PointCloudConstPtr; 00396 00398 PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud, 00399 const std::string &x_field_name, 00400 const std::string &y_field_name, 00401 const std::string &z_field_name); 00402 00404 virtual ~PointCloudGeometryHandlerCustom () {} 00405 00407 virtual inline std::string 00408 getName () const { return ("PointCloudGeometryHandlerCustom"); } 00409 00411 virtual std::string 00412 getFieldName () const { return (field_name_); } 00413 00414 private: 00416 std::string field_name_; 00417 }; 00418 00420 00423 template <typename PointT> 00424 class PointCloudColorHandler 00425 { 00426 public: 00427 typedef pcl::PointCloud<PointT> PointCloud; 00428 typedef typename PointCloud::Ptr PointCloudPtr; 00429 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00430 00431 typedef boost::shared_ptr<PointCloudColorHandler<PointT> > Ptr; 00432 typedef boost::shared_ptr<const PointCloudColorHandler<PointT> > ConstPtr; 00433 00435 PointCloudColorHandler (const PointCloudConstPtr &cloud) : 00436 cloud_ (cloud), capable_ (false), field_idx_ (-1), fields_ () 00437 {} 00438 00440 virtual ~PointCloudColorHandler () {} 00441 00443 inline bool 00444 isCapable () const { return (capable_); } 00445 00447 virtual std::string 00448 getName () const = 0; 00449 00451 virtual std::string 00452 getFieldName () const = 0; 00453 00457 virtual void 00458 getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0; 00459 00460 protected: 00462 PointCloudConstPtr cloud_; 00463 00467 bool capable_; 00468 00470 int field_idx_; 00471 00473 std::vector<sensor_msgs::PointField> fields_; 00474 }; 00475 00477 00480 template <typename PointT> 00481 class PointCloudColorHandlerRandom : public PointCloudColorHandler<PointT> 00482 { 00483 typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud; 00484 typedef typename PointCloud::Ptr PointCloudPtr; 00485 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00486 00487 public: 00488 typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointT> > Ptr; 00489 typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointT> > ConstPtr; 00490 00492 PointCloudColorHandlerRandom (const PointCloudConstPtr &cloud) : 00493 PointCloudColorHandler<PointT> (cloud) 00494 { 00495 capable_ = true; 00496 } 00497 00499 virtual inline std::string 00500 getName () const { return ("PointCloudColorHandlerRandom"); } 00501 00503 virtual std::string 00504 getFieldName () const { return ("[random]"); } 00505 00509 virtual void 00510 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00511 00512 protected: 00513 // Members derived from the base class 00514 using PointCloudColorHandler<PointT>::cloud_; 00515 using PointCloudColorHandler<PointT>::capable_; 00516 }; 00517 00519 00523 template <typename PointT> 00524 class PointCloudColorHandlerCustom : public PointCloudColorHandler<PointT> 00525 { 00526 typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud; 00527 typedef typename PointCloud::Ptr PointCloudPtr; 00528 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00529 00530 public: 00531 typedef boost::shared_ptr<PointCloudColorHandlerCustom<PointT> > Ptr; 00532 typedef boost::shared_ptr<const PointCloudColorHandlerCustom<PointT> > ConstPtr; 00533 00535 PointCloudColorHandlerCustom (const PointCloudConstPtr &cloud, 00536 double r, double g, double b) 00537 : PointCloudColorHandler<PointT> (cloud) 00538 , r_ (r) 00539 , g_ (g) 00540 , b_ (b) 00541 { 00542 capable_ = true; 00543 } 00544 00546 virtual ~PointCloudColorHandlerCustom () {}; 00547 00549 virtual inline std::string 00550 getName () const { return ("PointCloudColorHandlerCustom"); } 00551 00553 virtual std::string 00554 getFieldName () const { return (""); } 00555 00559 virtual void 00560 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00561 00562 protected: 00563 // Members derived from the base class 00564 using PointCloudColorHandler<PointT>::cloud_; 00565 using PointCloudColorHandler<PointT>::capable_; 00566 00568 double r_, g_, b_; 00569 }; 00570 00572 00576 template <typename PointT> 00577 class PointCloudColorHandlerRGBField : public PointCloudColorHandler<PointT> 00578 { 00579 typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud; 00580 typedef typename PointCloud::Ptr PointCloudPtr; 00581 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00582 00583 public: 00584 typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointT> > Ptr; 00585 typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointT> > ConstPtr; 