pcl_visualization: pcl_visualization: point_cloud

00001 /*
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00012  *     notice, this list of conditions and the following disclaimer.
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00019  *     from this software without specific prior written permission.
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00034  * $Id: point_cloud_handlers.h 36637 2011-04-20 01:33:25Z michael.s.dixon $
00035  *
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 // Boost includes
00052 #include <boost/make_shared.hpp>
00053 
00054 namespace pcl_visualization
00055 {
00059 
00060   template <typename PointT>
00061   class PointCloudGeometryHandler
00062   {
00063     public:
00064       typedef pcl::PointCloud<PointT> PointCloud;
00065       typedef typename PointCloud::Ptr PointCloudPtr;
00066       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00067 
00068       typedef typename boost::shared_ptr<PointCloudGeometryHandler<PointT> > Ptr;
00069       typedef typename boost::shared_ptr<const PointCloudGeometryHandler<PointT> > ConstPtr;
00070 
00071       inline Ptr makeShared () const { return (boost::make_shared<PointCloudGeometryHandler<PointT> >) (*this); } 
00072 
00074       PointCloudGeometryHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00075       {
00076         cloud_.reset (new PointCloud (cloud));
00077       }
00078 
00080       virtual std::string getName () const = 0;
00081 
00083       virtual std::string getFieldName () const  = 0;
00084 
00086       inline bool isCapable () const { return (capable_); }
00087 
00091       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0;
00092 
00093     protected:
00095       PointCloudPtr cloud_;
00096 
00098       bool capable_;
00099 
00101       int field_x_idx_;
00102 
00104       int field_y_idx_;
00105 
00107       int field_z_idx_;
00108 
00111       std::vector<sensor_msgs::PointField> fields_;
00112   };
00113 
00115 
00116   template <typename PointT>
00117   class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT>
00118   {
00119     public:
00120       typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
00121       typedef typename PointCloud::Ptr PointCloudPtr;
00122       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00123 
00124       typedef typename boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointT> > Ptr;
00125       typedef typename boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> > ConstPtr;
00126 
00128       PointCloudGeometryHandlerXYZ (const PointCloud &cloud);
00129 
00131       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); }
00132 
00134       virtual std::string getFieldName () const { return ("xyz"); }
00135 
00139       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00140 
00141     private:
00142       // Members derived from the base class
00143       using PointCloudGeometryHandler<PointT>::cloud_;
00144       using PointCloudGeometryHandler<PointT>::capable_;
00145       using PointCloudGeometryHandler<PointT>::field_x_idx_;
00146       using PointCloudGeometryHandler<PointT>::field_y_idx_;
00147       using PointCloudGeometryHandler<PointT>::field_z_idx_;
00148       using PointCloudGeometryHandler<PointT>::fields_;
00149   };
00150 
00152 
00153   template <typename PointT>
00154   class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT>
00155   {
00156     public:
00157       typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
00158       typedef typename PointCloud::Ptr PointCloudPtr;
00159       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00160 
00161       typedef typename boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> > Ptr;
00162       typedef typename boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> > ConstPtr;
00163 
00165       PointCloudGeometryHandlerSurfaceNormal (const PointCloud &cloud);
00166 
00168       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
00169 
00171       virtual std::string getFieldName () const { return ("normal_xyz"); }
00172 
00176       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00177 
00178     private:
00179       // Members derived from the base class
00180       using PointCloudGeometryHandler<PointT>::cloud_;
00181       using PointCloudGeometryHandler<PointT>::capable_;
00182       using PointCloudGeometryHandler<PointT>::field_x_idx_;
00183       using PointCloudGeometryHandler<PointT>::field_y_idx_;
00184       using PointCloudGeometryHandler<PointT>::field_z_idx_;
00185       using PointCloudGeometryHandler<PointT>::fields_;
00186   };
00187 
00189 
00190   template <typename PointT>
00191   class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT>
00192   {
00193     public:
00194       typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
00195       typedef typename PointCloud::Ptr PointCloudPtr;
00196       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00197 
00198       typedef typename boost::shared_ptr<PointCloudGeometryHandlerCustom<PointT> > Ptr;
00199       typedef typename boost::shared_ptr<const PointCloudGeometryHandlerCustom<PointT> > ConstPtr;
00200 
