Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 #ifndef PCL_PCL_BASE_H_ 00039 #define PCL_PCL_BASE_H_ 00040 00041 #if defined __GNUC__ 00042 # pragma GCC system_header 00043 #endif 00044 00045 // Include PCL macros such as PCL_ERROR, etc 00046 #include <pcl/pcl_macros.h> 00047 00048 #include <boost/shared_ptr.hpp> 00049 #include <Eigen/StdVector> 00050 #include <Eigen/Core> 00051 00052 // Point Cloud message includes. Needed everywhere. 00053 #include <pcl/point_cloud.h> 00054 #include <pcl/PointIndices.h> 00055 #include <pcl/PCLPointCloud2.h> 00056 00057 namespace pcl 00058 { 00059 // definitions used everywhere 00060 typedef boost::shared_ptr <std::vector<int> > IndicesPtr; 00061 typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; 00062 00063 ///////////////////////////////////////////////////////////////////////////////////////// 00064 /** \brief PCL base class. Implements methods that are used by most PCL algorithms. 00065 * \ingroup common 00066 */ 00067 template <typename PointT> 00068 class PCLBase 00069 { 00070 public: 00071 typedef pcl::PointCloud<PointT> PointCloud; 00072 typedef typename PointCloud::Ptr PointCloudPtr; 00073 typedef typename PointCloud::ConstPtr PointCloudConstPtr; 00074 00075 typedef boost::shared_ptr<PointIndices> PointIndicesPtr; 00076 typedef boost::shared_ptr<PointIndices const> PointIndicesConstPtr; 00077 00078 /** \brief Empty constructor. */ 00079 PCLBase (); 00080 00081 /** \brief Copy constructor. */ 00082 PCLBase (const PCLBase& base); 00083 00084 /** \brief Destructor. */ 00085 virtual ~PCLBase () 00086 { 00087 input_.reset (); 00088 indices_.reset (); 00089 } 00090 00091 /** \brief Provide a pointer to the input dataset 00092 * \param[in] cloud the const boost shared pointer to a PointCloud message 00093 */ 00094 virtual void 00095 setInputCloud (const PointCloudConstPtr &cloud); 00096 00097 /** \brief Get a pointer to the input point cloud dataset. */ 00098 inline PointCloudConstPtr const 00099 getInputCloud () { return (input_); } 00100 00101 /** \brief Provide a pointer to the vector of indices that represents the input data. 00102 * \param[in] indices a pointer to the indices that represent the input data. 00103 */ 00104 virtual void 00105 setIndices (const IndicesPtr &indices); 00106 00107 /** \brief Provide a pointer to the vector of indices that represents the input data. 00108 * \param[in] indices a pointer to the indices that represent the input data. 00109 */ 00110 virtual void 00111 setIndices (const IndicesConstPtr &indices); 00112 00113 /** \brief Provide a pointer to the vector of indices that represents the input data. 00114 * \param[in] indices a pointer to the indices that represent the input data. 00115 */ 00116 virtual void 00117 setIndices (const PointIndicesConstPtr &indices); 00118 00119 /** \brief Set the indices for the points laying within an interest region of 00120 * the point cloud. 00121 * \note you shouldn't call this method on unorganized point clouds! 00122 * \param[in] row_start the offset on rows 00123 * \param[in] col_start the offset on columns 00124 * \param[in] nb_rows the number of rows to be considered row_start included 00125 * \param[in] nb_cols the number of columns to be considered col_start included 00126 */ 00127 virtual void 00128 setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols); 00129 00130 /** \brief Get a pointer to the vector of indices used. */ 00131 inline IndicesPtr const 00132 getIndices () { return (indices_); } 00133 00134 /** \brief Override PointCloud operator[] to shorten code 00135 * \note this method can be called instead of (*input_)[(*indices_)[pos]] 00136 * or input_->points[(*indices_)[pos]] 00137 * \param[in] pos position in indices_ vector 00138 */ 00139 inline const PointT& operator[] (size_t pos) 00140 { 00141 return ((*input_)[(*indices_)[pos]]); 00142 } 00143 00144 protected: 00145 /** \brief The input point cloud dataset. */ 00146 PointCloudConstPtr input_; 00147 00148 /** \brief A pointer to the vector of point indices to use. */ 00149 IndicesPtr indices_; 00150 00151 /** \brief Set to true if point indices are used. */ 00152 bool use_indices_; 00153 00154 /** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */ 00155 bool fake_indices_; 00156 00157 /** \brief This method should get called before starting the actual computation. 