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Merge pull request #465 from taketwo/add-copy-point
Add a function to copy data between points of different types
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,62 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2014-, 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. | ||
| * | ||
| */ | ||
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| #ifndef PCL_COMMON_COPY_POINT_H_ | ||
| #define PCL_COMMON_COPY_POINT_H_ | ||
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| namespace pcl | ||
| { | ||
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| /** \brief Copy the fields of a source point into a target point. | ||
| * | ||
| * If the source and the target point types are the same, then a complete | ||
| * copy is made. Otherwise only those fields that the two point types share | ||
| * in common are copied. | ||
| * | ||
| * \param[in] point_in the source point | ||
| * \param[out] point_out the target point | ||
| * | ||
| * \ingroup common */ | ||
| template <typename PointInT, typename PointOutT> void | ||
| copyPoint (const PointInT& point_in, PointOutT& point_out); | ||
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| } | ||
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| #include <pcl/common/impl/copy_point.hpp> | ||
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| #endif // PCL_COMMON_COPY_POINT_H_ | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,145 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Point Cloud Library (PCL) - www.pointclouds.org | ||
| * Copyright (c) 2014-, 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. | ||
| * | ||
| */ | ||
|
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| #ifndef PCL_COMMON_IMPL_COPY_POINT_HPP_ | ||
| #define PCL_COMMON_IMPL_COPY_POINT_HPP_ | ||
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| #include <pcl/point_types.h> | ||
| #include <pcl/point_traits.h> | ||
| #include <pcl/for_each_type.h> | ||
| #include <pcl/common/concatenate.h> | ||
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| namespace pcl | ||
| { | ||
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| namespace detail | ||
| { | ||
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| /* CopyPointHelper and its specializations copy the contents of a source | ||
| * point to a target point. There are three cases: | ||
| * | ||
| * - Points have the same type. | ||
| * In this case a single `memcpy` is used. | ||
| * | ||
| * - Points have different types and one of the following is true: | ||
| * * both have RGB fields; | ||
| * * both have RGBA fields; | ||
| * * one or both have no RGB/RGBA fields. | ||
| * In this case we find the list of common fields and copy their | ||
| * contents one by one with `NdConcatenateFunctor`. | ||
| * | ||
| * - Points have different types and one of these types has RGB field, and | ||
| * the other has RGBA field. | ||
| * In this case we also find the list of common fields and copy their | ||
| * contents. In order to account for the fact that RGB and RGBA do not | ||
| * match we have an additional `memcpy` to copy the contents of one into | ||
| * another. | ||
| * | ||
| * An appropriate version of CopyPointHelper is instantiated during | ||
| * compilation time automatically, so there is absolutely no run-time | ||
| * overhead. */ | ||
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| template <typename PointInT, typename PointOutT, typename Enable = void> | ||
| struct CopyPointHelper { }; | ||
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| template <typename PointInT, typename PointOutT> | ||
| struct CopyPointHelper<PointInT, PointOutT, typename boost::enable_if<boost::is_same<PointInT, PointOutT> >::type> | ||
| { | ||
| void operator () (const PointInT& point_in, PointOutT& point_out) const | ||
| { | ||
| memcpy (&point_out, &point_in, sizeof (PointInT)); | ||
| } | ||
| }; | ||
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| template <typename PointInT, typename PointOutT> | ||
| struct CopyPointHelper<PointInT, PointOutT, | ||
| typename boost::enable_if<boost::mpl::and_<boost::mpl::not_<boost::is_same<PointInT, PointOutT> >, | ||
| boost::mpl::or_<boost::mpl::not_<pcl::traits::has_color<PointInT> >, | ||
| boost::mpl::not_<pcl::traits::has_color<PointOutT> >, | ||
| boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>, | ||
| pcl::traits::has_field<PointOutT, pcl::fields::rgb> >, | ||
| boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>, | ||
| pcl::traits::has_field<PointOutT, pcl::fields::rgba> > > > >::type> | ||
| { | ||
| void operator () (const PointInT& point_in, PointOutT& point_out) const | ||
| { | ||
| typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT; | ||
| typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT; | ||
| typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; | ||
| pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out)); | ||
| } | ||
| }; | ||
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| template <typename PointInT, typename PointOutT> | ||
| struct CopyPointHelper<PointInT, PointOutT, | ||
| typename boost::enable_if<boost::mpl::and_<boost::mpl::not_<boost::is_same<PointInT, PointOutT> >, | ||
| boost::mpl::or_<boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>, | ||
| pcl::traits::has_field<PointOutT, pcl::fields::rgba> >, | ||
| boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>, | ||
| pcl::traits::has_field<PointOutT, pcl::fields::rgb> > > > >::type> | ||
| { | ||
| void operator () (const PointInT& point_in, PointOutT& point_out) const | ||
| { | ||
| typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT; | ||
| typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT; | ||
| typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; | ||
| const uint32_t offset_in = boost::mpl::if_<pcl::traits::has_field<PointInT, pcl::fields::rgb>, | ||
| pcl::traits::offset<PointInT, pcl::fields::rgb>, | ||
| pcl::traits::offset<PointInT, pcl::fields::rgba> >::type::value; | ||
| const uint32_t offset_out = boost::mpl::if_<pcl::traits::has_field<PointOutT, pcl::fields::rgb>, | ||
| pcl::traits::offset<PointOutT, pcl::fields::rgb>, | ||
| pcl::traits::offset<PointOutT, pcl::fields::rgba> >::type::value; | ||
| pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out)); | ||
| memcpy (reinterpret_cast<char*> (&point_out) + offset_out, | ||
| reinterpret_cast<const char*> (&point_in) + offset_in, | ||
| 4); | ||
| } | ||
| }; | ||
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| } | ||
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| } | ||
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| template <typename PointInT, typename PointOutT> void | ||
| pcl::copyPoint (const PointInT& point_in, PointOutT& point_out) | ||
| { | ||
| detail::CopyPointHelper<PointInT, PointOutT> copy; | ||
| copy (point_in, point_out); | ||
| } | ||
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| #endif //PCL_COMMON_IMPL_COPY_POINT_HPP_ | ||
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