pcl_visualization: point_cloud_handlers.h Source File

00001 /*
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00034  * $Id: point_cloud_handlers.h 34648 2010-12-10 02:09:48Z rusu $
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00036  */
00037 #ifndef PCL_POINT_CLOUD_HANDLERS_H_
00038 #define PCL_POINT_CLOUD_HANDLERS_H_
00039 
00040 #include <pcl_visualization/common/common.h>
00041 // PCL includes
00042 #include <pcl/point_types.h>
00043 #include <pcl/point_cloud.h>
00044 #include <pcl/io/io.h>
00045 // VTK includes
00046 #include <vtkSmartPointer.h>
00047 #include <vtkDataArray.h>
00048 #include <vtkUnsignedCharArray.h>
00049 #include <vtkFloatArray.h>
00050 #include <vtkPoints.h>
00051 
00052 namespace pcl_visualization
00053 {
00057 
00058   template <typename PointT>
00059   class PointCloudGeometryHandler
00060   {
00061     public:
00062       typedef pcl::PointCloud<PointT> PointCloud;
00063       typedef typename PointCloud::Ptr PointCloudPtr;
00064       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00065 
00066       typedef typename boost::shared_ptr<PointCloudGeometryHandler<PointT> > Ptr;
00067       typedef typename boost::shared_ptr<const PointCloudGeometryHandler<PointT> > ConstPtr;
00068 
00069       inline Ptr makeShared () const { return (boost::make_shared<PointCloudGeometryHandler<PointT> >) (*this); } 
00070 
00072       PointCloudGeometryHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00073       {
00074         cloud_.reset (new PointCloud (cloud));
00075       }
00076 
00078       virtual std::string getName () const = 0;
00079 
00081       virtual std::string getFieldName () const  = 0;
00082 
00084       inline bool isCapable () const { return (capable_); }
00085 
00089       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0;
00090 
00091     protected:
00093       PointCloudPtr cloud_;
00094 
00096       bool capable_;
00097 
00099       int field_x_idx_;
00100 
00102       int field_y_idx_;
00103 
00105       int field_z_idx_;
00106 
00109       std::vector<sensor_msgs::PointField> fields_;
00110   };
00111 
00113 
00114   template <typename PointT>
00115   class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT>
00116   {
00117     public:
00118       typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
00119       typedef typename PointCloud::Ptr PointCloudPtr;
00120       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00121 
00122       typedef typename boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointT> > Ptr;
00123       typedef typename boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> > ConstPtr;
00124 
00126       PointCloudGeometryHandlerXYZ (const PointCloud &cloud);
00127 
00129       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); }
00130 
00132       virtual std::string getFieldName () const { return ("xyz"); }
00133 
00137       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00138 
00139     private:
00140       // Members derived from the base class
00141       using PointCloudGeometryHandler<PointT>::cloud_;
00142       using PointCloudGeometryHandler<PointT>::capable_;
00143       using PointCloudGeometryHandler<PointT>::field_x_idx_;
00144       using PointCloudGeometryHandler<PointT>::field_y_idx_;
00145       using PointCloudGeometryHandler<PointT>::field_z_idx_;
00146       using PointCloudGeometryHandler<PointT>::fields_;
00147   };
00148 
00150 
00151   template <typename PointT>
00152   class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT>
00153   {
00154     public:
00155       typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
00156       typedef typename PointCloud::Ptr PointCloudPtr;
00157       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00158 
00159       typedef typename boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> > Ptr;
00160       typedef typename boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> > ConstPtr;
00161 
00163       PointCloudGeometryHandlerSurfaceNormal (const PointCloud &cloud);
00164 
00166       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
00167 
00169       virtual std::string getFieldName () const { return ("normal_xyz"); }
00170 
00174       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00175 
00176     private:
00177       // Members derived from the base class
00178       using PointCloudGeometryHandler<PointT>::cloud_;
00179       using PointCloudGeometryHandler<PointT>::capable_;
00180       using PointCloudGeometryHandler<PointT>::field_x_idx_;
00181       using PointCloudGeometryHandler<PointT>::field_y_idx_;
00182       using PointCloudGeometryHandler<PointT>::field_z_idx_;
00183       using PointCloudGeometryHandler<PointT>::fields_;
00184   };
00185 
00187 
00188   template <typename PointT>
00189   class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT>
00190   {
00191     public:
00192       typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
00193       typedef typename PointCloud::Ptr PointCloudPtr;
00194       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00195 
00196       typedef typename boost::shared_ptr<PointCloudGeometryHandlerCustom<PointT> > Ptr;
