501 lines
19 KiB
C
501 lines
19 KiB
C
|
/*
|
||
|
|
* Software License Agreement (BSD License)
|
||
|
|
*
|
||
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
||
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
||
|
|
*
|
||
|
|
* All rights reserved.
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
*
|
||
|
|
* * Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* * Redistributions in binary form must reproduce the above
|
||
|
|
* copyright notice, this list of conditions and the following
|
||
|
|
* disclaimer in the documentation and/or other materials provided
|
||
|
|
* with the distribution.
|
||
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
||
|
|
* contributors may be used to endorse or promote products derived
|
||
|
|
* from this software without specific prior written permission.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#if defined __GNUC__
|
||
|
|
#pragma GCC system_header
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// PCL includes
|
||
|
|
#include <pcl/pcl_base.h> // for UNAVAILABLE
|
||
|
|
#include <pcl/point_cloud.h>
|
||
|
|
#include <pcl/common/io.h>
|
||
|
|
// VTK includes
|
||
|
|
#include <vtkSmartPointer.h>
|
||
|
|
#include <vtkPoints.h>
|
||
|
|
#include <vtkFloatArray.h>
|
||
|
|
|
||
|
|
namespace pcl
|
||
|
|
{
|
||
|
|
namespace visualization
|
||
|
|
{
|
||
|
|
/** \brief Base handler class for PointCloud geometry.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <typename PointT>
|
||
|
|
class PointCloudGeometryHandler
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = pcl::PointCloud<PointT>;
|
||
|
|
using PointCloudPtr = typename PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = typename PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandler<PointT> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandler<PointT> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandler (const PointCloudConstPtr &cloud) :
|
||
|
|
cloud_ (cloud), capable_ (false),
|
||
|
|
field_x_idx_ (UNAVAILABLE), field_y_idx_ (UNAVAILABLE), field_z_idx_ (UNAVAILABLE),
|
||
|
|
fields_ ()
|
||
|
|
{}
|
||
|
|
|
||
|
|
/** \brief Destructor. */
|
||
|
|
virtual ~PointCloudGeometryHandler () {}
|
||
|
|
|
||
|
|
/** \brief Abstract getName method.
|
||
|
|
* \return the name of the class/object.
|
||
|
|
*/
|
||
|
|
virtual std::string
|
||
|
|
getName () const = 0;
|
||
|
|
|
||
|
|
/** \brief Abstract getFieldName method. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const = 0;
|
||
|
|
|
||
|
|
/** \brief Checl if this handler is capable of handling the input data or not. */
|
||
|
|
inline bool
|
||
|
|
isCapable () const { return (capable_); }
|
||
|
|
|
||
|
|
/** \brief Obtain the actual point geometry for the input dataset in VTK format.
|
||
|
|
* \param[out] points the resultant geometry
|
||
|
|
*/
|
||
|
|
virtual void
|
||
|
|
getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0;
|
||
|
|
|
||
|
|
/** \brief Set the input cloud to be used.
|
||
|
|
* \param[in] cloud the input cloud to be used by the handler
|
||
|
|
*/
|
||
|
|
void
|
||
|
|
setInputCloud (const PointCloudConstPtr &cloud)
|
||
|
|
{
|
||
|
|
cloud_ = cloud;
|
||
|
|
}
|
||
|
|
|
||
|
|
protected:
|
||
|
|
/** \brief A pointer to the input dataset. */
|
||
|
|
PointCloudConstPtr cloud_;
|
||
|
|
|
||
|
|
/** \brief True if this handler is capable of handling the input data, false
|
||
|
|
* otherwise.
