pcl_base.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2009, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: pcl_base.h 33238 2010-03-11 00:46:58Z rusu $
 *
 */
#ifndef PCL_PCL_BASE_H_
#define PCL_PCL_BASE_H_

// Eigen includes
#include <Eigen/StdVector>
// STD includes
#include <vector>

// Include ROS macros such as ROS_ERROR, etc
#include "pcl/ros_macros.h"

// Boost includes. Needed everywhere.
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>

// Point Cloud message includes. Needed everywhere.
#include <sensor_msgs/PointCloud2.h>
#include "pcl/point_cloud.h"
#include "pcl/PointIndices.h"
#include "pcl/win32_macros.h"

namespace pcl
{
  // definitions used everywhere
  typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
  typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;


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

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;

      PCLBase () : input_ (), indices_ (), use_indices_ (false), fake_indices_ (false) {};

      virtual inline void 
      setInputCloud (const PointCloudConstPtr &cloud) { input_ = cloud; }

      inline PointCloudConstPtr const 
      getInputCloud () { return (input_); }

      inline void
      setIndices (const IndicesConstPtr &indices)
      {
        indices_ = indices;
        fake_indices_ = false;
        use_indices_  = true;
      }

      inline void
      setIndices (const PointIndicesConstPtr &indices)
      {
        indices_ = boost::make_shared<std::vector<int> > (indices->indices);
        fake_indices_ = false;
        use_indices_  = true;
      }

      inline IndicesConstPtr const 
      getIndices () { return (indices_); }

    protected:
      PointCloudConstPtr input_;

      IndicesConstPtr indices_;

      bool use_indices_;

      bool fake_indices_;

      bool
      initCompute ()
      {
        // Check if input was set
        if (!input_)
          return (false);

        // If no point indices have been given, construct a set of indices for the entire input point cloud
        if (!indices_)
        {
          fake_indices_ = true;
          std::vector<int> *indices = NULL;
          try
          {
            indices = new std::vector<int> (input_->points.size ());
          }
          catch (std::bad_alloc)
          {
            ROS_ERROR ("[initCompute] Failed to allocate %zu indices.", input_->points.size ());
          }
          for (size_t i = 0; i < indices->size (); ++i) { (*indices)[i] = i; }
          indices_.reset (indices);
        }
        return (true);
      }

      bool
      deinitCompute ()
      {
        // Reset the indices
        if (fake_indices_)
        {
          indices_.reset ();
          fake_indices_ = false;
        }
        return (true);
      }
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  template <>
  class PCLBase<sensor_msgs::PointCloud2>
  {
    public:
      typedef sensor_msgs::PointCloud2 PointCloud2;
      typedef PointCloud2::Ptr PointCloud2Ptr;
      typedef PointCloud2::ConstPtr PointCloud2ConstPtr;

      typedef PointIndices::Ptr PointIndicesPtr;
      typedef PointIndices::ConstPtr PointIndicesConstPtr;

      PCLBase () : input_ (), indices_ (), use_indices_ (false), fake_indices_ (false),
                   x_field_name_ ("x"), y_field_name_ ("y"), z_field_name_ ("z")
      {};

      void 
      setInputCloud (const PointCloud2ConstPtr &cloud);

      inline PointCloud2ConstPtr const 
      getInputCloud () { return (input_); }

      inline void
      setIndices (const IndicesConstPtr &indices)
      {
        indices_ = indices;
        fake_indices_ = false;
        use_indices_  = true;
      }

      inline void
      setIndices (const PointIndicesConstPtr &indices)
      {
        indices_ = boost::make_shared<std::vector<int> > (indices->indices);
        fake_indices_ = false;
        use_indices_  = true;
      }

      inline IndicesConstPtr const 
      getIndices () { return (indices_); }

    protected:
      PointCloud2ConstPtr input_;

      IndicesConstPtr indices_;

      bool use_indices_;

      bool fake_indices_;

      std::vector<int> field_sizes_;

      int x_idx_, y_idx_, z_idx_;

      std::string x_field_name_, y_field_name_, z_field_name_;

      bool initCompute ();
      bool deinitCompute ();
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif  //#ifndef PCL_PCL_BASE_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013