348 lines
12 KiB
C
348 lines
12 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#ifdef __GNUC__
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#pragma GCC system_header
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#endif
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#include <pcl/PCLPointField.h>
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#include <pcl/PCLPointCloud2.h>
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#include <pcl/PCLImage.h>
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#include <pcl/point_cloud.h>
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#include <pcl/type_traits.h>
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#include <pcl/for_each_type.h>
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#include <pcl/console/print.h>
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#include <boost/foreach.hpp>
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namespace pcl
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{
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namespace detail
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{
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// For converting template point cloud to message.
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template<typename PointT>
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struct FieldAdder
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{
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FieldAdder (std::vector<pcl::PCLPointField>& fields) : fields_ (fields) {};
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template<typename U> void operator() ()
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{
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pcl::PCLPointField f;
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f.name = pcl::traits::name<PointT, U>::value;
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f.offset = pcl::traits::offset<PointT, U>::value;
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f.datatype = pcl::traits::datatype<PointT, U>::value;
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f.count = pcl::traits::datatype<PointT, U>::size;
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fields_.push_back (f);
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}
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std::vector<pcl::PCLPointField>& fields_;
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};
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// For converting message to template point cloud.
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template<typename PointT>
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struct FieldMapper
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{
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FieldMapper (const std::vector<pcl::PCLPointField>& fields,
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std::vector<FieldMapping>& map)
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: fields_ (fields), map_ (map)
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{
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}
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template<typename Tag> void
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operator () ()
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{
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for (const auto& field : fields_)
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{
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if (FieldMatches<PointT, Tag>()(field))
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{
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FieldMapping mapping;
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mapping.serialized_offset = field.offset;
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mapping.struct_offset = pcl::traits::offset<PointT, Tag>::value;
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mapping.size = sizeof (typename pcl::traits::datatype<PointT, Tag>::type);
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map_.push_back (mapping);
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return;
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}
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}
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// Disable thrown exception per #595: http://dev.pointclouds.org/issues/595
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PCL_WARN ("Failed to find match for field '%s'.\n", pcl::traits::name<PointT, Tag>::value);
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//throw pcl::InvalidConversionException (ss.str ());
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}
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const std::vector<pcl::PCLPointField>& fields_;
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std::vector<FieldMapping>& map_;
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};
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inline bool
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fieldOrdering (const FieldMapping& a, const FieldMapping& b)
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{
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return (a.serialized_offset < b.serialized_offset);
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}
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} //namespace detail
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template<typename PointT> void
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createMapping (const std::vector<pcl::PCLPointField>& msg_fields, MsgFieldMap& field_map)
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{
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// Create initial 1-1 mapping between serialized data segments and struct fields
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detail::FieldMapper<PointT> mapper (msg_fields, field_map);
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for_each_type< typename traits::fieldList<PointT>::type > (mapper);
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// Coalesce adjacent fields into single memcpy's where possible
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if (field_map.size() > 1)
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{
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std::sort(field_map.begin(), field_map.end(), detail::fieldOrdering);
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MsgFieldMap::iterator i = field_map.begin(), j = i + 1;
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while (j != field_map.end())
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{
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// This check is designed to permit padding between adjacent fields.
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/// @todo One could construct a pathological case where the struct has a
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/// field where the serialized data has padding
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if (j->serialized_offset - i->serialized_offset == j->struct_offset - i->struct_offset)
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{
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i->size += (j->struct_offset + j->size) - (i->struct_offset + i->size);
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j = field_map.erase(j);
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}
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else
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{
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++i;
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++j;
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}
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}
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}
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}
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/** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
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* \param[in] msg the PCLPointCloud2 binary blob
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* \param[out] cloud the resultant pcl::PointCloud<T>
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* \param[in] field_map a MsgFieldMap object
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*
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* \note Use fromPCLPointCloud2 (PCLPointCloud2, PointCloud<T>) directly or create you
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* own MsgFieldMap using:
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*
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* \code
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* MsgFieldMap field_map;
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* createMapping<PointT> (msg.fields, field_map);
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* \endcode
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*/
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template <typename PointT> void
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fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
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const MsgFieldMap& field_map)
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{
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// Copy info fields
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cloud.header = msg.header;
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cloud.width = msg.width;
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cloud.height = msg.height;
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cloud.is_dense = msg.is_dense == 1;
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// Copy point data
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std::uint32_t num_points = msg.width * msg.height;
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cloud.resize (num_points);
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std::uint8_t* cloud_data = reinterpret_cast<std::uint8_t*>(&cloud[0]);
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// Check if we can copy adjacent points in a single memcpy. We can do so if there
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// is exactly one field to copy and it is the same size as the source and destination
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// point types.
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if (field_map.size() == 1 &&
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field_map[0].serialized_offset == 0 &&
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field_map[0].struct_offset == 0 &&
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field_map[0].size == msg.point_step &&
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field_map[0].size == sizeof(PointT))
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{
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std::uint32_t cloud_row_step = static_cast<std::uint32_t> (sizeof (PointT) * cloud.width);
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const std::uint8_t* msg_data = &msg.data[0];
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// Should usually be able to copy all rows at once
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if (msg.row_step == cloud_row_step)
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{
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memcpy (cloud_data, msg_data, msg.data.size ());
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}
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else
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{
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for (std::uint32_t i = 0; i < msg.height; ++i, cloud_data += cloud_row_step, msg_data += msg.row_step)
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memcpy (cloud_data, msg_data, cloud_row_step);
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}
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}
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else
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{
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// If not, memcpy each group of contiguous fields separately
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for (index_t row = 0; row < msg.height; ++row)
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{
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const std::uint8_t* row_data = &msg.data[row * msg.row_step];
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for (index_t col = 0; col < msg.width; ++col)
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{
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const std::uint8_t* msg_data = row_data + col * msg.point_step;
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for (const detail::FieldMapping& mapping : field_map)
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{
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memcpy (cloud_data + mapping.struct_offset, msg_data + mapping.serialized_offset, mapping.size);
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}
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cloud_data += sizeof (PointT);
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}
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}
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}
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}
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/** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object.
