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pcl_base.hpp
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_PCL_IMPL_BASE_HPP_
#define PCL_PCL_IMPL_BASE_HPP_
#include <pcl/pcl_base.h>
#include <pcl/console/print.h>
#include <cstddef>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT>
pcl::PCLBase<PointT>::PCLBase ()
: input_ ()
, use_indices_ (false)
, fake_indices_ (false)
{
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT>
pcl::PCLBase<PointT>::PCLBase (const PCLBase& base)
: input_ (base.input_)
, indices_ (base.indices_)
, use_indices_ (base.use_indices_)
, fake_indices_ (base.fake_indices_)
{
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::PCLBase<PointT>::setInputCloud (const PointCloudConstPtr &cloud)
{
input_ = cloud;
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (const IndicesPtr &indices)
{
indices_ = indices;
fake_indices_ = false;
use_indices_ = true;
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (const IndicesConstPtr &indices)
{
indices_.reset (new Indices (*indices));
fake_indices_ = false;
use_indices_ = true;
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (const PointIndicesConstPtr &indices)
{
indices_.reset (new Indices (indices->indices));
fake_indices_ = false;
use_indices_ = true;
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
{
if ((nb_rows > input_->height) || (row_start > input_->height))
{
PCL_ERROR ("[PCLBase::setIndices] cloud is only %d height\n", input_->height);
return;
}
if ((nb_cols > input_->width) || (col_start > input_->width))
{
PCL_ERROR ("[PCLBase::setIndices] cloud is only %d width\n", input_->width);
return;
}
std::size_t row_end = row_start + nb_rows;
if (row_end > input_->height)
{
PCL_ERROR ("[PCLBase::setIndices] %d is out of rows range %d\n", row_end, input_->height);
return;
}
std::size_t col_end = col_start + nb_cols;
if (col_end > input_->width)
{
PCL_ERROR ("[PCLBase::setIndices] %d is out of columns range %d\n", col_end, input_->width);
return;
}
indices_.reset (new Indices);
indices_->reserve (nb_cols * nb_rows);
for(std::size_t i = row_start; i < row_end; i++)
for(std::size_t j = col_start; j < col_end; j++)
indices_->push_back (static_cast<int> ((i * input_->width) + j));
fake_indices_ = false;
use_indices_ = true;
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::PCLBase<PointT>::initCompute ()
{
// Check if input was set
if (!input_)
{
PCL_ERROR ("[initCompute] No input set.\n");
return (false);
}
// If no point indices have been given, construct a set of indices for the entire input point cloud
if (!indices_)
{
fake_indices_ = true;
indices_.reset (new Indices);
}
// If we have a set of fake indices, but they do not match the number of points in the cloud, update them
if (fake_indices_ && indices_->size () != input_->size ())
{
const auto indices_size = indices_->size ();
try
{
indices_->resize (input_->size ());
}
catch (const std::bad_alloc&)
{
PCL_ERROR ("[initCompute] Failed to allocate %lu indices.\n", input_->size ());
return (false);
}
for (auto i = indices_size; i < indices_->size (); ++i) { (*indices_)[i] = static_cast<int>(i); }
}
return (true);
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::PCLBase<PointT>::deinitCompute ()
{
return (true);
}
#define PCL_INSTANTIATE_PCLBase(T) template class PCL_EXPORTS pcl::PCLBase<T>;
#endif //#ifndef PCL_PCL_IMPL_BASE_HPP_
pcl::PCLBase
PCL base class.
Definition pcl_base.h:70
pcl::PCLBase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition pcl_base.hpp:65
pcl::PCLBase::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition pcl_base.h:74
pcl::PCLBase::setIndices
virtual void setIndices(const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data.
Definition pcl_base.hpp:72
pcl::PCLBase::initCompute
bool initCompute()
This method should get called before starting the actual computation.
Definition pcl_base.hpp:138
pcl::PCLBase::PointIndicesConstPtr
PointIndices::ConstPtr PointIndicesConstPtr
Definition pcl_base.h:77
pcl::PCLBase::PCLBase
PCLBase()
Empty constructor.
Definition pcl_base.hpp:46
pcl::PCLBase::deinitCompute
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_base.hpp:175
pcl::IndicesConstPtr
shared_ptr< const Indices > IndicesConstPtr
Definition pcl_base.h:59
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::IndicesPtr
shared_ptr< Indices > IndicesPtr
Definition pcl_base.h:58