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/PointCloudObject.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 #include <ICLUtils/CompatMacros.h> 00034 #include <ICLGeom/PointCloudObjectBase.h> 00035 00036 namespace icl{ 00037 namespace geom{ 00038 00040 00052 class ICLGeom_API PointCloudObject : public PointCloudObjectBase{ 00053 protected: 00054 bool m_organized; 00055 utils::Size m_dim2D; 00056 bool m_hasNormals; 00057 bool m_hasColors; 00058 bool m_hasLabels; 00059 std::vector<int> m_labels; 00060 public: 00061 00062 00064 PointCloudObject(bool withNormals=false, bool withColors=false, bool withLabels=false); 00065 00067 PointCloudObject(int numPoints, bool withNormals=false, bool withColors=true, bool withLabels=false); 00068 00070 00075 PointCloudObject(int width, int height, bool organized=true, bool withNormals=false, 00076 bool withColors=true, bool withLabels=false); 00077 00079 virtual bool supports(FeatureType t) const; 00080 00082 virtual bool isOrganized() const; 00083 00085 virtual utils::Size getSize() const throw (utils::ICLException); 00086 00088 virtual int getDim() const; 00089 00091 00092 virtual void setSize(const utils::Size &size); 00093 00095 virtual core::DataSegment<float,3> selectXYZ(); 00096 00098 virtual core::DataSegment<float,4> selectXYZH(); 00099 00101 virtual core::DataSegment<float,4> selectRGBA32f(); 00102 00104 00105 virtual core::DataSegment<float,4> selectNormal(); 00106 00108 00109 virtual core::DataSegment<icl32s,1> selectLabel(); 00110 00112 virtual void customRender(); 00113 00115 virtual bool canAddFeature(FeatureType t) const; 00116 00118 00120 virtual void addFeature(FeatureType t) throw (utils::ICLException); 00121 00123 virtual PointCloudObject *copy() const { 00124 return new PointCloudObject(*this); 00125 } 00126 00128 00131 void push_back(const Vec &point){ 00132 addVertex(point,GeomColor(0,100,255,255)); 00133 if(m_hasNormals) m_normals.push_back(Vec(0,0,0,1)); 00134 } 00135 00137 00138 void push_back(const Vec &point, const GeomColor &color){ 00139 addVertex(point,color); 00140 if(m_hasNormals) m_normals.push_back(Vec(0,0,0,1)); 00141 } 00142 00144 00145 void push_back(const Vec &point, const Vec &normal, const GeomColor &color){ 00146 addVertex(point,color); 00147 if(m_hasNormals) m_normals.push_back(normal); 00148 } 00149 00150 private: 00151 00153 using SceneObject::addVertex; 00154 using SceneObject::addNormal; 00155 00156 }; 00157 00158 00159 00160 } // namespace geom 00161 } 00162