465 lines
15 KiB
C++
465 lines
15 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2010-2011, Willow Garage, Inc.
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
* $Id$
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/conversions.h> // for FieldAdder
|
|
#include <pcl/common/concatenate.h>
|
|
#include <pcl/common/copy_point.h>
|
|
#include <pcl/common/io.h>
|
|
#include <pcl/point_types.h>
|
|
|
|
|
|
namespace pcl
|
|
{
|
|
|
|
template <typename PointT> int
|
|
getFieldIndex (const pcl::PointCloud<PointT> &,
|
|
const std::string &field_name,
|
|
std::vector<pcl::PCLPointField> &fields)
|
|
{
|
|
return getFieldIndex<PointT>(field_name, fields);
|
|
}
|
|
|
|
|
|
template <typename PointT> int
|
|
getFieldIndex (const std::string &field_name,
|
|
std::vector<pcl::PCLPointField> &fields)
|
|
{
|
|
fields = getFields<PointT> ();
|
|
const auto& ref = fields;
|
|
return pcl::getFieldIndex<PointT> (field_name, ref);
|
|
}
|
|
|
|
|
|
template <typename PointT> int
|
|
getFieldIndex (const std::string &field_name,
|
|
const std::vector<pcl::PCLPointField> &fields)
|
|
{
|
|
const auto result = std::find_if(fields.begin (), fields.end (),
|
|
[&field_name](const auto& field) { return field.name == field_name; });
|
|
if (result == fields.end ())
|
|
return -1;
|
|
return std::distance(fields.begin (), result);
|
|
}
|
|
|
|
|
|
template <typename PointT> void
|
|
getFields (const pcl::PointCloud<PointT> &, std::vector<pcl::PCLPointField> &fields)
|
|
{
|
|
fields = getFields<PointT> ();
|
|
}
|
|
|
|
|
|
template <typename PointT> void
|
|
getFields (std::vector<pcl::PCLPointField> &fields)
|
|
{
|
|
fields = getFields<PointT> ();
|
|
}
|
|
|
|
|
|
template <typename PointT> std::vector<pcl::PCLPointField>
|
|
getFields ()
|
|
{
|
|
std::vector<pcl::PCLPointField> fields;
|
|
// Get the fields list
|
|
pcl::for_each_type<typename pcl::traits::fieldList<PointT>::type>(pcl::detail::FieldAdder<PointT>(fields));
|
|
return fields;
|
|
}
|
|
|
|
|
|
template <typename PointT> std::string
|
|
getFieldsList (const pcl::PointCloud<PointT> &)
|
|
{
|
|
// Get the fields list
|
|
const auto fields = getFields<PointT>();
|
|
std::string result;
|
|
for (std::size_t i = 0; i < fields.size () - 1; ++i)
|
|
result += fields[i].name + " ";
|
|
result += fields[fields.size () - 1].name;
|
|
return (result);
|
|
}
|
|
|
|
namespace detail
|
|
{
|
|
|
|
template <typename PointInT, typename PointOutT> void
|
|
copyPointCloudMemcpy (const pcl::PointCloud<PointInT> &cloud_in,
|
|
pcl::PointCloud<PointOutT> &cloud_out)
|
|
{
|
|
// Iterate over each point, if the point types of two clouds are different
|
|
for (std::size_t i = 0; i < cloud_in.size (); ++i)
|
|
copyPoint (cloud_in[i], cloud_out[i]);
|
|
}
|
|
|
|
|
|
template <typename PointT> void
|
|
copyPointCloudMemcpy (const pcl::PointCloud<PointT> &cloud_in,
|
|
pcl::PointCloud<PointT> &cloud_out)
|
|
{
|
|
// Use std::copy directly, if the point types of two clouds are same
|
|
std::copy (&cloud_in[0], (&cloud_in[0]) + cloud_in.size (), &cloud_out[0]);
|
|
}
|
|
|
|
} // namespace detail
|
|
|
|
template <typename PointInT, typename PointOutT> void
|
|
copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
|
|
pcl::PointCloud<PointOutT> &cloud_out)
|
|
{
|
|
// Allocate enough space and copy the basics
|
|
cloud_out.header = cloud_in.header;
|
|
cloud_out.width = cloud_in.width;
|
|
cloud_out.height = cloud_in.height;
|
|
cloud_out.is_dense = cloud_in.is_dense;
|
|
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
|
|
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
|
|
cloud_out.resize (cloud_in.size ());
|
|
|
|
if (!cloud_in.empty ())
|
|
detail::copyPointCloudMemcpy (cloud_in, cloud_out);
|
|
}
|
|
|
|
|
|
template <typename PointT, typename IndicesVectorAllocator> void
|
|
copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
|
|
const IndicesAllocator< IndicesVectorAllocator> &indices,
|
|
pcl::PointCloud<PointT> &cloud_out)
|
|
{
|
|
// Do we want to copy everything?