00197       typedef typename boost::shared_ptr<const PointCloudGeometryHandlerCustom<PointT> > ConstPtr;
00198 
00200       PointCloudGeometryHandlerCustom (const PointCloud &cloud, const std::string &x_field_name, const std::string &y_field_name, const std::string &z_field_name);
00201 
00203       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerCustom"); }
00204 
00206       virtual std::string getFieldName () const { return (field_name_); }
00207 
00211       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00212 
00213     private:
00214       // Members derived from the base class
00215       using PointCloudGeometryHandler<PointT>::cloud_;
00216       using PointCloudGeometryHandler<PointT>::capable_;
00217       using PointCloudGeometryHandler<PointT>::field_x_idx_;
00218       using PointCloudGeometryHandler<PointT>::field_y_idx_;
00219       using PointCloudGeometryHandler<PointT>::field_z_idx_;
00220       using PointCloudGeometryHandler<PointT>::fields_;
00221 
00223       std::string field_name_;
00224   };
00225 
00229 
00230   template <>
00231   class PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00232   {
00233     public:
00234       typedef sensor_msgs::PointCloud2 PointCloud;
00235       typedef PointCloud::Ptr PointCloudPtr;
00236       typedef PointCloud::ConstPtr PointCloudConstPtr;
00237 
00238       typedef boost::shared_ptr<PointCloudGeometryHandler<PointCloud> > Ptr;
00239       typedef boost::shared_ptr<const PointCloudGeometryHandler<PointCloud> > ConstPtr;
00240 
00242       PointCloudGeometryHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00243       {
00244         cloud_.reset (new PointCloud (cloud));
00245         fields_ = cloud_->fields;
00246       }
00247 
00249       virtual std::string getName () const = 0;
00250 
00252       virtual std::string getFieldName () const  = 0;
00253 
00255       inline bool isCapable () const { return (capable_); }
00256 
00260       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00261 
00262     protected:
00264       PointCloudPtr cloud_;
00265 
00267       bool capable_;
00268 
00270       int field_x_idx_;
00271 
00273       int field_y_idx_;
00274 
00276       int field_z_idx_;
00277 
00279       std::vector<sensor_msgs::PointField> fields_;
00280   };
00281 
00283 
00284   template <>
00285   class PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00286   {
00287     public:
00288       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00289       typedef PointCloud::Ptr PointCloudPtr;
00290       typedef PointCloud::ConstPtr PointCloudConstPtr;
00291 
00292       typedef boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> > Ptr;
00293       typedef boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> > ConstPtr;
00294 
00296       PointCloudGeometryHandlerXYZ (const PointCloud &cloud);
00297 
00299       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); }
00300 
00302       virtual std::string getFieldName () const { return ("xyz"); }
00303   };
00304 
00306 
00307   template <>
00308   class PointCloudGeometryHandlerSurfaceNormal<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00309   {
00310     public:
00311       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00312       typedef PointCloud::Ptr PointCloudPtr;
00313       typedef PointCloud::ConstPtr PointCloudConstPtr;
00314 
00315       typedef boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> > Ptr;
00316       typedef boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> > ConstPtr;
00317 
00319       PointCloudGeometryHandlerSurfaceNormal (const PointCloud &cloud);
00320 
00322       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
00323 
00325       virtual std::string getFieldName () const { return ("normal_xyz"); }
00326   };
00327 
00329 
00330   template <>
00331   class PointCloudGeometryHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00332   {
00333     public:
00334       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00335       typedef PointCloud::Ptr PointCloudPtr;
00336       typedef PointCloud::ConstPtr PointCloudConstPtr;
00337 
00339       PointCloudGeometryHandlerCustom (const PointCloud &cloud, const std::string &x_field_name, const std::string &y_field_name, const std::string &z_field_name);
00340 
00342       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerCustom"); }
00343 
00345       virtual std::string getFieldName () const { return (field_name_); }
00346     private:
00348       std::string field_name_;
00349   };
00350 
00354 
00355   template <typename PointT>
00356   class PointCloudColorHandler
00357   {
00358     public:
00359       typedef pcl::PointCloud<PointT> PointCloud;
00360       typedef typename PointCloud::Ptr PointCloudPtr;
00361       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00362 
00363       typedef boost::shared_ptr<PointCloudColorHandler<PointT> > Ptr;
00364       typedef boost::shared_ptr<const PointCloudColorHandler<PointT> > ConstPtr;
00365 
00366       inline Ptr makeShared () const { return (boost::make_shared<PointCloudColorHandler<PointT> >) (*this); } 
00367 
00369       PointCloudColorHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00370       {
