cloud_item.h

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/*
 * Software License Agreement  (BSD License)
 *
 *  Point Cloud Library  (PCL) - www.pointclouds.org
 *  Copyright  (c) 2012, Jeremie Papon.
 *
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#ifndef CLOUD_ITEM_H_
#define CLOUD_ITEM_H_

#include <pcl/apps/cloud_composer/items/cloud_composer_item.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/search/kdtree.h>

//Typedefs to make things sane
typedef pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2> GeometryHandler;
typedef pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2> ColorHandler;

namespace pcl
{
  namespace cloud_composer
  {
    namespace PointTypeFlags
    {
      enum PointType
      {
        NONE = 0,
        XYZ = (1 << 0),
        RGB = (1 << 1),
        RGBA = (1 << 2),
        NORMAL = (1 << 3),
        HSV = (1 << 4),
        AXIS = (1 << 5), 
      };
    }
    class PCL_EXPORTS CloudItem : public CloudComposerItem
    {
      public:
        
        //This is needed because we have members which are Vector4f and Quaternionf
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        
        CloudItem (const QString name,
                   const pcl::PCLPointCloud2::Ptr cloud_ptr,
                   const Eigen::Vector4f& origin = Eigen::Vector4f (),
                   const Eigen::Quaternionf& orientation = Eigen::Quaternionf (),
                   bool make_templated_cloud = true);
        
        CloudItem (const CloudItem& to_copy);
        virtual ~CloudItem ();
        
        template <typename PointT>
        static CloudItem*
        createCloudItemFromTemplate (const QString name, typename PointCloud<PointT>::Ptr cloud_ptr);
        
        virtual QVariant
        data (int role = Qt::UserRole +1) const;
        
        virtual void
        setData ( const QVariant & value, int role = Qt::UserRole + 1 );
        
        inline virtual int 
        type () const { return CLOUD_ITEM; }

        virtual CloudItem*
        clone () const;
        
        virtual void
        paintView (boost::shared_ptr<pcl::visualization::PCLVisualizer> vis) const;
        
        virtual void
        removeFromView (boost::shared_ptr<pcl::visualization::PCLVisualizer> vis) const;
        
        void
        setTemplateCloudFromBlob ();
        
        int
        getPointType () const { return point_type_; }
        
        template <typename PointT> void
        printNumPoints () const;        
        
        virtual bool
        isSanitized () const { return is_sanitized_; }
      private:
        
        //These are just stored for convenience 
        pcl::PCLPointCloud2::Ptr cloud_blob_ptr_;
        ColorHandler::ConstPtr color_handler_;
        GeometryHandler::ConstPtr geometry_handler_;

       

        //We keep actual local copies of these.
        Eigen::Vector4f origin_;
        Eigen::Quaternionf orientation_;
        
        //Internal Storage of the templated type of this cloud
        int point_type_;
        bool template_cloud_set_;
        
        bool
        checkIfFinite ();
        
        bool is_sanitized_;
        
        //Helper functions which set the point_type_ based on the current point type
        template <typename PointT> inline void 
        setPointType ()
        {
          qCritical () << "CloudItem::setPointType for type with no specialization";
          point_type_ = PointTypeFlags::NONE;
        }
        
        
    };
    
    template <> inline void
    CloudItem::setPointType <PointXYZ> ()
    {
      point_type_ = PointTypeFlags::XYZ;  
    }
    template <> inline void
    CloudItem::setPointType <PointXYZRGB> ()
    {
      point_type_ = PointTypeFlags::XYZ | PointTypeFlags::RGB;  
    }
    template <> inline void
    CloudItem::setPointType <PointXYZRGBA> ()
    {
      point_type_ = PointTypeFlags::XYZ | PointTypeFlags::RGBA;
    }    
    
    
  }
}

//Add PointCloud types to QT MetaType System
Q_DECLARE_METATYPE (pcl::PCLPointCloud2::ConstPtr);
Q_DECLARE_METATYPE (GeometryHandler::ConstPtr);
Q_DECLARE_METATYPE (ColorHandler::ConstPtr);
Q_DECLARE_METATYPE (Eigen::Vector4f);
Q_DECLARE_METATYPE (Eigen::Quaternionf);

Q_DECLARE_METATYPE (pcl::search::KdTree<pcl::PointXYZ>::Ptr);
Q_DECLARE_METATYPE (pcl::search::KdTree<pcl::PointXYZRGB>::Ptr);
Q_DECLARE_METATYPE (pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr);

Q_DECLARE_METATYPE (pcl::PointCloud <pcl::PointXYZ>::Ptr);
Q_DECLARE_METATYPE (pcl::PointCloud <pcl::PointXYZRGB>::Ptr);
Q_DECLARE_METATYPE (pcl::PointCloud <pcl::PointXYZRGBA>::Ptr);

#endif //CLOUD_ITEM_H_