|
||
|
|
*/
|
||
|
|
bool capable_;
|
||
|
|
|
||
|
|
/** \brief The index of the field holding the X data. */
|
||
|
|
index_t field_x_idx_;
|
||
|
|
|
||
|
|
/** \brief The index of the field holding the Y data. */
|
||
|
|
index_t field_y_idx_;
|
||
|
|
|
||
|
|
/** \brief The index of the field holding the Z data. */
|
||
|
|
index_t field_z_idx_;
|
||
|
|
|
||
|
|
/** \brief The list of fields available for this PointCloud. */
|
||
|
|
std::vector<pcl::PCLPointField> fields_;
|
||
|
|
};
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ
|
||
|
|
* data present in fields "x", "y", and "z" is extracted and displayed on screen.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <typename PointT>
|
||
|
|
class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = typename PointCloudGeometryHandler<PointT>::PointCloud;
|
||
|
|
using PointCloudPtr = typename PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = typename PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandlerXYZ<PointT> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);
|
||
|
|
|
||
|
|
/** \brief Destructor. */
|
||
|
|
virtual ~PointCloudGeometryHandlerXYZ () {};
|
||
|
|
|
||
|
|
/** \brief Class getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const { return ("PointCloudGeometryHandlerXYZ"); }
|
||
|
|
|
||
|
|
/** \brief Get the name of the field used. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const { return ("xyz"); }
|
||
|
|
|
||
|
|
/** \brief Obtain the actual point geometry for the input dataset in VTK format.
|
||
|
|
* \param[out] points the resultant geometry
|
||
|
|
*/
|
||
|
|
virtual void
|
||
|
|
getGeometry (vtkSmartPointer<vtkPoints> &points) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
// Members derived from the base class
|
||
|
|
using PointCloudGeometryHandler<PointT>::cloud_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::capable_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_x_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_y_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_z_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::fields_;
|
||
|
|
};
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief Surface normal handler class for PointCloud geometry. Given an input
|
||
|
|
* dataset, all data present in fields "normal_x", "normal_y", and "normal_z" is
|
||
|
|
* extracted and displayed on screen as XYZ data.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <typename PointT>
|
||
|
|
class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = typename PointCloudGeometryHandler<PointT>::PointCloud;
|
||
|
|
using PointCloudPtr = typename PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = typename PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);
|
||
|
|
|
||
|
|
/** \brief Class getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
|
||
|
|
|
||
|
|
/** \brief Get the name of the field used. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const { return ("normal_xyz"); }
|
||
|
|
|
||
|
|
/** \brief Obtain the actual point geometry for the input dataset in VTK format.
|
||
|
|
* \param[out] points the resultant geometry
|
||
|
|
*/
|
||
|
|
virtual void
|
||
|
|
getGeometry (vtkSmartPointer<vtkPoints> &points) const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
// Members derived from the base class
|
||
|
|
using PointCloudGeometryHandler<PointT>::cloud_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::capable_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_x_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_y_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_z_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::fields_;
|
||
|
|
};
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief Custom handler class for PointCloud geometry. Given an input dataset and
|
||
|
|
* three user defined fields, all data present in them is extracted and displayed on
|
||
|
|
* screen as XYZ data.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <typename PointT>
|
||
|
|
class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = typename PointCloudGeometryHandler<PointT>::PointCloud;
|
||
|
|
using PointCloudPtr = typename PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = typename PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandlerCustom<PointT> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandlerCustom<PointT> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
|
||
|
|
const std::string &x_field_name,
|
||
|
|
const std::string &y_field_name,
|
||
|
|
const std::string &z_field_name)
|
||
|
|
: pcl::visualization::PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
|
||
|
|
{
|
||
|
|
field_x_idx_ = pcl::getFieldIndex<PointT> (x_field_name, fields_);
|
||
|
|
if (field_x_idx_ == UNAVAILABLE)
|
||
|
|
return;
|
||
|
|
field_y_idx_ = pcl::getFieldIndex<PointT> (y_field_name, fields_);
|
||
|
|
if (field_y_idx_ == UNAVAILABLE)
|
||
|
|
return;
|
||
|
|
field_z_idx_ = pcl::getFieldIndex<PointT> (z_field_name, fields_);
|
||
|
|
if (field_z_idx_ == UNAVAILABLE)
|
||
|
|
return;
|
||
|
|
field_name_ = x_field_name + y_field_name + z_field_name;
|
||
|
|
capable_ = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Class getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const { return ("PointCloudGeometryHandlerCustom"); }
|
||
|
|
|
||
|
|
/** \brief Get the name of the field used. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const { return (field_name_); }
|
||
|
|
|
||
|
|
/** \brief Obtain the actual point geometry for the input dataset in VTK format.