|
|
if (indices.size () == cloud_in.size ())
|
|
{
|
|
cloud_out = cloud_in;
|
|
return;
|
|
}
|
|
|
|
// Allocate enough space and copy the basics
|
|
cloud_out.clear ();
|
|
cloud_out.reserve (indices.size ());
|
|
cloud_out.header = cloud_in.header;
|
|
cloud_out.width = indices.size ();
|
|
cloud_out.height = 1;
|
|
cloud_out.is_dense = cloud_in.is_dense;
|
|
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
|
|
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
|
|
|
|
// Iterate over each point
|
|
for (const auto& index : indices)
|
|
cloud_out.transient_push_back (cloud_in[index]);
|
|
}
|
|
|
|
|
|
template <typename PointInT, typename PointOutT, typename IndicesVectorAllocator> void
|
|
copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
|
|
const IndicesAllocator< IndicesVectorAllocator> &indices,
|
|
pcl::PointCloud<PointOutT> &cloud_out)
|
|
{
|
|
// Allocate enough space and copy the basics
|
|
cloud_out.resize (indices.size ());
|
|
cloud_out.header = cloud_in.header;
|
|
cloud_out.width = indices.size ();
|
|
cloud_out.height = 1;
|
|
cloud_out.is_dense = cloud_in.is_dense;
|
|
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
|
|
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
|
|
|
|
// Iterate over each point
|
|
for (std::size_t i = 0; i < indices.size (); ++i)
|
|
copyPoint (cloud_in[indices[i]], cloud_out[i]);
|
|
}
|
|
|
|
|
|
template <typename PointT> void
|
|
copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
|
|
const pcl::PointIndices &indices,
|
|
pcl::PointCloud<PointT> &cloud_out)
|
|
{
|
|
copyPointCloud (cloud_in, indices.indices, cloud_out);
|
|
}
|
|
|
|
|
|
template <typename PointInT, typename PointOutT> void
|
|
copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
|
|
const pcl::PointIndices &indices,
|
|
pcl::PointCloud<PointOutT> &cloud_out)
|
|
{
|
|
copyPointCloud (cloud_in, indices.indices, cloud_out);
|
|
}
|
|
|
|
|
|
template <typename PointT> void
|
|
copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
|
|
const std::vector<pcl::PointIndices> &indices,
|
|
pcl::PointCloud<PointT> &cloud_out)
|
|
{
|
|
std::size_t nr_p = 0;
|
|
for (const auto &index : indices)
|
|
nr_p += index.indices.size ();
|
|
|
|
// Do we want to copy everything? Remember we assume UNIQUE indices
|
|
if (nr_p == cloud_in.size ())
|
|
{
|
|
cloud_out = cloud_in;
|
|
return;
|
|
}
|
|
|
|
// Allocate enough space and copy the basics
|
|
cloud_out.clear ();
|
|
cloud_out.reserve (nr_p);
|
|
cloud_out.header = cloud_in.header;
|
|
cloud_out.width = nr_p;
|
|
cloud_out.height = 1;
|
|
cloud_out.is_dense = cloud_in.is_dense;
|
|
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
|
|
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
|
|
|
|
// Iterate over each cluster
|
|
for (const auto &cluster_index : indices)
|
|
{
|
|
// Iterate over each idx
|
|
for (const auto &index : cluster_index.indices)
|
|
{
|
|
// Iterate over each dimension
|
|
cloud_out.transient_push_back (cloud_in[index]);
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
template <typename PointInT, typename PointOutT> void
|
|
copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
|
|
const std::vector<pcl::PointIndices> &indices,
|
|
pcl::PointCloud<PointOutT> &cloud_out)
