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) 2012-, Open Perception, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 00038 00039 #ifndef PCL_POINT_CLOUD_ITERATOR_HPP_ 00040 #define PCL_POINT_CLOUD_ITERATOR_HPP_ 00041 00042 #include <pcl/cloud_iterator.h> 00043 00044 namespace pcl 00045 { 00046 /** \brief 00047 * \author Suat Gedikli 00048 */ 00049 template <class PointT> 00050 class DefaultIterator : public CloudIterator<PointT>::Iterator 00051 { 00052 public: 00053 DefaultIterator (PointCloud<PointT>& cloud) 00054 : cloud_ (cloud) 00055 , iterator_ (cloud.begin ()) 00056 { 00057 } 00058 00059 ~DefaultIterator () 00060 { 00061 } 00062 00063 void operator ++ () 00064 { 00065 ++iterator_; 00066 } 00067 00068 void operator ++ (int) 00069 { 00070 iterator_++; 00071 } 00072 00073 PointT& operator* () const 00074 { 00075 return (*iterator_); 00076 } 00077 00078 PointT* operator-> () 00079 { 00080 return (&(*iterator_)); 00081 } 00082 00083 unsigned getCurrentPointIndex () const 00084 { 00085 return (iterator_ - cloud_.begin ()); 00086 } 00087 00088 unsigned getCurrentIndex () const 00089 { 00090 return (iterator_ - cloud_.begin ()); 00091 } 00092 00093 size_t size () const 00094 { 00095 return cloud_.size (); 00096 } 00097 00098 void reset () 00099 { 00100 iterator_ = cloud_.begin (); 00101 } 00102 00103 bool isValid () const 00104 { 00105 return (iterator_ != cloud_.end ()); 00106 } 00107 private: 00108 PointCloud<PointT>& cloud_; 00109 typename PointCloud<PointT>::iterator iterator_; 00110 }; 00111 00112 /** \brief 00113 * \author Suat Gedikli 00114 */ 00115 template <class PointT> 00116 class IteratorIdx : public CloudIterator<PointT>::Iterator 00117 { 00118 public: 00119 IteratorIdx (PointCloud<PointT>& cloud, const std::vector<int>& indices) 00120 : cloud_ (cloud) 00121 , indices_ (indices) 00122 , iterator_ (indices_.begin ()) 00123 { 00124 } 00125 00126 IteratorIdx (PointCloud<PointT>& cloud, const PointIndices& indices) 00127 : cloud_ (cloud) 00128 , indices_ (indices.indices) 00129 , iterator_ (indices_.begin ()) 00130 { 00131 } 00132 00133 virtual ~IteratorIdx () {} 00134 00135 void operator ++ () 00136 { 00137 ++iterator_; 00138 } 00139 00140 void operator ++ (int) 00141 { 00142 iterator_++; 00143 } 00144 00145 PointT& operator* () const 00146 { 00147 return (cloud_.points [*iterator_]); 00148 } 00149 00150 PointT* operator-> () 00151 { 00152 return (&(cloud_.points [*iterator_])); 00153 } 00154 00155 unsigned getCurrentPointIndex () const 00156 { 00157 return (*iterator_); 00158 } 00159 00160 unsigned getCurrentIndex () const 00161 { 00162 return (iterator_ - indices_.begin ()); 00163 } 00164 00165 size_t size () const 00166 { 00167 return indices_.size (); 00168 } 00169 00170 void reset () 00171 { 00172 iterator_ = indices_.begin (); 00173 } 00174 00175 bool isValid () const 00176 { 00177 return (iterator_ != indices_.end ()); 00178 } 00179 00180 private: 00181 PointCloud<PointT>& cloud_; 00182 std::vector<int> indices_; 00183 std::vector<int>::iterator iterator_; 00184 }; 00185 00186 /** \brief 00187 * \author Suat Gedikli 00188 */ 00189 template <class PointT> 00190 class ConstCloudIterator<PointT>::DefaultConstIterator : public ConstCloudIterator<PointT>::Iterator 00191 { 00192 public: 00193 DefaultConstIterator (const PointCloud<PointT>& cloud) 00194 : cloud_ (cloud) 00195 , iterator_ (cloud.begin ()) 00196 { 00197 } 00198 00199 ~DefaultConstIterator () 00200 { 00201 } 00202 00203 void operator ++ () 00204 { 00205 ++iterator_; 00206 } 00207 00208 void operator ++ (int) 00209 { 00210 iterator_++; 00211 } 00212 