.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_pointcloud_point_cloud_helpers.hpp:

Program Listing for File point_cloud_helpers.hpp
================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_pointcloud_point_cloud_helpers.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_helpers.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2010, 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 the 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.
    */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_HELPERS_HPP_
   #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_HELPERS_HPP_
   
   #include <algorithm>
   #include <string>
   #include <vector>
   
   #include "sensor_msgs/msg/point_cloud2.hpp"
   #include "rviz_common/properties/property.hpp"
   
   #include "rviz_default_plugins/displays/pointcloud/point_cloud_transformer.hpp"
   
   namespace rviz_common
   {
   namespace properties
   {
   
   class BoolProperty;
   class ColorProperty;
   class EditableEnumProperty;
   class EnumProperty;
   class FloatProperty;
   
   }  // namespace properties
   }  // namespace rviz_common
   
   namespace rviz_default_plugins
   {
   
   typedef std::vector<std::string> V_string;
   
   inline int32_t findChannelIndex(
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud,
     const std::string & channel)
   {
     for (size_t i = 0; i < cloud->fields.size(); ++i) {
       if (cloud->fields[i].name == channel) {
         return static_cast<uint32_t>(i);
       }
     }
   
     return -1;
   }
   
   template<typename T>
   inline T valueFromCloud(
     const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud,
     uint32_t offset,
     uint8_t type,
     uint32_t point_step,
     uint64_t index)
   {
     const uint8_t * data = &cloud->data[(point_step * index) + offset];
     T ret = 0;
   
     switch (type) {
       case sensor_msgs::msg::PointField::INT8:
       case sensor_msgs::msg::PointField::UINT8:
         {
           uint8_t val = *reinterpret_cast<const uint8_t *>(data);
           ret = static_cast<T>(val);
           break;
         }
   
       case sensor_msgs::msg::PointField::INT16:
       case sensor_msgs::msg::PointField::UINT16:
         {
           uint16_t val = *reinterpret_cast<const uint16_t *>(data);
           ret = static_cast<T>(val);
           break;
         }
   
       case sensor_msgs::msg::PointField::INT32:
       case sensor_msgs::msg::PointField::UINT32:
         {
           uint32_t val = *reinterpret_cast<const uint32_t *>(data);
           ret = static_cast<T>(val);
           break;
         }
   
       case sensor_msgs::msg::PointField::FLOAT32:
         {
           float val = *reinterpret_cast<const float *>(data);
           ret = static_cast<T>(val);
           break;
         }
   
       case sensor_msgs::msg::PointField::FLOAT64:
         {
           double val = *reinterpret_cast<const double *>(data);
           ret = static_cast<T>(val);
           break;
         }
       default:
         break;
     }
   
     return ret;
   }
   
   inline void getRainbowColor(float value, Ogre::ColourValue & color)
   {
     // this is HSV color palette with hue values going only from 0.0 to 0.833333.
   
     value = std::min(value, 1.0f);
     value = std::max(value, 0.0f);
   
     float h = value * 5.0f + 1.0f;
     int i = floor(h);
     float f = h - i;
     if (!(i & 1) ) {
       f = 1 - f;             // if i is even
     }
     float n = 1 - f;
   
     if (i <= 1) {
       color[0] = n, color[1] = 0, color[2] = 1;
     } else if (i == 2) {
       color[0] = 0, color[1] = n, color[2] = 1;
     } else if (i == 3) {
       color[0] = 0, color[1] = 1, color[2] = n;
     } else if (i == 4) {
       color[0] = n, color[1] = 1, color[2] = 0;
     } else if (i >= 5) {
       color[0] = 1, color[1] = n, color[2] = 0;
     }
   }
   
   }  // end namespace rviz_default_plugins
   
   #endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_HELPERS_HPP_