pointcloud_adapters.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#pragma once

#include <cstdint>

namespace mrpt
{
namespace opengl
{
/** \defgroup mrpt_adapters_grp Pointcloud adapter (wrapper) template classes
   (in #include <mrpt/opengl/pointcloud_adapters.h>) \addtogroup mrpt_opengl_grp
*/

/** \addtogroup mrpt_adapters_grp
 * @{ */

/** An adapter to different kinds of point cloud object.
 *  Implemented as a pure C++ template with specializations for the highest
 * flexibility and efficiency in compiler-generated implementations.
 *  Usage:
 *   \code
 *     PC  my_obj;
 *     my_obj.specific_methods();
 *     // ...
 *     PointCloudAdapter<PC> pca(my_obj);
 *     pca.unified_interface_methods();
 *     // ...
 *   \endcode
 *  See specializations for details on the exposed API.
 */
template <class POINTCLOUD>
class PointCloudAdapter;

/** @} */  // end of grouping

namespace detail
{
/** A helper base class for those PointCloudAdapter<> which do not handle RGB
 * data; it declares needed interface methods which fall back to XYZ-only
 * methods */
template <class POINTMAPTYPE, typename coords_t>
class PointCloudAdapterHelperNoRGB
{
   public:
    using Derived = PointCloudAdapter<POINTMAPTYPE>;

    inline Derived& derived() { return *static_cast<Derived*>(this); }
    inline const Derived& derived() const
    {
        return *static_cast<const Derived*>(this);
    }

    /** Get XYZ_RGBf coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBf(
        const size_t idx, T& x, T& y, T& z, float& r, float& g, float& b) const
    {
        derived().getPointXYZ(idx, x, y, z);
        r = g = b = 1.0f;
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline void setPointXYZ_RGBf(
        const size_t idx, const coords_t x, const coords_t y, const coords_t z,
        const float r, const float g, const float b)
    {
        MRPT_UNUSED_PARAM(r);
        MRPT_UNUSED_PARAM(g);
        MRPT_UNUSED_PARAM(b);
        derived().setPointXYZ(idx, x, y, z);
    }

    /** Get XYZ_RGBu8 coordinates of i'th point */
    template <typename T>
    inline void getPointXYZ_RGBu8(
        const size_t idx, T& x, T& y, T& z, uint8_t& r, uint8_t& g,
        uint8_t& b) const
    {
        derived().getPointXYZ(idx, x, y, z);
        r = g = b = 255;
    }
    /** Set XYZ_RGBu8 coordinates of i'th point */
    inline void setPointXYZ_RGBu8(
        const size_t idx, const coords_t x, const coords_t y, const coords_t z,
        const uint8_t r, const uint8_t g, const uint8_t b)
    {
        MRPT_UNUSED_PARAM(r);
        MRPT_UNUSED_PARAM(g);
        MRPT_UNUSED_PARAM(b);
        derived().setPointXYZ(idx, x, y, z);
    }

    /** Get RGBf color of i'th point */
    inline void getPointRGBf(
        const size_t idx, float& r, float& g, float& b) const
    {
        MRPT_UNUSED_PARAM(idx);
        r = g = b = 1.0f;
    }
    /** Set XYZ_RGBf coordinates of i'th point */
    inline void setPointRGBf(
        const size_t idx, const float r, const float g, const float b)
    {
        MRPT_UNUSED_PARAM(idx);
        MRPT_UNUSED_PARAM(r);
        MRPT_UNUSED_PARAM(g);
        MRPT_UNUSED_PARAM(b);
    }

    /** Get RGBu8 color of i'th point */
    inline void getPointRGBu8(
        const size_t idx, uint8_t& r, uint8_t& g, uint8_t& b) const
    {
        MRPT_UNUSED_PARAM(idx);
        r = g = b = 255;
    }
    /** Set RGBu8 coordinates of i'th point */
    inline void setPointRGBu8(
        const size_t idx, const uint8_t r, const uint8_t g, const uint8_t b)
    {
        MRPT_UNUSED_PARAM(idx);
        MRPT_UNUSED_PARAM(r);
        MRPT_UNUSED_PARAM(g);
        MRPT_UNUSED_PARAM(b);
    }
};  // end of PointCloudAdapterHelperNoRGB
}  // End of namespace detail

}  // namespace opengl
}  // namespace mrpt