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Fix error due to multiple declarations of template member function specializations in Poisson4 #3972

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merged 3 commits into from
Apr 30, 2020
Merged

Fix error due to multiple declarations of template member function specializations in Poisson4 #3972

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68aba0c
Making template specializations of member functions inline in hpp (2/N)
kunaltyagi Apr 24, 2020
a085fad
Adding missing inline
kunaltyagi Apr 28, 2020
0aa7219
oops for the inline
kunaltyagi Apr 29, 2020
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1 change: 1 addition & 0 deletions surface/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ set(POISSON_INCLUDES
)

set(POISSON_SOURCES
src/3rdparty/poisson4/bspline_data.cpp
src/3rdparty/poisson4/factor.cpp
src/3rdparty/poisson4/geometry.cpp
src/3rdparty/poisson4/marching_cubes_poisson.cpp
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3 changes: 3 additions & 0 deletions surface/include/pcl/surface/3rdparty/poisson4/bspline_data.h
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Expand Up @@ -32,6 +32,9 @@ DAMAGE.

#include "ppolynomial.h"

#include <cstdio>
#include <cstring>

namespace pcl
{
namespace poisson
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55 changes: 3 additions & 52 deletions surface/include/pcl/surface/3rdparty/poisson4/bspline_data.hpp
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Expand Up @@ -27,6 +27,7 @@ DAMAGE.
*/

#include "poisson_exceptions.h"
#include "binary_node.h"

namespace pcl
{
Expand Down Expand Up @@ -449,60 +450,10 @@ namespace pcl
POISSON_THROW_EXCEPTION (pcl::poisson::PoissonBadArgumentException, "B-spline up-sampling not supported for degree " << Degree);
}
template<>
void BSplineElements< 1 >::upSample( BSplineElements< 1 >& high ) const
{
high.resize( size()*2 );
high.assign( high.size() , BSplineElementCoefficients<1>() );
for( int i=0 ; i<int(size()) ; i++ )
{
high[2*i+0][0] += 1 * (*this)[i][0];
high[2*i+0][1] += 0 * (*this)[i][0];
high[2*i+1][0] += 2 * (*this)[i][0];
high[2*i+1][1] += 1 * (*this)[i][0];
void BSplineElements< 1 >::upSample( BSplineElements< 1 >& high ) const;

high[2*i+0][0] += 1 * (*this)[i][1];
high[2*i+0][1] += 2 * (*this)[i][1];
high[2*i+1][0] += 0 * (*this)[i][1];
high[2*i+1][1] += 1 * (*this)[i][1];
}
high.denominator = denominator * 2;
}
template<>
void BSplineElements< 2 >::upSample( BSplineElements< 2 >& high ) const
{
// /----\
// / \
// / \ = 1 /--\ +3 /--\ +3 /--\ +1 /--\
// / \ / \ / \ / \ / \
// |----------| |----------| |----------| |----------| |----------|

high.resize( size()*2 );
high.assign( high.size() , BSplineElementCoefficients<2>() );
for( int i=0 ; i<int(size()) ; i++ )
{
high[2*i+0][0] += 1 * (*this)[i][0];
high[2*i+0][1] += 0 * (*this)[i][0];
high[2*i+0][2] += 0 * (*this)[i][0];
high[2*i+1][0] += 3 * (*this)[i][0];
high[2*i+1][1] += 1 * (*this)[i][0];
high[2*i+1][2] += 0 * (*this)[i][0];

high[2*i+0][0] += 3 * (*this)[i][1];
high[2*i+0][1] += 3 * (*this)[i][1];
high[2*i+0][2] += 1 * (*this)[i][1];
high[2*i+1][0] += 1 * (*this)[i][1];
high[2*i+1][1] += 3 * (*this)[i][1];
high[2*i+1][2] += 3 * (*this)[i][1];

high[2*i+0][0] += 0 * (*this)[i][2];
high[2*i+0][1] += 1 * (*this)[i][2];
high[2*i+0][2] += 3 * (*this)[i][2];
high[2*i+1][0] += 0 * (*this)[i][2];
high[2*i+1][1] += 0 * (*this)[i][2];
high[2*i+1][2] += 1 * (*this)[i][2];
}
high.denominator = denominator * 4;
}
void BSplineElements< 2 >::upSample( BSplineElements< 2 >& high ) const;

template< int Degree >
void BSplineElements< Degree >::differentiate( BSplineElements< Degree-1 >& d ) const
Expand Down
23 changes: 14 additions & 9 deletions surface/include/pcl/surface/3rdparty/poisson4/polynomial.hpp
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Expand Up @@ -8,14 +8,14 @@ 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.
in the documentation and/or other materials provided with the distribution.