00586 00588 PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud); 00589 00591 virtual ~PointCloudColorHandlerRGBField () {} 00592 00594 virtual std::string 00595 getFieldName () const { return ("rgb"); } 00596 00600 virtual void 00601 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00602 00603 protected: 00605 virtual inline std::string 00606 getName () const { return ("PointCloudColorHandlerRGBField"); } 00607 00608 private: 00609 // Members derived from the base class 00610 using PointCloudColorHandler<PointT>::cloud_; 00611 using PointCloudColorHandler<PointT>::capable_; 00612 using PointCloudColorHandler<PointT>::field_idx_; 00613 using PointCloudColorHandler<PointT>::fields_; 00614 }; 00615 00617 00621 template <typename PointT> 00622 class PointCloudColorHandlerHSVField : public PointCloudColorHandler<PointT> 00623 { 00624 typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud; 00625 typedef typename PointCloud::Ptr PointCloudPtr; 00626 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00627 00628 public: 00629 typedef boost::shared_ptr<PointCloudColorHandlerHSVField<PointT> > Ptr; 00630 typedef boost::shared_ptr<const PointCloudColorHandlerHSVField<PointT> > ConstPtr; 00631 00633 PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud); 00634 00636 virtual std::string 00637 getFieldName () const { return ("hsv"); } 00638 00642 virtual void 00643 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00644 00645 protected: 00647 virtual inline std::string 00648 getName () const { return ("PointCloudColorHandlerHSVField"); } 00649 00651 int s_field_idx_; 00652 00654 int v_field_idx_; 00655 private: 00656 // Members derived from the base class 00657 using PointCloudColorHandler<PointT>::cloud_; 00658 using PointCloudColorHandler<PointT>::capable_; 00659 using PointCloudColorHandler<PointT>::field_idx_; 00660 using PointCloudColorHandler<PointT>::fields_; 00661 }; 00662 00664 00668 template <typename PointT> 00669 class PointCloudColorHandlerGenericField : public PointCloudColorHandler<PointT> 00670 { 00671 typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud; 00672 typedef typename PointCloud::Ptr PointCloudPtr; 00673 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00674 00675 public: 00676 typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointT> > Ptr; 00677 typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointT> > ConstPtr; 00678 00680 PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud, 00681 const std::string &field_name); 00682 00684 virtual ~PointCloudColorHandlerGenericField () {} 00685 00687 virtual std::string getFieldName () const { return (field_name_); } 00688 00692 virtual void 00693 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00694 00695 protected: 00697 virtual inline std::string 00698 getName () const { return ("PointCloudColorHandlerGenericField"); } 00699 00700 private: 00701 using PointCloudColorHandler<PointT>::cloud_; 00702 using PointCloudColorHandler<PointT>::capable_; 00703 using PointCloudColorHandler<PointT>::field_idx_; 00704 using PointCloudColorHandler<PointT>::fields_; 00705 00707 std::string field_name_; 00708 }; 00709 00711 00714 template <> 00715 class PCL_EXPORTS PointCloudColorHandler<sensor_msgs::PointCloud2> 00716 { 00717 public: 00718 typedef sensor_msgs::PointCloud2 PointCloud; 00719 typedef PointCloud::Ptr PointCloudPtr; 00720 typedef PointCloud::ConstPtr PointCloudConstPtr; 00721 00722 typedef boost::shared_ptr<PointCloudColorHandler<PointCloud> > Ptr; 00723 typedef boost::shared_ptr<const PointCloudColorHandler<PointCloud> > ConstPtr; 00724 00726 PointCloudColorHandler (const PointCloudConstPtr &cloud) : 00727 cloud_ (cloud), capable_ (false), field_idx_ () 00728 {} 00729 00731 virtual ~PointCloudColorHandler () {} 00732 00734 inline bool 00735 isCapable () const { return (capable_); } 00736 00738 virtual std::string 00739 getName () const = 0; 00740 00742 virtual std::string 00743 getFieldName () const = 0; 00744 00748 virtual void 00749 getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0; 00750 00751 protected: 00753 PointCloudConstPtr cloud_; 00754 00758 bool capable_; 00759 00761 int field_idx_; 00762 }; 00763 00765 00768 template <> 00769 class PCL_EXPORTS PointCloudColorHandlerRandom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2> 00770 { 00771 typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00772 typedef PointCloud::Ptr