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Fix bug to allow static library creation #340

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Merged
merged 1 commit into from
Oct 28, 2013
Merged

Fix bug to allow static library creation #340

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55 changes: 10 additions & 45 deletions io/include/pcl/io/png_io.h
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Original file line number Diff line number Diff line change
Expand Up @@ -82,66 +82,39 @@ namespace pcl
* \ingroup io
*/
PCL_EXPORTS void
saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height)
{
saveCharPNGFile(file_name, rgb_image, width, height, 3);
}
saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height);

/** \brief Saves 8-bit grayscale cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] cloud point cloud to save
* \ingroup io
*/
void
savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud)
{
saveCharPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
}
PCL_EXPORTS void
savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud);

/** \brief Saves 16-bit grayscale cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] cloud point cloud to save
* \ingroup io
*/
void
savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud)
{
saveShortPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
}
PCL_EXPORTS void
savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud);

/** \brief Saves a PCLImage (formely ROS sensor_msgs::Image) to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] image image to save
* \ingroup io
* \note Currently only "rgb8", "mono8", and "mono16" image encodings are supported.
*/
void
savePNGFile (const std::string& file_name, const pcl::PCLImage& image)
{
if (image.encoding == "rgb8")
{
saveRgbPNGFile(file_name, &image.data[0], image.width, image.height);
}
else if (image.encoding == "mono8")
{
saveCharPNGFile(file_name, &image.data[0], image.width, image.height, 1);
}
else if (image.encoding == "mono16")
{
saveShortPNGFile(file_name, reinterpret_cast<const unsigned short*>(&image.data[0]), image.width, image.height, 1);
}
else
{
PCL_ERROR ("[pcl::io::savePNGFile] Unsupported image encoding \"%s\".\n", image.encoding.c_str ());
}
}
PCL_EXPORTS void
savePNGFile (const std::string& file_name, const pcl::PCLImage& image);

/** \brief Saves RGB fields of cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] cloud point cloud to save
* \ingroup io
*/
template <typename T>
template <typename T>
PCL_DEPRECATED (void savePNGFile (const std::string& file_name, const pcl::PointCloud<T>& cloud),
"pcl::io::savePNGFile<typename T> (file_name, cloud) is deprecated, please use a new generic "
"function pcl::io::savePNGFile (file_name, cloud, field_name) with \"rgb\" as the field name."
Expand Down Expand Up @@ -170,16 +143,8 @@ namespace pcl
"pcl::io::savePNGFile (file_name, cloud) is deprecated, please use a new generic function "
"pcl::io::savePNGFile (file_name, cloud, field_name) with \"label\" as the field name."
);
void
savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud)
{
std::vector<unsigned short> data(cloud.width * cloud.height);
for (size_t i = 0; i < cloud.points.size (); ++i)
{
data[i] = static_cast<unsigned short> (cloud.points[i].label);
}
saveShortPNGFile(file_name, &data[0], cloud.width, cloud.height,1);
}
PCL_EXPORTS void
savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud);

/** \brief Saves the data from the specified field of the point cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
Expand Down
51 changes: 51 additions & 0 deletions io/src/png_io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,3 +93,54 @@ pcl::io::saveShortPNGFile (const std::string &file_name, const unsigned short *s

flipAndWritePng(file_name, importer);
}

void
pcl::io::saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height)
{
saveCharPNGFile(file_name, rgb_image, width, height, 3);
}

void
pcl::io::savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud)
{
saveCharPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
}

void
pcl::io::savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud)
{
saveShortPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
}

void
pcl::io::savePNGFile (const std::string& file_name, const pcl::PCLImage& image)
{
if (image.encoding == "rgb8")
{
saveRgbPNGFile(file_name, &image.data[0], image.width, image.height);
}
else if (image.encoding == "mono8")
{
saveCharPNGFile(file_name, &image.data[0], image.width, image.height, 1);
}
else if (image.encoding == "mono16")
{
saveShortPNGFile(file_name, reinterpret_cast<const unsigned short*>(&image.data[0]), image.width, image.height, 1);
}
else
{
PCL_ERROR ("[pcl::io::savePNGFile] Unsupported image encoding \"%s\".\n", image.encoding.c_str ());
}
}

void
pcl::io::savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud)
{
std::vector<unsigned short> data(cloud.width * cloud.height);
for (size_t i = 0; i < cloud.points.size (); ++i)
{
data[i] = static_cast<unsigned short> (cloud.points[i].label);
}
saveShortPNGFile(file_name, &data[0], cloud.width, cloud.height,1);
}