Neither the name of the Johns Hopkins University nor the names of its contributors
may be used to endorse or promote products derived from this software without specific
prior written permission.
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
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
Expand All @@ -26,10 +26,15 @@ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF S
DAMAGE.
*/

#include "factor.h"

#include <float.h>
#include <math.h>

#include <algorithm>
#include "factor.h"

#include <cstdio>
#include <cstring>

////////////////
// Polynomial //
Expand Down Expand Up @@ -74,9 +79,9 @@ namespace pcl
for(int i=0;i<=Degree;i++){p.coefficients[i+1]=coefficients[i]/(i+1);}
return p;
}
template<> double Polynomial< 0 >::operator() ( double t ) const { return coefficients[0]; }
template<> double Polynomial< 1 >::operator() ( double t ) const { return coefficients[0]+coefficients[1]*t; }
template<> double Polynomial< 2 >::operator() ( double t ) const { return coefficients[0]+(coefficients[1]+coefficients[2]*t)*t; }
template<> inline double Polynomial< 0 >::operator() ( double t ) const { return coefficients[0]; }
template<> inline double Polynomial< 1 >::operator() ( double t ) const { return coefficients[0]+coefficients[1]*t; }
template<> inline double Polynomial< 2 >::operator() ( double t ) const { return coefficients[0]+(coefficients[1]+coefficients[2]*t)*t; }
template<int Degree>
double Polynomial<Degree>::operator() ( double t ) const{
double v=coefficients[Degree];
Expand Down Expand Up @@ -296,14 +301,14 @@ namespace pcl
}
}
}
template< >
template< > inline
Polynomial< 0 > Polynomial< 0 >::BSplineComponent( int i )
{
Polynomial p;
p.coefficients[0] = 1.;
return p;
}
template< int Degree >
template< int Degree > inline
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Marking this inline is debatable for me. But since it's just gut feeling, I will accept the change.

Polynomial< Degree > Polynomial< Degree >::BSplineComponent( int i )
{
Polynomial p;
Expand Down
5 changes: 4 additions & 1 deletion surface/include/pcl/surface/3rdparty/poisson4/ppolynomial.hpp
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Expand Up @@ -28,6 +28,9 @@ DAMAGE.

#include "factor.h"

#include <cstdio>
#include <cstring>

////////////////////////
// StartingPolynomial //
////////////////////////
Expand Down Expand Up @@ -370,7 +373,7 @@ namespace pcl
}
printf("\n");
}
template< >
template< > inline
PPolynomial< 0 > PPolynomial< 0 >::BSpline( double radius )
{
PPolynomial q;
Expand Down
99 changes: 99 additions & 0 deletions surface/src/3rdparty/poisson4/bspline_data.cpp
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@@ -0,0 +1,99 @@
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2020-, OpenPerception
*
* 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.
*/

#include <pcl/surface/3rdparty/poisson4/bspline_data.h>

namespace pcl {
namespace poisson {
template <>
inline void
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BSplineElements<1>::upSample(BSplineElements<1>& high) const
{
high.resize(size() * 2);
high.assign(high.size(), BSplineElementCoefficients<1>());
for (int i = 0; i < int(size()); i++) {
high[2 * i + 0][0] += 1 * (*this)[i][0];
high[2 * i + 0][1] += 0 * (*this)[i][0];
high[2 * i + 1][0] += 2 * (*this)[i][0];
high[2 * i + 1][1] += 1 * (*this)[i][0];

high[2 * i + 0][0] += 1 * (*this)[i][1];
high[2 * i + 0][1] += 2 * (*this)[i][1];
high[2 * i + 1][0] += 0 * (*this)[i][1];
high[2 * i + 1][1] += 1 * (*this)[i][1];
}
high.denominator = denominator * 2;
}

template <>
inline void
BSplineElements<2>::upSample(BSplineElements<2>& high) const
{
/* /----\
* / \
* / \ = 1 /--\ +3 /--\ +3 /--\ +1 /--\
* / \ / \ / \ / \ / \
* |----------| |----------| |----------| |----------| |----------|
*/

high.resize(size() * 2);
high.assign(high.size(), BSplineElementCoefficients<2>());
for (int i = 0; i < int(size()); i++) {
high[2 * i + 0][0] += 1 * (*this)[i][0];
high[2 * i + 0][1] += 0 * (*this)[i][0];
high[2 * i + 0][2] += 0 * (*this)[i][0];
high[2 * i + 1][0] += 3 * (*this)[i][0];
high[2 * i + 1][1] += 1 * (*this)[i][0];
high[2 * i + 1][2] += 0 * (*this)[i][0];

high[2 * i + 0][0] += 3 * (*this)[i][1];
high[2 * i + 0][1] += 3 * (*this)[i][1];
high[2 * i + 0][2] += 1 * (*this)[i][1];
high[2 * i + 1][0] += 1 * (*this)[i][1];
high[2 * i + 1][1] += 3 * (*this)[i][1];
high[2 * i + 1][2] += 3 * (*this)[i][1];

high[2 * i + 0][0] += 0 * (*this)[i][2];
high[2 * i + 0][1] += 1 * (*this)[i][2];
high[2 * i + 0][2] += 3 * (*this)[i][2];
high[2 * i + 1][0] += 0 * (*this)[i][2];
high[2 * i + 1][1] += 0 * (*this)[i][2];
high[2 * i + 1][2] += 1 * (*this)[i][2];
}
high.denominator = denominator * 4;
}
} // namespace poisson
} // namespace pcl