539 lines
20 KiB
C++
539 lines
20 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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* Copyright (c) 2012-, Open Perception, 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 <numeric>
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#include <string>
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#include <pcl/point_cloud.h>
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#include <pcl/PointIndices.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/PolygonMesh.h>
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#include <locale>
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namespace pcl
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{
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/** \brief Get the index of a specified field (i.e., dimension/channel)
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* \param[in] cloud the point cloud message
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* \param[in] field_name the string defining the field name
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* \ingroup common
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*/
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inline int
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getFieldIndex (const pcl::PCLPointCloud2 &cloud, const std::string &field_name)
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{
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// Get the index we need
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const auto result = std::find_if(cloud.fields.begin (), cloud.fields.end (),
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[&field_name](const auto field) { return field.name == field_name; });
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if (result == cloud.fields.end ())
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return -1;
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return std::distance(cloud.fields.begin (), result);
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}
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/** \brief Get the index of a specified field (i.e., dimension/channel)
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* \tparam PointT datatype for which fields is being queries
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* \param[in] field_name the string defining the field name
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* \param[out] fields a vector to the original \a PCLPointField vector that the raw PointCloud message contains
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* \ingroup common
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*/
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template <typename PointT> inline int
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getFieldIndex (const std::string &field_name,
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std::vector<pcl::PCLPointField> &fields);
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/** \brief Get the index of a specified field (i.e., dimension/channel)
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* \tparam PointT datatype for which fields is being queries
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* \param[in] field_name the string defining the field name
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* \param[in] fields a vector to the original \a PCLPointField vector that the raw PointCloud message contains
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* \ingroup common
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*/
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template <typename PointT> inline int
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getFieldIndex (const std::string &field_name,
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const std::vector<pcl::PCLPointField> &fields);
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/** \brief Get the list of available fields (i.e., dimension/channel)
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* \tparam PointT datatype whose details are requested
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* \ingroup common
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*/
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template <typename PointT> inline std::vector<pcl::PCLPointField>
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getFields ();
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/** \brief Get the list of all fields available in a given cloud
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* \param[in] cloud the point cloud message
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* \ingroup common
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*/
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template <typename PointT> inline std::string
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getFieldsList (const pcl::PointCloud<PointT> &cloud);
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/** \brief Get the available point cloud fields as a space separated string
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* \param[in] cloud a pointer to the PointCloud message
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* \ingroup common
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*/
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inline std::string
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getFieldsList (const pcl::PCLPointCloud2 &cloud)
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{
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return std::accumulate(std::next (cloud.fields.begin ()), cloud.fields.end (), cloud.fields[0].name,
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[](const auto& acc, const auto& field) { return acc + " " + field.name; });
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}
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/** \brief Obtains the size of a specific field data type in bytes
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* \param[in] datatype the field data type (see PCLPointField.h)
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* \ingroup common
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*/
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inline int
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getFieldSize (const int datatype)
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{
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switch (datatype)
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{
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case pcl::PCLPointField::INT8:
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case pcl::PCLPointField::UINT8:
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return (1);
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case pcl::PCLPointField::INT16:
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case pcl::PCLPointField::UINT16:
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return (2);
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case pcl::PCLPointField::INT32:
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case pcl::PCLPointField::UINT32:
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case pcl::PCLPointField::FLOAT32:
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return (4);
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case pcl::PCLPointField::FLOAT64:
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return (8);
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default:
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return (0);
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}
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}
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/** \brief Obtain a vector with the sizes of all valid fields (e.g., not "_")
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* \param[in] fields the input vector containing the fields
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* \param[out] field_sizes the resultant field sizes in bytes
