Point Cloud Library (PCL)  1.10.0-dev
color_handler.h
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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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 
43 namespace 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:
59 
60  PointCloudColorHandlerRGBHack (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors) :
61  PointCloudColorHandler<PointT> (cloud), rgb_ (colors)
62  {
63  capable_ = true;
64  }
65 
66  bool
67  getColor (vtkSmartPointer<vtkDataArray> &scalars) const override
68  {
69  if (!capable_)
70  return (false);
71 
72  if (!scalars)
74  scalars->SetNumberOfComponents (3);
75 
76  vtkIdType nr_points = (int)cloud_->points.size ();
77  reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
78  unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
79 
80  // Color every point
81  if (nr_points != (int)rgb_->points.size ())
82  std::fill(colors, colors + nr_points * 3, (unsigned char)0xFF);
83  else
84  for (vtkIdType cp = 0; cp < nr_points; ++cp)
85  {
86  int idx = cp * 3;
87  colors[idx + 0] = rgb_->points[cp].r;
88  colors[idx + 1] = rgb_->points[cp].g;
89  colors[idx + 2] = rgb_->points[cp].b;
90  }
91  return (true);
92  }
93 
94  private:
95  std::string getFieldName () const override { return ("rgb"); }
96  inline std::string getName () const override { return ("PointCloudColorHandlerRGBHack"); }
97  RgbCloudConstPtr rgb_;
98  };
99  }
100 }
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Base Handler class for PointCloud colors.
Defines all the PCL implemented PointT point type structures.
bool getColor(vtkSmartPointer< vtkDataArray > &scalars) const override
Obtain the actual color for the input dataset as a VTK data array.
Definition: color_handler.h:67
PointCloudColorHandlerRGBHack(const PointCloudConstPtr &cloud, const RgbCloudConstPtr &colors)
Definition: color_handler.h:60
shared_ptr< const PointCloudColorHandlerRGBHack< PointT > > ConstPtr
Definition: color_handler.h:58
PointCloudConstPtr cloud_
A pointer to the input dataset.
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:416
A point structure representing Euclidean xyz coordinates, and the RGB color.
bool capable_
True if this handler is capable of handling the input data, false otherwise.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
shared_ptr< PointCloudColorHandlerRGBHack< PointT > > Ptr
Definition: color_handler.h:57