Point Cloud Library (PCL)  1.12.1-dev
conversions.h
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39 
40 #pragma once
41 
42 #ifdef __GNUC__
43 #pragma GCC system_header
44 #endif
45 
46 #include <pcl/PCLPointField.h>
47 #include <pcl/PCLPointCloud2.h>
48 #include <pcl/PCLImage.h>
49 #include <pcl/point_cloud.h>
50 #include <pcl/type_traits.h>
51 #include <pcl/for_each_type.h>
52 #include <pcl/console/print.h>
53 
54 namespace pcl
55 {
56  namespace detail
57  {
58  // For converting template point cloud to message.
59  template<typename PointT>
60  struct FieldAdder
61  {
62  FieldAdder (std::vector<pcl::PCLPointField>& fields) : fields_ (fields) {};
63 
64  template<typename U> void operator() ()
65  {
67  f.name = pcl::traits::name<PointT, U>::value;
68  f.offset = pcl::traits::offset<PointT, U>::value;
69  f.datatype = pcl::traits::datatype<PointT, U>::value;
70  f.count = pcl::traits::datatype<PointT, U>::size;
71  fields_.push_back (f);
72  }
73 
74  std::vector<pcl::PCLPointField>& fields_;
75  };
76 
77  // For converting message to template point cloud.
78  template<typename PointT>
79  struct FieldMapper
80  {
81  FieldMapper (const std::vector<pcl::PCLPointField>& fields,
82  std::vector<FieldMapping>& map)
83  : fields_ (fields), map_ (map)
84  {
85  }
86 
87  template<typename Tag> void
89  {
90  for (const auto& field : fields_)
91  {
92  if (FieldMatches<PointT, Tag>()(field))
93  {
94  FieldMapping mapping;
95  mapping.serialized_offset = field.offset;
96  mapping.struct_offset = pcl::traits::offset<PointT, Tag>::value;
97  mapping.size = sizeof (typename pcl::traits::datatype<PointT, Tag>::type);
98  map_.push_back (mapping);
99  return;
100  }
101  }
102  // Disable thrown exception per #595: http://dev.pointclouds.org/issues/595
103  PCL_WARN ("Failed to find match for field '%s'.\n", pcl::traits::name<PointT, Tag>::value);
104  //throw pcl::InvalidConversionException (ss.str ());
105  }
106 
107  const std::vector<pcl::PCLPointField>& fields_;
108  std::vector<FieldMapping>& map_;
109  };
110 
111  inline bool
113  {
114  return (a.serialized_offset < b.serialized_offset);
115  }
116 
117  } //namespace detail
118 
119  template<typename PointT> void
120  createMapping (const std::vector<pcl::PCLPointField>& msg_fields, MsgFieldMap& field_map)
121  {
122  // Create initial 1-1 mapping between serialized data segments and struct fields
123  detail::FieldMapper<PointT> mapper (msg_fields, field_map);
124  for_each_type< typename traits::fieldList<PointT>::type > (mapper);
125 
126  // Coalesce adjacent fields into single memcpy's where possible
127  if (field_map.size() > 1)
128  {
129  std::sort(field_map.begin(), field_map.end(), detail::fieldOrdering);
130  MsgFieldMap::iterator i = field_map.begin(), j = i + 1;
131  while (j != field_map.end())
132  {
133  // This check is designed to permit padding between adjacent fields.
