pclFunctions.h

/* ********************************************************************
    itom software
    URL: http://www.uni-stuttgart.de/ito
    Copyright (C) 2020, Institut fuer Technische Optik (ITO),
    Universitaet Stuttgart, Germany

    This file is part of itom and its software development toolkit (SDK).

    itom is free software; you can redistribute it and/or modify it
    under the terms of the GNU Library General Public Licence as published by
    the Free Software Foundation; either version 2 of the Licence, or (at
    your option) any later version.
   
    In addition, as a special exception, the Institut fuer Technische
    Optik (ITO) gives you certain additional rights.
    These rights are described in the ITO LGPL Exception version 1.0,
    which can be found in the file LGPL_EXCEPTION.txt in this package.

    itom is distributed in the hope that it will be useful, but
    WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Library
    General Public Licence for more details.

    You should have received a copy of the GNU Library General Public License
    along with itom. If not, see <http://www.gnu.org/licenses/>.
*********************************************************************** */

#ifndef PCLFUNCTIONS_H
#define PCLFUNCTIONS_H

#include "pclDefines.h"
#include "pclStructures.h"

#include "../common/sharedStructures.h"

namespace ito 
{

class DataObject; //forward declaration

namespace pclHelper
{
    void POINTCLOUD_EXPORT PointXYZRGBtoXYZRGBA (const pcl::PointXYZRGB& in, pcl::PointXYZRGBA&  out);
    void POINTCLOUD_EXPORT PointXYZRGBAtoXYZRGB (const pcl::PointXYZRGBA& in, pcl::PointXYZRGB&  out);
    void POINTCLOUD_EXPORT PointCloudXYZRGBtoXYZRGBA(const pcl::PointCloud<pcl::PointXYZRGB>& in, pcl::PointCloud<pcl::PointXYZRGBA>& out);

#if PCL_VERSION_COMPARE(>=,1,7,0)
    ito::RetVal POINTCLOUD_EXPORT pointCloud2ToPCLPointCloud(const pcl::PCLPointCloud2 &msg, PCLPointCloud *pc);
    ito::RetVal POINTCLOUD_EXPORT pclPointCloudToPointCloud2(const PCLPointCloud &pc, pcl::PCLPointCloud2 &msg);
    ito::tPCLPointType POINTCLOUD_EXPORT guessPointType(const pcl::PCLPointCloud2 &msg);
#else
    ito::RetVal POINTCLOUD_EXPORT pointCloud2ToPCLPointCloud(const sensor_msgs::PointCloud2 &msg, PCLPointCloud *pc);
    ito::RetVal POINTCLOUD_EXPORT pclPointCloudToPointCloud2(const PCLPointCloud &pc, sensor_msgs::PointCloud2 &msg);
    ito::tPCLPointType POINTCLOUD_EXPORT guessPointType(const sensor_msgs::PointCloud2 &msg);
#endif

    ito::RetVal POINTCLOUD_EXPORT normalsAtCogFromPolygonMesh(const PCLPolygonMesh &mesh, PCLPointCloud &out, const std::vector<int> &indices = std::vector<int>());

    ito::RetVal POINTCLOUD_EXPORT pointCloudFromXYZ(const DataObject* mapX, const DataObject* mapY, const DataObject* mapZ, PCLPointCloud &out, bool deleteNaNorInf = false);
    ito::RetVal POINTCLOUD_EXPORT pointCloudFromXYZI(const DataObject* mapX, const DataObject* mapY, const DataObject* mapZ, const DataObject* mapI, PCLPointCloud &out, bool deleteNaNorInf = false);
    ito::RetVal POINTCLOUD_EXPORT pointCloudFromXYZRGBA(const DataObject* mapX, const DataObject* mapY, const DataObject* mapZ, const DataObject* mapColor, PCLPointCloud &out, bool deleteNaNorInf = false);
    ito::RetVal POINTCLOUD_EXPORT pointCloudFromDisparity(const DataObject* mapDisp, PCLPointCloud &out, bool deleteNaNorInf = false);
    ito::RetVal POINTCLOUD_EXPORT pointCloudFromDisparityI(const DataObject* mapDisp, const DataObject *mapI, PCLPointCloud &out, bool deleteNaNorInf = false);
    ito::RetVal POINTCLOUD_EXPORT pointCloudFromDisparityRGBA(const DataObject* mapDisp, const DataObject *mapColor, PCLPointCloud &out, bool deleteNaNorInf = false);

    ito::RetVal POINTCLOUD_EXPORT pointCloudToDObj(const PCLPointCloud *pc, DataObject &out);

    ito::RetVal POINTCLOUD_EXPORT dataObj4x4ToEigenAffine3f(const DataObject *in, Eigen::Affine3f &out);
    ito::RetVal POINTCLOUD_EXPORT eigenAffine3fToDataObj4x4(const Eigen::Affine3f *in, DataObject &out);

} //end namespace pclHelper

} //end namespace ito

#endif