PCLPointCloudObject.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/PCLPointCloudObject.h              **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter, Patrick Nobou                     **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#ifndef ICL_HAVE_PCL
#warning "this header must not be included without ICL_HAVE_PCL defined"
#endif

#include <ICLGeom/PointCloudObjectBase.h>
#include <ICLGeom/PCLIncludes.h>

namespace pcl{
  template<class PCLPointType> class PointCloud;
}
namespace icl{
  namespace geom{


    template<class PCLPointType>
    class PCLPointCloudObject : public PointCloudObjectBase{
      pcl::PointCloud<PCLPointType> *m_pcl; 
      bool m_ownPCL;                        

      typedef PCLPointType Entry;


      int offset(FeatureType) const;

      inline icl8u* data();

      inline const icl8u* data() const;

      template<class T, int N, FeatureType t>
      inline core::DataSegment<T,N> createSegment();

      void deletePCL();

      public:

#if 0
      // this is right now deactivated due to an extra dependency to libpcl_io
      // which always depends on openni


      PCLPointCloudObject(const std::string &filename="");
#endif

      PCLPointCloudObject(int width, int height = -1, const PCLPointType &init=PCLPointType());

      PCLPointCloudObject(const PCLPointCloudObject<PCLPointType> &other);


      PCLPointCloudObject<PCLPointType> &operator=(const PCLPointCloudObject<PCLPointType> &other);

      PCLPointCloudObject(const pcl::PointCloud<PCLPointType> &cloud);

      PCLPointCloudObject(pcl::PointCloud<PCLPointType> &cloud, bool deepCopy=true);

      ~PCLPointCloudObject();

      pcl::PointCloud<PCLPointType> &pcl() ;

      const pcl::PointCloud<PCLPointType> &pcl() const ;

      void setPCL(const pcl::PointCloud<PCLPointType> &pcl);

      void setPCL(pcl::PointCloud<PCLPointType> &pcl, bool deepCopy = true);

      virtual bool supports(FeatureType t) const;

      virtual bool isOrganized() const;

      virtual utils::Size getSize() const ;

      virtual int getDim() const;


      virtual void setSize(const utils::Size &size);

      bool isNull() const;

      // well known fields
      virtual core::DataSegment<float,1> selectIntensity();
      virtual core::DataSegment<icl32s,1> selectLabel();
      virtual core::DataSegment<icl8u,3> selectBGR();
      virtual core::DataSegment<icl8u,4> selectBGRA();
      virtual core::DataSegment<icl32s,1> selectBGRA32s();

      virtual core::DataSegment<float,3> selectXYZ();
      virtual core::DataSegment<float,4> selectXYZH();
      virtual core::DataSegment<float,4> selectNormal();
      virtual core::DataSegment<float,4> selectRGBA32f();


      virtual core::DataSegmentBase select(const std::string &featureName);

      virtual PCLPointCloudObject<PCLPointType> *copy() const;

    };

  } // namespace geom
}