134  /// @todo One could construct a pathological case where the struct has a
135  /// field where the serialized data has padding
136  if (j->serialized_offset - i->serialized_offset == j->struct_offset - i->struct_offset)
137  {
138  i->size += (j->struct_offset + j->size) - (i->struct_offset + i->size);
139  j = field_map.erase(j);
140  }
141  else
142  {
143  ++i;
144  ++j;
145  }
146  }
147  }
148  }
149 
150  /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
151  * \param[in] msg the PCLPointCloud2 binary blob
152  * \param[out] cloud the resultant pcl::PointCloud<T>
153  * \param[in] field_map a MsgFieldMap object
154  *
155  * \note Use fromPCLPointCloud2 (PCLPointCloud2, PointCloud<T>) directly or create you
156  * own MsgFieldMap using:
157  *
158  * \code
159  * MsgFieldMap field_map;
160  * createMapping<PointT> (msg.fields, field_map);
161  * \endcode
162  */
163  template <typename PointT> void
165  const MsgFieldMap& field_map)
166  {
167  // Copy info fields
168  cloud.header = msg.header;
169  cloud.width = msg.width;
170  cloud.height = msg.height;
171  cloud.is_dense = msg.is_dense == 1;
172 
173  // Copy point data
174  cloud.resize (msg.width * msg.height);
175  std::uint8_t* cloud_data = reinterpret_cast<std::uint8_t*>(&cloud[0]);
176 
177  // Check if we can copy adjacent points in a single memcpy. We can do so if there
178  // is exactly one field to copy and it is the same size as the source and destination
179  // point types.
180  if (field_map.size() == 1 &&
181  field_map[0].serialized_offset == 0 &&
182  field_map[0].struct_offset == 0 &&
183  field_map[0].size == msg.point_step &&
184  field_map[0].size == sizeof(PointT))
185  {
186  const auto cloud_row_step = (sizeof (PointT) * cloud.width);
187  const std::uint8_t* msg_data = &msg.data[0];
188  // Should usually be able to copy all rows at once
189  if (msg.row_step == cloud_row_step)
190  {
191  memcpy (cloud_data, msg_data, msg.data.size ());
192  }
193  else
194  {
195  for (uindex_t i = 0; i < msg.height; ++i, cloud_data += cloud_row_step, msg_data += msg.row_step)
196  memcpy (cloud_data, msg_data, cloud_row_step);
197  }
198 
199  }
200  else
201  {
202  // If not, memcpy each group of contiguous fields separately
203  for (uindex_t row = 0; row < msg.height; ++row)
204  {
205  const std::uint8_t* row_data = &msg.data[row * msg.row_step];
206  for (uindex_t col = 0; col < msg.width; ++col)
207  {
208  const std::uint8_t* msg_data = row_data + col * msg.point_step;
209  for (const detail::FieldMapping& mapping : field_map)
210  {
211  memcpy (cloud_data + mapping.struct_offset, msg_data + mapping.serialized_offset, mapping.size);
212  }
213  cloud_data += sizeof (PointT);
214  }
215  }
216  }
217  }
218 
219  /** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object.
220  * \param[in] msg the PCLPointCloud2 binary blob
221  * \param[out] cloud the resultant pcl::PointCloud<T>
222  */
223  template<typename PointT> void
225  {
226  MsgFieldMap field_map;
227  createMapping<PointT> (msg.fields, field_map);
228  fromPCLPointCloud2 (msg, cloud, field_map);
229  }
230 
231  /** \brief Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
232  * \param[in] cloud the input pcl::PointCloud<T>
233  * \param[out] msg the resultant PCLPointCloud2 binary blob
234  */
235  template<typename PointT> void
237  {
238  // Ease the user's burden on specifying width/height for unorganized datasets
239  if (cloud.width == 0 && cloud.height == 0)
240  {
241  msg.width = cloud.size ();
242  msg.height = 1;
243  }
244  else
245  {
246  assert (cloud.size () == cloud.width * cloud.height);
247  msg.height = cloud.height;
248  msg.width = cloud.width;
249  }
250 
251  // Fill point cloud binary data (padding and all)
252  std::size_t data_size = sizeof (PointT) * cloud.size ();
