Fawkes API
Fawkes Development Version
storage_adapter.cpp
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/***************************************************************************
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* storage_adapter.cpp - Utility to store differently typed point clouds in
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* common container.
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*
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* Created: Fri Nov 30 16:46:13 2012
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* Copyright 2011-2012 Tim Niemueller [www.niemueller.de]
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include <pcl_utils/storage_adapter.h>
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namespace
fawkes
{
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namespace
pcl_utils {
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/** @class StorageAdapter <pcl_utils/storage_adapter.h>
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* Adapter base class.
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* The adapter base class is required to store point clouds of
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* arbitrary point types.
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* @author Tim Niemueller
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*
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* @fn bool StorageAdapter::is_pointtype() const
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* Check if storage adapter is for specified point type.
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* @return true if storage adapter is for specified point type, false otherwise
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*
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* @fn template <PointT> PointCloudStorageAdapter<PointT> * StorageAdapter::as_pointtype() const
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* Transform to specific PointCloudStorageAdapter.
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* @return transformed PointCloudStorageAdapter
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* @exception Exception thrown if storage adapter is not of requested point type or does not exist
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*
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* @fn StorageAdapter * StorageAdapter::clone() const
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* Clone this storage adapter.
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* @return cloned copy
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*
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* @fn const char * StorageAdapter::get_typename()
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* Get typename of storage adapter.
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* @return type name
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*
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* @fn size_t StorageAdapter::point_size() const
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* Get size of a point.
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* @return size in bytes of a single point
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*
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* @fn unsigned int StorageAdapter::width() const
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* Get width of point cloud.
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* @return width of point cloud
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*
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* @fn unsigned int StorageAdapter::height() const
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* Get height of point cloud.
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* @return height of point cloud
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*
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* @fn size_t StorageAdapter::num_points() const
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* Get numer of points in point cloud.
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* @return number of points
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*
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* @fn void * StorageAdapter::data_ptr() const
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* Get pointer on data.
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* @return pointer on data
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*
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* @fn void StorageAdapter::get_time(fawkes::Time &time) const
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* Get last capture time.
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* @param time upon return contains last capture time
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*
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* @fn std::string & StorageAdapter::frame_id() const
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* Get frame ID of point cloud.
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* @return Frame ID of point cloud.
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*
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* @fn void StorageAdapter::transform(const std::string &target_frame, const tf::Transformer &transformer)
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* Transform point cloud.
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* @param target_frame frame to transform to
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* @param transformer transformer to get transform from
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*
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* @fn void StorageAdapter::transform(const std::string &target_frame, const Time &target_time, const std::string &fixed_frame, const tf::Transformer &transformer)
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* Transform point cloud.
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* @param target_frame frame to transform to
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* @param target_time time for which to transform
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* @param fixed_frame frame fixed over time
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* @param transformer transformer to get transform from
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*/
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/** @class PointCloudStorageAdapter <pcl_utils/storage_adapter.h>
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* Adapter class for PCL point types.
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* The adapter class is required to store point clouds of arbitrary point types.
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* @author Tim Niemueller
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*/
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}
// end namespace pcl_utils
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}
// end namespace fawkes
fawkes
Fawkes library namespace.
src
libs
pcl_utils
storage_adapter.cpp
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