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CPointCloudColoured.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT 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 General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef opengl_CPointCloudColoured_H
#define opengl_CPointCloudColoured_H

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/stl_extensions.h>

namespace mrpt
{
        namespace opengl
        {
                class OPENGL_IMPEXP CPointCloudColoured;

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CPointCloudColoured, CRenderizable, OPENGL_IMPEXP )


                /** A cloud of points, each one with an individual colour (R,G,B). The alpha component is shared by all the points and is stored in the base member m_color_A.
                  *
                  *  To load from a points-map, see mrpt::slam::CPointsMap::loadIntoPointCloud().
                  *
                  *  \sa opengl::COpenGLScene, opengl::CPointCloud
                  */
                class OPENGL_IMPEXP CPointCloudColoured : public CRenderizable
                {
                        DEFINE_SERIALIZABLE( CPointCloudColoured )

                public:
                        struct TPointColour
                        {
                                TPointColour( float _x=0,float _y=0,float _z=0,float _R=0,float _G=0,float _B=0 ) :
                                        x(_x),y(_y),z(_z),R(_R),G(_G),B(_B)
                                { }
                                float x,y,z,R,G,B;      // Float is precission enough for rendering
                        };

                private:
                        typedef std::vector<TPointColour> TListPointColour;

                        TListPointColour        m_points;
                        float                           m_pointSize; //!< By default is 1.0

                        /** Constructor
                          */
                        CPointCloudColoured( ) :
                                m_points(),
                                m_pointSize(1)
                        {
                        }
                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CPointCloudColoured() { }

                public:
                        typedef TListPointColour::iterator iterator;
                        typedef TListPointColour::const_iterator const_iterator;

                        inline iterator begin() { return m_points.begin(); }
                        inline const_iterator begin() const { return m_points.begin(); }
                        inline iterator end() { return m_points.end(); }
                        inline const_iterator end() const { return m_points.end(); }

                        /** Inserts a new point into the point cloud. */
                        inline void push_back(float x,float y,float z, float R, float G, float B) {
                                m_points.push_back(TPointColour(x,y,z,R,G,B));
                        }

                        inline void reserve(size_t N) { m_points.reserve(N); }
                        inline void resize(size_t N) { m_points.resize(N); }

                        /** Read or write access to each individual point. */
                        TPointColour &operator [](size_t i) { return m_points[i]; }

                        inline size_t size() const { return m_points.size(); }
                        inline void clear() { m_points.clear(); }

                        inline void setPointSize(float pointSize) { m_pointSize = pointSize; }
                        inline float getPointSize() const { return m_pointSize; }

                        /** Load the points from a points map (passed as a pointer), depending on the type of point map passed: for the case of a mrpt::slam::CColouredPointMap the colours of individual points will be also copied.
                          *  The possible classes accepted as arguments are: mrpt::slam::CColouredPointsMap, or in general any mrpt::slam::CPointsMap.
                          * \note The method is a template since CPointsMap belongs to a different mrpt library.
                          */
                        template <class POINTSMAP>
                        void  loadFromPointsMap( const POINTSMAP *m)
                        {
                                if (m->hasColorPoints())
                                {
                                        size_t N = m->size();
                                        m_points.resize(N);
                                        for (size_t i=0;i<N;i++)
                                        {
                                                m->getPoint(i,
                                                        m_points[i].x,
                                                        m_points[i].y,
                                                        m_points[i].z,
                                                        m_points[i].R,
                                                        m_points[i].G,
                                                        m_points[i].B );
                                        }
                                }
                                else
                                {
                                        // Default colors:
                                        vector_float    xs,ys,zs;
                                        m->getAllPoints(xs,ys,zs);

                                        size_t N = xs.size();
                                        m_points.resize(N);
                                        for (size_t i=0;i<N;i++)
                                        {
                                                m_points[i].x = xs[i];
                                                m_points[i].y = ys[i];
                                                m_points[i].z = zs[i];
                                                m_points[i].R = m_color_R;
                                                m_points[i].G = m_color_G;
                                                m_points[i].B = m_color_B;
                                        }
                                }
                        }

                        /** Render
                          */
                        void  render() const;

                };

                OPENGL_IMPEXP mrpt::utils::CStream& operator>>(mrpt::utils::CStream& in,  CPointCloudColoured::TPointColour &o);
                OPENGL_IMPEXP mrpt::utils::CStream& operator<<(mrpt::utils::CStream& out, const CPointCloudColoured::TPointColour &o);

        } // end namespace

        namespace utils
        {
                using namespace mrpt::opengl;

                // Specialization must occur in the same namespace
                MRPT_DECLARE_TTYPENAME(CPointCloudColoured::TPointColour)
        }

} // End of namespace


#endif

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