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.LGPL ** 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 ICL_HAVE_PCL 00034 #warning "this header must not be included without ICL_HAVE_PCL defined" 00035 #endif 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 core::DataSegment<T,N> createSegment(); 00082 00084 void deletePCL(); 00085 00086 public: 00087 00088 #if 0 00089 // this is right now deactivated due to an extra dependency to libpcl_io 00090 // which always depends on openni 00091 00093 00095 PCLPointCloudObject(const std::string &filename=""); 00096 #endif 00097 00098 00100 PCLPointCloudObject(int width, int height = -1, const PCLPointType &init=PCLPointType()); 00101 00103 PCLPointCloudObject(const PCLPointCloudObject<PCLPointType> &other); 00104 00106 00109 PCLPointCloudObject<PCLPointType> &operator=(const PCLPointCloudObject<PCLPointType> &other); 00110 00112 PCLPointCloudObject(const pcl::PointCloud<PCLPointType> &cloud); 00113 00115 PCLPointCloudObject(pcl::PointCloud<PCLPointType> &cloud, bool deepCopy=true); 00116 00118 ~PCLPointCloudObject(); 00119 00121 pcl::PointCloud<PCLPointType> &pcl() throw (utils::ICLException); 00122 00124 const pcl::PointCloud<PCLPointType> &pcl() const throw (utils::ICLException); 00125 00127 void setPCL(const pcl::PointCloud<PCLPointType> &pcl); 00128 00130 void setPCL(pcl::PointCloud<PCLPointType> &pcl, bool deepCopy = true); 00131 00133 virtual bool supports(FeatureType t) const; 00134 00136 virtual bool isOrganized() const; 00137 00139 virtual utils::Size getSize() const throw (utils::ICLException); 00140 00142 virtual int getDim() const; 00143 00145 00146 virtual void setSize(const utils::Size &size); 00147 00148 bool isNull() const; 00149 00150 // well known fields 00151 virtual core::DataSegment<float,1> selectIntensity(); 00152 virtual core::DataSegment<icl32s,1> selectLabel(); 00153 virtual core::DataSegment<icl8u,3> selectBGR(); 00154 virtual core::DataSegment<icl8u,4> selectBGRA(); 00155 virtual core::DataSegment<icl32s,1> selectBGRA32s(); 00156 00157 virtual core::DataSegment<float,3> selectXYZ(); 00158 virtual core::DataSegment<float,4> selectXYZH(); 00159 virtual core::DataSegment<float,4> selectNormal(); 00160 virtual core::DataSegment<float,4> selectRGBA32f(); 00161 00163 00166 virtual core::DataSegmentBase select(const std::string &featureName); 00167 00169 virtual PCLPointCloudObject<PCLPointType> *copy() const; 00170 00171 }; 00172 00173 } // namespace geom 00174 }