point_cloud_geometry_handlers.hpp

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 * $Id: point_cloud_handlers.hpp 7678 2012-10-22 20:54:04Z rusu $
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#ifndef PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_
#define PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_
 
#include <pcl/pcl_macros.h>
 
 
namespace pcl
{
 
namespace visualization
{
 
template <typename PointT>
PointCloudGeometryHandlerXYZ<PointT>::PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud)
  : PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex<PointT> ("x", fields_);
  if (field_x_idx_ == UNAVAILABLE)
    return;
  field_y_idx_ = pcl::getFieldIndex<PointT> ("y", fields_);
  if (field_y_idx_ == UNAVAILABLE)
    return;
  field_z_idx_ = pcl::getFieldIndex<PointT> ("z", fields_);
  if (field_z_idx_ == UNAVAILABLE)
    return;
  capable_ = true;
}
 
 
template <typename PointT> void
PointCloudGeometryHandlerXYZ<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;
 
  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();
 
  vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
  data->SetNumberOfComponents (3);
  vtkIdType nr_points = cloud_->size ();
 
  // Add all points
  vtkIdType j = 0;    // true point index
  float* pts = static_cast<float*> (malloc (nr_points * 3 * sizeof (float)));
 
  // If the dataset has no invalid values, just copy all of them
  if (cloud_->is_dense)
  {
    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      pts[i * 3 + 0] = (*cloud_)[i].x;
      pts[i * 3 + 1] = (*cloud_)[i].y;
      pts[i * 3 + 2] = (*cloud_)[i].z;
    }
    data->SetArray (&pts[0], nr_points * 3, 0);
    points->SetData (data);
  }
  // Need to check for NaNs, Infs, ec
  else
  {
    for (vtkIdType i = 0; i < nr_points; ++i)
    {
      // Check if the point is invalid
      if (!std::isfinite ((*cloud_)[i].x) || !std::isfinite ((*cloud_)[i].y) || !std::isfinite ((*cloud_)[i].z))
        continue;
 
      pts[j * 3 + 0] = (*cloud_)[i].x;
      pts[j * 3 + 1] = (*cloud_)[i].y;
      pts[j * 3 + 2] = (*cloud_)[i].z;
      // Set j and increment
      j++;
    }
    data->SetArray (&pts[0], j * 3, 0);
    points->SetData (data);
  }
}
 
 
template <typename PointT>
PointCloudGeometryHandlerSurfaceNormal<PointT>::PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud)
  : PointCloudGeometryHandler<PointT>::PointCloudGeometryHandler (cloud)
{
  field_x_idx_ = pcl::getFieldIndex<PointT> ("normal_x", fields_);
  if (field_x_idx_ == UNAVAILABLE)
    return;
  field_y_idx_ = pcl::getFieldIndex<PointT> ("normal_y", fields_);
  if (field_y_idx_ == UNAVAILABLE)
    return;
  field_z_idx_ = pcl::getFieldIndex<PointT> ("normal_z", fields_);
  if (field_z_idx_ == UNAVAILABLE)
    return;
  capable_ = true;
}
 
 
template <typename PointT> void
PointCloudGeometryHandlerSurfaceNormal<PointT>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;
 
  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();
  points->SetNumberOfPoints (cloud_->size ());
 
  // Add all points
  double p[3];
  for (vtkIdType i = 0; i < static_cast<vtkIdType> (cloud_->size ()); ++i)
  {
    p[0] = (*cloud_)[i].normal[0];
    p[1] = (*cloud_)[i].normal[1];
    p[2] = (*cloud_)[i].normal[2];
 
    points->SetPoint (i, p);
  }
}
 
} // namespace visualization
} // namespace pcl
 
#define PCL_INSTANTIATE_PointCloudGeometryHandlerXYZ(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerXYZ<T>;
#define PCL_INSTANTIATE_PointCloudGeometryHandlerSurfaceNormal(T) template class PCL_EXPORTS pcl::visualization::PointCloudGeometryHandlerSurfaceNormal<T>;
 
#endif      // PCL_POINT_CLOUD_GEOMETRY_HANDLERS_IMPL_HPP_