PointCloudPtr; 00773 typedef PointCloud::ConstPtr PointCloudConstPtr; 00774 00775 public: 00776 typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointCloud> > Ptr; 00777 typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointCloud> > ConstPtr; 00778 00780 PointCloudColorHandlerRandom (const PointCloudConstPtr &cloud) : 00781 PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud) 00782 { 00783 capable_ = true; 00784 } 00785 00787 virtual inline std::string 00788 getName () const { return ("PointCloudColorHandlerRandom"); } 00789 00791 virtual std::string 00792 getFieldName () const { return ("[random]"); } 00793 00797 virtual void 00798 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00799 }; 00800 00802 00806 template <> 00807 class PCL_EXPORTS PointCloudColorHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2> 00808 { 00809 typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00810 typedef PointCloud::Ptr PointCloudPtr; 00811 typedef PointCloud::ConstPtr PointCloudConstPtr; 00812 00813 public: 00815 PointCloudColorHandlerCustom (const PointCloudConstPtr &cloud, 00816 double r, double g, double b) : 00817 PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud), 00818 r_ (r), g_ (g), b_ (b) 00819 { 00820 capable_ = true; 00821 } 00822 00824 virtual inline std::string 00825 getName () const { return ("PointCloudColorHandlerCustom"); } 00826 00828 virtual std::string 00829 getFieldName () const { return (""); } 00830 00834 virtual void 00835 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00836 00837 protected: 00839 double r_, g_, b_; 00840 }; 00841 00843 00847 template <> 00848 class PCL_EXPORTS PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2> 00849 { 00850 typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00851 typedef PointCloud::Ptr PointCloudPtr; 00852 typedef PointCloud::ConstPtr PointCloudConstPtr; 00853 00854 public: 00855 typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointCloud> > Ptr; 00856 typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointCloud> > ConstPtr; 00857 00859 PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud); 00860 00864 virtual void 00865 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00866 00867 protected: 00869 virtual inline std::string 00870 getName () const { return ("PointCloudColorHandlerRGBField"); } 00871 00873 virtual std::string 00874 getFieldName () const { return ("rgb"); } 00875 }; 00876 00878 00882 template <> 00883 class PCL_EXPORTS PointCloudColorHandlerHSVField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2> 00884 { 00885 typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00886 typedef PointCloud::Ptr PointCloudPtr; 00887 typedef PointCloud::ConstPtr PointCloudConstPtr; 00888 00889 public: 00890 typedef boost::shared_ptr<PointCloudColorHandlerHSVField<PointCloud> > Ptr; 00891 typedef boost::shared_ptr<const PointCloudColorHandlerHSVField<PointCloud> > ConstPtr; 00892 00894 PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud); 00895 00899 virtual void 00900 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00901 00902 protected: 00904 virtual inline std::string 00905 getName () const { return ("PointCloudColorHandlerHSVField"); } 00906 00908 virtual std::string 00909 getFieldName () const { return ("hsv"); } 00910 00912 int s_field_idx_; 00913 00915 int v_field_idx_; 00916 }; 00917 00919 00923 template <> 00924 class PCL_EXPORTS PointCloudColorHandlerGenericField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2> 00925 { 00926 typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud; 00927 typedef PointCloud::Ptr PointCloudPtr; 00928 typedef PointCloud::ConstPtr PointCloudConstPtr; 00929 00930 public: 00931 typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointCloud> > Ptr; 00932 typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointCloud> > ConstPtr; 00933 00935 PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud, 00936 const std::string &field_name); 00937 00941 virtual void 00942 getColor (vtkSmartPointer<vtkDataArray> &scalars) const; 00943 00944 protected: 00946 virtual inline std::string 00947 getName () const { return ("PointCloudColorHandlerGenericField"); } 00948 00950 virtual std::string 00951 getFieldName () const { return (field_name_); } 00952 00953 private: 00955 std::string field_name_; 00956 }; 00957 00958 } 00959 } 00960 00961 #include <pcl/visualization/impl/point_cloud_handlers.hpp> 00962 00963 #endif
1.7.6.1
