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point_cloud_handlers.h
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39 #ifndef PCL_POINT_CLOUD_HANDLERS_H_
40 #define PCL_POINT_CLOUD_HANDLERS_H_
41 
42 #include <pcl/visualization/common/common.h>
43 // PCL includes
44 #include <pcl/point_types.h>
45 #include <pcl/point_cloud.h>
46 #include <pcl/common/io.h>
47 // VTK includes
48 #include <pcl/visualization/vtk.h>
49 
50 namespace pcl
51 {
52  namespace visualization
53  {
57  template <typename PointT>
58  class PointCloudGeometryHandler
59  {
60  public:
61  typedef pcl::PointCloud<PointT> PointCloud;
62  typedef typename PointCloud::Ptr PointCloudPtr;
63  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
64 
65  typedef typename boost::shared_ptr<PointCloudGeometryHandler<PointT> > Ptr;
66  typedef typename boost::shared_ptr<const PointCloudGeometryHandler<PointT> > ConstPtr;
67 
69  PointCloudGeometryHandler (const PointCloudConstPtr &cloud) :
70  cloud_ (cloud), capable_ (false),
71  field_x_idx_ (-1), field_y_idx_ (-1), field_z_idx_ (-1),
72  fields_ ()
73  {}
74 
76  virtual ~PointCloudGeometryHandler () {}
77 
81  virtual std::string
82  getName () const = 0;
83 
85  virtual std::string
86  getFieldName () const = 0;
87 
89  inline bool
90  isCapable () const { return (capable_); }
91 
95  virtual void
96  getGeometry (vtkSmartPointer<vtkPoints> &points) const = 0;
97 
98  protected:
100  PointCloudConstPtr cloud_;
101 
105  bool capable_;
106 
108  int field_x_idx_;
109 
111  int field_y_idx_;
112 
114  int field_z_idx_;
115 
117  std::vector<sensor_msgs::PointField> fields_;
118  };
119 
121 
125  template <typename PointT>
126  class PointCloudGeometryHandlerXYZ : public PointCloudGeometryHandler<PointT>
127  {
128  public:
129  typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
130  typedef typename PointCloud::Ptr PointCloudPtr;
131  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
132 
133  typedef typename boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointT> > Ptr;
134  typedef typename boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointT> > ConstPtr;
135 
137  PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);
138 
140  virtual ~PointCloudGeometryHandlerXYZ () {};
141 
143  virtual inline std::string
144  getName () const { return ("PointCloudGeometryHandlerXYZ"); }
145 
147  virtual std::string
148  getFieldName () const { return ("xyz"); }
149 
153  virtual void
154  getGeometry (vtkSmartPointer<vtkPoints> &points) const;
155 
156  private:
157  // Members derived from the base class
158  using PointCloudGeometryHandler<PointT>::cloud_;
159  using PointCloudGeometryHandler<PointT>::capable_;
160  using PointCloudGeometryHandler<PointT>::field_x_idx_;
161  using PointCloudGeometryHandler<PointT>::field_y_idx_;
162  using PointCloudGeometryHandler<PointT>::field_z_idx_;
163  using PointCloudGeometryHandler<PointT>::fields_;
164  };
165 
167 
172  template <typename PointT>
173  class PointCloudGeometryHandlerSurfaceNormal : public PointCloudGeometryHandler<PointT>
174  {
175  public:
176  typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
177  typedef typename PointCloud::Ptr PointCloudPtr;
178  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
179 
180  typedef typename boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointT> > Ptr;
181  typedef typename boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointT> > ConstPtr;
182 
184  PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);
185 
187  virtual inline std::string
188  getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
189 
191  virtual std::string
192  getFieldName () const { return ("normal_xyz"); }
193 
197  virtual void
198  getGeometry (vtkSmartPointer<vtkPoints> &points) const;
199 
200  private:
201  // Members derived from the base class
202  using PointCloudGeometryHandler<PointT>::cloud_;
203  using PointCloudGeometryHandler<PointT>::capable_;
204  using PointCloudGeometryHandler<PointT>::field_x_idx_;
205  using PointCloudGeometryHandler<PointT>::field_y_idx_;
206  using PointCloudGeometryHandler<PointT>::field_z_idx_;
207  using PointCloudGeometryHandler<PointT>::fields_;
208  };
209 
211 
216  template <typename PointT>
217  class PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler<PointT>
218  {
219  public:
220  typedef typename PointCloudGeometryHandler<PointT>::PointCloud PointCloud;
221  typedef typename PointCloud::Ptr PointCloudPtr;
222  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
223 
224  typedef typename boost::shared_ptr<PointCloudGeometryHandlerCustom<PointT> > Ptr;
225  typedef typename boost::shared_ptr<const PointCloudGeometryHandlerCustom<PointT> > ConstPtr;
226 
228  PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
229  const std::string &x_field_name,
230  const std::string &y_field_name,
231  const std::string &z_field_name);
232 
234  virtual inline std::string
235  getName () const { return ("PointCloudGeometryHandlerCustom"); }
236 
238  virtual std::string
239  getFieldName () const { return (field_name_); }
240 
244  virtual void
245  getGeometry (vtkSmartPointer<vtkPoints> &points) const;
246 
247  private:
248  // Members derived from the base class
249  using PointCloudGeometryHandler<PointT>::cloud_;
250  using PointCloudGeometryHandler<PointT>::capable_;
251  using PointCloudGeometryHandler<PointT>::field_x_idx_;
252  using PointCloudGeometryHandler<PointT>::field_y_idx_;
253  using PointCloudGeometryHandler<PointT>::field_z_idx_;
254  using PointCloudGeometryHandler<PointT>::fields_;
255 
257  std::string field_name_;
258  };
259 
261 
264  template <>
265  class PCL_EXPORTS PointCloudGeometryHandler<sensor_msgs::PointCloud2>
266  {
267  public:
268  typedef sensor_msgs::PointCloud2 PointCloud;
269  typedef PointCloud::Ptr PointCloudPtr;
270  typedef PointCloud::ConstPtr PointCloudConstPtr;
271 
272  typedef boost::shared_ptr<PointCloudGeometryHandler<PointCloud> > Ptr;
273  typedef boost::shared_ptr<const PointCloudGeometryHandler<PointCloud> > ConstPtr;
274 
276  PointCloudGeometryHandler (const PointCloudConstPtr &cloud, const Eigen::Vector4f &sensor_origin = Eigen::Vector4f::Zero ())
277  : cloud_ (cloud)
278  , capable_ (false)
279  {
280  fields_ = cloud_->fields;
281  }
282 
284  virtual std::string
285  getName () const = 0;
286 
288  virtual std::string
289  getFieldName () const = 0;
290 
292  inline bool
293  isCapable () const { return (capable_); }
294 
298  virtual void
299  getGeometry (vtkSmartPointer<vtkPoints> &points) const;
300 
301  protected:
303  PointCloudConstPtr cloud_;
304 
308  bool capable_;
309 
311  int field_x_idx_;
312 
314  int field_y_idx_;
315 
317  int field_z_idx_;
318 
320  std::vector<sensor_msgs::PointField> fields_;
321  };
322 
324 
328  template <>
329  class PCL_EXPORTS PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
330  {
331  public:
332  typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
333  typedef PointCloud::Ptr PointCloudPtr;
334  typedef PointCloud::ConstPtr PointCloudConstPtr;
335 
336  typedef boost::shared_ptr<PointCloudGeometryHandlerXYZ<PointCloud> > Ptr;
337  typedef boost::shared_ptr<const PointCloudGeometryHandlerXYZ<PointCloud> > ConstPtr;
338 
340  PointCloudGeometryHandlerXYZ (const PointCloudConstPtr &cloud);
341 
343  virtual ~PointCloudGeometryHandlerXYZ () {}
344 
346  virtual inline
347  std::string getName () const { return ("PointCloudGeometryHandlerXYZ"); }
348 
350  virtual std::string
351  getFieldName () const { return ("xyz"); }
352  };
353 
355 
360  template <>
361  class PCL_EXPORTS PointCloudGeometryHandlerSurfaceNormal<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
362  {
363  public:
364  typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
365  typedef PointCloud::Ptr PointCloudPtr;
366  typedef PointCloud::ConstPtr PointCloudConstPtr;
367 
368  typedef boost::shared_ptr<PointCloudGeometryHandlerSurfaceNormal<PointCloud> > Ptr;
369  typedef boost::shared_ptr<const PointCloudGeometryHandlerSurfaceNormal<PointCloud> > ConstPtr;
370 
372  PointCloudGeometryHandlerSurfaceNormal (const PointCloudConstPtr &cloud);
373 
375  virtual inline std::string
376  getName () const { return ("PointCloudGeometryHandlerSurfaceNormal"); }
377 
379  virtual std::string
380  getFieldName () const { return ("normal_xyz"); }
381  };
382 
384 
389  template <>
390  class PCL_EXPORTS PointCloudGeometryHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudGeometryHandler<sensor_msgs::PointCloud2>
391  {
392  public:
393  typedef PointCloudGeometryHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
394  typedef PointCloud::Ptr PointCloudPtr;
395  typedef PointCloud::ConstPtr PointCloudConstPtr;
