Point Cloud Library (PCL)  1.14.1-dev
color_handler.h
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #pragma once
38 
39 #include <pcl/point_types.h>
40 #include <pcl/point_cloud.h>
41 #include <pcl/visualization/point_cloud_handlers.h>
42 
43 namespace pcl
44 {
45  namespace visualization
46  {
47  template <typename PointT>
49  {
52 
53  using PointCloudConstPtr = typename PointCloudColorHandler<PointT>::PointCloud::ConstPtr;
54  using RgbCloudConstPtr = pcl::PointCloud<RGB>::ConstPtr;
55 
56  public:
57  using Ptr = shared_ptr<PointCloudColorHandlerRGBHack<PointT> >;
58  using ConstPtr = shared_ptr<const PointCloudColorHandlerRGBHack<PointT> >;
59 
60  PointCloudColorHandlerRGBHack (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors) :
61  PointCloudColorHandler<PointT> (cloud), rgb_ (colors)
62  {
63  capable_ = true;
64  }
65 
67  getColor () const override
68  {
69  if (!capable_)
70  return nullptr;
71 
73  scalars->SetNumberOfComponents (3);
74 
75  vtkIdType nr_points = static_cast<vtkIdType>(cloud_->size ());
76  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
77  unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
78 
79  // Color every point
80  if (nr_points != static_cast<vtkIdType>(rgb_->size ()))
81  std::fill_n(colors, nr_points * 3, (unsigned char)0xFF);
82  else
83  for (vtkIdType cp = 0; cp < nr_points; ++cp)
84  {
85  int idx = cp * 3;
86  colors[idx + 0] = (*rgb_)[cp].r;
87  colors[idx + 1] = (*rgb_)[cp].g;
88  colors[idx + 2] = (*rgb_)[cp].b;
89  }
90  return scalars;
91  }
92 
93  private:
94  std::string getFieldName () const override { return ("rgb"); }
95  inline std::string getName () const override { return ("PointCloudColorHandlerRGBHack"); }
96  RgbCloudConstPtr rgb_;
97  };
98  }
99 }
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
Base Handler class for PointCloud colors.
bool capable_
True if this handler is capable of handling the input data, false otherwise.
PointCloudConstPtr cloud_
A pointer to the input dataset.
shared_ptr< const PointCloudColorHandlerRGBHack< PointT > > ConstPtr
Definition: color_handler.h:58
shared_ptr< PointCloudColorHandlerRGBHack< PointT > > Ptr
Definition: color_handler.h:57
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
Definition: color_handler.h:67
PointCloudColorHandlerRGBHack(const PointCloudConstPtr &cloud, const RgbCloudConstPtr &colors)
Definition: color_handler.h:60
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates, and the RGB color.