pcl_base.h

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/*
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 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     with the distribution.
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#ifndef PCL_PCL_BASE_H_
#define PCL_PCL_BASE_H_

#if defined __GNUC__
#  pragma GCC system_header
#endif

// Include PCL macros such as PCL_ERROR, etc
#include <pcl/pcl_macros.h>

#include <boost/shared_ptr.hpp>
#include <Eigen/StdVector>
#include <Eigen/Core>

// Point Cloud message includes. Needed everywhere.
#include <pcl/point_cloud.h>
#include <pcl/PointIndices.h>
#include <pcl/PCLPointCloud2.h>

namespace pcl
{
  // definitions used everywhere
  typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
  typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;


  template <typename PointT>
  class PCLBase
  {
    public:
      typedef pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<PointIndices> PointIndicesPtr;
      typedef boost::shared_ptr<PointIndices const> PointIndicesConstPtr;

      PCLBase ();
      
      PCLBase (const PCLBase& base);

      virtual ~PCLBase ()
      {
        input_.reset ();
        indices_.reset ();
      }
      
      virtual void 
      setInputCloud (const PointCloudConstPtr &cloud);

      inline PointCloudConstPtr const 
      getInputCloud () { return (input_); }

      virtual void
      setIndices (const IndicesPtr &indices);

      virtual void
      setIndices (const IndicesConstPtr &indices);

      virtual void
      setIndices (const PointIndicesConstPtr &indices);

      virtual void 
      setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols);

      inline IndicesPtr const 
      getIndices () { return (indices_); }

      inline const PointT& operator[] (size_t pos)
      {
        return ((*input_)[(*indices_)[pos]]);
      }

    protected:
      PointCloudConstPtr input_;

      IndicesPtr indices_;

      bool use_indices_;

      bool fake_indices_;

      bool
      initCompute ();

      bool
      deinitCompute ();

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  template <>
  class PCL_EXPORTS PCLBase<pcl::PCLPointCloud2>
  {
    public:
      typedef pcl::PCLPointCloud2 PCLPointCloud2;
      typedef boost::shared_ptr<PCLPointCloud2> PCLPointCloud2Ptr;
      typedef boost::shared_ptr<PCLPointCloud2 const> PCLPointCloud2ConstPtr;

      typedef boost::shared_ptr<PointIndices> PointIndicesPtr;
      typedef boost::shared_ptr<PointIndices const> PointIndicesConstPtr;

      PCLBase ();
     
      virtual ~PCLBase()
      {
        input_.reset ();
        indices_.reset ();
      }

      void 
      setInputCloud (const PCLPointCloud2ConstPtr &cloud);

      inline PCLPointCloud2ConstPtr const 
      getInputCloud () { return (input_); }

      void
      setIndices (const IndicesPtr &indices);

      void
      setIndices (const PointIndicesConstPtr &indices);

      inline IndicesPtr const 
      getIndices () { return (indices_); }

    protected:
      PCLPointCloud2ConstPtr input_;

      IndicesPtr indices_;

      bool use_indices_;

      bool fake_indices_;

      std::vector<int> field_sizes_;

      int x_idx_, y_idx_, z_idx_;

      std::string x_field_name_, y_field_name_, z_field_name_;

      bool initCompute ();
      bool deinitCompute ();
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/impl/pcl_base.hpp>
#endif

#endif  //#ifndef PCL_PCL_BASE_H_