396 
398  PointCloudGeometryHandlerCustom (const PointCloudConstPtr &cloud,
399  const std::string &x_field_name,
400  const std::string &y_field_name,
401  const std::string &z_field_name);
402 
404  virtual ~PointCloudGeometryHandlerCustom () {}
405 
407  virtual inline std::string
408  getName () const { return ("PointCloudGeometryHandlerCustom"); }
409 
411  virtual std::string
412  getFieldName () const { return (field_name_); }
413 
414  private:
416  std::string field_name_;
417  };
418 
420 
423  template <typename PointT>
424  class PointCloudColorHandler
425  {
426  public:
427  typedef pcl::PointCloud<PointT> PointCloud;
428  typedef typename PointCloud::Ptr PointCloudPtr;
429  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
430 
431  typedef boost::shared_ptr<PointCloudColorHandler<PointT> > Ptr;
432  typedef boost::shared_ptr<const PointCloudColorHandler<PointT> > ConstPtr;
433 
435  PointCloudColorHandler (const PointCloudConstPtr &cloud) :
436  cloud_ (cloud), capable_ (false), field_idx_ (-1), fields_ ()
437  {}
438 
440  virtual ~PointCloudColorHandler () {}
441 
443  inline bool
444  isCapable () const { return (capable_); }
445 
447  virtual std::string
448  getName () const = 0;
449 
451  virtual std::string
452  getFieldName () const = 0;
453 
457  virtual void
458  getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;
459 
460  protected:
462  PointCloudConstPtr cloud_;
463 
467  bool capable_;
468 
470  int field_idx_;
471 
473  std::vector<sensor_msgs::PointField> fields_;
474  };
475 
477 
480  template <typename PointT>
481  class PointCloudColorHandlerRandom : public PointCloudColorHandler<PointT>
482  {
483  typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
484  typedef typename PointCloud::Ptr PointCloudPtr;
485  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
486 
487  public:
488  typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointT> > Ptr;
489  typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointT> > ConstPtr;
490 
492  PointCloudColorHandlerRandom (const PointCloudConstPtr &cloud) :
493  PointCloudColorHandler<PointT> (cloud)
494  {
495  capable_ = true;
496  }
497 
499  virtual inline std::string
500  getName () const { return ("PointCloudColorHandlerRandom"); }
501 
503  virtual std::string
504  getFieldName () const { return ("[random]"); }
505 
509  virtual void
510  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
511 
512  protected:
513  // Members derived from the base class
514  using PointCloudColorHandler<PointT>::cloud_;
515  using PointCloudColorHandler<PointT>::capable_;
516  };
517 
519 
523  template <typename PointT>
524  class PointCloudColorHandlerCustom : public PointCloudColorHandler<PointT>
525  {
526  typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
527  typedef typename PointCloud::Ptr PointCloudPtr;
528  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
529 
530  public:
531  typedef boost::shared_ptr<PointCloudColorHandlerCustom<PointT> > Ptr;
532  typedef boost::shared_ptr<const PointCloudColorHandlerCustom<PointT> > ConstPtr;
533 
535  PointCloudColorHandlerCustom (const PointCloudConstPtr &cloud,
536  double r, double g, double b)
537  : PointCloudColorHandler<PointT> (cloud)
538  , r_ (r)
539  , g_ (g)
540  , b_ (b)
541  {
542  capable_ = true;
543  }
544 
546  virtual ~PointCloudColorHandlerCustom () {};
547 
549  virtual inline std::string
550  getName () const { return ("PointCloudColorHandlerCustom"); }
551 
553  virtual std::string
554  getFieldName () const { return (""); }
555 
559  virtual void
560  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
561 
562  protected:
563  // Members derived from the base class
564  using PointCloudColorHandler<PointT>::cloud_;
565  using PointCloudColorHandler<PointT>::capable_;
566 
568  double r_, g_, b_;
569  };
570 
572 
576  template <typename PointT>
577  class PointCloudColorHandlerRGBField : public PointCloudColorHandler<PointT>
578  {
579  typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
580  typedef typename PointCloud::Ptr PointCloudPtr;
581  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
582 
583  public:
584  typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointT> > Ptr;
585  typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointT> > ConstPtr;
586 
