png_io.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 * $Id$ 
 * Authors: Anatoly Baksheev
 */

#ifndef PCL_IO_PNG_IO_H_
#define PCL_IO_PNG_IO_H_

#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <string>
#include <vector>

namespace pcl
{
  namespace io
  {
    PCL_EXPORTS void
    saveCharPNGFile (const std::string& file_name, const unsigned char *mono_image, int width, int height, int channels);

    PCL_EXPORTS void
    saveShortPNGFile (const std::string& file_name, const unsigned short *short_image, int width, int height, int channels);

    PCL_EXPORTS void 
    saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height)
    {
      saveCharPNGFile(file_name, rgb_image, width, height, 3);
    }

    void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud)
    {
      saveCharPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
    }

    void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud)
    {
      saveShortPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
    }

    template <typename T> void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<T>& cloud)
    {
      std::vector<unsigned char> data(cloud.width * cloud.height * 3);

      for (size_t i = 0; i < cloud.points.size (); ++i)
      {
        data[i*3 + 0] = cloud.points[i].r;
        data[i*3 + 1] = cloud.points[i].g;
        data[i*3 + 2] = cloud.points[i].b;        
      }
      saveRgbPNGFile(file_name, &data[0], cloud.width, cloud.height);
    } 
    
    void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud)
    {
      std::vector<unsigned short> data(cloud.width * cloud.height);
      
      for (size_t i = 0; i < cloud.points.size (); ++i)
      {
        data[i] = static_cast<unsigned short> (cloud.points[i].label);      
      }
      saveShortPNGFile(file_name, &data[0], cloud.width, cloud.height,1);
    }  
  }
}

#endif  //#ifndef PCL_IO_PNG_IO_H_