|
||
|
|
* \param[out] points the resultant geometry
|
||
|
|
*/
|
||
|
|
virtual void
|
||
|
|
getGeometry (vtkSmartPointer<vtkPoints> &points) const
|
||
|
|
{
|
||
|
|
if (!capable_)
|
||
|
|
return;
|
||
|
|
|
||
|
|
if (!points)
|
||
|
|
points = vtkSmartPointer<vtkPoints>::New ();
|
||
|
|
points->SetDataTypeToFloat ();
|
||
|
|
points->SetNumberOfPoints (cloud_->size ());
|
||
|
|
|
||
|
|
float data;
|
||
|
|
// Add all points
|
||
|
|
double p[3];
|
||
|
|
for (vtkIdType i = 0; i < static_cast<vtkIdType> (cloud_->size ()); ++i)
|
||
|
|
{
|
||
|
|
// Copy the value at the specified field
|
||
|
|
const std::uint8_t* pt_data = reinterpret_cast<const std::uint8_t*> (&(*cloud_)[i]);
|
||
|
|
memcpy (&data, pt_data + fields_[field_x_idx_].offset, sizeof (float));
|
||
|
|
p[0] = data;
|
||
|
|
|
||
|
|
memcpy (&data, pt_data + fields_[field_y_idx_].offset, sizeof (float));
|
||
|
|
p[1] = data;
|
||
|
|
|
||
|
|
memcpy (&data, pt_data + fields_[field_z_idx_].offset, sizeof (float));
|
||
|
|
p[2] = data;
|
||
|
|
|
||
|
|
points->SetPoint (i, p);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
// Members derived from the base class
|
||
|
|
using PointCloudGeometryHandler<PointT>::cloud_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::capable_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_x_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_y_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::field_z_idx_;
|
||
|
|
using PointCloudGeometryHandler<PointT>::fields_;
|
||
|
|
|
||
|
|
/** \brief Name of the field used to create the geometry handler. */
|
||
|
|
std::string field_name_;
|
||
|
|
};
|
||
|
|
|
||
|
|
///////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief Base handler class for PointCloud geometry.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <>
|
||
|
|
class PCL_EXPORTS PointCloudGeometryHandler<pcl::PCLPointCloud2>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = pcl::PCLPointCloud2;
|
||
|
|
using PointCloudPtr = PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandler<PointCloud> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandler<PointCloud> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandler (const PointCloudConstPtr &cloud, const Eigen::Vector4f & = Eigen::Vector4f::Zero ())
|
||
|
|
: cloud_ (cloud)
|
||
|
|
, capable_ (false)
|
||
|
|
, field_x_idx_ (UNAVAILABLE)
|
||
|
|
, field_y_idx_ (UNAVAILABLE)
|
||
|
|
, field_z_idx_ (UNAVAILABLE)
|
||
|
|
, fields_ (cloud_->fields)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Destructor. */
|
||
|
|
virtual ~PointCloudGeometryHandler () {}
|
||
|
|
|
||
|
|
/** \brief Abstract getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const = 0;
|
||
|
|
|
||
|
|
/** \brief Abstract getFieldName method. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const = 0;
|
||
|
|
|
||
|
|
/** \brief Check if this handler is capable of handling the input data or not. */
|
||
|
|
inline bool
|
||
|
|
isCapable () const { return (capable_); }
|
||
|
|
|
||
|
|
/** \brief Obtain the actual point geometry for the input dataset in VTK format.
|
||
|
|
* \param[out] points the resultant geometry
|
||
|
|
*/
|
||
|
|
virtual void
|
||
|
|
getGeometry (vtkSmartPointer<vtkPoints> &points) const;
|
||
|
|
|
||
|
|
/** \brief Set the input cloud to be used.
|
||
|
|
* \param[in] cloud the input cloud to be used by the handler
|
||
|
|
*/
|
||
|
|
void
|
||
|
|
setInputCloud (const PointCloudConstPtr &cloud)
|
||
|
|
{
|
||
|
|
cloud_ = cloud;
|
||
|
|
}
|
||
|
|
|
||
|
|
protected:
|
||
|
|
/** \brief A pointer to the input dataset. */
|
||
|
|
PointCloudConstPtr cloud_;
|
||
|
|
|
||
|
|
/** \brief True if this handler is capable of handling the input data, false
|
||
|
|
* otherwise.
