color_handler.h

/*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Willow Garage, Inc.
*  All rights reserved.
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*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
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*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
 
#pragma once
 
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/point_cloud_handlers.h>
 
namespace pcl
{
  namespace visualization
  {
    template <typename PointT>
    class PointCloudColorHandlerRGBHack : public PointCloudColorHandler<PointT>
    {
      using PointCloudColorHandler<PointT>::capable_;
      using PointCloudColorHandler<PointT>::cloud_;
 
      using PointCloudConstPtr = typename PointCloudColorHandler<PointT>::PointCloud::ConstPtr;
      using RgbCloudConstPtr = pcl::PointCloud<RGB>::ConstPtr;
 
    public:
      using Ptr = shared_ptr<PointCloudColorHandlerRGBHack<PointT> >;
      using ConstPtr = shared_ptr<const PointCloudColorHandlerRGBHack<PointT> >;
      
      PointCloudColorHandlerRGBHack (const PointCloudConstPtr& cloud, const RgbCloudConstPtr& colors) : 
          PointCloudColorHandler<PointT> (cloud), rgb_ (colors)
      {
        capable_ = true;
      }
            
      vtkSmartPointer<vtkDataArray>
      getColor () const override
      {
        if (!capable_)
          return nullptr;
      
        auto scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
        scalars->SetNumberOfComponents (3);
        
        vtkIdType nr_points = static_cast<vtkIdType>(cloud_->size ());
        reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
        unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
        
        // Color every point
        if (nr_points != static_cast<vtkIdType>(rgb_->size ()))
          std::fill_n(colors, nr_points * 3, (unsigned char)0xFF);
        else
          for (vtkIdType cp = 0; cp < nr_points; ++cp)
          {
            int idx = cp * 3;
            colors[idx + 0] = (*rgb_)[cp].r;
            colors[idx + 1] = (*rgb_)[cp].g;
            colors[idx + 2] = (*rgb_)[cp].b;
          }
        return scalars;
      }
    
    private:
      std::string getFieldName () const override { return ("rgb"); }    
      inline std::string getName () const override { return ("PointCloudColorHandlerRGBHack"); }
      RgbCloudConstPtr rgb_;    
    };
  }
}