255 lines
9.2 KiB
C
255 lines
9.2 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#if defined __GNUC__
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# pragma GCC system_header
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#endif
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// Include PCL macros such as PCL_ERROR, PCL_MAKE_ALIGNED_OPERATOR_NEW, etc
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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// Point Cloud message includes. Needed everywhere.
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#include <pcl/point_cloud.h>
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#include <pcl/PointIndices.h>
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#include <pcl/PCLPointCloud2.h>
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#include <pcl/types.h>
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namespace pcl
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{
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// definitions used everywhere
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using IndicesPtr = shared_ptr<Indices>;
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using IndicesConstPtr = shared_ptr<const Indices>;
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//Used to denote that a value has not been set for an index_t variable
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static constexpr index_t UNAVAILABLE = static_cast<index_t>(-1);
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/////////////////////////////////////////////////////////////////////////////////////////
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/** \brief PCL base class. Implements methods that are used by most PCL algorithms.
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* \ingroup common
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*/
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template <typename PointT>
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class PCLBase
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{
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public:
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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using PointIndicesPtr = PointIndices::Ptr;
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using PointIndicesConstPtr = PointIndices::ConstPtr;
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/** \brief Empty constructor. */
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PCLBase ();
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/** \brief Copy constructor. */
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PCLBase (const PCLBase& base);
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/** \brief Destructor. */
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virtual ~PCLBase () = default;
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/** \brief Provide a pointer to the input dataset
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* \param[in] cloud the const boost shared pointer to a PointCloud message
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*/
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virtual void
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setInputCloud (const PointCloudConstPtr &cloud);
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/** \brief Get a pointer to the input point cloud dataset. */
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inline PointCloudConstPtr const
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getInputCloud () const { return (input_); }
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/** \brief Provide a pointer to the vector of indices that represents the input data.
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* \param[in] indices a pointer to the indices that represent the input data.
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*/
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virtual void
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setIndices (const IndicesPtr &indices);
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/** \brief Provide a pointer to the vector of indices that represents the input data.
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* \param[in] indices a pointer to the indices that represent the input data.
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*/
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virtual void
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setIndices (const IndicesConstPtr &indices);
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/** \brief Provide a pointer to the vector of indices that represents the input data.
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* \param[in] indices a pointer to the indices that represent the input data.
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*/
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virtual void
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setIndices (const PointIndicesConstPtr &indices);
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/** \brief Set the indices for the points laying within an interest region of
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* the point cloud.
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* \note you shouldn't call this method on unorganized point clouds!
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* \param[in] row_start the offset on rows
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* \param[in] col_start the offset on columns
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* \param[in] nb_rows the number of rows to be considered row_start included
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* \param[in] nb_cols the number of columns to be considered col_start included
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*/
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virtual void
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setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols);
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/** \brief Get a pointer to the vector of indices used. */
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inline IndicesPtr
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getIndices () { return (indices_); }
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/** \brief Get a pointer to the vector of indices used. */
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inline IndicesConstPtr const
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getIndices () const { return (indices_); }
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/** \brief Override PointCloud operator[] to shorten code
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* \note this method can be called instead of (*input_)[(*indices_)[pos]]
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* or (*input_)[(*indices_)[pos]]
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* \param[in] pos position in indices_ vector
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*/
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inline const PointT& operator[] (std::size_t pos) const
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{
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return ((*input_)[(*indices_)[pos]]);
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}
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protected:
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/** \brief The input point cloud dataset. */
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PointCloudConstPtr input_;
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/** \brief A pointer to the vector of point indices to use. */
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IndicesPtr indices_;
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/** \brief Set to true if point indices are used. */
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bool use_indices_;
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/** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */
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bool fake_indices_;
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/** \brief This method should get called before starting the actual computation.
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*
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* Internally, initCompute() does the following:
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* - checks if an input dataset is given, and returns false otherwise
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* - checks whether a set of input indices has been given. Returns true if yes.
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* - if no input indices have been given, a fake set is created, which will be used until:
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* - either a new set is given via setIndices(), or
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* - a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices
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*/
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bool
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initCompute ();
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/** \brief This method should get called after finishing the actual computation.
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*/
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bool
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deinitCompute ();
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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/////////////////////////////////////////////////////////////////////////////////////////
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template <>
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class PCL_EXPORTS PCLBase<pcl::PCLPointCloud2>
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{
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public:
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using PCLPointCloud2 = pcl::PCLPointCloud2;
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using PCLPointCloud2Ptr = PCLPointCloud2::Ptr;
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using PCLPointCloud2ConstPtr = PCLPointCloud2::ConstPtr;
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using PointIndicesPtr = PointIndices::Ptr;
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using PointIndicesConstPtr = PointIndices::ConstPtr;
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/** \brief Empty constructor. */
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PCLBase ();
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/** \brief destructor. */
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virtual ~PCLBase () = default;
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/** \brief Provide a pointer to the input dataset
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* \param cloud the const boost shared pointer to a PointCloud message
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*/
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void
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setInputCloud (const PCLPointCloud2ConstPtr &cloud);
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/** \brief Get a pointer to the input point cloud dataset. */
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inline PCLPointCloud2ConstPtr const
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getInputCloud () const { return (input_); }
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/** \brief Provide a pointer to the vector of indices that represents the input data.
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* \param[in] indices a pointer to the indices that represent the input data.
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*/
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void
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setIndices (const IndicesPtr &indices);
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/** \brief Provide a pointer to the vector of indices that represents the input data.
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* \param[in] indices a pointer to the indices that represent the input data.
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*/
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void
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setIndices (const PointIndicesConstPtr &indices);
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/** \brief Get a pointer to the vector of indices used. */
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inline IndicesPtr const
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getIndices () const { return (indices_); }
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protected:
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/** \brief The input point cloud dataset. */
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PCLPointCloud2ConstPtr input_;
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/** \brief A pointer to the vector of point indices to use. */
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IndicesPtr indices_;
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/** \brief Set to true if point indices are used. */
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bool use_indices_;
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/** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */
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bool fake_indices_;
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/** \brief The size of each individual field. */
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std::vector<uindex_t> field_sizes_;
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/** \brief The x-y-z fields indices. */
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index_t x_idx_, y_idx_, z_idx_;
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/** \brief The desired x-y-z field names. */
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std::string x_field_name_, y_field_name_, z_field_name_;
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bool initCompute ();
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bool deinitCompute ();
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/impl/pcl_base.hpp>
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#endif
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