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) 2010-2011, Willow Garage, 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 * $Id$ 00037 * Authors: Anatoly Baksheev 00038 */ 00039 00040 #ifndef PCL_IO_PNG_IO_H_ 00041 #define PCL_IO_PNG_IO_H_ 00042 00043 #include <pcl/pcl_macros.h> 00044 #include <pcl/point_cloud.h> 00045 #include <pcl/point_types.h> 00046 #include <string> 00047 #include <vector> 00048 00049 namespace pcl 00050 { 00051 namespace io 00052 { 00053 /** \brief Saves 8-bit encoded image to PNG file. 00054 * \param[in] file_name the name of the file to write to disk 00055 * \param[in] mono_image image grayscale data 00056 * \param[in] width image width 00057 * \param[in] height image height 00058 * \param[in] channels number of channels 00059 * \ingroup io 00060 */ 00061 PCL_EXPORTS void 00062 saveCharPNGFile (const std::string& file_name, const unsigned char *mono_image, int width, int height, int channels); 00063 00064 /** \brief Saves 16-bit encoded image to PNG file. 00065 * \param[in] file_name the name of the file to write to disk 00066 * \param[in] short_image image short data 00067 * \param[in] width image width 00068 * \param[in] height image height 00069 * \param[in] channels number of channels 00070 * \ingroup io 00071 */ 00072 PCL_EXPORTS void 00073 saveShortPNGFile (const std::string& file_name, const unsigned short *short_image, int width, int height, int channels); 00074 00075 /** \brief Saves 8-bit encoded RGB image to PNG file. 00076 * \param[in] file_name the name of the file to write to disk 00077 * \param[in] rgb_image image rgb data 00078 * \param[in] width image width 00079 * \param[in] height image height 00080 * \ingroup io 00081 */ 00082 PCL_EXPORTS void 00083 saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height) 00084 { 00085 saveCharPNGFile(file_name, rgb_image, width, height, 3); 00086 } 00087 00088 /** \brief Saves 8-bit grayscale cloud as image to PNG file. 00089 * \param[in] file_name the name of the file to write to disk 00090 * \param[in] cloud point cloud to save 00091 * \ingroup io 00092 */ 00093 void 00094 savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud) 00095 { 00096 saveCharPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1); 00097 } 00098 00099 /** \brief Saves 16-bit grayscale cloud as image to PNG file. 00100 * \param[in] file_name the name of the file to write to disk 00101 * \param[in] cloud point cloud to save 00102 * \ingroup io 00103 */ 00104 00105 void 00106 savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud) 00107 { 00108 saveShortPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1); 00109 } 00110 00111 /** \brief Saves RGB fields of cloud as image to PNG file. 00112 * \param[in] file_name the name of the file to write to disk 00113 * \param[in] cloud point cloud to save 00114 * \ingroup io 00115 */ 00116 template <typename T> void 00117 savePNGFile (const std::string& file_name, const pcl::PointCloud<T>& cloud) 00118 { 00119 std::vector<unsigned char> data(cloud.width * cloud.height * 3); 00120 00121 for (size_t i = 0; i < cloud.points.size (); ++i) 00122 { 00123 data[i*3 + 0] = cloud.points[i].r; 00124 data[i*3 + 1] = cloud.points[i].g; 00125 data[i*3 + 2] = cloud.points[i].b; 00126 } 00127 saveRgbPNGFile(file_name, &data[0], cloud.width, cloud.height); 00128 } 00129 00130 /** \brief Saves Labeled Point cloud as image to PNG file. 00131 * \param[in] file_name the name of the file to write to disk 00132 * \param[in] cloud point cloud to save 00133 * \ingroup io 00134 * Warning: Converts to 16 bit (for png), labels using more than 16 bits will cause problems 00135 */ 00136 void 00137 savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud) 00138 { 00139 std::vector<unsigned short> data(cloud.width * cloud.height); 00140 00141 for (size_t i = 0; i < cloud.points.size (); ++i) 00142 { 00143 data[i] = static_cast<unsigned short> (cloud.points[i].label); 00144 } 00145 saveShortPNGFile(file_name, &data[0], cloud.width, cloud.height,1); 00146 } 00147 } 00148 } 00149 00150 #endif //#ifndef PCL_IO_PNG_IO_H_