Image Component Library (ICL)
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00001 /******************************************************************** 00002 ** Image Component Library (ICL) ** 00003 ** ** 00004 ** Copyright (C) 2006-2013 CITEC, University of Bielefeld ** 00005 ** Neuroinformatics Group ** 00006 ** Website: www.iclcv.org and ** 00007 ** http://opensource.cit-ec.de/projects/icl ** 00008 ** ** 00009 ** File : ICLGeom/src/ICLGeom/PCLPointCloudObject.h ** 00010 ** Module : ICLGeom ** 00011 ** Authors: Christof Elbrechter, Patrick Nobou ** 00012 ** ** 00013 ** ** 00014 ** GNU LESSER GENERAL PUBLIC LICENSE ** 00015 ** This file may be used under the terms of the GNU Lesser General ** 00016 ** Public License version 3.0 as published by the ** 00017 ** ** 00018 ** Free Software Foundation and appearing in the file LICENSE.GPL ** 00019 ** included in the packaging of this file. Please review the ** 00020 ** following information to ensure the license requirements will ** 00021 ** be met: http://www.gnu.org/licenses/lgpl-3.0.txt ** 00022 ** ** 00023 ** The development of this software was supported by the ** 00024 ** Excellence Cluster EXC 277 Cognitive Interaction Technology. ** 00025 ** The Excellence Cluster EXC 277 is a grant of the Deutsche ** 00026 ** Forschungsgemeinschaft (DFG) in the context of the German ** 00027 ** Excellence Initiative. ** 00028 ** ** 00029 ********************************************************************/ 00030 00031 #pragma once 00032 00033 #ifndef HAVE_OPENGL 00034 #warning "this header must not be included without HAVE_PCL defined" 00035 #else 00036 00037 #include <ICLGeom/PointCloudObjectBase.h> 00038 #include <ICLGeom/PCLIncludes.h> 00039 00041 namespace pcl{ 00042 template<class PCLPointType> class PointCloud; 00043 } 00046 namespace icl{ 00047 namespace geom{ 00048 00050 00061 template<class PCLPointType> 00062 class PCLPointCloudObject : public PointCloudObjectBase{ 00063 pcl::PointCloud<PCLPointType> *m_pcl; 00064 bool m_ownPCL; 00065 00067 typedef PCLPointType Entry; 00068 00070 00071 int offset(FeatureType) const; 00072 00074 inline icl8u* data(); 00075 00077 inline const icl8u* data() const; 00078 00080 template<class T, int N, FeatureType t> 00081 inline DataSegment<T,N> createSegment(); 00082 00084 void deletePCL(); 00085 00086 public: 00087 00089 00091 PCLPointCloudObject(const std::string &filename=""); 00092 00094 00096 PCLPointCloudObject(int width, int height = -1, const PCLPointType &init=PCLPointType()); 00097 00099 PCLPointCloudObject(const PCLPointCloudObject<PCLPointType> &other); 00100 00102 00105 PCLPointCloudObject<PCLPointType> &operator=(const PCLPointCloudObject<PCLPointType> &other); 00106 00108 PCLPointCloudObject(const pcl::PointCloud<PCLPointType> &cloud); 00109 00111 PCLPointCloudObject(pcl::PointCloud<PCLPointType> &cloud, bool deepCopy=true); 00112 00114 ~PCLPointCloudObject(); 00115 00117 pcl::PointCloud<PCLPointType> &pcl() throw (utils::ICLException); 00118 00120 const pcl::PointCloud<PCLPointType> &pcl() const throw (utils::ICLException); 00121 00123 void setPCL(const pcl::PointCloud<PCLPointType> &pcl); 00124 00126 void setPCL(pcl::PointCloud<PCLPointType> &pcl, bool deepCopy = true); 00127 00129 virtual bool supports(FeatureType t) const; 00130 00132 virtual bool isOrganized() const; 00133 00135 virtual utils::Size getSize() const throw (utils::ICLException); 00136 00138 virtual int getDim() const; 00139 00141 00142 virtual void setSize(const utils::Size &size); 00143 00144 bool isNull() const; 00145 00146 // well known fields 00147 virtual DataSegment<float,1> selectIntensity(); 00148 virtual DataSegment<icl32s,1> selectLabel(); 00149 virtual DataSegment<icl8u,3> selectBGR(); 00150 virtual DataSegment<icl8u,4> selectBGRA(); 00151 virtual DataSegment<icl32s,1> selectBGRA32s(); 00152 00153 virtual DataSegment<float,3> selectXYZ(); 00154 virtual DataSegment<float,4> selectXYZH(); 00155 virtual DataSegment<float,4> selectNormal(); 00156 virtual DataSegment<float,4> selectRGBA32f(); 00157 00159 00162 virtual DataSegmentBase select(const std::string &featureName); 00163 00165 virtual PCLPointCloudObject<PCLPointType> *copy() const; 00166 00167 }; 00168 00169 } // namespace geom 00170 } 00171 00172 #endif