|
|
{
|
|
const auto nr_p = std::accumulate(indices.begin (), indices.end (), 0,
|
|
[](const auto& acc, const auto& index) { return index.indices.size() + acc; });
|
|
|
|
// Do we want to copy everything? Remember we assume UNIQUE indices
|
|
if (nr_p == cloud_in.size ())
|
|
{
|
|
copyPointCloud (cloud_in, cloud_out);
|
|
return;
|
|
}
|
|
|
|
// Allocate enough space and copy the basics
|
|
cloud_out.resize (nr_p);
|
|
cloud_out.header = cloud_in.header;
|
|
cloud_out.width = nr_p;
|
|
cloud_out.height = 1;
|
|
cloud_out.is_dense = cloud_in.is_dense;
|
|
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
|
|
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
|
|
|
|
// Iterate over each cluster
|
|
std::size_t cp = 0;
|
|
for (const auto &cluster_index : indices)
|
|
{
|
|
// Iterate over each idx
|
|
for (const auto &index : cluster_index.indices)
|
|
{
|
|
copyPoint (cloud_in[index], cloud_out[cp]);
|
|
++cp;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
template <typename PointIn1T, typename PointIn2T, typename PointOutT> void
|
|
concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in,
|
|
const pcl::PointCloud<PointIn2T> &cloud2_in,
|
|
pcl::PointCloud<PointOutT> &cloud_out)
|
|
{
|
|
using FieldList1 = typename pcl::traits::fieldList<PointIn1T>::type;
|
|
using FieldList2 = typename pcl::traits::fieldList<PointIn2T>::type;
|
|
|
|
if (cloud1_in.size () != cloud2_in.size ())
|
|
{
|
|
PCL_ERROR ("[pcl::concatenateFields] The number of points in the two input datasets differs!\n");
|
|
return;
|
|
}
|
|
|
|
// Resize the output dataset
|
|
cloud_out.resize (cloud1_in.size ());
|
|
cloud_out.header = cloud1_in.header;
|
|
cloud_out.width = cloud1_in.width;
|
|
cloud_out.height = cloud1_in.height;
|
|
if (!cloud1_in.is_dense || !cloud2_in.is_dense)
|
|
cloud_out.is_dense = false;
|
|
else
|
|
cloud_out.is_dense = true;
|
|
|
|
// Iterate over each point
|
|
for (std::size_t i = 0; i < cloud_out.size (); ++i)
|
|
{
|
|
// Iterate over each dimension
|
|
pcl::for_each_type <FieldList1> (pcl::NdConcatenateFunctor <PointIn1T, PointOutT> (cloud1_in[i], cloud_out[i]));
|
|
pcl::for_each_type <FieldList2> (pcl::NdConcatenateFunctor <PointIn2T, PointOutT> (cloud2_in[i], cloud_out[i]));
|
|
}
|
|
}
|
|
|
|
|
|
template <typename PointT> void
|
|
copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT> &cloud_out,
|
|
int top, int bottom, int left, int right, pcl::InterpolationType border_type, const PointT& value)
|
|
{
|
|
if (top < 0 || left < 0 || bottom < 0 || right < 0)
|
|
{
|
|
std::string faulty = (top < 0) ? "top" : (left < 0) ? "left" : (bottom < 0) ? "bottom" : "right";
|
|
PCL_THROW_EXCEPTION (pcl::BadArgumentException, "[pcl::copyPointCloud] error: " << faulty << " must be positive!");
|
|
return;
|
|
}
|
|
|
|
if (top == 0 && left == 0 && bottom == 0 && right == 0)
|
|
cloud_out = cloud_in;
|
|
else
|
|
{
|
|
// Allocate enough space and copy the basics
|
|
cloud_out.header = cloud_in.header;
|
|
cloud_out.width = cloud_in.width + left + right;
|
|
cloud_out.height = cloud_in.height + top + bottom;
|
|
if (cloud_out.size () != cloud_out.width * cloud_out.height)
|
|
cloud_out.resize (cloud_out.width * cloud_out.height);
|
|
cloud_out.is_dense = cloud_in.is_dense;
|
|
