Fawkes API  Fawkes Development Version
pcl_adapter.h
1 
2 /***************************************************************************
3  * pcl_adapter.h - Thread to exchange point clouds
4  *
5  * Created: Tue Nov 08 00:36:10 2011
6  * Copyright 2011-2014 Tim Niemueller [www.niemueller.de]
7  * 2012 Bastian Klingen
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _LIBS_PCL_UTILS_PCL_ADAPTER_H_
24 #define _LIBS_PCL_UTILS_PCL_ADAPTER_H_
25 
26 #include <utils/time/time.h>
27 
28 #include <map>
29 #include <stdint.h>
30 #include <string>
31 #include <vector>
32 
33 namespace fawkes {
34 class PointCloudManager;
35 class Logger;
36 } // namespace fawkes
37 
39 {
40 public:
41  /** Information about the data fields. */
43  {
44  public:
45  std::string name; ///< Name of field
46  uint32_t offset; ///< Offset from start of point struct
47  uint8_t datatype; ///< Datatype enumeration see above
48  uint32_t count; ///< How many elements in field
49 
50  /** Constructor for pre-allocation. */
52  {
53  }
54  /** Constructor.
55  * @param name field name
56  * @param offset data offset
57  * @param datatype data type ID, see sensor_msgs::PointField
58  * @param count number of data entries
59  */
60  PointFieldInfo(std::string name, uint32_t offset, uint8_t datatype, uint32_t count)
62  {
63  }
64  };
65  /** Vector of PointFieldInfo. */
66  typedef std::vector<PointFieldInfo> V_PointFieldInfo;
67 
70 
71  void get_info(const std::string &id,
72  unsigned int & width,
73  unsigned int & height,
74  std::string & frame_id,
75  bool & is_dense,
76  V_PointFieldInfo & pfi);
77 
78  void get_data(const std::string &id,
79  std::string & frame_id,
80  unsigned int & width,
81  unsigned int & height,
82  fawkes::Time & time,
83  void ** data_ptr,
84  size_t & point_size,
85  size_t & num_points);
86 
87  void get_data_and_info(const std::string &id,
88  std::string & frame_id,
89  bool & is_dense,
90  unsigned int & width,
91  unsigned int & height,
92  fawkes::Time & time,
93  V_PointFieldInfo & pfi,
94  void ** data_ptr,
95  size_t & point_size,
96  size_t & num_points);
97 
98  void close(const std::string &id);
99 
100 private:
101  fawkes::PointCloudManager *pcl_manager_;
102 
103  class StorageAdapter;
104  std::map<std::string, StorageAdapter *> sas_;
105 };
106 
107 #endif
PointCloudAdapter::V_PointFieldInfo
std::vector< PointFieldInfo > V_PointFieldInfo
Vector of PointFieldInfo.
Definition: pcl_adapter.h:66
PointCloudAdapter::PointFieldInfo
Information about the data fields.
Definition: pcl_adapter.h:43
PointCloudAdapter::PointFieldInfo::datatype
uint8_t datatype
Datatype enumeration see above.
Definition: pcl_adapter.h:47
PointCloudAdapter::PointFieldInfo::PointFieldInfo
PointFieldInfo(std::string name, uint32_t offset, uint8_t datatype, uint32_t count)
Constructor.
Definition: pcl_adapter.h:60
PointCloudAdapter::PointFieldInfo::name
std::string name
Name of field.
Definition: pcl_adapter.h:45
PointCloudAdapter::PointFieldInfo::offset
uint32_t offset
Offset from start of point struct.
Definition: pcl_adapter.h:46
fawkes::PointCloudManager
Point Cloud manager.
Definition: pointcloud_manager.h:47
PointCloudAdapter::close
void close(const std::string &id)
Close an adapter.
Definition: pcl_adapter.cpp:238
PointCloudAdapter::PointFieldInfo::PointFieldInfo
PointFieldInfo()
Constructor for pre-allocation.
Definition: pcl_adapter.h:51
PointCloudAdapter::PointCloudAdapter
PointCloudAdapter(fawkes::PointCloudManager *pcl_manager, fawkes::Logger *logger)
Constructor.
Definition: pcl_adapter.cpp:75
fawkes::Logger
Interface for logging.
Definition: logger.h:42
fawkes
Fawkes library namespace.
PointCloudAdapter::get_data_and_info
void get_data_and_info(const std::string &id, std::string &frame_id, bool &is_dense, unsigned int &width, unsigned int &height, fawkes::Time &time, V_PointFieldInfo &pfi, void **data_ptr, size_t &point_size, size_t &num_points)
Get data and info of point cloud.
Definition: pcl_adapter.cpp:219
fawkes::Time
A class for handling time.
Definition: time.h:93
PointCloudAdapter
Point cloud adapter class.
Definition: pcl_adapter.h:39
PointCloudAdapter::PointFieldInfo::count
uint32_t count
How many elements in field.
Definition: pcl_adapter.h:48
PointCloudAdapter::get_data
void get_data(const std::string &id, std::string &frame_id, unsigned int &width, unsigned int &height, fawkes::Time &time, void **data_ptr, size_t &point_size, size_t &num_points)
Get current data of point cloud.
Definition: pcl_adapter.cpp:183
PointCloudAdapter::get_info
void get_info(const std::string &id, unsigned int &width, unsigned int &height, std::string &frame_id, bool &is_dense, V_PointFieldInfo &pfi)
Get info about point cloud.
Definition: pcl_adapter.cpp:141
PointCloudAdapter::~PointCloudAdapter
~PointCloudAdapter()
Destructor.
Definition: pcl_adapter.cpp:81