PointCloudBase.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_SIG_POINTCLOUDBASE_H
#define YARP_SIG_POINTCLOUDBASE_H
 
#include <yarp/sig/PointCloudNetworkHeader.h>
 
#include <cstring>
#include <map>
#include <vector>
 
namespace yarp {
namespace sig {
 
class YARP_sig_API PointCloudBase : public yarp::os::Portable
{
public:
    virtual ~PointCloudBase() = default;
 
    virtual size_t wireSizeBytes() const = 0;
 
    virtual size_t dataSizeBytes() const = 0;
 
    virtual size_t size() const = 0;
 
    virtual const char* getRawData() const = 0;
 
    bool read(yarp::os::ConnectionReader& connection) override = 0;
 
    bool write(yarp::os::ConnectionWriter& writer) const override = 0;
 
    virtual int getBottleTag() const = 0;
 
    virtual size_t height() const;
 
    virtual size_t width() const;
 
    virtual int getPointType() const;
 
    yarp::os::Type getType() const override;
 
    virtual bool isOrganized() const;
 
    virtual inline bool isDense() const
    {
        return header.isDense != 0;
    }
 
protected:
    PointCloudBase() = default;
 
    virtual void copyFromRawData(const char* dst, const char* source, std::vector<int>& recipe);
 
    virtual std::vector<int> getComposition(int type_composite) const;
 
    virtual size_t pointType2Size(int type) const;
 
    virtual size_t getOffset(int type_composite, int type_basic) const;
 
    yarp::sig::PointCloudNetworkHeader header;
};
 
 
} // namespace sig
} // namespace yarp
 
#endif