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
|
|
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
|
|
|
|
if (border_type == pcl::BORDER_TRANSPARENT)
|
|
{
|
|
const PointT* in = &(cloud_in[0]);
|
|
PointT* out = &(cloud_out[0]);
|
|
PointT* out_inner = out + cloud_out.width*top + left;
|
|
for (std::uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
|
|
{
|
|
if (out_inner != in)
|
|
memcpy (out_inner, in, cloud_in.width * sizeof (PointT));
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// Copy the data
|
|
if (border_type != pcl::BORDER_CONSTANT)
|
|
{
|
|
try
|
|
{
|
|
std::vector<int> padding (cloud_out.width - cloud_in.width);
|
|
int right = cloud_out.width - cloud_in.width - left;
|
|
int bottom = cloud_out.height - cloud_in.height - top;
|
|
|
|
for (int i = 0; i < left; i++)
|
|
padding[i] = pcl::interpolatePointIndex (i-left, cloud_in.width, border_type);
|
|
|
|
for (int i = 0; i < right; i++)
|
|
padding[i+left] = pcl::interpolatePointIndex (cloud_in.width+i, cloud_in.width, border_type);
|
|
|
|
const PointT* in = &(cloud_in[0]);
|
|
PointT* out = &(cloud_out[0]);
|
|
PointT* out_inner = out + cloud_out.width*top + left;
|
|
|
|
for (std::uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
|
|
{
|
|
if (out_inner != in)
|
|
memcpy (out_inner, in, cloud_in.width * sizeof (PointT));
|
|
|
|
for (int j = 0; j < left; j++)
|
|
out_inner[j - left] = in[padding[j]];
|
|
|
|
for (int j = 0; j < right; j++)
|
|
out_inner[j + cloud_in.width] = in[padding[j + left]];
|
|
}
|
|
|
|
for (int i = 0; i < top; i++)
|
|
{
|
|
int j = pcl::interpolatePointIndex (i - top, cloud_in.height, border_type);
|
|
memcpy (out + i*cloud_out.width,
|
|
out + (j+top) * cloud_out.width,
|
|
sizeof (PointT) * cloud_out.width);
|
|
}
|
|
|
|
for (int i = 0; i < bottom; i++)
|
|
{
|
|
int j = pcl::interpolatePointIndex (i + cloud_in.height, cloud_in.height, border_type);
|
|
memcpy (out + (i + cloud_in.height + top)*cloud_out.width,
|
|
out + (j+top)*cloud_out.width,
|
|
cloud_out.width * sizeof (PointT));
|
|
}
|
|
}
|
|
catch (pcl::BadArgumentException&)
|
|
{
|
|
PCL_ERROR ("[pcl::copyPointCloud] Unhandled interpolation type %d!\n", border_type);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
int right = cloud_out.width - cloud_in.width - left;
|
|
int bottom = cloud_out.height - cloud_in.height - top;
|
|
std::vector<PointT> buff (cloud_out.width, value);
|
|
PointT* buff_ptr = &(buff[0]);
|
|
const PointT* in = &(cloud_in[0]);
|
|
PointT* out = &(cloud_out[0]);
|
|
PointT* out_inner = out + cloud_out.width*top + left;
|
|
|
|
for (std::uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
|
|
{
|
|
if (out_inner != in)
|
|
memcpy (out_inner, in, cloud_in.width * sizeof (PointT));
|
|
|
|
memcpy (out_inner - left, buff_ptr, left * sizeof (PointT));
|
|
memcpy (out_inner + cloud_in.width, buff_ptr, right * sizeof (PointT));
|
|
}
|
|
|
|
for (int i = 0; i < top; i++)
|
|
{
|
|
memcpy (out + i*cloud_out.width, buff_ptr, cloud_out.width * sizeof (PointT));
|
|
}
|
|
|
|
for (int i = 0; i < bottom; i++)
|
|
{
|
|
memcpy (out + (i + cloud_in.height + top)*cloud_out.width,
|
|
buff_ptr,
|
|
cloud_out.width * sizeof (PointT));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
} // namespace pcl
|
|
|