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Adding concatenate function and friends for PCLPointCloud2
Added += and + operators for PCLPointCloud2 Deprecated concatenatePointCloud function Added free concatenate operation for PCLPointCloud Added free and static member function concatenate for PointCloud
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|---|---|---|
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| /* | ||
| * 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. | ||
| * | ||
| * $Id$ | ||
| * | ||
| */ | ||
|
|
||
| #include <numeric> | ||
| #include <vector> | ||
|
|
||
| #include <pcl/common/io.h> | ||
| #include <pcl/pcl_macros.h> | ||
| #include <pcl/exceptions.h> | ||
| #include <pcl/PCLPointCloud2.h> | ||
|
|
||
| bool | ||
| pcl::PCLPointCloud2::concatenate (pcl::PCLPointCloud2 &cloud1, const pcl::PCLPointCloud2 &cloud2) | ||
| { | ||
| if (cloud1.is_bigendian != cloud2.is_bigendian) | ||
| { | ||
| // In future, it might be possible to convert based on pcl::getFieldSize(fields.datatype) | ||
| PCL_ERROR ("[pcl::PCLPointCloud2::concatenate] Endianness of clouds does not match\n"); | ||
| return (false); | ||
| } | ||
|
|
||
| const auto size1 = cloud1.width * cloud1.height; | ||
| const auto size2 = cloud2.width * cloud2.height; | ||
| //if one input cloud has no points, but the other input does, just select the cloud with points | ||
| switch ((bool (size1) << 1) + bool (size2)) | ||
| { | ||
| case 1: | ||
| cloud1 = cloud2; | ||
| PCL_FALLTHROUGH; | ||
| case 0: | ||
| PCL_FALLTHROUGH; | ||
| case 2: | ||
| cloud1.header.stamp = std::max (cloud1.header.stamp, cloud2.header.stamp); | ||
| return (true); | ||
| default: | ||
| break; | ||
| } | ||
|
|
||
| // Ideally this should be in PCLPointField class since this is global behavior | ||
| // We're fine with the special RGB vs RGBA use case | ||
| auto field_eq = [](const auto& field1, const auto& field2) | ||
| { | ||
| return ((field1.name == field2.name) || | ||
| (field1.name == "rgb" && field2.name == "rgba") || | ||
| (field1.name == "rgba" && field2.name == "rgb")); | ||
| }; | ||
|
|
||
| // A simple memcpy is possible if layout (name and order of fields) is same | ||
| bool memcpy_possible = std::equal(cloud1.fields.begin (), | ||
| cloud1.fields.end (), | ||
| cloud2.fields.begin (), | ||
| cloud2.fields.end (), | ||
| field_eq); | ||
|
|
||
| struct FieldDetails | ||
| { | ||
| std::size_t idx1, idx2; | ||
| std::uint16_t size; | ||
| FieldDetails (std::size_t idx1_, std::size_t idx2_, std::uint16_t size_): idx1 (idx1_), idx2 (idx2_), size (size_) | ||
| {} | ||
| }; | ||
| std::vector<FieldDetails> valid_fields; | ||
| const auto max_field_size = std::max (cloud1.fields.size (), cloud2.fields.size ()); | ||
| valid_fields.reserve (max_field_size); | ||
|
|
||
| // refactor to return std::optional<std::vector<FieldDetails>> | ||
| if (!memcpy_possible) | ||
| { | ||
| std::size_t i = 0, j = 0; | ||
| while (i < cloud1.fields.size () && j < cloud2.fields.size ()) | ||
| { | ||
| if (cloud1.fields[i].name == "_") | ||
| { | ||
| ++i; | ||
| continue; | ||
| } | ||
| if (cloud2.fields[j].name == "_") | ||
| { | ||
| ++j; | ||
| continue; | ||
| } | ||
|
|
||
| if (field_eq(cloud1.fields[i], cloud2.fields[j])) | ||
| { | ||
| valid_fields.emplace_back(i, j, pcl::getFieldSize (cloud2.fields[j].datatype)); | ||
| ++i; | ||
| ++j; | ||
| continue; | ||
| } | ||
| PCL_ERROR ("[pcl::PCLPointCloud2::concatenate] Name of field %d in cloud1, %s, does not match name in cloud2, %s\n", i, cloud1.fields[i].name.c_str (), cloud2.fields[i].name.c_str ()); | ||
| return (false); | ||
| } | ||
| if (i != cloud1.fields.size () || j != cloud2.fields.size ()) | ||
| { | ||
| PCL_ERROR ("[pcl::PCLPointCloud2::concatenate] Number of fields to copy in cloud1 (%u) != Number of fields to copy in cloud2 (%u)\n", i, j); | ||
| return (false); | ||
| } | ||
| } | ||
|
|
||
| // It's safe to modify the cloud1 inplace | ||
| cloud1.header.stamp = std::max (cloud1.header.stamp, cloud2.header.stamp); | ||
|
|
||
| cloud1.is_dense = cloud1.is_dense && cloud2.is_dense; | ||
| cloud1.height = 1; | ||
| cloud1.width = size1 + size2; | ||
|
|
||
| const auto data1_size = cloud1.data.size (); | ||
|
|
||
| // conservative allocation | ||
| cloud1.data.reserve (data1_size + cloud2.data.size ()); | ||
| if (memcpy_possible) | ||
| { | ||
| cloud1.data.insert (cloud1.data.end (), cloud2.data.begin (), cloud2.data.end ()); | ||
| return (true); | ||
| } | ||
| for (std::size_t cp = 0; cp < size2; ++cp) | ||
| { | ||
| for (const auto field_data: valid_fields) | ||
| { | ||
| const auto& i = field_data.idx1; | ||
| const auto& j = field_data.idx2; | ||
| const auto& size = field_data.size; | ||
| memcpy (reinterpret_cast<char*> (&cloud1.data[data1_size + cp * cloud1.point_step + cloud1.fields[i].offset]), | ||
| reinterpret_cast<const char*> (&cloud2.data[cp * cloud2.point_step + cloud2.fields[j].offset]), | ||
| cloud2.fields[j].count * size); | ||
| } | ||
| } | ||
| return (true); | ||
| } | ||
|
|
||
| pcl::PCLPointCloud2& | ||
| pcl::PCLPointCloud2::operator += (const PCLPointCloud2& rhs) | ||
| { | ||
| if (concatenate((*this), rhs)) | ||
| { | ||
| return (*this); | ||
| } | ||
| PCL_THROW_EXCEPTION(ComputeFailedException, "Field or Endian mismatch. Please check log for more details"); | ||
| } |
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