/usr/include/sensor_msgs/impl/point_cloud2_iterator.h is in libsensor-msgs-dev 1.12.5-2.
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#ifndef SENSOR_MSGS_IMPL_POINT_CLOUD_ITERATOR_H
#define SENSOR_MSGS_IMPL_POINT_CLOUD_ITERATOR_H
#include <sensor_msgs/PointCloud2.h>
#include <cstdarg>
#include <string>
#include <vector>
/**
* \brief Private implementation used by PointCloud2Iterator
* \author Vincent Rabaud
*/
namespace
{
/** Return the size of a datatype (which is an enum of sensor_msgs::PointField::) in bytes
* @param datatype one of the enums of sensor_msgs::PointField::
*/
inline int sizeOfPointField(int datatype)
{
if ((datatype == sensor_msgs::PointField::INT8) || (datatype == sensor_msgs::PointField::UINT8))
return 1;
else if ((datatype == sensor_msgs::PointField::INT16) || (datatype == sensor_msgs::PointField::UINT16))
return 2;
else if ((datatype == sensor_msgs::PointField::INT32) || (datatype == sensor_msgs::PointField::UINT32) ||
(datatype == sensor_msgs::PointField::FLOAT32))
return 4;
else if (datatype == sensor_msgs::PointField::FLOAT64)
return 8;
else
{
std::stringstream err;
err << "PointField of type " << datatype << " does not exist";
throw std::runtime_error(err.str());
}
return -1;
}
/** Private function that adds a PointField to the "fields" member of a PointCloud2
* @param cloud_msg the PointCloud2 to add a field to
* @param name the name of the field
* @param count the number of elements in the PointField
* @param datatype the datatype of the elements
* @param offset the offset of that element
* @return the offset of the next PointField that will be added to the PointCLoud2
*/
inline int addPointField(sensor_msgs::PointCloud2 &cloud_msg, const std::string &name, int count, int datatype,
int offset)
{
sensor_msgs::PointField point_field;
point_field.name = name;
point_field.count = count;
point_field.datatype = datatype;
point_field.offset = offset;
cloud_msg.fields.push_back(point_field);
// Update the offset
return offset + point_field.count * sizeOfPointField(datatype);
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
namespace sensor_msgs
{
inline PointCloud2Modifier::PointCloud2Modifier(PointCloud2& cloud_msg) : cloud_msg_(cloud_msg)
{
}
inline size_t PointCloud2Modifier::size() const
{
return cloud_msg_.data.size() / cloud_msg_.point_step;
}
inline void PointCloud2Modifier::reserve(size_t size)
{
cloud_msg_.data.reserve(size * cloud_msg_.point_step);
}
inline void PointCloud2Modifier::resize(size_t size)
{
cloud_msg_.data.resize(size * cloud_msg_.point_step);
// Update height/width
if (cloud_msg_.height == 1) {
cloud_msg_.width = size;
cloud_msg_.row_step = size * cloud_msg_.point_step;
} else
if (cloud_msg_.width == 1)
cloud_msg_.height = size;
else {
cloud_msg_.height = 1;
cloud_msg_.width = size;
cloud_msg_.row_step = size * cloud_msg_.point_step;
}
}
inline void PointCloud2Modifier::clear()
{
cloud_msg_.data.clear();
// Update height/width
if (cloud_msg_.height == 1)
cloud_msg_.row_step = cloud_msg_.width = 0;
else
if (cloud_msg_.width == 1)
cloud_msg_.height = 0;
else
cloud_msg_.row_step = cloud_msg_.width = cloud_msg_.height = 0;
}
/**
* @brief Function setting some fields in a PointCloud and adjusting the
* internals of the PointCloud2
* @param n_fields the number of fields to add. The fields are given as
* triplets: name of the field as char*, number of elements in the
* field, the datatype of the elements in the field
*
* E.g, you create your PointCloud2 message with XYZ/RGB as follows:
* <PRE>
* setPointCloud2FieldsByString(cloud_msg, 4, "x", 1, sensor_msgs::PointField::FLOAT32,
* "y", 1, sensor_msgs::PointField::FLOAT32,
* "z", 1, sensor_msgs::PointField::FLOAT32,
* "rgb", 1, sensor_msgs::PointField::FLOAT32);
* </PRE>
* WARNING: THIS DOES NOT TAKE INTO ACCOUNT ANY PADDING AS DONE UNTIL HYDRO
* For simple usual cases, the overloaded setPointCloud2FieldsByString is what you want.