253  msg.data.resize (data_size);
254  if (data_size)
255  {
256  memcpy(&msg.data[0], &cloud[0], data_size);
257  }
258 
259  // Fill fields metadata
260  msg.fields.clear ();
261  for_each_type<typename traits::fieldList<PointT>::type> (detail::FieldAdder<PointT>(msg.fields));
262 
263  msg.header = cloud.header;
264  msg.point_step = sizeof (PointT);
265  msg.row_step = (sizeof (PointT) * msg.width);
266  msg.is_dense = cloud.is_dense;
267  /// @todo msg.is_bigendian = ?;
268  }
269 
270  /** \brief Copy the RGB fields of a PointCloud into pcl::PCLImage format
271  * \param[in] cloud the point cloud message
272  * \param[out] msg the resultant pcl::PCLImage
273  * CloudT cloud type, CloudT should be akin to pcl::PointCloud<pcl::PointXYZRGBA>
274  * \note will throw std::runtime_error if there is a problem
275  */
276  template<typename CloudT> void
277  toPCLPointCloud2 (const CloudT& cloud, pcl::PCLImage& msg)
278  {
279  // Ease the user's burden on specifying width/height for unorganized datasets
280  if (cloud.width == 0 && cloud.height == 0)
281  throw std::runtime_error("Needs to be a dense like cloud!!");
282  else
283  {
284  if (cloud.size () != cloud.width * cloud.height)
285  throw std::runtime_error("The width and height do not match the cloud size!");
286  msg.height = cloud.height;
287  msg.width = cloud.width;
288  }
289 
290  // ensor_msgs::image_encodings::BGR8;
291  msg.header = cloud.header;
292  msg.encoding = "bgr8";
293  msg.step = msg.width * sizeof (std::uint8_t) * 3;
294  msg.data.resize (msg.step * msg.height);
295  for (std::size_t y = 0; y < cloud.height; y++)
296  {
297  for (std::size_t x = 0; x < cloud.width; x++)
298  {
299  std::uint8_t * pixel = &(msg.data[y * msg.step + x * 3]);
300  memcpy (pixel, &cloud (x, y).rgb, 3 * sizeof(std::uint8_t));
301  }
302  }
303  }
304 
305  /** \brief Copy the RGB fields of a PCLPointCloud2 msg into pcl::PCLImage format
306  * \param cloud the point cloud message
307  * \param msg the resultant pcl::PCLImage
308  * will throw std::runtime_error if there is a problem
309  */
310  inline void
312  {
313  const auto predicate = [](const auto& field) { return field.name == "rgb"; };
314  const auto result = std::find_if(cloud.fields.cbegin (), cloud.fields.cend (), predicate);
315  if (result == cloud.fields.end ())
316  throw std::runtime_error ("No rgb field!!");
317 
318  const auto rgb_index = std::distance(cloud.fields.begin (), result);
319  if (cloud.width == 0 && cloud.height == 0)
320  throw std::runtime_error ("Needs to be a dense like cloud!!");
321  else
322  {
323  msg.height = cloud.height;
324  msg.width = cloud.width;
325  }
326  auto rgb_offset = cloud.fields[rgb_index].offset;
327  const auto point_step = cloud.point_step;
328 
329  // pcl::image_encodings::BGR8;
330  msg.header = cloud.header;
331  msg.encoding = "bgr8";
332  msg.step = (msg.width * sizeof (std::uint8_t) * 3);
333  msg.data.resize (msg.step * msg.height);
334 
335  for (std::size_t y = 0; y < cloud.height; y++)
336  {
337  for (std::size_t x = 0; x < cloud.width; x++, rgb_offset += point_step)
338  {
339  std::uint8_t * pixel = &(msg.data[y * msg.step + x * 3]);
340  memcpy (pixel, &(cloud.data[rgb_offset]), 3 * sizeof (std::uint8_t));
341  }
342  }
343  }
344 }
pcl::PCLImage::step
uindex_t step
Definition: PCLImage.h:21
pcl
Definition: convolution.h:46
pcl::PCLImage::data
std::vector< std::uint8_t > data
Definition: PCLImage.h:23
pcl::PCLImage::encoding
std::string encoding
Definition: PCLImage.h:18
pcl::PCLPointCloud2::point_step
uindex_t point_step
Definition: PCLPointCloud2.h:27
pcl::PointCloud::height
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:400
pcl::geometry::distance
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
pcl::PCLPointCloud2::width
uindex_t width
Definition: PCLPointCloud2.h:21
pcl::PCLPointCloud2::row_step