00371         cloud_.reset (new PointCloud (cloud));
00372       }
00373 
00374 
00376       inline bool isCapable () const { return (capable_); }
00377 
00378 
00380       virtual std::string getName () const = 0;
00381 
00382 
00384       virtual std::string getFieldName () const = 0;
00385 
00386 
00390       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;
00391 
00392     protected:
00394       PointCloudPtr cloud_;
00395 
00397       bool capable_;
00398 
00400       int field_idx_;
00401 
00404       std::vector<sensor_msgs::PointField> fields_;
00405   };
00406  
00408 
00409   template <typename PointT>
00410   class PointCloudColorHandlerRandom : public PointCloudColorHandler<PointT>
00411   {
00412     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00413     typedef typename PointCloud::Ptr PointCloudPtr;
00414     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00415 
00416     public:
00417       typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointT> > Ptr;
00418       typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointT> > ConstPtr;
00419 
00421       PointCloudColorHandlerRandom (const PointCloud &cloud) : PointCloudColorHandler<PointT> (cloud) { capable_ = true; }
00422 
00424       virtual inline std::string getName () const { return ("PointCloudColorHandlerRandom"); }
00425 
00427       virtual std::string getFieldName () const { return ("[random]"); }
00428 
00432       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00433 
00434     protected:
00435       // Members derived from the base class
00436       using PointCloudColorHandler<PointT>::cloud_;
00437       using PointCloudColorHandler<PointT>::capable_;
00438   };
00439 
00441 
00442   template <typename PointT>
00443   class PointCloudColorHandlerCustom : public PointCloudColorHandler<PointT>
00444   {
00445     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00446     typedef typename PointCloud::Ptr PointCloudPtr;
00447     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00448 
00449     public:
00450       typedef boost::shared_ptr<PointCloudColorHandlerCustom<PointT> > Ptr;
00451       typedef boost::shared_ptr<const PointCloudColorHandlerCustom<PointT> > ConstPtr;
00452 
00454       PointCloudColorHandlerCustom (const PointCloud &cloud, double r, double g, double b) : PointCloudColorHandler<PointT> (cloud)
00455       { 
00456         capable_ = true; 
00457         r_ = r;
00458         g_ = g;
00459         b_ = b;
00460       }
00461 
00463       virtual inline std::string getName () const { return ("PointCloudColorHandlerCustom"); }
00464 
00466       virtual std::string getFieldName () const { return (""); }
00467 
00471       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00472 
00473     protected:
00474       // Members derived from the base class
00475       using PointCloudColorHandler<PointT>::cloud_;
00476       using PointCloudColorHandler<PointT>::capable_;
00477 
00479       double r_, g_, b_;
00480   };
00481 
00483 
00484   template <typename PointT>
00485   class PointCloudColorHandlerRGBField : public PointCloudColorHandler<PointT>
00486   {
00487     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00488     typedef typename PointCloud::Ptr PointCloudPtr;
00489     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00490 
00491     public:
00492       typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointT> > Ptr;
00493       typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointT> > ConstPtr;
00494 
00496       PointCloudColorHandlerRGBField (const PointCloud &cloud);
00497 
00499       virtual std::string getFieldName () const { return ("rgb"); }
00500 
00501     protected:
00503       virtual inline std::string getName () const { return ("PointCloudColorHandlerRGBField"); }
00504 
00508       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00509 
00510     private:
00511       // Members derived from the base class
00512       using PointCloudColorHandler<PointT>::cloud_;
00513       using PointCloudColorHandler<PointT>::capable_;
00514       using PointCloudColorHandler<PointT>::field_idx_;
00515       using PointCloudColorHandler<PointT>::fields_;
00516   };
00517 
00519 
00520   template <typename PointT>
00521   class PointCloudColorHandlerGenericField : public PointCloudColorHandler<PointT>
00522   {
00523     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00524     typedef typename PointCloud::Ptr PointCloudPtr;
00525     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00526 
00527     public:
00528       typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointT> > Ptr;
00529       typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointT> > ConstPtr;
00530 
00532       PointCloudColorHandlerGenericField (const PointCloud &cloud, const std::string &field_name);
00533 
00535       virtual std::string getFieldName () const { return (field_name_); }
00536 
00537     protected:
00539       virtual inline std::string getName () const { return ("PointCloudColorHandlerGenericField"); }
00540 
00544       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00545 
00546     private:
