Point Cloud Library (PCL)
1.3.1
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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 Willow Garage, Inc. 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: io.h 2413 2011-09-07 07:01:00Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_COMMON_IO_H_ 00041 #define PCL_COMMON_IO_H_ 00042 00043 #include <string> 00044 #include <boost/fusion/sequence/intrinsic/at_key.hpp> 00045 #include "pcl/pcl_base.h" 00046 #include "pcl/PointIndices.h" 00047 #include "pcl/ros/conversions.h" 00048 #include <locale> 00049 00050 namespace pcl 00051 { 00057 inline int 00058 getFieldIndex (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name) 00059 { 00060 // Get the index we need 00061 for (size_t d = 0; d < cloud.fields.size (); ++d) 00062 if (cloud.fields[d].name == field_name) 00063 return ((int) d); 00064 return (-1); 00065 } 00066 00073 template <typename PointT> inline int 00074 getFieldIndex (const pcl::PointCloud<PointT> &cloud, const std::string &field_name, 00075 std::vector<sensor_msgs::PointField> &fields); 00076 00082 template <typename PointT> inline void 00083 getFields (const pcl::PointCloud<PointT> &cloud, std::vector<sensor_msgs::PointField> &fields); 00084 00089 template <typename PointT> inline std::string 00090 getFieldsList (const pcl::PointCloud<PointT> &cloud); 00091 00096 inline std::string 00097 getFieldsList (const sensor_msgs::PointCloud2 &cloud) 00098 { 00099 std::string result; 00100 for (size_t i = 0; i < cloud.fields.size () - 1; ++i) 00101 result += cloud.fields[i].name + " "; 00102 result += cloud.fields[cloud.fields.size () - 1].name; 00103 return (result); 00104 } 00105 00110 inline int 00111 getFieldSize (const int datatype) 00112 { 00113 switch (datatype) 00114 { 00115 case sensor_msgs::PointField::INT8: 00116 case sensor_msgs::PointField::UINT8: 00117 return (1); 00118 00119 case sensor_msgs::PointField::INT16: 00120 case sensor_msgs::PointField::UINT16: 00121 return (2); 00122 00123 case sensor_msgs::PointField::INT32: 00124 case sensor_msgs::PointField::UINT32: 00125 case sensor_msgs::PointField::FLOAT32: 00126 return (4); 00127 00128 case sensor_msgs::PointField::FLOAT64: 00129 return (8); 00130 00131 default: 00132 return (0); 00133 } 00134 } 00135 00140 PCL_EXPORTS void 00141 getFieldsSizes (const std::vector<sensor_msgs::PointField> &fields, 00142 std::vector<int> &field_sizes); 00143 00149 inline int 00150 getFieldType (const int size, char type) 00151 { 00152 type = std::toupper (type, std::locale::classic ()); 00153 switch (size) 00154 { 00155 case 1: 00156 if (type == 'I') 00157 return (sensor_msgs::PointField::INT8); 00158 if (type == 'U') 00159 return (sensor_msgs::PointField::UINT8); 00160 00161 case 2: 00162 if (type == 'I') 00163 return (sensor_msgs::PointField::INT16); 00164 if (type == 'U') 00165 return (sensor_msgs::PointField::UINT16); 00166 00167 case 4: 00168 if (type == 'I') 00169 return (sensor_msgs::PointField::INT32); 00170 if (type == 'U') 00171 return (sensor_msgs::PointField::UINT32); 00172 if (type == 'F') 00173 return (sensor_msgs::PointField::FLOAT32); 00174 00175 case 8: 00176 return (sensor_msgs::PointField::FLOAT64); 00177 00178 default: 00179 return (-1); 00180 } 00181 } 00182 00187 inline char 00188 getFieldType (const int type) 00189 { 00190 switch (type) 00191 { 00192 case sensor_msgs::PointField::INT8: 00193 case sensor_msgs::PointField::INT16: 00194 case sensor_msgs::PointField::INT32: 00195 return ('I'); 00196 00197 case sensor_msgs::PointField::UINT8: 00198 case sensor_msgs::PointField::UINT16: 00199 case sensor_msgs::PointField::UINT32: 00200 return ('U'); 00201 00202 case sensor_msgs::PointField::FLOAT32: 00203 case sensor_msgs::PointField::FLOAT64: 00204 return ('F'); 00205 default: 00206 return ('?'); 00207 } 00208 } 00209 00215 