00202       PointCloudGeometryHandlerCustom (const PointCloud &cloud, const std::string &x_field_name, const std::string &y_field_name, const std::string &z_field_name);
00203 
00205       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerCustom"); }
00206 
00208       virtual std::string getFieldName () const { return (field_name_); }
00209 
00213       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00214 
00215     private:
00216       // Members derived from the base class
00217       using PointCloudGeometryHandler<PointT>::cloud_;
00218       using PointCloudGeometryHandler<PointT>::capable_;
00219       using PointCloudGeometryHandler<PointT>::field_x_idx_;
00220       using PointCloudGeometryHandler<PointT>::field_y_idx_;
00221       using PointCloudGeometryHandler<PointT>::field_z_idx_;
00222       using PointCloudGeometryHandler<PointT>::fields_;
00223 
00225       std::string field_name_;
00226   };
00227 
00231 
00232   template <>
00233   class PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00234   {
00235     public:
00236       typedef sensor_msgs::PointCloud2 PointCloud;
00237       typedef PointCloud::Ptr PointCloudPtr;
00238       typedef PointCloud::ConstPtr PointCloudConstPtr;
00239 
00240       typedef boost::shared_ptr<PointCloudGeometryHandler<PointCloud> > Ptr;
00241       typedef boost::shared_ptr<const PointCloudGeometryHandler<PointCloud> > ConstPtr;
00242 
00244       PointCloudGeometryHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00245       {
00246         cloud_.reset (new PointCloud (cloud));
00247         fields_ = cloud_->fields;
00248       }
00249 
00251       virtual std::string getName () const = 0;
00252 
00254       virtual std::string getFieldName () const  = 0;
00255 
00257       inline bool isCapable () const { return (capable_); }
00258 
00262       virtual void getGeometry (vtkSmartPointer<vtkPoints> &points) const;
00263 
00264     protected:
00266       PointCloudPtr cloud_;
00267 
00269       bool capable_;
00270 
00272       int field_x_idx_;
00273 
00275       int field_y_idx_;
00276 
00278       int field_z_idx_;
00279 
00281       std::vector<sensor_msgs::PointField> fields_;
00282   };
00283 
00285 
00286   template <>
00287   class PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00288   {
00289     public:
00290       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00291       typedef PointCloud::Ptr PointCloudPtr;
00292       typedef PointCloud::ConstPtr PointCloudConstPtr;
00293 
00294       typedef boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> > Ptr;
00295       typedef boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> > ConstPtr;
00296 
00298       PointCloudGeometryHandlerXYZ (const PointCloud &cloud);
00299 
00301       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); }
00302 
00304       virtual std::string getFieldName () const { return ("xyz"); }
00305   };
00306 
00308 
00309   template <>
00310   class PointCloudGeometryHandlerSurfaceNormal<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00311   {
00312     public:
00313       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00314       typedef PointCloud::Ptr PointCloudPtr;
00315       typedef PointCloud::ConstPtr PointCloudConstPtr;
00316 
00317       typedef boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> > Ptr;
00318       typedef boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> > ConstPtr;
00319 
00321       PointCloudGeometryHandlerSurfaceNormal (const PointCloud &cloud);
00322 
00324       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
00325 
00327       virtual std::string getFieldName () const { return ("normal_xyz"); }
00328   };
00329 
00331 
00332   template <>
00333   class PointCloudGeometryHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
00334   {
00335     public:
00336       typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00337       typedef PointCloud::Ptr PointCloudPtr;
00338       typedef PointCloud::ConstPtr PointCloudConstPtr;
00339 
00341       PointCloudGeometryHandlerCustom (const PointCloud &cloud, const std::string &x_field_name, const std::string &y_field_name, const std::string &z_field_name);
00342 
00344       virtual inline std::string getName () const { return ("PointCloudGeometryHandlerCustom"); }
00345 
00347       virtual std::string getFieldName () const { return (field_name_); }
00348     private:
00350       std::string field_name_;
00351   };
00352 
00356 
00357   template <typename PointT>
00358   class PointCloudColorHandler
00359   {
00360     public:
00361       typedef pcl::PointCloud<PointT> PointCloud;
00362       typedef typename PointCloud::Ptr PointCloudPtr;
00363       typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00364 
00365       typedef boost::shared_ptr<PointCloudColorHandler<PointT> > Ptr;
00366       typedef boost::shared_ptr<const PointCloudColorHandler<PointT> > ConstPtr;
00367 
00368       inline Ptr makeShared () const { return (boost::make_shared<PointCloudColorHandler<PointT> >) (*this); } 
00369 
00371       PointCloudColorHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00372       {
00373         cloud_.reset (new PointCloud (cloud));