588  PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud);
589 
591  virtual ~PointCloudColorHandlerRGBField () {}
592 
594  virtual std::string
595  getFieldName () const { return ("rgb"); }
596 
600  virtual void
601  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
602 
603  protected:
605  virtual inline std::string
606  getName () const { return ("PointCloudColorHandlerRGBField"); }
607 
608  private:
609  // Members derived from the base class
610  using PointCloudColorHandler<PointT>::cloud_;
611  using PointCloudColorHandler<PointT>::capable_;
612  using PointCloudColorHandler<PointT>::field_idx_;
613  using PointCloudColorHandler<PointT>::fields_;
614  };
615 
617 
621  template <typename PointT>
622  class PointCloudColorHandlerHSVField : public PointCloudColorHandler<PointT>
623  {
624  typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
625  typedef typename PointCloud::Ptr PointCloudPtr;
626  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
627 
628  public:
629  typedef boost::shared_ptr<PointCloudColorHandlerHSVField<PointT> > Ptr;
630  typedef boost::shared_ptr<const PointCloudColorHandlerHSVField<PointT> > ConstPtr;
631 
633  PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud);
634 
636  virtual std::string
637  getFieldName () const { return ("hsv"); }
638 
642  virtual void
643  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
644 
645  protected:
647  virtual inline std::string
648  getName () const { return ("PointCloudColorHandlerHSVField"); }
649 
651  int s_field_idx_;
652 
654  int v_field_idx_;
655  private:
656  // Members derived from the base class
657  using PointCloudColorHandler<PointT>::cloud_;
658  using PointCloudColorHandler<PointT>::capable_;
659  using PointCloudColorHandler<PointT>::field_idx_;
660  using PointCloudColorHandler<PointT>::fields_;
661  };
662 
664 
668  template <typename PointT>
669  class PointCloudColorHandlerGenericField : public PointCloudColorHandler<PointT>
670  {
671  typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
672  typedef typename PointCloud::Ptr PointCloudPtr;
673  typedef typename PointCloud::ConstPtr PointCloudConstPtr;
674 
675  public:
676  typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointT> > Ptr;
677  typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointT> > ConstPtr;
678 
680  PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud,
681  const std::string &field_name);
682 
684  virtual ~PointCloudColorHandlerGenericField () {}
685 
687  virtual std::string getFieldName () const { return (field_name_); }
688 
692  virtual void
693  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
694 
695  protected:
697  virtual inline std::string
698  getName () const { return ("PointCloudColorHandlerGenericField"); }
699 
700  private:
701  using PointCloudColorHandler<PointT>::cloud_;
702  using PointCloudColorHandler<PointT>::capable_;
703  using PointCloudColorHandler<PointT>::field_idx_;
704  using PointCloudColorHandler<PointT>::fields_;
705 
707  std::string field_name_;
708  };
709 
711 
714  template <>
715  class PCL_EXPORTS PointCloudColorHandler<sensor_msgs::PointCloud2>
716  {
717  public:
718  typedef sensor_msgs::PointCloud2 PointCloud;
719  typedef PointCloud::Ptr PointCloudPtr;
720  typedef PointCloud::ConstPtr PointCloudConstPtr;
721 
722  typedef boost::shared_ptr<PointCloudColorHandler<PointCloud> > Ptr;
723  typedef boost::shared_ptr<const PointCloudColorHandler<PointCloud> > ConstPtr;
724 
726  PointCloudColorHandler (const PointCloudConstPtr &cloud) :
727  cloud_ (cloud), capable_ (false), field_idx_ ()
728  {}
729 
731  virtual ~PointCloudColorHandler () {}
732 
734  inline bool
735  isCapable () const { return (capable_); }
736 
738  virtual std::string
739  getName () const = 0;
740 
742  virtual std::string
743  getFieldName () const = 0;
744 
748  virtual void
749  getColor (vtkSmartPointer<vtkDataArray> &scalars) const = 0;
750 
751  protected:
753  PointCloudConstPtr cloud_;
754 
758  bool capable_;
759 
761  int field_idx_;
762  };
763 
765 
768  template <>
769  class PCL_EXPORTS PointCloudColorHandlerRandom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
770  {
771  typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
772  typedef PointCloud::Ptr PointCloudPtr;
773  typedef PointCloud::ConstPtr PointCloudConstPtr;
774 
775  public:
776  typedef boost::shared_ptr<PointCloudColorHandlerRandom<PointCloud> > Ptr;
777  typedef boost::shared_ptr<const PointCloudColorHandlerRandom<PointCloud> > ConstPtr;
778 
780  PointCloudColorHandlerRandom (const PointCloudConstPtr &cloud) :
781  PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud)
782  {
783  capable_ = true;
784  }
785 
787  virtual inline std::string
788  getName () const { return ("PointCloudColorHandlerRandom"); }
789 
791  virtual std::string
792  getFieldName () const { return ("[random]"); }
793 
797  virtual void
798  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
799  };
800 
802 
806  template <>
807  class PCL_EXPORTS PointCloudColorHandlerCustom<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
808  {
809  typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
810  typedef PointCloud::Ptr PointCloudPtr;
811  typedef PointCloud::ConstPtr PointCloudConstPtr;
812 
813  public:
815  PointCloudColorHandlerCustom (const PointCloudConstPtr &cloud,
816  double r, double g, double b) :
817  PointCloudColorHandler<sensor_msgs::PointCloud2> (cloud),
818  r_ (r), g_ (g), b_ (b)
819  {
820  capable_ = true;
821  }
822 
824  virtual inline std::string
825  getName () const { return ("PointCloudColorHandlerCustom"); }
826 
828  virtual std::string
829  getFieldName () const { return (""); }
830 
834  virtual void
835  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
836 
837  protected:
839  double r_, g_, b_;
840  };
841 
843 
847  template <>
848  class PCL_EXPORTS PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
849  {
850  typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
851  typedef PointCloud::Ptr PointCloudPtr;
852  typedef PointCloud::ConstPtr PointCloudConstPtr;
853 
854  public:
855  typedef boost::shared_ptr<PointCloudColorHandlerRGBField<PointCloud> > Ptr;
856  typedef boost::shared_ptr<const PointCloudColorHandlerRGBField<PointCloud> > ConstPtr;
857 
859  PointCloudColorHandlerRGBField (const PointCloudConstPtr &cloud);
860 
864  virtual void
865  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
866 
867  protected:
869  virtual inline std::string
870  getName () const { return ("PointCloudColorHandlerRGBField"); }
871 
873  virtual std::string
874  getFieldName () const { return ("rgb"); }
875  };
876 
878 
882  template <>
883  class PCL_EXPORTS PointCloudColorHandlerHSVField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
884  {
885  typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
886  typedef PointCloud::Ptr PointCloudPtr;
887  typedef PointCloud::ConstPtr PointCloudConstPtr;
888 
889  public:
890  typedef boost::shared_ptr<PointCloudColorHandlerHSVField<PointCloud> > Ptr;
891  typedef boost::shared_ptr<const PointCloudColorHandlerHSVField<PointCloud> > ConstPtr;
892 
894  PointCloudColorHandlerHSVField (const PointCloudConstPtr &cloud);
895 
899  virtual void
900  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
901 
902  protected:
904  virtual inline std::string
905  getName () const { return ("PointCloudColorHandlerHSVField"); }
906 
908  virtual std::string
909  getFieldName () const { return ("hsv"); }
910 
912  int s_field_idx_;
913 
915  int v_field_idx_;
916  };
917 
919 
923  template <>
924  class PCL_EXPORTS PointCloudColorHandlerGenericField<sensor_msgs::PointCloud2> : public PointCloudColorHandler<sensor_msgs::PointCloud2>
925  {
926  typedef PointCloudColorHandler<sensor_msgs::PointCloud2>::PointCloud PointCloud;
927  typedef PointCloud::Ptr PointCloudPtr;
928  typedef PointCloud::ConstPtr PointCloudConstPtr;
929 
930  public:
931  typedef boost::shared_ptr<PointCloudColorHandlerGenericField<PointCloud> > Ptr;
932  typedef boost::shared_ptr<const PointCloudColorHandlerGenericField<PointCloud> > ConstPtr;
933 
935  PointCloudColorHandlerGenericField (const PointCloudConstPtr &cloud,
936  const std::string &field_name);
937 
941  virtual void
942  getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
943 
944  protected:
946  virtual inline std::string
947  getName () const { return ("PointCloudColorHandlerGenericField"); }
948 
950  virtual std::string
951  getFieldName () const { return (field_name_); }
952 
953  private:
955  std::string field_name_;
956  };
957 
958  }
959 }
960 
961 #include <pcl/visualization/impl/point_cloud_handlers.hpp>
962 
963 #endif
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