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* \param[in] msg the PCLPointCloud2 binary blob
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* \param[out] cloud the resultant pcl::PointCloud<T>
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*/
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template<typename PointT> void
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fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud)
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{
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MsgFieldMap field_map;
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createMapping<PointT> (msg.fields, field_map);
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fromPCLPointCloud2 (msg, cloud, field_map);
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}
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/** \brief Convert a pcl::PointCloud<T> object to a PCLPointCloud2 binary data blob.
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* \param[in] cloud the input pcl::PointCloud<T>
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* \param[out] msg the resultant PCLPointCloud2 binary blob
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*/
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template<typename PointT> void
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toPCLPointCloud2 (const pcl::PointCloud<PointT>& cloud, pcl::PCLPointCloud2& msg)
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{
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// Ease the user's burden on specifying width/height for unorganized datasets
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if (cloud.width == 0 && cloud.height == 0)
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{
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msg.width = cloud.size ();
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msg.height = 1;
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}
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else
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{
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assert (cloud.size () == cloud.width * cloud.height);
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msg.height = cloud.height;
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msg.width = cloud.width;
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}
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// Fill point cloud binary data (padding and all)
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std::size_t data_size = sizeof (PointT) * cloud.size ();
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msg.data.resize (data_size);
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if (data_size)
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{
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memcpy(&msg.data[0], &cloud[0], data_size);
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}
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// Fill fields metadata
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msg.fields.clear ();
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for_each_type<typename traits::fieldList<PointT>::type> (detail::FieldAdder<PointT>(msg.fields));
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msg.header = cloud.header;
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msg.point_step = sizeof (PointT);
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msg.row_step = static_cast<std::uint32_t> (sizeof (PointT) * msg.width);
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msg.is_dense = cloud.is_dense;
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/// @todo msg.is_bigendian = ?;
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}
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/** \brief Copy the RGB fields of a PointCloud into pcl::PCLImage format
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* \param[in] cloud the point cloud message
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* \param[out] msg the resultant pcl::PCLImage
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* CloudT cloud type, CloudT should be akin to pcl::PointCloud<pcl::PointXYZRGBA>
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* \note will throw std::runtime_error if there is a problem
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*/
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template<typename CloudT> void
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toPCLPointCloud2 (const CloudT& cloud, pcl::PCLImage& msg)
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{
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// Ease the user's burden on specifying width/height for unorganized datasets
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if (cloud.width == 0 && cloud.height == 0)
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throw std::runtime_error("Needs to be a dense like cloud!!");
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else
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{
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if (cloud.size () != cloud.width * cloud.height)
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throw std::runtime_error("The width and height do not match the cloud size!");
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msg.height = cloud.height;
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msg.width = cloud.width;
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}
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// ensor_msgs::image_encodings::BGR8;
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msg.header = cloud.header;
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msg.encoding = "bgr8";
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msg.step = msg.width * sizeof (std::uint8_t) * 3;
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msg.data.resize (msg.step * msg.height);
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for (std::size_t y = 0; y < cloud.height; y++)
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{
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for (std::size_t x = 0; x < cloud.width; x++)
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{
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std::uint8_t * pixel = &(msg.data[y * msg.step + x * 3]);
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memcpy (pixel, &cloud (x, y).rgb, 3 * sizeof(std::uint8_t));
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}
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}
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}
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/** \brief Copy the RGB fields of a PCLPointCloud2 msg into pcl::PCLImage format
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* \param cloud the point cloud message
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* \param msg the resultant pcl::PCLImage
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* will throw std::runtime_error if there is a problem
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*/
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inline void
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toPCLPointCloud2 (const pcl::PCLPointCloud2& cloud, pcl::PCLImage& msg)
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{
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const auto predicate = [](const auto& field) { return field.name == "rgb"; };
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const auto result = std::find_if(cloud.fields.cbegin (), cloud.fields.cend (), predicate);
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if (result == cloud.fields.end ())
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throw std::runtime_error ("No rgb field!!");
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const auto rgb_index = std::distance(cloud.fields.begin (), result);
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if (cloud.width == 0 && cloud.height == 0)
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throw std::runtime_error ("Needs to be a dense like cloud!!");
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else
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{
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msg.height = cloud.height;
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msg.width = cloud.width;
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}
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int rgb_offset = cloud.fields[rgb_index].offset;
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int point_step = cloud.point_step;
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// pcl::image_encodings::BGR8;
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msg.header = cloud.header;
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msg.encoding = "bgr8";
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msg.step = static_cast<std::uint32_t>(msg.width * sizeof (std::uint8_t) * 3);
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msg.data.resize (msg.step * msg.height);
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for (std::size_t y = 0; y < cloud.height; y++)
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{
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for (std::size_t x = 0; x < cloud.width; x++, rgb_offset += point_step)
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{
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std::uint8_t * pixel = &(msg.data[y * msg.step + x * 3]);
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memcpy (pixel, &(cloud.data[rgb_offset]), 3 * sizeof (std::uint8_t));
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}
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}
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}
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}
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