00374       }
00375 
00376 
00378       inline bool isCapable () const { return (capable_); }
00379 
00380 
00382       virtual std::string getName () const = 0;
00383 
00384 
00386       virtual std::string getFieldName () const = 0;
00387 
00388 
00392       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;
00393 
00394     protected:
00396       PointCloudPtr cloud_;
00397 
00399       bool capable_;
00400 
00402       int field_idx_;
00403 
00406       std::vector<sensor_msgs::PointField> fields_;
00407   };
00408  
00410 
00411   template <typename PointT>
00412   class PointCloudColorHandlerRandom : public PointCloudColorHandler<PointT>
00413   {
00414     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00415     typedef typename PointCloud::Ptr PointCloudPtr;
00416     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00417 
00418     public:
00419       typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointT> > Ptr;
00420       typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointT> > ConstPtr;
00421 
00423       PointCloudColorHandlerRandom (const PointCloud &cloud) : PointCloudColorHandler<PointT> (cloud) { capable_ = true; }
00424 
00426       virtual inline std::string getName () const { return ("PointCloudColorHandlerRandom"); }
00427 
00429       virtual std::string getFieldName () const { return ("[random]"); }
00430 
00434       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00435 
00436     protected:
00437       // Members derived from the base class
00438       using PointCloudColorHandler<PointT>::cloud_;
00439       using PointCloudColorHandler<PointT>::capable_;
00440   };
00441 
00443 
00444   template <typename PointT>
00445   class PointCloudColorHandlerCustom : public PointCloudColorHandler<PointT>
00446   {
00447     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00448     typedef typename PointCloud::Ptr PointCloudPtr;
00449     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00450 
00451     public:
00452       typedef boost::shared_ptr<PointCloudColorHandlerCustom<PointT> > Ptr;
00453       typedef boost::shared_ptr<const PointCloudColorHandlerCustom<PointT> > ConstPtr;
00454 
00456       PointCloudColorHandlerCustom (const PointCloud &cloud, double r, double g, double b) : PointCloudColorHandler<PointT> (cloud)
00457       { 
00458         capable_ = true; 
00459         r_ = r;
00460         g_ = g;
00461         b_ = b;
00462       }
00463 
00465       virtual inline std::string getName () const { return ("PointCloudColorHandlerCustom"); }
00466 
00468       virtual std::string getFieldName () const { return (""); }
00469 
00473       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00474 
00475     protected:
00476       // Members derived from the base class
00477       using PointCloudColorHandler<PointT>::cloud_;
00478       using PointCloudColorHandler<PointT>::capable_;
00479 
00481       double r_, g_, b_;
00482   };
00483 
00485 
00486   template <typename PointT>
00487   class PointCloudColorHandlerRGBField : public PointCloudColorHandler<PointT>
00488   {
00489     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00490     typedef typename PointCloud::Ptr PointCloudPtr;
00491     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00492 
00493     public:
00494       typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointT> > Ptr;
00495       typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointT> > ConstPtr;
00496 
00498       PointCloudColorHandlerRGBField (const PointCloud &cloud);
00499 
00501       virtual std::string getFieldName () const { return ("rgb"); }
00502 
00503     protected:
00505       virtual inline std::string getName () const { return ("PointCloudColorHandlerRGBField"); }
00506 
00510       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00511 
00512     private:
00513       // Members derived from the base class
00514       using PointCloudColorHandler<PointT>::cloud_;
00515       using PointCloudColorHandler<PointT>::capable_;
00516       using PointCloudColorHandler<PointT>::field_idx_;
00517       using PointCloudColorHandler<PointT>::fields_;
00518   };
00519 
00521 
00522   template <typename PointT>
00523   class PointCloudColorHandlerGenericField : public PointCloudColorHandler<PointT>
00524   {
00525     typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
00526     typedef typename PointCloud::Ptr PointCloudPtr;
00527     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
00528 
00529     public:
00530       typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointT> > Ptr;
00531       typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointT> > ConstPtr;
00532 
00534       PointCloudColorHandlerGenericField (const PointCloud &cloud, const std::string &field_name);
00535 
00537       virtual std::string getFieldName () const { return (field_name_); }
00538 
00539     protected:
00541       virtual inline std::string getName () const { return ("PointCloudColorHandlerGenericField"); }
00542 
00546       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00547 
00548     private:
00549       using PointCloudColorHandler<PointT>::cloud_;
