cloud_iterator.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*
*/
#ifndef PCL_POINT_CLOUD_ITERATOR_H_
#define PCL_POINT_CLOUD_ITERATOR_H_
#include <pcl/point_cloud.h>
#include <pcl/PointIndices.h>
#include <pcl/correspondence.h>
namespace pcl
{
/** \brief Iterator class for point clouds with or without given indices
* \author Suat Gedikli
*/
template <typename PointT>
class CloudIterator
{
public:
CloudIterator (PointCloud<PointT>& cloud);
CloudIterator (PointCloud<PointT>& cloud, const std::vector<int>& indices);
CloudIterator (PointCloud<PointT>& cloud, const PointIndices& indices);
CloudIterator (PointCloud<PointT>& cloud, const Correspondences& corrs, bool source);
~CloudIterator ();
void operator ++ ();
void operator ++ (int);
PointT& operator* () const;
PointT* operator-> () const;
unsigned getCurrentPointIndex () const;
unsigned getCurrentIndex () const;
/** \brief Size of the range the iterator is going through. Depending on how the CloudIterator was constructed this is the size of the cloud or indices/correspondences. */
size_t size () const;
void reset ();
bool isValid () const;
operator bool () const
{
return isValid ();
}
private:
class Iterator
{
public:
virtual ~Iterator () {}
virtual void operator ++ () = 0;
virtual void operator ++ (int) = 0;
virtual PointT& operator* () const = 0;
virtual PointT* operator-> () const = 0;
virtual unsigned getCurrentPointIndex () const = 0;
virtual unsigned getCurrentIndex () const = 0;
/** \brief Size of the range the iterator is going through. Depending on how the CloudIterator was constructed this is the size of the cloud or indices/correspondences. */
virtual size_t size () const = 0;
virtual void reset () = 0;
virtual bool isValid () const = 0;
};
Iterator* iterator_;
};
/** \brief Iterator class for point clouds with or without given indices
* \author Suat Gedikli
*/
template <typename PointT>
class ConstCloudIterator
{
public:
ConstCloudIterator (const PointCloud<PointT>& cloud);
ConstCloudIterator (const PointCloud<PointT>& cloud, const std::vector<int>& indices);
ConstCloudIterator (const PointCloud<PointT>& cloud, const PointIndices& indices);
ConstCloudIterator (const PointCloud<PointT>& cloud, const Correspondences& corrs, bool source);
~ConstCloudIterator ();
void operator ++ ();
void operator ++ (int);
const PointT& operator* () const;
const PointT* operator-> () const;
unsigned getCurrentPointIndex () const;
unsigned getCurrentIndex () const;
/** \brief Size of the range the iterator is going through. Depending on how the ConstCloudIterator was constructed this is the size of the cloud or indices/correspondences. */
size_t size () const;
void reset ();
bool isValid () const;
operator bool () const
{
return isValid ();
}
private:
class Iterator
{
public:
virtual ~Iterator () {}
virtual void operator ++ () = 0;
virtual void operator ++ (int) = 0;
virtual const PointT& operator* () const = 0;
virtual const PointT* operator-> () const = 0;
virtual unsigned getCurrentPointIndex () const = 0;
virtual unsigned getCurrentIndex () const = 0;
/** \brief Size of the range the iterator is going through. Depending on how the ConstCloudIterator was constructed this is the size of the cloud or indices/correspondences. */
virtual size_t size () const = 0;
virtual void reset () = 0;
virtual bool isValid () const = 0;
};
class DefaultConstIterator;
class ConstIteratorIdx;
Iterator* iterator_;
};
} // namespace pcl
#include <pcl/impl/cloud_iterator.hpp>
#endif // PCL_POINT_CLOUD_ITERATOR_H_
pcl::CloudIterator::CloudIterator
CloudIterator(PointCloud< PointT > &cloud)
Definition: cloud_iterator.hpp:331
pcl::ConstCloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:121
pcl::CloudIterator
Iterator class for point clouds with or without given indices.
Definition: cloud_iterator.h:52
pcl
Definition: cloud_iterator.h:46
pcl::CloudIterator::~CloudIterator
~CloudIterator()
Definition: cloud_iterator.hpp:374
pcl::CloudIterator::reset
void reset()
Definition: cloud_iterator.hpp:430
pcl::CloudIterator::size
size_t size() const
Size of the range the iterator is going through.
Definition: cloud_iterator.hpp:423
pcl::CloudIterator::isValid
bool isValid() const
Definition: cloud_iterator.hpp:437
pcl::PointIndices
Definition: PointIndices.h:12
pcl::ConstCloudIterator::DefaultConstIterator
Definition: cloud_iterator.hpp:190
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:92
pcl::CloudIterator::getCurrentIndex
unsigned getCurrentIndex() const
Definition: cloud_iterator.hpp:416
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::ConstCloudIterator::ConstIteratorIdx
Definition: cloud_iterator.hpp:256
pcl::CloudIterator::operator->
PointT * operator->() const
Definition: cloud_iterator.hpp:402
pcl::CloudIterator::operator++
void operator++()
Definition: cloud_iterator.hpp:381
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:594
pcl::CloudIterator::operator*
PointT & operator*() const
Definition: cloud_iterator.hpp:395
pcl::CloudIterator::getCurrentPointIndex
unsigned getCurrentPointIndex() const
Definition: cloud_iterator.hpp:409