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*/
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PCL_EXPORTS void
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getFieldsSizes (const std::vector<pcl::PCLPointField> &fields,
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std::vector<int> &field_sizes);
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/** \brief Obtains the type of the PCLPointField from a specific size and type
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* \param[in] size the size in bytes of the data field
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* \param[in] type a char describing the type of the field ('F' = float, 'I' = signed, 'U' = unsigned)
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* \ingroup common
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*/
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inline int
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getFieldType (const int size, char type)
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{
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type = std::toupper (type, std::locale::classic ());
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switch (size)
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{
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case 1:
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if (type == 'I')
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return (pcl::PCLPointField::INT8);
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if (type == 'U')
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return (pcl::PCLPointField::UINT8);
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break;
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case 2:
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if (type == 'I')
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return (pcl::PCLPointField::INT16);
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if (type == 'U')
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return (pcl::PCLPointField::UINT16);
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break;
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case 4:
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if (type == 'I')
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return (pcl::PCLPointField::INT32);
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if (type == 'U')
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return (pcl::PCLPointField::UINT32);
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if (type == 'F')
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return (pcl::PCLPointField::FLOAT32);
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break;
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case 8:
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if (type == 'F')
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return (pcl::PCLPointField::FLOAT64);
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break;
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}
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return (-1);
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}
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/** \brief Obtains the type of the PCLPointField from a specific PCLPointField as a char
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* \param[in] type the PCLPointField field type
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* \ingroup common
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*/
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inline char
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getFieldType (const int type)
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{
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switch (type)
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{
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case pcl::PCLPointField::INT8:
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case pcl::PCLPointField::INT16:
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case pcl::PCLPointField::INT32:
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return ('I');
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case pcl::PCLPointField::UINT8:
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case pcl::PCLPointField::UINT16:
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case pcl::PCLPointField::UINT32:
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return ('U');
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case pcl::PCLPointField::FLOAT32:
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case pcl::PCLPointField::FLOAT64:
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return ('F');
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default:
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return ('?');
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}
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}
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enum InterpolationType
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{
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BORDER_CONSTANT = 0, BORDER_REPLICATE = 1,
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BORDER_REFLECT = 2, BORDER_WRAP = 3,
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BORDER_REFLECT_101 = 4, BORDER_TRANSPARENT = 5,
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BORDER_DEFAULT = BORDER_REFLECT_101
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};
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/** \brief \return the right index according to the interpolation type.
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* \note this is adapted from OpenCV
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* \param p the index of point to interpolate
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* \param length the top/bottom row or left/right column index
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* \param type the requested interpolation
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* \throws pcl::BadArgumentException if type is unknown
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*/
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PCL_EXPORTS int
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interpolatePointIndex (int p, int length, InterpolationType type);
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/** \brief Concatenate two pcl::PointCloud<PointT>
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* \param[in] cloud1 the first input point cloud dataset
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* \param[in] cloud2 the second input point cloud dataset
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* \param[out] cloud_out the resultant output point cloud dataset
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* \return true if successful, false otherwise
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* \ingroup common
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*/
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template <typename PointT>
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PCL_EXPORTS bool
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concatenate (const pcl::PointCloud<PointT> &cloud1,
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const pcl::PointCloud<PointT> &cloud2,
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pcl::PointCloud<PointT> &cloud_out)
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{
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return pcl::PointCloud<PointT>::concatenate(cloud1, cloud2, cloud_out);
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}
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/** \brief Concatenate two pcl::PCLPointCloud2
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*
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* \warning This function will concatenate IFF the non-skip fields are in the correct
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* order and same in number.