*/
inline void PointCloud2Modifier::setPointCloud2Fields(int n_fields, ...)
{
cloud_msg_.fields.clear();
cloud_msg_.fields.reserve(n_fields);
va_list vl;
va_start(vl, n_fields);
int offset = 0;
for (int i = 0; i < n_fields; ++i) {
// Create the corresponding PointField
std::string name(va_arg(vl, char*));
int count(va_arg(vl, int));
int datatype(va_arg(vl, int));
offset = addPointField(cloud_msg_, name, count, datatype, offset);
}
va_end(vl);
// Resize the point cloud accordingly
cloud_msg_.point_step = offset;
cloud_msg_.row_step = cloud_msg_.width * cloud_msg_.point_step;
cloud_msg_.data.resize(cloud_msg_.height * cloud_msg_.row_step);
}
/**
* @brief Function setting some fields in a PointCloud and adjusting the
* internals of the PointCloud2
* @param n_fields the number of fields to add. The fields are given as
* strings: "xyz" (3 floats), "rgb" (3 uchar stacked in a float),
* "rgba" (4 uchar stacked in a float)
* @return void
*
* WARNING: THIS FUNCTION DOES ADD ANY NECESSARY PADDING TRANSPARENTLY
*/
inline void PointCloud2Modifier::setPointCloud2FieldsByString(int n_fields, ...)
{
cloud_msg_.fields.clear();
cloud_msg_.fields.reserve(n_fields);
va_list vl;
va_start(vl, n_fields);
int offset = 0;
for (int i = 0; i < n_fields; ++i) {
// Create the corresponding PointFields
std::string
field_name = std::string(va_arg(vl, char*));
if (field_name == "xyz") {
sensor_msgs::PointField point_field;
// Do x, y and z
offset = addPointField(cloud_msg_, "x", 1, sensor_msgs::PointField::FLOAT32, offset);
offset = addPointField(cloud_msg_, "y", 1, sensor_msgs::PointField::FLOAT32, offset);
offset = addPointField(cloud_msg_, "z", 1, sensor_msgs::PointField::FLOAT32, offset);
offset += sizeOfPointField(sensor_msgs::PointField::FLOAT32);
} else
if ((field_name == "rgb") || (field_name == "rgba")) {
offset = addPointField(cloud_msg_, field_name, 1, sensor_msgs::PointField::FLOAT32, offset);
offset += 3 * sizeOfPointField(sensor_msgs::PointField::FLOAT32);
} else
throw std::runtime_error("Field " + field_name + " does not exist");
}
va_end(vl);
// Resize the point cloud accordingly
cloud_msg_.point_step = offset;
cloud_msg_.row_step = cloud_msg_.width * cloud_msg_.point_step;
cloud_msg_.data.resize(cloud_msg_.height * cloud_msg_.row_step);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
namespace impl
{
/**
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
PointCloud2IteratorBase<T, TT, U, C, V>::PointCloud2IteratorBase() : data_char_(0), data_(0), data_end_(0)
{
}
/**
* @param cloud_msg_ The PointCloud2 to iterate upon
* @param field_name The field to iterate upon
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
PointCloud2IteratorBase<T, TT, U, C, V>::PointCloud2IteratorBase(C &cloud_msg, const std::string &field_name)
{
int offset = set_field(cloud_msg, field_name);
data_char_ = &(cloud_msg.data.front()) + offset;
data_ = reinterpret_cast<TT*>(data_char_);
data_end_ = reinterpret_cast<TT*>(&(cloud_msg.data.back()) + 1 + offset);
}
/** Assignment operator
* @param iter the iterator to copy data from
* @return a reference to *this
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
V<T>& PointCloud2IteratorBase<T, TT, U, C, V>::operator =(const V<T> &iter)
{
if (this != &iter)
{
point_step_ = iter.point_step_;
data_char_ = iter.data_char_;
data_ = iter.data_;
data_end_ = iter.data_end_;
is_bigendian_ = iter.is_bigendian_;
}
return *this;
}
/** Access the i th element starting at the current pointer (useful when a field has several elements of the same
* type)
* @param i
* @return a reference to the i^th value from the current position
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
TT& PointCloud2IteratorBase<T, TT, U, C, V>::operator [](size_t i) const
{
return *(data_ + i);
}
