cloud_item.hpp

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#ifndef IMPL_CLOUD_ITEM_H_
#define IMPL_CLOUD_ITEM_H_

#include <pcl/apps/cloud_composer/items/cloud_item.h>
#include <pcl/point_cloud.h>
#include <pcl/impl/instantiate.hpp>

template <typename PointT> void
pcl::cloud_composer::CloudItem::printNumPoints () const
{
  //boost::shared_ptr <PointCloud<PointT> > cloud = this->data (ItemDataRole::CLOUD_TEMPLATED).value <boost::shared_ptr <PointCloud<PointT> > > ();
  QVariant variant = this->data (ItemDataRole::CLOUD_TEMPLATED);
  typename PointCloud<PointT>::Ptr cloud;
  if ( variant.canConvert <typename PointCloud<PointT>::Ptr> () )
  {  
    cloud = variant.value <typename PointCloud<PointT>::Ptr> ();
  }
  else
  {
    qWarning () << "Attempted to cast to template type which does not exist in this item!";
    return;
  }

  qDebug () << "CLOUD HAS WIDTH = "<< cloud->width;
  
}



template <typename PointT> pcl::cloud_composer::CloudItem* 
pcl::cloud_composer::CloudItem::createCloudItemFromTemplate (const QString name, typename PointCloud<PointT>::Ptr cloud_ptr)
{
  pcl::PCLPointCloud2::Ptr cloud_blob = boost::make_shared <pcl::PCLPointCloud2> ();
  toPCLPointCloud2 (*cloud_ptr, *cloud_blob);
  CloudItem* cloud_item = new CloudItem ( name, cloud_blob,  Eigen::Vector4f (), Eigen::Quaternionf (), false);
  cloud_item->setData (QVariant::fromValue(cloud_ptr), ItemDataRole::CLOUD_TEMPLATED);
  cloud_item->setPointType<PointT> ();
  return cloud_item;
}


#define PCL_INSTANTIATE_createCloudItemFromTemplate(T) template PCL_EXPORTS pcl::cloud_composer::CloudItem* pcl::cloud_composer::CloudItem::createCloudItemFromTemplate<T>(const QString, typename PointCloud<PointT>::Ptr);

#define PCL_INSTANTIATE_printNumPoints(T) template PCL_EXPORTS void pcl::cloud_composer::CloudItem::getNumPoints<T>();

#endif