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Add a function to copy data between points of different types #465

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Feb 11, 2014
Merged

Add a function to copy data between points of different types #465

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dc2490c
Add a function to copy data between points of different types
taketwo Jan 23, 2014
f55bb9b
Add a unit test for `copyPoint()` function
taketwo Jan 23, 2014
9612e6f
Update `copyPointCloud()` functions to use `copyPoint`
taketwo Jan 23, 2014
a8d5fa7
Update various PCL classes to use `copyPoint()`
taketwo Jan 23, 2014
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2 changes: 2 additions & 0 deletions common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,7 @@ if(build)
include/pcl/common/common_headers.h
include/pcl/common/distances.h
include/pcl/common/eigen.h
include/pcl/common/copy_point.h
include/pcl/common/io.h
include/pcl/common/file_io.h
include/pcl/common/intersections.h
Expand Down Expand Up @@ -116,6 +117,7 @@ if(build)
include/pcl/common/impl/centroid.hpp
include/pcl/common/impl/common.hpp
include/pcl/common/impl/eigen.hpp
include/pcl/common/impl/copy_point.hpp
include/pcl/common/impl/io.hpp
include/pcl/common/impl/file_io.hpp
include/pcl/common/impl/norms.hpp
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62 changes: 62 additions & 0 deletions common/include/pcl/common/copy_point.h
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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.
*
*/

#ifndef PCL_COMMON_COPY_POINT_H_
#define PCL_COMMON_COPY_POINT_H_

namespace pcl
{

/** \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);

}

#include <pcl/common/impl/copy_point.hpp>

#endif // PCL_COMMON_COPY_POINT_H_

145 changes: 145 additions & 0 deletions common/include/pcl/common/impl/copy_point.hpp
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/*
* 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.
*
*/

#ifndef PCL_COMMON_IMPL_COPY_POINT_HPP_
#define PCL_COMMON_IMPL_COPY_POINT_HPP_

#include <pcl/point_types.h>
#include <pcl/point_traits.h>
#include <pcl/for_each_type.h>
#include <pcl/common/concatenate.h>

namespace pcl
{

namespace detail
{

/* 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. */

template <typename PointInT, typename PointOutT, typename Enable = void>
struct CopyPointHelper { };

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));
}
};

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));
}
};

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);
}
};

}

}

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);
}

#endif //PCL_COMMON_IMPL_COPY_POINT_HPP_

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