PointBuffer.cpp

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#include "lvr2/io/PointBuffer.hpp"
#include "lvr2/io/Timestamp.hpp"
 
#include <iostream>
 
namespace lvr2
{
 
PointBuffer::PointBuffer()
:base()
{
   
}
 
PointBuffer::PointBuffer(floatArr points, size_t n)
{
    // Generate channel object pointer and add it
    // to channel map
    FloatChannelPtr point_data(new FloatChannel(n, 3, points));
    this->addFloatChannel(point_data, "points");
 
}
 
PointBuffer::PointBuffer(floatArr points, floatArr normals, size_t n) : PointBuffer(points, n)
{
    // Add normal data
    FloatChannelPtr normal_data(new FloatChannel(n, 3, points));
    this->addFloatChannel(normal_data, "normals");
}
 
void PointBuffer::setPointArray(floatArr points, size_t n)
{
    FloatChannelPtr pts(new FloatChannel(n, 3, points));
    this->addFloatChannel(pts, "points");
}
 
void PointBuffer::setNormalArray(floatArr normals, size_t n)
{
    FloatChannelPtr nmls(new FloatChannel(n, 3, normals));
    this->addFloatChannel(nmls, "normals");
}
void PointBuffer::setColorArray(ucharArr colors, size_t n, size_t width)
{
    UCharChannelPtr cls(new UCharChannel(n, width, colors));
    this->addUCharChannel(cls, "colors");
}
 
floatArr PointBuffer::getPointArray()
{
    typename Channel<float>::Optional opt = getChannel<float>("points");
    if(opt)
    {
        return opt->dataPtr();
    }
 
    return floatArr();
}
 
floatArr PointBuffer::getNormalArray()
{
    typename Channel<float>::Optional opt = getChannel<float>("normals");
    if(opt)
    {
        return opt->dataPtr();
    }
 
    return floatArr();
}
 
ucharArr PointBuffer::getColorArray(size_t& w)
{
    w = 0;
    typename Channel<unsigned char>::Optional opt = getChannel<unsigned char>("colors");
    if(opt)
    {
        w = opt->width();
        return opt->dataPtr();
    }
 
    return ucharArr();
}
 
 
bool PointBuffer::hasColors() const
{
   return hasChannel<unsigned char>("colors");
}
 
bool PointBuffer::hasNormals() const
{
   return hasChannel<float>("normals");
}
 
size_t PointBuffer::numPoints() const
{
    const typename Channel<float>::Optional opt = getChannel<float>("points");
    if(opt)
    {
        return opt->numElements();
    }
    else
    {
        return 0;
    }
    
}
 
 
PointBuffer PointBuffer::clone() const
{
    PointBuffer pb;
 
    for(const auto& elem : *this)
    {
        pb.insert({elem.first, elem.second.clone()});
    }
 
    return pb;
 
}
 
 
 
}