LVRPointBufferBridge.hpp

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#ifndef LVRPOINTBUFFERBRIDGE_HPP_
#define LVRPOINTBUFFERBRIDGE_HPP_
 
#include "lvr2/display/ColorMap.hpp"
#include "lvr2/io/PointBuffer.hpp"
 
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <vtkActor.h>
#include <vtkDoubleArray.h>
 
#include <boost/shared_ptr.hpp>
 
namespace lvr2
{
 
struct Pose;
 
class LVRPointBufferBridge
{
public:
    LVRPointBufferBridge(PointBufferPtr pointcloud);
    LVRPointBufferBridge(const LVRPointBufferBridge& b);
    virtual ~LVRPointBufferBridge();
 
    vtkSmartPointer<vtkActor>   getPointCloudActor();
    size_t                      getNumPoints();
    bool                        hasNormals();
    bool                        hasColors();
 
    void setBaseColor(float r, float g, float b);
    void setPointSize(int pointSize);
    void setOpacity(float opacityValue);
    void setVisibility(bool visible);
    void setNormalsVisibility(bool visible);
    void setColorsVisibility(bool visible);
    void setSpectralChannels(color<size_t> channels, color<bool> use_channel);
    void getSpectralChannels(color<size_t> &channels, color<bool> &use_channel) const;
    void setSpectralColorGradient(GradientType gradient, size_t channel, bool normalized = false, bool ndvi = false);
    void getSpectralColorGradient(GradientType &gradient, size_t &channel, bool &normalized, bool &useNDVI) const;
    void useGradient(bool useGradient);
    PointBufferPtr getPointBuffer();
    vtkSmartPointer<vtkPolyData> getPolyData();
 
    vtkSmartPointer<vtkPolyData> getPolyIDData();
 
private:
    void refreshSpectralGradient();
    void refreshSpectralChannel();
 
protected:
 
    void computePointCloudActor(PointBufferPtr pc);
    
    vtkSmartPointer<vtkPolyData> m_vtk_polyData;
 
    //Maybe this is not neaded but 
    vtkSmartPointer<vtkPolyData> m_id_polyData;
 
    vtkSmartPointer<vtkActor>       m_pointCloudActor;
    size_t                          m_numPoints;
    bool                            m_hasNormals;
    bool                            m_hasColors;
    PointBufferPtr                  m_pointBuffer;
    bool                            m_useGradient;
    bool                            m_useNormalizedGradient;
    color<size_t>                   m_spectralChannels;
    color<bool>                     m_useSpectralChannel;
    GradientType                    m_spectralGradient;
    size_t                          m_spectralGradientChannel;
    bool                            m_useNDVI;
    vtkSmartPointer<vtkDoubleArray> m_vtk_normals;
};
 
typedef boost::shared_ptr<LVRPointBufferBridge> PointBufferBridgePtr;
 
} /* namespace lvr2 */
 
#endif /* LVRPOINTBUFFERBRIDGE_HPP_ */