Point Cloud Library (PCL)  1.9.1-dev
cloud_iterator.h
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38 
39 #pragma once
40 
41 #include <pcl/point_cloud.h>
42 #include <pcl/PointIndices.h>
43 #include <pcl/correspondence.h>
44 
45 namespace pcl
46 {
47  /** \brief Iterator class for point clouds with or without given indices
48  * \author Suat Gedikli
49  */
50  template <typename PointT>
52  {
53  public:
55 
56  CloudIterator (PointCloud<PointT>& cloud, const std::vector<int>& indices);
57 
58  CloudIterator (PointCloud<PointT>& cloud, const PointIndices& indices);
59 
60  CloudIterator (PointCloud<PointT>& cloud, const Correspondences& corrs, bool source);
61 
62  ~CloudIterator ();
63 
64  void operator ++ ();
65 
66  void operator ++ (int);
67 
68  PointT& operator* () const;
69 
70  PointT* operator-> () const;
71 
72  unsigned getCurrentPointIndex () const;
73 
74  unsigned getCurrentIndex () const;
75 
76  /** \brief Size of the range the iterator is going through. Depending on how the CloudIterator was constructed this is the size of the cloud or indices/correspondences. */
77  std::size_t size () const;
78 
79  void reset ();
80 
81  bool isValid () const;
82 
83  operator bool () const
84  {
85  return isValid ();
86  }
87  private:
88 
89  class Iterator
90  {
91  public:
92  virtual ~Iterator () {}
93 
94  virtual void operator ++ () = 0;
95 
96  virtual void operator ++ (int) = 0;
97 
98  virtual PointT& operator* () const = 0;
99 
100  virtual PointT* operator-> () const = 0;
101 
102  virtual unsigned getCurrentPointIndex () const = 0;
103 
104  virtual unsigned getCurrentIndex () const = 0;
105 
106  /** \brief Size of the range the iterator is going through. Depending on how the CloudIterator was constructed this is the size of the cloud or indices/correspondences. */
107  virtual std::size_t size () const = 0;
108 
109  virtual void reset () = 0;
110 
111  virtual bool isValid () const = 0;
112  };
113  Iterator* iterator_;
114  };
115 
116  /** \brief Iterator class for point clouds with or without given indices
117  * \author Suat Gedikli
118  */
119  template <typename PointT>
121  {
122  public:
123  ConstCloudIterator (const PointCloud<PointT>& cloud);
124 
125  ConstCloudIterator (const PointCloud<PointT>& cloud, const std::vector<int>& indices);
126 
127  ConstCloudIterator (const PointCloud<PointT>& cloud, const PointIndices& indices);
128 
129  ConstCloudIterator (const PointCloud<PointT>& cloud, const Correspondences& corrs, bool source);
130 
131  ~ConstCloudIterator ();
132 
133  void operator ++ ();
134 
135  void operator ++ (int);
136 
137  const PointT& operator* () const;
138 
139  const PointT* operator-> () const;
140 
141  unsigned getCurrentPointIndex () const;
142 
143  unsigned getCurrentIndex () const;
144 
145  /** \brief Size of the range the iterator is going through. Depending on how the ConstCloudIterator was constructed this is the size of the cloud or indices/correspondences. */
146  std::size_t size () const;
147 
148  void reset ();
149 
150  bool isValid () const;
151 
152  operator bool () const
153  {
154  return isValid ();
155  }
156  private:
157 
158  class Iterator
159  {
160  public:
161  virtual ~Iterator () {}
162 
163  virtual void operator ++ () = 0;
164 
165  virtual void operator ++ (int) = 0;
166 
167  virtual const PointT& operator* () const = 0;
168 
169  virtual const PointT* operator-> () const = 0;
170 
171  virtual unsigned getCurrentPointIndex () const = 0;
172 
173  virtual unsigned getCurrentIndex () const = 0;
174 
175  /** \brief Size of the range the iterator is going through. Depending on how the ConstCloudIterator was constructed this is the size of the cloud or indices/correspondences. */
176  virtual std::size_t size () const = 0;
177 
178  virtual void reset () = 0;
179 
180  virtual bool isValid () const = 0;
181  };
182 
183  class DefaultConstIterator;
184  class ConstIteratorIdx;
185  Iterator* iterator_;
186  };
187 
188 } // namespace pcl
189 
190 #include <pcl/impl/cloud_iterator.hpp>
CloudIterator(PointCloud< PointT > &cloud)
Iterator class for point clouds with or without given indices.
Iterator class for point clouds with or without given indices.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
PointT & operator*() const
unsigned getCurrentPointIndex() const
PointT * operator->() const
PointCloud represents the base class in PCL for storing collections of 3D points. ...
std::size_t size() const
Size of the range the iterator is going through.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
A point structure representing Euclidean xyz coordinates, and the RGB color.
unsigned getCurrentIndex() const