color_handler.h
/*
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* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef COLOR_HANDLER_H_
#define COLOR_HANDLER_H_
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/point_cloud_handlers.h>
namespace pcl
{
namespace visualization
{
template <typename PointT>
class PointCloudColorHandlerRGBHack : public PointCloudColorHandler<PointT>
{
using PointCloudColorHandler<PointT>::capable_;
using PointCloudColorHandler<PointT>::cloud_;
typedef typename PointCloudColorHandler<PointT>::PointCloud::ConstPtr PointCloudConstPtr;
typedef typename pcl::PointCloud<RGB>::ConstPtr RgbCloudConstPtr;
public:
typedef boost::shared_ptr<PointCloudColorHandlerRGBHack<PointT> > Ptr;
typedef boost::shared_ptr<const PointCloudColorHandlerRGBHack<PointT> > ConstPtr;
PointCloudColorHandlerRGBHack (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors) :
PointCloudColorHandler<PointT> (cloud), rgb_ (colors)
{
capable_ = true;
}
virtual bool
getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
if (!capable_)
return (false);
if (!scalars)
scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
scalars->SetNumberOfComponents (3);
vtkIdType nr_points = (int)cloud_->points.size ();
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
// Color every point
if (nr_points != (int)rgb_->points.size ())
std::fill(colors, colors + nr_points * 3, (unsigned char)0xFF);
else
for (vtkIdType cp = 0; cp < nr_points; ++cp)
{
int idx = cp * 3;
colors[idx + 0] = rgb_->points[cp].r;
colors[idx + 1] = rgb_->points[cp].g;
colors[idx + 2] = rgb_->points[cp].b;
}
return (true);
}
private:
virtual std::string getFieldName () const { return ("rgb"); }
virtual inline std::string getName () const { return ("PointCloudColorHandlerRGBHack"); }
RgbCloudConstPtr rgb_;
};
}
}
#endif /* COLOR_HANDLER_H_ */
vtkSmartPointer
Definition: actor_map.h:50
pcl
Definition: convolution.h:45
pcl::visualization::PointCloudColorHandlerRGBHack::Ptr
boost::shared_ptr< PointCloudColorHandlerRGBHack< PointT > > Ptr
Definition: color_handler.h:58
pcl::visualization::PointCloudColorHandler
Base Handler class for PointCloud colors.
Definition: point_cloud_color_handlers.h:64
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl::visualization::PointCloudColorHandlerRGBHack::PointCloudColorHandlerRGBHack
PointCloudColorHandlerRGBHack(const PointCloudConstPtr &cloud, const RgbCloudConstPtr &colors)
Definition: color_handler.h:61
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::visualization::PointCloudColorHandlerRGBHack
Definition: color_handler.h:49
pcl::visualization::PointCloudColorHandlerRGBHack::ConstPtr
boost::shared_ptr< const PointCloudColorHandlerRGBHack< PointT > > ConstPtr
Definition: color_handler.h:59
pcl::visualization::PointCloudColorHandler::cloud_
PointCloudConstPtr cloud_
A pointer to the input dataset.
Definition: point_cloud_color_handlers.h:118
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:606
pcl::visualization::PointCloudColorHandler::capable_
bool capable_
True if this handler is capable of handling the input data, false otherwise.
Definition: point_cloud_color_handlers.h:123
pcl::visualization::PointCloudColorHandlerRGBHack::getColor
virtual bool getColor(vtkSmartPointer< vtkDataArray > &scalars) const
Obtain the actual color for the input dataset as vtk scalars.
Definition: color_handler.h:68