uindex_t row_step
Definition: PCLPointCloud2.h:28
pcl::PCLPointField::count
uindex_t count
Definition: PCLPointField.h:18
pcl::detail::fieldOrdering
bool fieldOrdering(const FieldMapping &a, const FieldMapping &b)
Definition: conversions.h:112
pcl::PCLImage::width
uindex_t width
Definition: PCLImage.h:17
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::PCLPointCloud2::height
uindex_t height
Definition: PCLPointCloud2.h:20
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:678
pcl::PCLImage::header
::pcl::PCLHeader header
Definition: PCLImage.h:14
pcl::PCLPointCloud2::is_dense
std::uint8_t is_dense
Definition: PCLPointCloud2.h:32
pcl::PCLPointCloud2::header
::pcl::PCLHeader header
Definition: PCLPointCloud2.h:18
pcl::detail::FieldMapping
Definition: point_cloud.h:62
pcl::PCLPointField::offset
uindex_t offset
Definition: PCLPointField.h:16
pcl::PCLPointField::datatype
std::uint8_t datatype
Definition: PCLPointField.h:17
pcl::detail::FieldMapper
Definition: conversions.h:79
pcl::detail::FieldMapping::size
std::size_t size
Definition: point_cloud.h:66
pcl::detail::FieldMapper::FieldMapper
FieldMapper(const std::vector< pcl::PCLPointField > &fields, std::vector< FieldMapping > &map)
Definition: conversions.h:81
pcl::PointCloud::width
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:398
pcl::PCLPointCloud2::fields
std::vector<::pcl::PCLPointField > fields
Definition: PCLPointCloud2.h:23
pcl::detail::FieldMapper::operator()
void operator()()
Definition: conversions.h:88
pcl::detail::FieldAdder::fields_
std::vector< pcl::PCLPointField > & fields_
Definition: conversions.h:74
pcl::PointCloud::is_dense
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Definition: point_cloud.h:403
pcl::PointCloud::resize
void resize(std::size_t count)
Resizes the container to contain count elements.
Definition: point_cloud.h:462
pcl::PointCloud::header
pcl::PCLHeader header
The point cloud header.
Definition: point_cloud.h:392
pcl::PCLPointCloud2::data
std::vector< std::uint8_t > data
Definition: PCLPointCloud2.h:30
pcl::PCLPointCloud2
Definition: PCLPointCloud2.h:16
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:443
pcl::detail::FieldAdder::FieldAdder
FieldAdder(std::vector< pcl::PCLPointField > &fields)
Definition: conversions.h:62
pcl::detail::FieldAdder::operator()
void operator()()
Definition: conversions.h:64
pcl::PCLImage
Definition: PCLImage.h:12
pcl::PCLImage::height
uindex_t height
Definition: PCLImage.h:16
pcl::PCLPointField::name
std::string name
Definition: PCLPointField.h:14
pcl::detail::FieldMapper::fields_
const std::vector< pcl::PCLPointField > & fields_
Definition: conversions.h:107
pcl::detail::FieldMapping::serialized_offset
std::size_t serialized_offset
Definition: point_cloud.h:64
pcl::PCLPointField
Definition: PCLPointField.h:12
pcl::toPCLPointCloud2
void toPCLPointCloud2(const pcl::PointCloud< PointT > &cloud, pcl::PCLPointCloud2 &msg)
Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
Definition: conversions.h:236
pcl::FieldMatches
Definition: PCLPointField.h:53
pcl::MsgFieldMap
std::vector< detail::FieldMapping > MsgFieldMap
Definition: point_cloud.h:72
pcl::createMapping
void createMapping(const std::vector< pcl::PCLPointField > &msg_fields, MsgFieldMap &field_map)
Definition: conversions.h:120
pcl::uindex_t
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
pcl::detail::FieldAdder
Definition: conversions.h:60
pcl::detail::FieldMapping::struct_offset
std::size_t struct_offset
Definition: point_cloud.h:65
pcl::detail::FieldMapper::map_
std::vector< FieldMapping > & map_
Definition: conversions.h:108
pcl::fromPCLPointCloud2
void fromPCLPointCloud2(const pcl::PCLPointCloud2 &msg, pcl::PointCloud< PointT > &cloud, const MsgFieldMap &field_map)
Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
Definition: conversions.h:164