102 lines
3.4 KiB
C++
102 lines
3.4 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) 2010-2012, 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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namespace pcl
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{
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namespace common
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{
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/** \brief Intensity field accessor provides access to the intensity filed of a PoinT
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* implementation for specific types should be done in \file pcl/common/impl/intensity.hpp
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*/
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template<typename PointT>
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struct IntensityFieldAccessor
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{
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/** \brief get intensity field
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* \param[in] p point
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* \return p.intensity
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*/
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inline float
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operator () (const PointT &p) const
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{
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return p.intensity;
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}
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/** \brief gets the intensity value of a point
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* \param p point for which intensity to be get
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* \param[in] intensity value of the intensity field
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*/
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inline void
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get (const PointT &p, float &intensity) const
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{
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intensity = p.intensity;
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}
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/** \brief sets the intensity value of a point
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* \param p point for which intensity to be set
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* \param[in] intensity value of the intensity field
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*/
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inline void
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set (PointT &p, float intensity) const
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{
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p.intensity = intensity;
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}
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/** \brief subtract value from intensity field
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* \param p point for which to modify intensity
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* \param[in] value value to be subtracted from point intensity
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*/
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inline void
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demean (PointT& p, float value) const
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{
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p.intensity -= value;
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}
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/** \brief add value to intensity field
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* \param p point for which to modify intensity
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* \param[in] value value to be added to point intensity
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*/
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inline void
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add (PointT& p, float value) const
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{
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p.intensity += value;
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}
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};
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}
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}
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#include <pcl/common/impl/intensity.hpp>
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