Point Cloud Library (PCL)  1.8.0
color_handler.h
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #ifndef COLOR_HANDLER_H_
38 #define COLOR_HANDLER_H_
39 
40 #include <pcl/point_types.h>
41 #include <pcl/point_cloud.h>
42 #include <pcl/visualization/point_cloud_handlers.h>
43 
44 namespace pcl
45 {
46  namespace visualization
47  {
48  template <typename PointT>
50  {
53 
54  typedef typename PointCloudColorHandler<PointT>::PointCloud::ConstPtr PointCloudConstPtr;
55  typedef typename pcl::PointCloud<RGB>::ConstPtr RgbCloudConstPtr;
56 
57  public:
58  typedef boost::shared_ptr<PointCloudColorHandlerRGBHack<PointT> > Ptr;
59  typedef boost::shared_ptr<const PointCloudColorHandlerRGBHack<PointT> > ConstPtr;
60 
61  PointCloudColorHandlerRGBHack (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors) :
62  PointCloudColorHandler<PointT> (cloud), rgb_ (colors)
63  {
64  capable_ = true;
65  }
66 
67  virtual bool
69  {
70  if (!capable_)
71  return (false);
72 
73  if (!scalars)
75  scalars->SetNumberOfComponents (3);
76 
77  vtkIdType nr_points = (int)cloud_->points.size ();
78  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
79  unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
80 
81  // Color every point
82  if (nr_points != (int)rgb_->points.size ())
83  std::fill(colors, colors + nr_points * 3, (unsigned char)0xFF);
84  else
85  for (vtkIdType cp = 0; cp < nr_points; ++cp)
86  {
87  int idx = cp * 3;
88  colors[idx + 0] = rgb_->points[cp].r;
89  colors[idx + 1] = rgb_->points[cp].g;
90  colors[idx + 2] = rgb_->points[cp].b;
91  }
92  return (true);
93  }
94 
95  private:
96  virtual std::string getFieldName () const { return ("rgb"); }
97  virtual inline std::string getName () const { return ("PointCloudColorHandlerRGBHack"); }
98  RgbCloudConstPtr rgb_;
99  };
100  }
101 }
102 
103 
104 #endif /* COLOR_HANDLER_H_ */
boost::shared_ptr< PointCloudColorHandlerRGBHack< PointT > > Ptr
Definition: color_handler.h:58
Base Handler class for PointCloud colors.
PointCloudColorHandlerRGBHack(const PointCloudConstPtr &cloud, const RgbCloudConstPtr &colors)
Definition: color_handler.h:61
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
virtual bool getColor(vtkSmartPointer< vtkDataArray > &scalars) const
Obtain the actual color for the input dataset as vtk scalars.
Definition: color_handler.h:68
boost::shared_ptr< const PointCloudColorHandlerRGBHack< PointT > > ConstPtr
Definition: color_handler.h:59
PointCloudConstPtr cloud_
A pointer to the input dataset.
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool capable_
True if this handler is capable of handling the input data, false otherwise.