00213 const PointT& operator* () const 00214 { 00215 return (*iterator_); 00216 } 00217 00218 const PointT* operator-> () const 00219 { 00220 return (&(*iterator_)); 00221 } 00222 00223 unsigned getCurrentPointIndex () const 00224 { 00225 return (unsigned (iterator_ - cloud_.begin ())); 00226 } 00227 00228 unsigned getCurrentIndex () const 00229 { 00230 return (unsigned (iterator_ - cloud_.begin ())); 00231 } 00232 00233 size_t size () const 00234 { 00235 return cloud_.size (); 00236 } 00237 00238 void reset () 00239 { 00240 iterator_ = cloud_.begin (); 00241 } 00242 00243 bool isValid () const 00244 { 00245 return (iterator_ != cloud_.end ()); 00246 } 00247 private: 00248 const PointCloud<PointT>& cloud_; 00249 typename PointCloud<PointT>::const_iterator iterator_; 00250 }; 00251 00252 /** \brief 00253 * \author Suat Gedikli 00254 */ 00255 template <class PointT> 00256 class ConstCloudIterator<PointT>::ConstIteratorIdx : public ConstCloudIterator<PointT>::Iterator 00257 { 00258 public: 00259 ConstIteratorIdx (const PointCloud<PointT>& cloud, 00260 const std::vector<int>& indices) 00261 : cloud_ (cloud) 00262 , indices_ (indices) 00263 , iterator_ (indices_.begin ()) 00264 { 00265 } 00266 00267 ConstIteratorIdx (const PointCloud<PointT>& cloud, 00268 const PointIndices& indices) 00269 : cloud_ (cloud) 00270 , indices_ (indices.indices) 00271 , iterator_ (indices_.begin ()) 00272 { 00273 } 00274 00275 virtual ~ConstIteratorIdx () {} 00276 00277 void operator ++ () 00278 { 00279 ++iterator_; 00280 } 00281 00282 void operator ++ (int) 00283 { 00284 iterator_++; 00285 } 00286 00287 const PointT& operator* () const 00288 { 00289 return (cloud_.points[*iterator_]); 00290 } 00291 00292 const PointT* operator-> () const 00293 { 00294 return (&(cloud_.points [*iterator_])); 00295 } 00296 00297 unsigned getCurrentPointIndex () const 00298 { 00299 return (unsigned (*iterator_)); 00300 } 00301 00302 unsigned getCurrentIndex () const 00303 { 00304 return (unsigned (iterator_ - indices_.begin ())); 00305 } 00306 00307 size_t size () const 00308 { 00309 return indices_.size (); 00310 } 00311 00312 void reset () 00313 { 00314 iterator_ = indices_.begin (); 00315 } 00316 00317 bool isValid () const 00318 { 00319 return (iterator_ != indices_.end ()); 00320 } 00321 00322 private: 00323 const PointCloud<PointT>& cloud_; 00324 std::vector<int> indices_; 00325 std::vector<int>::iterator iterator_; 00326 }; 00327 } // namespace pcl 00328 00329 ////////////////////////////////////////////////////////////////////////////// 00330 template <class PointT> 00331 pcl::CloudIterator<PointT>::CloudIterator (PointCloud<PointT>& cloud) 00332 : iterator_ (new DefaultIterator<PointT> (cloud)) 00333 { 00334 } 00335 00336 ////////////////////////////////////////////////////////////////////////////// 00337 template <class PointT> 00338 pcl::CloudIterator<PointT>::CloudIterator ( 00339 PointCloud<PointT>& cloud, const std::vector<int>& indices) 00340 : iterator_ (new IteratorIdx<PointT> (cloud, indices)) 00341 { 00342 } 00343 00344 ////////////////////////////////////////////////////////////////////////////// 00345 template <class PointT> 00346 pcl::CloudIterator<PointT>::CloudIterator ( 00347 PointCloud<PointT>& cloud, const PointIndices& indices) 00348 : iterator_ (new IteratorIdx<PointT> (cloud, indices)) 00349 { 00350 } 00351 00352 ////////////////////////////////////////////////////////////////////////////// 00353 template <class PointT> 00354 pcl::CloudIterator<PointT>::CloudIterator ( 00355 PointCloud<PointT>& cloud, const Correspondences& corrs, bool source) 00356 { 00357 std::vector<int> indices; 00358 indices.reserve (corrs.size ()); 00359 if (source) 00360 { 00361 for (typename Correspondences::const_iterator indexIt = corrs.begin (); indexIt != corrs.end (); ++indexIt) 00362 indices.push_back (indexIt->index_query); 00363 } 00364 else 00365 { 00366 for (typename Correspondences::const_iterator indexIt = corrs.begin (); indexIt != corrs.end (); ++indexIt) 00367 indices.push_back (indexIt->index_match); 00368 } 00369 iterator_ = new IteratorIdx<PointT> (cloud, indices); 00370 } 00371 00372 ////////////////////////////////////////////////////////////////////////////// 00373 template <class PointT> 00374 pcl::CloudIterator<PointT>::~CloudIterator () 00375 { 00376 delete iterator_; 00377 } 00378 00379 ////////////////////////////////////////////////////////////////////////////// 00380 template <class PointT> void 00381 pcl::CloudIterator<PointT>::operator ++ () 00382 { 00383 iterator_->operator++ (); 00384 } 00385 00386 ////////////////////////////////////////////////////////////////////////////// 00387 template <class PointT> void 00388 pcl::CloudIterator<PointT>::operator ++ (int) 00389 { 00390 iterator_->operator++ (0); 00391 } 00392 00393 ////////////////////////////////////////////////////////////////////////////// 00394 template <class PointT> PointT& 00395 pcl::CloudIterator<PointT>::operator* () const 00396 { 00397 return (iterator_->operator * ()); 00398 } 00399 00400 ////////////////////////////////////////////////////////////////////////////// 00401 template <class PointT> PointT* 00402 pcl::CloudIterator<PointT>::operator-> () const 00403 { 00404 return (iterator_->operator-> ()); 00405 } 00406 00407 ////////////////////////////////////////////////////////////////////////////// 00408 template <class PointT> unsigned 00409 pcl::CloudIterator<PointT>::getCurrentPointIndex () const 00410 { 00411 return (iterator_->getCurrentPointIndex ()); 00412 } 00413 00414 ////////////////////////////////////////////////////////////////////////////// 00415 template <class PointT> unsigned 00416 pcl::CloudIterator<PointT>::getCurrentIndex () const 00417 { 00418 return (iterator_->getCurrentIndex ()); 00419 } 00420 00421 ////////////////////////////////////////////////////////////////////////////// 00422 template <class PointT> size_t 00423 pcl::CloudIterator<PointT>::size () const 00424 { 00425 return (iterator_->size ()); 00426 } 00427 00428 ////////////////////////////////////////////////////////////////////////////// 00429 template <class PointT> void 00430 pcl::CloudIterator<PointT>::reset () 00431 { 00432 iterator_->reset (); 00433 } 00434 00435 ////////////////////////////////////////////////////////////////////////////// 00436 template <class PointT> bool 00437 pcl::CloudIterator<PointT>::isValid () const 00438 { 00439 return (iterator_->isValid ()); 00440 } 00441 00442 00443 ////////////////////////////////////////////////////////////////////////////// 00444 template <class PointT> 00445 pcl::ConstCloudIterator<PointT>::ConstCloudIterator (const PointCloud<PointT>& cloud) 00446 : iterator_ (new typename pcl::ConstCloudIterator<PointT>::DefaultConstIterator (cloud)) 00447 { 00448 } 00449 00450 ////////////////////////////////////////////////////////////////////////////// 00451 template <class PointT> 00452 pcl::ConstCloudIterator<PointT>::ConstCloudIterator ( 00453 const PointCloud<PointT>& cloud, const std::vector<int>& indices) 00454 : iterator_ (new typename pcl::ConstCloudIterator<PointT>::ConstIteratorIdx (cloud, indices)) 00455 { 00456 } 00457 00458 ////////////////////////////////////////////////////////////////////////////// 00459 template <class PointT> 00460 pcl::ConstCloudIterator<PointT>::ConstCloudIterator ( 00461 const PointCloud<PointT>& cloud, const PointIndices& indices) 00462 : iterator_ (new typename pcl::ConstCloudIterator<PointT>::ConstIteratorIdx (cloud, indices)) 00463 { 00464 } 00465 00466 ////////////////////////////////////////////////////////////////////////////// 00467 template <class PointT> 00468 pcl::ConstCloudIterator<PointT>::ConstCloudIterator ( 00469 const PointCloud<PointT>& cloud, const Correspondences& corrs, bool source) 00470 { 00471 std::vector<int> indices; 00472 indices.reserve (corrs.size ()); 00473 if (source) 00474 { 00475 for (typename Correspondences::const_iterator indexIt = corrs.begin (); indexIt != corrs.end (); ++indexIt) 00476 indices.push_back (indexIt->index_query); 00477 } 00478 else 00479 { 00480 for (typename Correspondences::const_iterator indexIt = corrs.begin (); indexIt != corrs.end (); ++indexIt) 00481 indices.push_back (indexIt->index_match); 00482 } 00483 iterator_ = new typename pcl::ConstCloudIterator<PointT>::ConstIteratorIdx (cloud, indices); 00484 } 00485 00486 ////////////////////////////////////////////////////////////////////////////// 00487 template <class PointT> 00488 pcl::ConstCloudIterator<PointT>::~ConstCloudIterator () 00489 { 00490 delete iterator_; 00491 } 00492 00493 ////////////////////////////////////////////////////////////////////////////// 00494 template <class PointT> void 00495 pcl::ConstCloudIterator<PointT>::operator ++ () 00496 { 00497 iterator_->operator++ (); 00498 } 00499 00500 ////////////////////////////////////////////////////////////////////////////// 00501 template <class PointT> void 00502 pcl::ConstCloudIterator<PointT>::operator ++ (int) 00503 { 00504 iterator_->operator++ (0); 00505 } 00506 00507 ////////////////////////////////////////////////////////////////////////////// 00508 template <class PointT> const PointT& 00509 pcl::ConstCloudIterator<PointT>::operator* () const 00510 { 00511 return (iterator_->operator * ()); 00512 } 00513 00514 ////////////////////////////////////////////////////////////////////////////// 00515 template <class PointT> const PointT* 00516 pcl::ConstCloudIterator<PointT>::operator-> () const 00517 { 00518 return (iterator_->operator-> ()); 00519 } 00520 00521 ////////////////////////////////////////////////////////////////////////////// 00522 template <class PointT> unsigned 00523 pcl::ConstCloudIterator<PointT>::getCurrentPointIndex () const 00524 { 00525 return (iterator_->getCurrentPointIndex ()); 00526 } 00527 00528 ////////////////////////////////////////////////////////////////////////////// 00529 template <class PointT> unsigned 00530 pcl::ConstCloudIterator<PointT>::getCurrentIndex () const 00531 { 00532 return (iterator_->getCurrentIndex ()); 00533 } 00534 00535 ////////////////////////////////////////////////////////////////////////////// 00536 template <class PointT> size_t 00537 pcl::ConstCloudIterator<PointT>::size () const 00538 { 00539 return (iterator_->size ()); 00540 } 00541 00542 ////////////////////////////////////////////////////////////////////////////// 00543 template <class PointT> void 00544 pcl::ConstCloudIterator<PointT>::reset () 00545 { 00546 iterator_->reset (); 00547 } 00548 00549 ////////////////////////////////////////////////////////////////////////////// 00550 template <class PointT> bool 00551 pcl::ConstCloudIterator<PointT>::isValid () const 00552 { 00553 return (iterator_->isValid ()); 00554 } 00555 00556 #endif // PCL_POINT_CLOUD_ITERATOR_HPP_ 00557