/** Dereference the iterator. Equivalent to accessing it through [0]
* @return the value to which the iterator is pointing
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
TT& PointCloud2IteratorBase<T, TT, U, C, V>::operator *() const
{
return *data_;
}
/** Increase the iterator to the next element
* @return a reference to the updated iterator
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
V<T>& PointCloud2IteratorBase<T, TT, U, C, V>::operator ++()
{
data_char_ += point_step_;
data_ = reinterpret_cast<TT*>(data_char_);
return *static_cast<V<T>*>(this);
}
/** Basic pointer addition
* @param i the amount to increase the iterator by
* @return an iterator with an increased position
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
V<T> PointCloud2IteratorBase<T, TT, U, C, V>::operator +(int i)
{
V<T> res = *static_cast<V<T>*>(this);
res.data_char_ += i*point_step_;
res.data_ = reinterpret_cast<TT*>(res.data_char_);
return res;
}
/** Increase the iterator by a certain amount
* @return a reference to the updated iterator
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
V<T>& PointCloud2IteratorBase<T, TT, U, C, V>::operator +=(int i)
{
data_char_ += i*point_step_;
data_ = reinterpret_cast<TT*>(data_char_);
return *static_cast<V<T>*>(this);
}
/** Compare to another iterator
* @return whether the current iterator points to a different address than the other one
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
bool PointCloud2IteratorBase<T, TT, U, C, V>::operator !=(const V<T>& iter) const
{
return iter.data_ != data_;
}
/** Return the end iterator
* @return the end iterator (useful when performing normal iterator processing with ++)
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
V<T> PointCloud2IteratorBase<T, TT, U, C, V>::end() const
{
V<T> res = *static_cast<const V<T>*>(this);
res.data_ = data_end_;
return res;
}
/** Common code to set the field of the PointCloud2
* @param cloud_msg the PointCloud2 to modify
* @param field_name the name of the field to iterate upon
* @return the offset at which the field is found
*/
template<typename T, typename TT, typename U, typename C, template <typename> class V>
int PointCloud2IteratorBase<T, TT, U, C, V>::set_field(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name)
{
is_bigendian_ = cloud_msg.is_bigendian;
point_step_ = cloud_msg.point_step;
// make sure the channel is valid
std::vector<sensor_msgs::PointField>::const_iterator field_iter = cloud_msg.fields.begin(), field_end =
cloud_msg.fields.end();
while ((field_iter != field_end) && (field_iter->name != field_name))
++field_iter;
if (field_iter == field_end) {
// Handle the special case of r,g,b,a (we assume they are understood as the channels of an rgb or rgba field)
if ((field_name == "r") || (field_name == "g") || (field_name == "b") || (field_name == "a"))
{
// Check that rgb or rgba is present
field_iter = cloud_msg.fields.begin();
while ((field_iter != field_end) && (field_iter->name != "rgb") && (field_iter->name != "rgba"))
++field_iter;
if (field_iter == field_end)
throw std::runtime_error("Field " + field_name + " does not exist");
if (field_name == "r")
{
if (is_bigendian_)
return field_iter->offset + 1;
else
return field_iter->offset + 2;
}
if (field_name == "g")
{
if (is_bigendian_)
return field_iter->offset + 2;
else
return field_iter->offset + 1;
}
if (field_name == "b")
{
if (is_bigendian_)
return field_iter->offset + 3;
else
return field_iter->offset + 0;
}
if (field_name == "a")
{
if (is_bigendian_)
return field_iter->offset + 0;
else
return field_iter->offset + 3;
}
} else
throw std::runtime_error("Field " + field_name + " does not exist");
}
return field_iter->offset;
}
}
}
#endif// SENSOR_MSGS_IMPL_POINT_CLOUD_ITERATOR_H
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