|
||
|
|
*/
|
||
|
|
bool capable_;
|
||
|
|
|
||
|
|
/** \brief The index of the field holding the X data. */
|
||
|
|
index_t field_x_idx_;
|
||
|
|
|
||
|
|
/** \brief The index of the field holding the Y data. */
|
||
|
|
index_t field_y_idx_;
|
||
|
|
|
||
|
|
/** \brief The index of the field holding the Z data. */
|
||
|
|
index_t field_z_idx_;
|
||
|
|
|
||
|
|
/** \brief The list of fields available for this PointCloud. */
|
||
|
|
std::vector<pcl::PCLPointField> fields_;
|
||
|
|
};
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief XYZ handler class for PointCloud geometry. Given an input dataset, all XYZ
|
||
|
|
* data present in fields "x", "y", and "z" is extracted and displayed on screen.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <>
|
||
|
|
class PCL_EXPORTS PointCloudGeometryHandlerXYZ<pcl::PCLPointCloud2> : public PointCloudGeometryHandler<pcl::PCLPointCloud2>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = PointCloudGeometryHandler<pcl::PCLPointCloud2>::PointCloud;
|
||
|
|
using PointCloudPtr = PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);
|
||
|
|
|
||
|
|
/** \brief Destructor. */
|
||
|
|
virtual ~PointCloudGeometryHandlerXYZ () {}
|
||
|
|
|
||
|
|
/** \brief Class getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const { return ("PointCloudGeometryHandlerXYZ"); }
|
||
|
|
|
||
|
|
/** \brief Get the name of the field used. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const { return ("xyz"); }
|
||
|
|
};
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief Surface normal handler class for PointCloud geometry. Given an input
|
||
|
|
* dataset, all data present in fields "normal_x", "normal_y", and "normal_z" is
|
||
|
|
* extracted and displayed on screen as XYZ data.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <>
|
||
|
|
class PCL_EXPORTS PointCloudGeometryHandlerSurfaceNormal<pcl::PCLPointCloud2> : public PointCloudGeometryHandler<pcl::PCLPointCloud2>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = PointCloudGeometryHandler<pcl::PCLPointCloud2>::PointCloud;
|
||
|
|
using PointCloudPtr = PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using Ptr = shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> >;
|
||
|
|
using ConstPtr = shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> >;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);
|
||
|
|
|
||
|
|
/** \brief Class getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
|
||
|
|
|
||
|
|
/** \brief Get the name of the field used. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const { return ("normal_xyz"); }
|
||
|
|
};
|
||
|
|
|
||
|
|
//////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
/** \brief Custom handler class for PointCloud geometry. Given an input dataset and
|
||
|
|
* three user defined fields, all data present in them is extracted and displayed on
|
||
|
|
* screen as XYZ data.
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup visualization
|
||
|
|
*/
|
||
|
|
template <>
|
||
|
|
class PCL_EXPORTS PointCloudGeometryHandlerCustom<pcl::PCLPointCloud2> : public PointCloudGeometryHandler<pcl::PCLPointCloud2>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using PointCloud = PointCloudGeometryHandler<pcl::PCLPointCloud2>::PointCloud;
|
||
|
|
using PointCloudPtr = PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
/** \brief Constructor. */
|
||
|
|
PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
|
||
|
|
const std::string &x_field_name,
|
||
|
|
const std::string &y_field_name,
|
||
|
|
const std::string &z_field_name);
|
||
|
|
|
||
|
|
/** \brief Destructor. */
|
||
|
|
virtual ~PointCloudGeometryHandlerCustom () {}
|
||
|
|
|
||
|
|
/** \brief Class getName method. */
|
||
|
|
virtual std::string
|
||
|
|
getName () const { return ("PointCloudGeometryHandlerCustom"); }
|
||
|
|
|
||
|
|
/** \brief Get the name of the field used. */
|
||
|
|
virtual std::string
|
||
|
|
getFieldName () const { return (field_name_); }
|
||
|
|
|
||
|
|
private:
|
||
|
|
/** \brief Name of the field used to create the geometry handler. */
|
||
|
|
std::string field_name_;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef PCL_NO_PRECOMPILE
|
||
|
|
#include <pcl/visualization/impl/point_cloud_geometry_handlers.hpp>
|
||
|
|
#endif
|