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* \param[in] cloud1 the first input point cloud dataset
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* \param[in] cloud2 the second input point cloud dataset
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* \param[out] cloud_out the resultant output point cloud dataset
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* \return true if successful, false otherwise
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* \ingroup common
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*/
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PCL_EXPORTS inline bool
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concatenate (const pcl::PCLPointCloud2 &cloud1,
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const pcl::PCLPointCloud2 &cloud2,
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pcl::PCLPointCloud2 &cloud_out)
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{
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return pcl::PCLPointCloud2::concatenate(cloud1, cloud2, cloud_out);
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}
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/** \brief Concatenate two pcl::PolygonMesh
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* \param[in] mesh1 the first input mesh
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* \param[in] mesh2 the second input mesh
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* \param[out] mesh_out the resultant output mesh
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* \return true if successful, false otherwise
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* \ingroup common
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*/
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PCL_EXPORTS inline bool
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concatenate (const pcl::PolygonMesh &mesh1,
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const pcl::PolygonMesh &mesh2,
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pcl::PolygonMesh &mesh_out)
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{
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return pcl::PolygonMesh::concatenate(mesh1, mesh2, mesh_out);
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}
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the vector of indices representing the points to be copied from \a cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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PCL_EXPORTS void
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copyPointCloud (const pcl::PCLPointCloud2 &cloud_in,
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const Indices &indices,
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pcl::PCLPointCloud2 &cloud_out);
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the vector of indices representing the points to be copied from \a cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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PCL_EXPORTS void
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copyPointCloud (const pcl::PCLPointCloud2 &cloud_in,
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const IndicesAllocator< Eigen::aligned_allocator<index_t> > &indices,
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pcl::PCLPointCloud2 &cloud_out);
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/** \brief Copy fields and point cloud data from \a cloud_in to \a cloud_out
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* \param[in] cloud_in the input point cloud dataset
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* \param[out] cloud_out the resultant output point cloud dataset
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* \ingroup common
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*/
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PCL_EXPORTS void
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copyPointCloud (const pcl::PCLPointCloud2 &cloud_in,
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pcl::PCLPointCloud2 &cloud_out);
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/** \brief Check if two given point types are the same or not. */
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template <typename Point1T, typename Point2T> inline bool
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isSamePointType ()
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{
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return (typeid (Point1T) == typeid (Point2T));
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}
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the vector of indices representing the points to be copied from \a cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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template <typename PointT, typename IndicesVectorAllocator = std::allocator<index_t>> void
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copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const IndicesAllocator< IndicesVectorAllocator> &indices,
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pcl::PointCloud<PointT> &cloud_out);
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the PointIndices structure representing the points to be copied from cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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template <typename PointT> void
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copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const PointIndices &indices,
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pcl::PointCloud<PointT> &cloud_out);
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the vector of indices representing the points to be copied from \a cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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template <typename PointT> void
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copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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const std::vector<pcl::PointIndices> &indices,
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pcl::PointCloud<PointT> &cloud_out);
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/** \brief Copy all the fields from a given point cloud into a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[out] cloud_out the resultant output point cloud dataset
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* \ingroup common
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*/
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template <typename PointInT, typename PointOutT> void
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copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
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pcl::PointCloud<PointOutT> &cloud_out);
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the vector of indices representing the points to be copied from \a cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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template <typename PointInT, typename PointOutT, typename IndicesVectorAllocator = std::allocator<index_t>> void
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copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
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const IndicesAllocator<IndicesVectorAllocator> &indices,
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pcl::PointCloud<PointOutT> &cloud_out);
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the PointIndices structure representing the points to be copied from cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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template <typename PointInT, typename PointOutT> void
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copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
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const PointIndices &indices,
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pcl::PointCloud<PointOutT> &cloud_out);
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/** \brief Extract the indices of a given point cloud as a new point cloud
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] indices the vector of indices representing the points to be copied from cloud_in
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* \param[out] cloud_out the resultant output point cloud dataset
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* \note Assumes unique indices.
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* \ingroup common
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*/
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template <typename PointInT, typename PointOutT> void
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copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
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const std::vector<pcl::PointIndices> &indices,
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pcl::PointCloud<PointOutT> &cloud_out);
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/** \brief Copy a point cloud inside a larger one interpolating borders.
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* \param[in] cloud_in the input point cloud dataset
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* \param[out] cloud_out the resultant output point cloud dataset
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* \param top
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* \param bottom
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* \param left
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* \param right
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* Position of cloud_in inside cloud_out is given by \a top, \a left, \a bottom \a right.
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* \param[in] border_type the interpolating method (pcl::BORDER_XXX)
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* BORDER_REPLICATE: aaaaaa|abcdefgh|hhhhhhh
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* BORDER_REFLECT: fedcba|abcdefgh|hgfedcb
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* BORDER_REFLECT_101: gfedcb|abcdefgh|gfedcba
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* BORDER_WRAP: cdefgh|abcdefgh|abcdefg
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* BORDER_CONSTANT: iiiiii|abcdefgh|iiiiiii with some specified 'i'
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* BORDER_TRANSPARENT: mnopqr|abcdefgh|tuvwxyz where m-r and t-z are original values of cloud_out
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* \param value
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* \throw pcl::BadArgumentException if any of top, bottom, left or right is negative.
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* \ingroup common
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*/
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template <typename PointT> void
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copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
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pcl::PointCloud<PointT> &cloud_out,
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int top, int bottom, int left, int right,
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pcl::InterpolationType border_type, const PointT& value);
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/** \brief Concatenate two datasets representing different fields.
