PointCloudFormat.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_POINTCLOUDFORMAT_H_
#define _MIRA_POINTCLOUDFORMAT_H_

#include <vector>
#include <string>
#include <platform/Types.h>

#include <maps/MapsExports.h>

namespace mira { namespace maps {


class PCFormat;

class PCDataField
{
public:

    enum Type {
        INVALID = 0,
        // Use same type ids as PCL (point cloud library) to be compatible
        INT32   = 5,
        UINT32  = 6,
        FLOAT32 = 7,
        OTHER   = 0xFFFFFFFF
    };

public:

    PCDataField() : type(INVALID), count(0), offset(0), size(0) {}
    PCDataField(const std::string& iSemantic, Type iType, std::size_t iCount):
                semantic(iSemantic), type(iType), count(iCount) {}

public:

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Semantic", semantic, "The name/semantic of this field (e.g. 'x' for x-coordinate)");
        r.member("Type",   type, "The data type of the field");
        r.member("Count", count, "The number of repetitions of the above data type");
        r.member("Size",   size, "The total size of this field in bytes");
        // the offset will be set by PCFormat
    }

public:

    bool isValid() const { return type != INVALID; }

public:
    std::string semantic;
    Type        type;
    uint32 count;

    uint32 offset;
    uint32 size;
};

template <typename T>
struct PCDataFieldTypeTrait { static const PCDataField::Type type = PCDataField::OTHER; };

template <>
struct PCDataFieldTypeTrait<int32> { static const PCDataField::Type type = PCDataField::INT32; };

template <>
struct PCDataFieldTypeTrait<uint32> { static const PCDataField::Type type = PCDataField::UINT32; };

template <>
struct PCDataFieldTypeTrait<float> { static const PCDataField::Type type = PCDataField::FLOAT32; };


class MIRA_MAPPING_MAPS_EXPORT PCFormat
{
public:

    PCFormat() :
        size(0) {}

public:

    template <typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Fields", fields, "The data fields");
        if(!Reflector::isReadOnly::value)
            refreshFields();
    }

public:

    void addField(const std::string& semantic, PCDataField::Type type, std::size_t count);
    void addOtherField(const std::string& semantic, std::size_t size);

public:

    static const PCDataField nullfield;
    const PCDataField& getField(const std::string& semantic, PCDataField::Type type, uint32 count=1) const;

    bool hasField(const std::string& semantic, PCDataField::Type type, uint32 count=1) const;

public:

    std::vector<PCDataField> fields;
    uint32 size;

private:

    void refreshFields();

};


template <typename PointType>
inline PCFormat pointCloudFormat()
{
    // If you get a compiler error here you have neither defined
    // an intrusive "static PointCloudFormat::Format pointCloudFormat()" nor
    // specialized the template function "mira::pointCloudFormat()" for
    // the given point type.
    return PointType::pointCloudFormat(); // call intrusive static method to get format
}


}} // namespace

#endif /* _MIRA_POINTCLOUDFORMAT_H_ */