Point Cloud Library (PCL) 1.12.0
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color_handler.h
1/*
2* Software License Agreement (BSD License)
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4* Copyright (c) 2011, Willow Garage, Inc.
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21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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34* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35*/
36
37#pragma once
38
39#include <pcl/point_types.h>
40#include <pcl/point_cloud.h>
41#include <pcl/visualization/point_cloud_handlers.h>
42
43namespace pcl
44{
45 namespace visualization
46 {
47 template <typename PointT>
49 {
52
53 using PointCloudConstPtr = typename PointCloudColorHandler<PointT>::PointCloud::ConstPtr;
54 using RgbCloudConstPtr = pcl::PointCloud<RGB>::ConstPtr;
55
56 public:
57 using Ptr = shared_ptr<PointCloudColorHandlerRGBHack<PointT> >;
58 using ConstPtr = shared_ptr<const PointCloudColorHandlerRGBHack<PointT> >;
59
60 PointCloudColorHandlerRGBHack (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors) :
61 PointCloudColorHandler<PointT> (cloud), rgb_ (colors)
62 {
63 capable_ = true;
64 }
65
67 getColor () const override
68 {
69 if (!capable_)
70 return nullptr;
71
73 scalars->SetNumberOfComponents (3);
74
75 vtkIdType nr_points = static_cast<vtkIdType>(cloud_->size ());
76 reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
77 unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
78
79 // Color every point
80 if (nr_points != static_cast<vtkIdType>(rgb_->size ()))
81 std::fill(colors, colors + nr_points * 3, (unsigned char)0xFF);
82 else
83 for (vtkIdType cp = 0; cp < nr_points; ++cp)
84 {
85 int idx = cp * 3;
86 colors[idx + 0] = (*rgb_)[cp].r;
87 colors[idx + 1] = (*rgb_)[cp].g;
88 colors[idx + 2] = (*rgb_)[cp].b;
89 }
90 return scalars;
91 }
92
93 private:
94 std::string getFieldName () const override { return ("rgb"); }
95 inline std::string getName () const override { return ("PointCloudColorHandlerRGBHack"); }
96 RgbCloudConstPtr rgb_;
97 };
98 }
99}
shared_ptr< const PointCloud< PointT > > ConstPtr
Base Handler class for PointCloud colors.
bool capable_
True if this handler is capable of handling the input data, false otherwise.
PointCloudConstPtr cloud_
A pointer to the input dataset.
vtkSmartPointer< vtkDataArray > getColor() const override
Obtain the actual color for the input dataset as a VTK data array.
shared_ptr< const PointCloudColorHandlerRGBHack< PointT > > ConstPtr
shared_ptr< PointCloudColorHandlerRGBHack< PointT > > Ptr
PointCloudColorHandlerRGBHack(const PointCloudConstPtr &cloud, const RgbCloudConstPtr &colors)
Defines all the PCL implemented PointT point type structures.
A point structure representing Euclidean xyz coordinates, and the RGB color.