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*
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* \note If the input datasets have overlapping fields (i.e., both contain
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* the same fields), then the data in the second cloud (cloud2_in) will
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* overwrite the data in the first (cloud1_in).
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*
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* \param[in] cloud1_in the first input dataset
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* \param[in] cloud2_in the second input dataset (overwrites the fields of the first dataset for those that are shared)
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* \param[out] cloud_out the resultant output dataset created by the concatenation of all the fields in the input datasets
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* \ingroup common
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*/
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template <typename PointIn1T, typename PointIn2T, typename PointOutT> void
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concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in,
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const pcl::PointCloud<PointIn2T> &cloud2_in,
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pcl::PointCloud<PointOutT> &cloud_out);
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/** \brief Concatenate two datasets representing different fields.
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*
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* \note If the input datasets have overlapping fields (i.e., both contain
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* the same fields), then the data in the second cloud (cloud2_in) will
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* overwrite the data in the first (cloud1_in).
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*
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* \param[in] cloud1_in the first input dataset
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* \param[in] cloud2_in the second input dataset (overwrites the fields of the first dataset for those that are shared)
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* \param[out] cloud_out the output dataset created by concatenating all the fields in the input datasets
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* \ingroup common
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*/
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PCL_EXPORTS bool
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concatenateFields (const pcl::PCLPointCloud2 &cloud1_in,
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const pcl::PCLPointCloud2 &cloud2_in,
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pcl::PCLPointCloud2 &cloud_out);
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/** \brief Copy the XYZ dimensions of a pcl::PCLPointCloud2 into Eigen format
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* \param[in] in the point cloud message
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* \param[out] out the resultant Eigen MatrixXf format containing XYZ0 / point
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* \ingroup common
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*/
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PCL_EXPORTS bool
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getPointCloudAsEigen (const pcl::PCLPointCloud2 &in, Eigen::MatrixXf &out);
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/** \brief Copy the XYZ dimensions from an Eigen MatrixXf into a pcl::PCLPointCloud2 message
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* \param[in] in the Eigen MatrixXf format containing XYZ0 / point
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* \param[out] out the resultant point cloud message
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* \note the method assumes that the PCLPointCloud2 message already has the fields set up properly !
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* \ingroup common
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*/
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PCL_EXPORTS bool
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getEigenAsPointCloud (Eigen::MatrixXf &in, pcl::PCLPointCloud2 &out);
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namespace io
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{
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/** \brief swap bytes order of a char array of length N
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* \param bytes char array to swap
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* \ingroup common
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*/
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template <std::size_t N> void
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swapByte (char* bytes);
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/** \brief specialization of swapByte for dimension 1
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* \param bytes char array to swap
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*/
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template <> inline void
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swapByte<1> (char* bytes) { bytes[0] = bytes[0]; }
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|
|
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/** \brief specialization of swapByte for dimension 2
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* \param bytes char array to swap
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*/
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template <> inline void
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swapByte<2> (char* bytes) { std::swap (bytes[0], bytes[1]); }
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/** \brief specialization of swapByte for dimension 4
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* \param bytes char array to swap
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*/
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template <> inline void
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|
swapByte<4> (char* bytes)
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|
{
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std::swap (bytes[0], bytes[3]);
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std::swap (bytes[1], bytes[2]);
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}
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|
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/** \brief specialization of swapByte for dimension 8
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|
* \param bytes char array to swap
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|
*/
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|
template <> inline void
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|
swapByte<8> (char* bytes)
|
|
{
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std::swap (bytes[0], bytes[7]);
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|
std::swap (bytes[1], bytes[6]);
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std::swap (bytes[2], bytes[5]);
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std::swap (bytes[3], bytes[4]);
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}
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/** \brief swaps byte of an arbitrary type T casting it to char*
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* \param value the data you want its bytes swapped
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|
*/
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|
template <typename T> void
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|
swapByte (T& value)
|
|
{
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|
pcl::io::swapByte<sizeof(T)> (reinterpret_cast<char*> (&value));
|
|
}
|
|
}
|
|
}
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|
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#include <pcl/common/impl/io.hpp>
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