template <typename PointInT, typename PointOutT> void 00216 copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 00217 pcl::PointCloud<PointOutT> &cloud_out); 00218 00226 PCL_EXPORTS bool 00227 concatenatePointCloud (const sensor_msgs::PointCloud2 &cloud1, 00228 const sensor_msgs::PointCloud2 &cloud2, 00229 sensor_msgs::PointCloud2 &cloud_out); 00230 00237 PCL_EXPORTS void 00238 copyPointCloud (const sensor_msgs::PointCloud2 &cloud_in, 00239 const std::vector<int> &indices, 00240 sensor_msgs::PointCloud2 &cloud_out); 00241 00248 template <typename PointT> void 00249 copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00250 const std::vector<int> &indices, 00251 pcl::PointCloud<PointT> &cloud_out); 00258 template <typename PointT> void 00259 copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00260 const std::vector<int, Eigen::aligned_allocator<int> > &indices, 00261 pcl::PointCloud<PointT> &cloud_out); 00262 00269 template <typename PointInT, typename PointOutT> void 00270 copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 00271 const std::vector<int> &indices, 00272 pcl::PointCloud<PointOutT> &cloud_out); 00273 00280 template <typename PointInT, typename PointOutT> void 00281 copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 00282 const std::vector<int, Eigen::aligned_allocator<int> > &indices, 00283 pcl::PointCloud<PointOutT> &cloud_out); 00284 00291 template <typename PointT> void 00292 copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00293 const PointIndices &indices, 00294 pcl::PointCloud<PointT> &cloud_out); 00295 00302 template <typename PointInT, typename PointOutT> void 00303 copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 00304 const PointIndices &indices, 00305 pcl::PointCloud<PointOutT> &cloud_out); 00306 00313 template <typename PointT> void 00314 copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, 00315 const std::vector<pcl::PointIndices> &indices, 00316 pcl::PointCloud<PointT> &cloud_out); 00317 00324 template <typename PointInT, typename PointOutT> void 00325 copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in, 00326 const std::vector<pcl::PointIndices> &indices, 00327 pcl::PointCloud<PointOutT> &cloud_out); 00328 00340 template <typename PointIn1T, typename PointIn2T, typename PointOutT> void 00341 concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in, 00342 const pcl::PointCloud<PointIn2T> &cloud2_in, 00343 pcl::PointCloud<PointOutT> &cloud_out); 00344 00356 PCL_EXPORTS bool 00357 concatenateFields (const sensor_msgs::PointCloud2 &cloud1_in, 00358 const sensor_msgs::PointCloud2 &cloud2_in, 00359 sensor_msgs::PointCloud2 &cloud_out); 00360 00366 PCL_EXPORTS bool 00367 getPointCloudAsEigen (const sensor_msgs::PointCloud2 &in, Eigen::MatrixXf &out); 00368 00375 PCL_EXPORTS bool 00376 getEigenAsPointCloud (Eigen::MatrixXf &in, sensor_msgs::PointCloud2 &out); 00377 00378 namespace io 00379 { 00384 template <std::size_t N> void 00385 swapByte (char* bytes); 00386 00390 template <> inline void 00391 swapByte<1> (char* bytes) {} 00392 00393 00397 template <> inline void 00398 swapByte<2> (char* bytes) { std::swap (bytes[0], bytes[1]); } 00399 00403 template <> inline void 00404 swapByte<4> (char* bytes) 00405 { 00406 std::swap (bytes[0], bytes[3]); 00407 std::swap (bytes[1], bytes[2]); 00408 } 00409 00413 template <> inline void 00414 swapByte<8> (char* bytes) 00415 { 00416 std::swap (bytes[0], bytes[7]); 00417 std::swap (bytes[1], bytes[6]); 00418 std::swap (bytes[2], bytes[5]); 00419 std::swap (bytes[3], bytes[4]); 00420 } 00421 00425 template <typename T> void 00426 swapByte (T& value) 00427 { 00428 pcl::io::swapByte<sizeof(T)> (reinterpret_cast<char*> (&value)); 00429 } 00430 } 00431 } 00432 00433 #include "pcl/common/impl/io.hpp" 00434 00435 #endif //#ifndef PCL_COMMON_IO_H_ 00436