00550       using PointCloudColorHandler<PointT>::capable_;
00551       using PointCloudColorHandler<PointT>::field_idx_;
00552       using PointCloudColorHandler<PointT>::fields_;
00553 
00555       std::string field_name_;
00556   };
00557 
00561 
00562   template <>
00563   class PointCloudColorHandler<sensor_msgs::PointCloud2>
00564   {
00565     public:
00566       typedef sensor_msgs::PointCloud2 PointCloud;
00567       typedef PointCloud::Ptr PointCloudPtr;
00568       typedef PointCloud::ConstPtr PointCloudConstPtr;
00569       
00570       typedef boost::shared_ptr<PointCloudColorHandler<PointCloud> > Ptr;
00571       typedef boost::shared_ptr<const PointCloudColorHandler<PointCloud> > ConstPtr;
00572 
00574       PointCloudColorHandler (const PointCloud &cloud) : cloud_ (), capable_ (false)
00575       {
00576         cloud_.reset (new PointCloud (cloud));
00577       }
00578 
00580       inline bool isCapable () const { return (capable_); }
00581 
00583       virtual std::string getName () const = 0;
00584 
00586       virtual std::string getFieldName () const = 0;
00587 
00591       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;
00592 
00593     protected:
00595       PointCloudPtr cloud_;
00596 
00598       bool capable_;
00599 
00601       int field_idx_;
00602   };
00603 
00605 
00606   template <>
00607   class PointCloudColorHandlerRandom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00608   {
00609     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00610     typedef PointCloud::Ptr PointCloudPtr;
00611     typedef PointCloud::ConstPtr PointCloudConstPtr;
00612 
00613     public:
00614       typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointCloud> > Ptr;
00615       typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointCloud> > ConstPtr;
00616 
00618       PointCloudColorHandlerRandom (const PointCloud &cloud) : PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud) { capable_ = true; }
00619 
00621       virtual inline std::string getName () const { return ("PointCloudColorHandlerRandom"); }
00622 
00624       virtual std::string getFieldName () const { return ("[random]"); }
00625 
00629       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00630   };
00631 
00633 
00634   template <>
00635   class PointCloudColorHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00636   {
00637     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00638     typedef PointCloud::Ptr PointCloudPtr;
00639     typedef PointCloud::ConstPtr PointCloudConstPtr;
00640 
00641     public:
00643       PointCloudColorHandlerCustom (const PointCloud &cloud, double r, double g, double b) : PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud)
00644       { 
00645         capable_ = true; 
00646         r_ = r;
00647         g_ = g;
00648         b_ = b;
00649       }
00650 
00652       virtual inline std::string getName () const { return ("PointCloudColorHandlerCustom"); }
00653 
00655       virtual std::string getFieldName () const { return (""); }
00656 
00660       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00661 
00662     protected:
00664       double r_, g_, b_;
00665   };
00666 
00668 
00669   template <>
00670   class PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00671   {
00672     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00673     typedef PointCloud::Ptr PointCloudPtr;
00674     typedef PointCloud::ConstPtr PointCloudConstPtr;
00675 
00676     public:
00677       typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointCloud> > Ptr;
00678       typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointCloud> > ConstPtr;
00679 
00681       PointCloudColorHandlerRGBField (const PointCloud &cloud);
00682 
00683     protected:
00685       virtual inline std::string getName () const { return ("PointCloudColorHandlerRGBField"); }
00686 
00688       virtual std::string getFieldName () const { return ("rgb"); }
00689 
00693       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00694   };
00695 
00697 
00698   template <>
00699   class PointCloudColorHandlerGenericField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
00700   {
00701     typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
00702     typedef PointCloud::Ptr PointCloudPtr;
00703     typedef PointCloud::ConstPtr PointCloudConstPtr;
00704 
00705     public:
00706       typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointCloud> > Ptr;
00707       typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointCloud> > ConstPtr;
00708 
00710       PointCloudColorHandlerGenericField (const PointCloud &cloud, const std::string &field_name);
00711 
00712     protected:
00714       virtual inline std::string getName () const { return ("PointCloudColorHandlerGenericField"); }
00715 
00717       virtual std::string getFieldName () const { return (field_name_); }
00718 
00722       virtual void getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
00723 
00724     private:
00726       std::string field_name_;
00727   };
00728 
00729 }
00730 
00731 #include "libpcl_visualization/point_cloud_handlers.hpp"
00732 
00733 #endif