pointcloud.idl

/* RTC:OpenNI
 *
 * Copyright (C) 2011
 *     Geoffrey Biggs
 *     RT-Synthesis Research Group
 *     Intelligent Systems Research Institute,
 *     National Institute of Advanced Industrial Science and Technology (AIST),
 *     Japan
 *     All rights reserved.
 * Licensed under the Eclipse Public License -v 1.0 (EPL)
 * http://www.opensource.org/licenses/eclipse-1.0.txt
 *
 * Point cloud data type.
 */


#ifndef POINTCLOUD_IDL__
#define POINTCLOUD_IDL__

module PointCloudTypes
{
    // These data structures store clouds of N-dimensional points. Each point
    // can contain information such as normals, intensity, colour data, etc.
    // The point data is stored as a binary blob, with the layout of each point
    // in the cloud described in a "fields" array.

    // The point cloud data may be organised in 2D (like an image) or 1D
    // (unordered cloud). Point clouds organised in 2D are typically produced
    // by camera depth sensors such as stereo cameras or time-of-flight
    // cameras.

    // These data structures are compatible with the PointCloud2 message from
    // ROS Diamondback.

    // Time stamp
    struct Time
    {
        unsigned long sec;
        unsigned long nsec;
    };

    // Possible data types that can be used in point fields.
    enum DataType
    {
        INT8,
        UINT8,
        INT16,
        UINT16,
        INT32,
        UINT32,
        FLOAT32,
        FLOAT64
    };

    // Specifies the data type of a field in a point.
    // e.g. XYZRGB points would be stored as six fields:
    // "x": offset 0, float32, 4 bytes length
    // "y": offset 4, float32, 4 bytes length
    // "z": offset 8, float32, 4 bytes length
    // "r": offset 12, uint8, 1 byte length
    // "g": offset 13, uint8, 1 byte length
    // "b": offset 14, uint8, 1 byte length
    struct PointField
    {
        // Name of the field
        string name;
        // Offset into a point of the field's data
        unsigned long offset;
        // Data type used by the field
        DataType data_type;
        // Number of bytes in the field
        unsigned long count;
    };
    typedef sequence<PointField> PointFieldList;

    // Stores a complete point cloud.
    struct PointCloud
    {
        // Time stamp.
        Time tm;
        // Sequence stamp
        unsigned long seq;

        // 2D structure of the cloud.
        // If the cloud is unordered, height should be 1
        // and width is the number of points in the cloud.
        unsigned long height;
        unsigned long width;

        // Name of the point type
        string type;
        // Data channels present in each point.
        PointFieldList fields;

        // Is the data big-endian?
        boolean is_bigendian;
        // Length of a point in bytes.
        unsigned long point_step;
        // Length of a row in bytes.
        unsigned long row_step;
        // Raw point data. Size is (row_step * height).
#ifdef TARGET_IS_DDS
        sequence<octet, 10485760> data;
#else
        sequence<octet> data;
#endif // TARGET_IS_DDS

        // True if there are no invalid points.
        boolean is_dense;
    };
}; // module RTC

#endif // POINTCLOUD_IDL__