PointCloudTypes.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_POINTCLOUDTYPES_H_
#define _MIRA_POINTCLOUDTYPES_H_

#include <platform/Types.h>
#include <geometry/Point.h>

#include <maps/PointCloud.h>

namespace mira { namespace maps {


// nonintrusive pointCloudFormat methods for our geometry points

template <>
inline PCFormat pointCloudFormat<Point2f>()
{
    PCFormat fmt;
    fmt.addField("x",PCDataField::FLOAT32,1);
    fmt.addField("y",PCDataField::FLOAT32,1);
    return fmt;
}

template <>
inline PCFormat pointCloudFormat<Point3f>()
{
    PCFormat fmt;
    fmt.addField("x",PCDataField::FLOAT32,1);
    fmt.addField("y",PCDataField::FLOAT32,1);
    fmt.addField("z",PCDataField::FLOAT32,1);
    return fmt;
}

template <>
inline PCFormat pointCloudFormat<Eigen::Vector3f>()
{
    PCFormat fmt;
    fmt.addField("x",PCDataField::FLOAT32,1);
    fmt.addField("y",PCDataField::FLOAT32,1);
    fmt.addField("z",PCDataField::FLOAT32,1);
    return fmt;
}


typedef PointCloud<Point2f> PointCloud2;
typedef PointCloud<Point3f> PointCloud3;


class Point2rgb : public Point2f
{
public:

    uint32 rgb;

public:

    Point2rgb() : rgb(0) {}
    Point2rgb(const Point2f& p, uint32 iRgb) :
        Point2f(p), rgb(iRgb) {}

public:

    static PCFormat pointCloudFormat()
    {
        PCFormat fmt;
        fmt.addField("x",PCDataField::FLOAT32,1);
        fmt.addField("y",PCDataField::FLOAT32,1);
        fmt.addField("rgb",PCDataField::UINT32,1);
        return fmt;
    }
};

typedef PointCloud<Point2rgb> PointCloud2rgb;


class Point3rgb : public Point3f
{
public:

    uint32 rgb;

public:

    Point3rgb() : rgb(0) {}
    Point3rgb(const Point3f& p, uint32 iRgb) :
        Point3f(p), rgb(iRgb) {}

public:

    static PCFormat pointCloudFormat()
    {
        PCFormat fmt;
        fmt.addField("x",PCDataField::FLOAT32,1);
        fmt.addField("y",PCDataField::FLOAT32,1);
        fmt.addField("z",PCDataField::FLOAT32,1);
        fmt.addField("rgb",PCDataField::UINT32,1);
        return fmt;
    }
};

typedef PointCloud<Point3rgb> PointCloud3rgb;



union PCColor
{
    uint32 value;
    struct { uint8 r,g,b,a; };
};
static_assert(sizeof(PCColor)==sizeof(uint32), "PCColor should be 32 bit");

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


class Point3labeled : public Point3f
{
public:

    int label;

public:

    Point3labeled() : label(-1) {}
    Point3labeled(const Point3f& p, int iLabel) :
        Point3f(p), label(iLabel) {}

public:

    static PCFormat pointCloudFormat()
    {
        PCFormat fmt;
        fmt.addField("x",PCDataField::FLOAT32,1);
        fmt.addField("y",PCDataField::FLOAT32,1);
        fmt.addField("z",PCDataField::FLOAT32,1);
        fmt.addField("label",PCDataField::INT32,1);
        return fmt;
    }
};

typedef PointCloud<Point3labeled> PointCloud3labeled;


}} // namespace

#endif /* _MIRA_POINTCLOUD_H_ */