Method getGeometry

visualization/src/point_cloud_handlers.cpp:682–744

//////////////////////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////////////////////////
void 
pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
{
  if (!capable_)
    return;

  if (!points)
    points = vtkSmartPointer<vtkPoints>::New ();
  points->SetDataTypeToFloat ();

  vtkSmartPointer<vtkFloatArray> data = vtkSmartPointer<vtkFloatArray>::New ();
  data->SetNumberOfComponents (3);
  
  vtkIdType nr_points = cloud_->width * cloud_->height;
  
  if (!data->Resize(nr_points))
  {
    PCL_ERROR("[point_cloud_handlers::getGeometry] Failed to allocate space for points in VTK array.\n");
    throw std::bad_alloc();
  }
    

  // Add all points
  int point_offset = 0;

  // If the dataset has no invalid values, just copy all of them
  if (cloud_->is_dense)
  {
    for (vtkIdType i = 0; i < nr_points; ++i, point_offset+=cloud_->point_step)
    {
      const float* ptr = reinterpret_cast<const float*>(&cloud_->data[point_offset + cloud_->fields[field_x_idx_].offset]);
      data->InsertNextValue(*ptr);

      ptr = reinterpret_cast<const float*>(&cloud_->data[point_offset + cloud_->fields[field_y_idx_].offset]);
      data->InsertNextValue(*ptr);

      ptr = reinterpret_cast<const float*>(&cloud_->data[point_offset + cloud_->fields[field_z_idx_].offset]);
      data->InsertNextValue(*ptr);
    }
    points->SetData (data);
  }
  else
  {
    for (vtkIdType i = 0; i < nr_points; ++i, point_offset+=cloud_->point_step)
    {
      const float* ptr = reinterpret_cast<const float*>(&cloud_->data[point_offset + cloud_->fields[field_x_idx_].offset]);
      if (!std::isfinite (*ptr))
        continue;
      data->InsertNextValue(*ptr);

      ptr = reinterpret_cast<const float*>(&cloud_->data[point_offset + cloud_->fields[field_y_idx_].offset]);
      if (!std::isfinite (*ptr))
        continue;
      data->InsertNextValue(*ptr);

      ptr = reinterpret_cast<const float*>(&cloud_->data[point_offset + cloud_->fields[field_z_idx_].offset]);
      if (!std::isfinite (*ptr))
        continue;