Point Cloud Library (PCL)  1.11.1-dev
point_cloud_geometry_handlers.hpp
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39 
40 #ifndef PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_
41 #define PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_
42 
43 #include <pcl/pcl_macros.h>
44 
45 
46 namespace pcl
47 {
48 
49 namespace visualization
50 {
51 
52 template <typename PointT>
55 {
56  field_x_idx_ = pcl::getFieldIndex<PointT> ("x", fields_);
58  return;
59  field_y_idx_ = pcl::getFieldIndex<PointT> ("y", fields_);
61  return;
62  field_z_idx_ = pcl::getFieldIndex<PointT> ("z", fields_);
64  return;
65  capable_ = true;
66 }
67 
68 
69 template <typename PointT> void
71 {
72  if (!capable_)
73  return;
74 
75  if (!points)
77  points->SetDataTypeToFloat ();
78 
80  data->SetNumberOfComponents (3);
81  vtkIdType nr_points = cloud_->size ();
82 
83  // Add all points
84  vtkIdType j = 0; // true point index
85  float* pts = static_cast<float*> (malloc (nr_points * 3 * sizeof (float)));
86 
87  // If the dataset has no invalid values, just copy all of them
88  if (cloud_->is_dense)
89  {
90  for (vtkIdType i = 0; i < nr_points; ++i)
91  {
92  pts[i * 3 + 0] = (*cloud_)[i].x;
93  pts[i * 3 + 1] = (*cloud_)[i].y;
94  pts[i * 3 + 2] = (*cloud_)[i].z;
95  }
96  data->SetArray (&pts[0], nr_points * 3, 0);
97  points->SetData (data);
98  }
99  // Need to check for NaNs, Infs, ec
100  else
101  {
102  for (vtkIdType i = 0; i < nr_points; ++i)
103  {
104  // Check if the point is invalid
105  if (!std::isfinite ((*cloud_)[i].x) || !std::isfinite ((*cloud_)[i].y) || !std::isfinite ((*cloud_)[i].z))
106  continue;
107 
108  pts[j * 3 + 0] = (*cloud_)[i].x;
109  pts[j * 3 + 1] = (*cloud_)[i].y;
110  pts[j * 3 + 2] = (*cloud_)[i].z;
111  // Set j and increment
112  j++;
113  }
114  data->SetArray (&pts[0], j * 3, 0);
115  points->SetData (data);
116  }
117 }
118 
119 
120 template <typename PointT>
123 {
124  field_x_idx_ = pcl::getFieldIndex<PointT> ("normal_x", fields_);
125  if (field_x_idx_ == UNAVAILABLE)
126  return;
127  field_y_idx_ = pcl::getFieldIndex<PointT> ("normal_y", fields_);
128  if (field_y_idx_ == UNAVAILABLE)
129  return;
130  field_z_idx_ = pcl::getFieldIndex<PointT> ("normal_z", fields_);
131  if (field_z_idx_ == UNAVAILABLE)
132  return;
133  capable_ = true;
134 }
135 
136 
137 template <typename PointT> void
139 {
140  if (!capable_)
141  return;
142 
143  if (!points)
145  points->SetDataTypeToFloat ();
146  points->SetNumberOfPoints (cloud_->size ());
147 
148  // Add all points
149  double p[3];
150  for (vtkIdType i = 0; i < static_cast<vtkIdType> (cloud_->size ()); ++i)
151  {
152  p[0] = (*cloud_)[i].normal[0];
153  p[1] = (*cloud_)[i].normal[1];
154  p[2] = (*cloud_)[i].normal[2];
155 
156  points->SetPoint (i, p);
157  }
158 }
159 
160 } // namespace visualization
161 } // namespace pcl
162 
163 #define PCL_INSTANTIATE_PointCloudGeometryHandlerXYZ(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerXYZ<T>;
164 #define PCL_INSTANTIATE_PointCloudGeometryHandlerSurfaceNormal(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<T>;
165 
166 #endif // PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_
167 
pcl::UNAVAILABLE
static constexpr index_t UNAVAILABLE
Definition: pcl_base.h:62
pcl::visualization::PointCloudGeometryHandler::fields_
std::vector< pcl::PCLPointField > fields_
The list of fields available for this PointCloud.
Definition: point_cloud_geometry_handlers.h:130
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::visualization::PointCloudGeometryHandlerXYZ::PointCloudGeometryHandlerXYZ
PointCloudGeometryHandlerXYZ(const PointCloudConstPtr &cloud)
Constructor.
Definition: point_cloud_geometry_handlers.hpp:53
pcl::visualization::PointCloudGeometryHandlerXYZ::getGeometry
virtual void getGeometry(vtkSmartPointer< vtkPoints > &points) const
Obtain the actual point geometry for the input dataset in VTK format.
Definition: point_cloud_geometry_handlers.hpp:70
pcl::visualization::PointCloudGeometryHandler::field_z_idx_
index_t field_z_idx_
The index of the field holding the Z data.
Definition: point_cloud_geometry_handlers.h:127
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:674
pcl::visualization::PointCloudGeometryHandler::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: point_cloud_geometry_handlers.h:67
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal::getGeometry
virtual void getGeometry(vtkSmartPointer< vtkPoints > &points) const
Obtain the actual point geometry for the input dataset in VTK format.
Definition: point_cloud_geometry_handlers.hpp:138
pcl::visualization::PointCloudGeometryHandler::field_y_idx_
index_t field_y_idx_
The index of the field holding the Y data.
Definition: point_cloud_geometry_handlers.h:124
pcl::visualization::PointCloudGeometryHandler::field_x_idx_
index_t field_x_idx_
The index of the field holding the X data.
Definition: point_cloud_geometry_handlers.h:121
pcl::visualization::PointCloudGeometryHandlerSurfaceNormal::PointCloudGeometryHandlerSurfaceNormal
PointCloudGeometryHandlerSurfaceNormal(const PointCloudConstPtr &cloud)
Constructor.
Definition: point_cloud_geometry_handlers.hpp:121
pcl::visualization::PointCloudGeometryHandler
Base handler class for PointCloud geometry.
Definition: point_cloud_geometry_handlers.h:62
pcl::visualization::PointCloudGeometryHandler::capable_
bool capable_
True if this handler is capable of handling the input data, false otherwise.
Definition: point_cloud_geometry_handlers.h:118
vtkSmartPointer
Definition: actor_map.h:51