00547       using PointCloudColorHandler<PointT>::cloud_;
00548       using PointCloudColorHandler<PointT>::capable_;
00549       using PointCloudColorHandler<PointT>::field_idx_;
00550       using PointCloudColorHandler<PointT>::fields_;
00551 
00553       std::string field_name_;
00554   };
00555 
00559 
00560   template <>
00561   class PointCloudColorHandler<sensor_msgs::PointCloud2>
00562   {
00563     public:
00564       typedef sensor_msgs::PointCloud2 PointCloud;
00565       typedef PointCloud::Ptr PointCloudPtr;
00566       typedef PointCloud::ConstPtr PointCloudConstPtr;
00567       
00568       typedef boost::shared_ptr<PointCloudColorHandler<PointCloud> > Ptr;
00569       typedef boost::shared_ptr<const PointCloudColorHandler<PointCloud> > ConstPtr;
00570 
00572       PointCloudColorHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00573       {
00574         cloud_.reset (new PointCloud (cloud));
00575       }
00576 
00578       inline bool isCapable () const { return (capable_); }
00579 
00581       virtual std::string getName () const = 0;
00582 
00584       virtual std::string getFieldName () const = 0;
00585 
00589       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;
00590 
00591     protected:
00593       PointCloudPtr cloud_;
00594 
00596       bool capable_;
00597 
00599       int field_idx_;
00600   };
00601 
00603 
00604   template <>
00605   class PointCloudColorHandlerRandom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00606   {
00607     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00608     typedef PointCloud::Ptr PointCloudPtr;
00609     typedef PointCloud::ConstPtr PointCloudConstPtr;
00610 
00611     public:
00612       typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointCloud> > Ptr;
00613       typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointCloud> > ConstPtr;
00614 
00616       PointCloudColorHandlerRandom (const PointCloud &cloud) : PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud) { capable_ = true; }
00617 
00619       virtual inline std::string getName () const { return ("PointCloudColorHandlerRandom"); }
00620 
00622       virtual std::string getFieldName () const { return ("[random]"); }
00623 
00627       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00628   };
00629 
00631 
00632   template <>
00633   class PointCloudColorHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00634   {
00635     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00636     typedef PointCloud::Ptr PointCloudPtr;
00637     typedef PointCloud::ConstPtr PointCloudConstPtr;
00638 
00639     public:
00641       PointCloudColorHandlerCustom (const PointCloud &cloud, double r, double g, double b) : PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud)
00642       { 
00643         capable_ = true; 
00644         r_ = r;
00645         g_ = g;
00646         b_ = b;
00647       }
00648 
00650       virtual inline std::string getName () const { return ("PointCloudColorHandlerCustom"); }
00651 
00653       virtual std::string getFieldName () const { return (""); }
00654 
00658       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00659 
00660     protected:
00662       double r_, g_, b_;
00663   };
00664 
00666 
00667   template <>
00668   class PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00669   {
00670     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00671     typedef PointCloud::Ptr PointCloudPtr;
00672     typedef PointCloud::ConstPtr PointCloudConstPtr;
00673 
00674     public:
00675       typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointCloud> > Ptr;
00676       typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointCloud> > ConstPtr;
00677 
00679       PointCloudColorHandlerRGBField (const PointCloud &cloud);
00680 
00681     protected:
00683       virtual inline std::string getName () const { return ("PointCloudColorHandlerRGBField"); }
00684 
00686       virtual std::string getFieldName () const { return ("rgb"); }
00687 
00691       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00692   };
00693 
00695 
00696   template <>
00697   class PointCloudColorHandlerGenericField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00698   {
00699     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00700     typedef PointCloud::Ptr PointCloudPtr;
00701     typedef PointCloud::ConstPtr PointCloudConstPtr;
00702 
00703     public:
00704       typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointCloud> > Ptr;
00705       typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointCloud> > ConstPtr;
00706 
00708       PointCloudColorHandlerGenericField (const PointCloud &cloud, const std::string &field_name);
00709 
00710     protected:
00712       virtual inline std::string getName () const { return ("PointCloudColorHandlerGenericField"); }
00713 
00715       virtual std::string getFieldName () const { return (field_name_); }
00716 
00720       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00721 
00722     private:
00724       std::string field_name_;
00725   };
00726 
00727 }
00728 
00729 #include "libpcl_visualization/point_cloud_handlers.hpp"
00730 
00731 #endif