00158 * 00159 * Internally, initCompute() does the following: 00160 * - checks if an input dataset is given, and returns false otherwise 00161 * - checks whether a set of input indices has been given. Returns true if yes. 00162 * - if no input indices have been given, a fake set is created, which will be used until: 00163 * - either a new set is given via setIndices(), or 00164 * - a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices 00165 */ 00166 bool 00167 initCompute (); 00168 00169 /** \brief This method should get called after finishing the actual computation. 00170 */ 00171 bool 00172 deinitCompute (); 00173 00174 public: 00175 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00176 }; 00177 00178 ///////////////////////////////////////////////////////////////////////////////////////// 00179 template <> 00180 class PCL_EXPORTS PCLBase<pcl::PCLPointCloud2> 00181 { 00182 public: 00183 typedef pcl::PCLPointCloud2 PCLPointCloud2; 00184 typedef boost::shared_ptr<PCLPointCloud2> PCLPointCloud2Ptr; 00185 typedef boost::shared_ptr<PCLPointCloud2 const> PCLPointCloud2ConstPtr; 00186 00187 typedef boost::shared_ptr<PointIndices> PointIndicesPtr; 00188 typedef boost::shared_ptr<PointIndices const> PointIndicesConstPtr; 00189 00190 /** \brief Empty constructor. */ 00191 PCLBase (); 00192 00193 /** \brief destructor. */ 00194 virtual ~PCLBase() 00195 { 00196 input_.reset (); 00197 indices_.reset (); 00198 } 00199 00200 /** \brief Provide a pointer to the input dataset 00201 * \param cloud the const boost shared pointer to a PointCloud message 00202 */ 00203 void 00204 setInputCloud (const PCLPointCloud2ConstPtr &cloud); 00205 00206 /** \brief Get a pointer to the input point cloud dataset. */ 00207 inline PCLPointCloud2ConstPtr const 00208 getInputCloud () { return (input_); } 00209 00210 /** \brief Provide a pointer to the vector of indices that represents the input data. 00211 * \param[in] indices a pointer to the indices that represent the input data. 00212 */ 00213 void 00214 setIndices (const IndicesPtr &indices); 00215 00216 /** \brief Provide a pointer to the vector of indices that represents the input data. 00217 * \param[in] indices a pointer to the indices that represent the input data. 00218 */ 00219 void 00220 setIndices (const PointIndicesConstPtr &indices); 00221 00222 /** \brief Get a pointer to the vector of indices used. */ 00223 inline IndicesPtr const 00224 getIndices () { return (indices_); } 00225 00226 protected: 00227 /** \brief The input point cloud dataset. */ 00228 PCLPointCloud2ConstPtr input_; 00229 00230 /** \brief A pointer to the vector of point indices to use. */ 00231 IndicesPtr indices_; 00232 00233 /** \brief Set to true if point indices are used. */ 00234 bool use_indices_; 00235 00236 /** \brief If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. */ 00237 bool fake_indices_; 00238 00239 /** \brief The size of each individual field. */ 00240 std::vector<int> field_sizes_; 00241 00242 /** \brief The x-y-z fields indices. */ 00243 int x_idx_, y_idx_, z_idx_; 00244 00245 /** \brief The desired x-y-z field names. */ 00246 std::string x_field_name_, y_field_name_, z_field_name_; 00247 00248 bool initCompute (); 00249 bool deinitCompute (); 00250 public: 00251 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00252 }; 00253 } 00254 00255 #ifdef PCL_NO_PRECOMPILE 00256 #include <pcl/impl/pcl_base.hpp> 00257 #endif 00258 00259 #endif //#ifndef PCL_PCL_BASE_H_