269 lines
9.7 KiB
C++
269 lines
9.7 KiB
C++
/*
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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) 2010-2011, 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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#include <pcl/common/spring.h>
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namespace pcl
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{
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namespace common
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{
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template <typename PointT> void
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expandColumns (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const PointT& val, const std::size_t& amount)
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{
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if (amount <= 0)
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::expandColumns] error: amount must be ]0.."
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<< (input.width/2) << "] !");
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if (!input.isOrganized () || amount > (input.width/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::expandColumns] error: "
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<< "columns expansion requires organised point cloud");
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std::uint32_t old_height = input.height;
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std::uint32_t old_width = input.width;
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std::uint32_t new_width = old_width + 2*amount;
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if (&input != &output)
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output = input;
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output.reserve (new_width * old_height);
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for (int j = 0; j < output.height; ++j)
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{
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typename PointCloud<PointT>::iterator start = output.begin() + (j * new_width);
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output.insert (start, amount, val);
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start = output.begin() + (j * new_width) + old_width + amount;
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output.insert (start, amount, val);
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output.height = old_height;
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}
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output.width = new_width;
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output.height = old_height;
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}
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template <typename PointT> void
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expandRows (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const PointT& val, const std::size_t& amount)
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{
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if (amount <= 0)
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::expandRows] error: amount must be ]0.."
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<< (input.height/2) << "] !");
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std::uint32_t old_height = input.height;
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std::uint32_t new_height = old_height + 2*amount;
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std::uint32_t old_width = input.width;
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if (&input != &output)
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output = input;
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output.reserve (new_height * old_width);
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output.insert (output.begin (), amount * old_width, val);
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output.insert (output.end (), amount * old_width, val);
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output.width = old_width;
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output.height = new_height;
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}
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template <typename PointT> void
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duplicateColumns (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const std::size_t& amount)
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{
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if (amount <= 0)
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::duplicateColumns] error: amount must be ]0.."
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<< (input.width/2) << "] !");
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if (!input.isOrganized () || amount > (input.width/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::duplicateColumns] error: "
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<< "columns expansion requires organised point cloud");
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std::size_t old_height = input.height;
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std::size_t old_width = input.width;
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std::size_t new_width = old_width + 2*amount;
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if (&input != &output)
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output = input;
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output.reserve (new_width * old_height);
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for (std::size_t j = 0; j < old_height; ++j)
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for(std::size_t i = 0; i < amount; ++i)
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{
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typename PointCloud<PointT>::iterator start = output.begin () + (j * new_width);
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output.insert (start, *start);
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start = output.begin () + (j * new_width) + old_width + i;
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output.insert (start, *start);
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}
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output.width = new_width;
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output.height = old_height;
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}
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template <typename PointT> void
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duplicateRows (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const std::size_t& amount)
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{
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if (amount <= 0 || amount > (input.height/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::duplicateRows] error: amount must be ]0.."
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<< (input.height/2) << "] !");
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std::uint32_t old_height = input.height;
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std::uint32_t new_height = old_height + 2*amount;
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std::uint32_t old_width = input.width;
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if (&input != &output)
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output = input;
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output.reserve (new_height * old_width);
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for(std::size_t i = 0; i < amount; ++i)
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{
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output.insert (output.begin (), output.begin (), output.begin () + old_width);
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output.insert (output.end (), output.end () - old_width, output.end ());
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}
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output.width = old_width;
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output.height = new_height;
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}
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template <typename PointT> void
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mirrorColumns (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const std::size_t& amount)
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{
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if (amount <= 0)
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::mirrorColumns] error: amount must be ]0.."
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<< (input.width/2) << "] !");
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if (!input.isOrganized () || amount > (input.width/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::mirrorColumns] error: "
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<< "columns expansion requires organised point cloud");
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std::size_t old_height = input.height;
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std::size_t old_width = input.width;
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std::size_t new_width = old_width + 2*amount;
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if (&input != &output)
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output = input;
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output.reserve (new_width * old_height);
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for (std::size_t j = 0; j < old_height; ++j)
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for(std::size_t i = 0; i < amount; ++i)
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{
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typename PointCloud<PointT>::iterator start = output.begin () + (j * new_width);
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output.insert (start, *(start + 2*i));
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start = output.begin () + (j * new_width) + old_width + 2*i;
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output.insert (start+1, *(start - 2*i));
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}
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output.width = new_width;
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output.height = old_height;
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}
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template <typename PointT> void
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mirrorRows (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const std::size_t& amount)
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{
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if (amount <= 0 || amount > (input.height/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::mirrorRows] error: amount must be ]0.."
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<< (input.height/2) << "] !");
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std::uint32_t old_height = input.height;
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std::uint32_t new_height = old_height + 2*amount;
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std::uint32_t old_width = input.width;
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if (&input != &output)
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output = input;
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output.reserve (new_height * old_width);
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for(std::size_t i = 0; i < amount; i++)
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{
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const auto extra_odd = output.height % 2;
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auto up = output.begin () + (2*i + extra_odd) * old_width;
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output.insert (output.begin (), up, up + old_width);
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auto bottom = output.end () - (2*i+1) * old_width;
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output.insert (output.end (), bottom, bottom + old_width);
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}
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output.width = old_width;
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output.height = new_height;
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}
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template <typename PointT> void
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deleteRows (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const std::size_t& amount)
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{
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if (amount <= 0 || amount > (input.height/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::deleteRows] error: amount must be ]0.."
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<< (input.height/2) << "] !");
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std::uint32_t old_height = input.height;
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std::uint32_t old_width = input.width;
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output.erase (output.begin (), output.begin () + amount * old_width);
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output.erase (output.end () - amount * old_width, output.end ());
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output.height = old_height - 2*amount;
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output.width = old_width;
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}
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template <typename PointT> void
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deleteCols (const PointCloud<PointT>& input, PointCloud<PointT>& output,
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const std::size_t& amount)
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{
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if (amount <= 0 || amount > (input.width/2))
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::deleteCols] error: amount must be in ]0.."
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<< (input.width/2) << "] !");
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if (!input.isOrganized ())
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PCL_THROW_EXCEPTION (InitFailedException,
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"[pcl::common::deleteCols] error: "
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<< "columns delete requires organised point cloud");
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std::uint32_t old_height = input.height;
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std::uint32_t old_width = input.width;
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std::uint32_t new_width = old_width - 2 * amount;
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for(std::size_t j = 0; j < old_height; j++)
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{
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typename PointCloud<PointT>::iterator start = output.begin () + j * new_width;
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output.erase (start, start + amount);
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start = output.begin () + (j+1) * new_width;
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output.erase (start, start + amount);
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}
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output.height = old_height;
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output.width = new_width;
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}
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} // namespace common
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} // namespace pcl
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