png_io.h

/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 * $Id$ 
 * Authors: Anatoly Baksheev
 */
 
#pragma once
 
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/console/print.h>
#include <string>
#include <pcl/io/point_cloud_image_extractors.h>
 
namespace pcl
{
  namespace io
  {
    /** \brief Saves 8-bit encoded image to PNG file.
      * \param[in] file_name the name of the file to write to disk
      * \param[in] mono_image image grayscale data
      * \param[in] width image width
      * \param[in] height image height
      * \param[in] channels number of channels
      * \ingroup io
      */
    PCL_EXPORTS void
    saveCharPNGFile (const std::string& file_name, const unsigned char *mono_image, int width, int height, int channels);
 
    /** \brief Saves 16-bit encoded image to PNG file.
      * \param[in] file_name the name of the file to write to disk
      * \param[in] short_image image short data
      * \param[in] width image width
      * \param[in] height image height
      * \param[in] channels number of channels
      * \ingroup io
      */
    PCL_EXPORTS void
    saveShortPNGFile (const std::string& file_name, const unsigned short *short_image, int width, int height, int channels);
 
    /** \brief Saves 8-bit encoded RGB image to PNG file.
      * \param[in] file_name the name of the file to write to disk
      * \param[in] rgb_image image rgb data
      * \param[in] width image width
      * \param[in] height image height
      * \ingroup io
      */
    PCL_EXPORTS void 
    saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height);
 
    /** \brief Saves 8-bit grayscale cloud as image to PNG file.
      * \param[in] file_name the name of the file to write to disk
      * \param[in] cloud point cloud to save
      * \ingroup io
      */
    PCL_EXPORTS void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud);
 
    /** \brief Saves 16-bit grayscale cloud as image to PNG file.
      * \param[in] file_name the name of the file to write to disk
      * \param[in] cloud point cloud to save
      * \ingroup io
      */
    PCL_EXPORTS void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud);
 
    /** \brief Saves a PCLImage (formerly ROS sensor_msgs::Image) to PNG file.
      * \param[in] file_name the name of the file to write to disk
      * \param[in] image image to save
      * \ingroup io
      * \note Currently only "rgb8", "mono8", and "mono16" image encodings are supported.
      */
    PCL_EXPORTS void
    savePNGFile (const std::string& file_name, const pcl::PCLImage& image);
 
    /** \brief Saves the data from the specified field of the point cloud as image to PNG file.
     * \param[in] file_name the name of the file to write to disk
     * \param[in] cloud point cloud to save
     * \param[in] field_name the name of the field to extract data from
     * \ingroup io
     */
    template <typename PointT> void
    savePNGFile (const std::string& file_name, const pcl::PointCloud<PointT>& cloud, const std::string& field_name)
    {
      using PointCloudImageExtractorPtr = typename PointCloudImageExtractor<PointT>::Ptr;
      PointCloudImageExtractorPtr pcie;
      if (field_name == "normal")
      {
        pcie = PointCloudImageExtractorPtr (new PointCloudImageExtractorFromNormalField<PointT>);
      }
      else if (field_name == "rgb")
      {
        pcie = PointCloudImageExtractorPtr (new PointCloudImageExtractorFromRGBField<PointT>);
      }
      else if (field_name == "label")
      {
        pcie = PointCloudImageExtractorPtr (new PointCloudImageExtractorFromLabelField<PointT>);
      }
      else if (field_name == "z")
      {
        pcie = PointCloudImageExtractorPtr (new PointCloudImageExtractorFromZField<PointT>);
      }
      else if (field_name == "curvature")
      {
        pcie = PointCloudImageExtractorPtr (new PointCloudImageExtractorFromCurvatureField<PointT>);
      }
      else if (field_name == "intensity")
      {
        pcie = PointCloudImageExtractorPtr (new PointCloudImageExtractorFromIntensityField<PointT>);
      }
      else
      {
        PCL_ERROR ("[pcl::io::savePNGFile] Unsupported field \"%s\".\n", field_name.c_str ());
        return;
      }
      pcl::PCLImage image;
      if (pcie->extract (cloud, image))
      {
        savePNGFile(file_name, image);
      }
      else
      {
        PCL_ERROR ("[pcl::io::savePNGFile] Failed to extract an image from \"%s\" field.\n", field_name.c_str());
      }
    }
 
  }
}