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[PointCloudViewer] Support color pointcloud view #1144

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May 25, 2017
Merged

[PointCloudViewer] Support color pointcloud view #1144

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52 changes: 42 additions & 10 deletions rtc/PointCloudViewer/PointCloudViewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
#include <pcl/filters/voxel_grid.h>
#include "PointCloudViewer.h"
#include "hrpsys/idl/pointcloud.hh"
#include <string>

// Module specification
// <rtc-template block="module_spec">
Expand Down Expand Up @@ -119,18 +120,49 @@ RTC::ReturnCode_t PointCloudViewer::onExecute(RTC::UniqueId ec_id)
if (m_cloudIn.isNew()){
m_cloudIn.read();

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
cloud->points.resize(m_cloud.width*m_cloud.height);
float *src = (float *)m_cloud.data.get_buffer();
for (unsigned int i=0; i<cloud->points.size(); i++){
cloud->points[i].x = src[0];
cloud->points[i].y = src[1];
cloud->points[i].z = src[2];
src += 4;
bool is_color_points = false;
for (int i = 0; i < m_cloud.fields.length(); i++) {
std::string tmp_name(m_cloud.fields[i].name);
if (tmp_name.find("r") != std::string::npos || tmp_name.find("g") != std::string::npos || tmp_name.find("b") != std::string::npos) {
is_color_points = true; // color pointcloud should have rgb field
}
}

if (!m_viewer.wasStopped()){
m_viewer.showCloud(cloud);
// currently only support PointXYZ and PointXYZRGB
if (is_color_points) {
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
cloud->is_dense = m_cloud.is_dense;
float *src = reinterpret_cast<float*>(m_cloud.data.get_buffer());
for (unsigned int i = 0; i< (m_cloud.width * m_cloud.height); i++){
pcl::PointXYZRGB tmp_point;
tmp_point.x = src[0];
tmp_point.y = src[1];
tmp_point.z = src[2];
uint32_t rgb = *reinterpret_cast<uint32_t*>(&(src[3])); // http:https://docs.pointclouds.org/1.7.2/a01059.html#a1678cfbe6e832aa61ec0de773cab15ae
tmp_point.r = (uint8_t)((rgb >> 16) & 0x0000ff);
tmp_point.g = (uint8_t)((rgb >> 8) & 0x0000ff);
tmp_point.b = (uint8_t)((rgb) & 0x0000ff);
if (m_cloud.is_dense || rgb != 0) { // rgb == 0 means invalid point
cloud->push_back(tmp_point);
}
src += 4;
}
if (!m_viewer.wasStopped()){
m_viewer.showCloud(cloud);
}
} else {
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
cloud->points.resize(m_cloud.width*m_cloud.height);
float *src = (float *)m_cloud.data.get_buffer();
for (unsigned int i=0; i<cloud->points.size(); i++){
cloud->points[i].x = src[0];
cloud->points[i].y = src[1];
cloud->points[i].z = src[2];
src += 4;
}
if (!m_viewer.wasStopped()){
m_viewer.showCloud(cloud);
}
}
}

Expand Down