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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: integral_image2D.hpp 6144 2012-07-04 22:06:28Z rusu $ 00037 */ 00038 00039 #ifndef PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00040 #define PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00041 00042 #include <cstddef> 00043 00045 template <typename DataType, unsigned Dimension> void 00046 pcl::IntegralImage2D<DataType, Dimension>::setSecondOrderComputation (bool compute_second_order_integral_images) 00047 { 00048 compute_second_order_integral_images_ = compute_second_order_integral_images; 00049 } 00050 00052 template <typename DataType, unsigned Dimension> void 00053 pcl::IntegralImage2D<DataType, Dimension>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride) 00054 { 00055 if ((width + 1) * (height + 1) > first_order_integral_image_.size () ) 00056 { 00057 width_ = width; 00058 height_ = height; 00059 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00060 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00061 if (compute_second_order_integral_images_) 00062 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00063 } 00064 computeIntegralImages (data, row_stride, element_stride); 00065 } 00066 00068 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType 00069 pcl::IntegralImage2D<DataType, Dimension>::getFirstOrderSum ( 00070 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00071 { 00072 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00073 const unsigned upper_right_idx = upper_left_idx + width; 00074 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00075 const unsigned lower_right_idx = lower_left_idx + width; 00076 00077 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00078 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00079 } 00080 00082 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType 00083 pcl::IntegralImage2D<DataType, Dimension>::getSecondOrderSum ( 00084 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00085 { 00086 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00087 const unsigned upper_right_idx = upper_left_idx + width; 00088 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00089 const unsigned lower_right_idx = lower_left_idx + width; 00090 00091 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00092 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00093 } 00094 00096 template <typename DataType, unsigned Dimension> unsigned 00097 pcl::IntegralImage2D<DataType, Dimension>::getFiniteElementsCount ( 00098 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00099 { 00100 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00101 const unsigned upper_right_idx = upper_left_idx + width; 00102 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00103 const unsigned lower_right_idx = lower_left_idx + width; 00104 00105 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00106 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00107 } 00108 00110 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType 00111 pcl::IntegralImage2D<DataType, Dimension>::getFirstOrderSumSE ( 00112 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00113 { 00114 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00115 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00116 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00117 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00118 00119 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00120 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00121 } 00122 00124 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType 00125 pcl::IntegralImage2D<DataType, Dimension>::getSecondOrderSumSE ( 00126 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00127 { 00128 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00129 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00130 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00131 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00132 00133 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00134 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00135 } 00136 00138 template <typename DataType, unsigned Dimension> unsigned 00139 pcl::IntegralImage2D<DataType, Dimension>::getFiniteElementsCountSE ( 00140 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00141 { 00142 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00143 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00144 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00145 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00146 00147 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00148 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00149 } 00150 00152 template <typename DataType, unsigned Dimension> void 00153 pcl::IntegralImage2D<DataType, Dimension>::computeIntegralImages ( 00154 const DataType *data, unsigned row_stride, unsigned element_stride) 00155 { 00156 ElementType* previous_row = &first_order_integral_image_[0]; 00157 ElementType* current_row = previous_row + (width_ + 1); 00158 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00159 00160 unsigned* count_previous_row = &finite_values_integral_image_[0]; 00161 unsigned* count_current_row = count_previous_row + (width_ + 1); 00162 memset (count_previous_row, 0, sizeof (unsigned) * (width_ + 1)); 00163 00164 if (!compute_second_order_integral_images_) 00165 { 00166 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00167 previous_row = current_row, current_row += (width_ + 1), 00168 count_previous_row = count_current_row, count_current_row += (width_ + 1)) 00169 { 00170 current_row [0].setZero (); 00171 count_current_row [0] = 0; 00172 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00173 { 00174 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00175 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00176 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00177 if (pcl_isfinite (element->sum ())) 00178 { 00179 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00180 ++(count_current_row [colIdx + 1]); 00181 } 00182 } 00183 } 00184 } 00185 else 00186 { 00187 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00188 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00189 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00190 00191 SecondOrderType so_element; 00192 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00193 previous_row = current_row, current_row += (width_ + 1), 00194 count_previous_row = count_current_row, count_current_row += (width_ + 1), 00195 so_previous_row = so_current_row, so_current_row += (width_ + 1)) 00196 { 00197 current_row [0].setZero (); 00198 so_current_row [0].setZero (); 00199 count_current_row [0] = 0; 00200 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00201 { 00202 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00203 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00204 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00205 00206 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00207 if (pcl_isfinite (element->sum ())) 00208 { 00209 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00210 ++(count_current_row [colIdx + 1]); 00211 for (unsigned myIdx = 0, elIdx = 0; myIdx < Dimension; ++myIdx) 00212 for (unsigned mxIdx = myIdx; mxIdx < Dimension; ++mxIdx, ++elIdx) 00213 so_current_row [colIdx + 1][elIdx] += (*element)[myIdx] * (*element)[mxIdx]; 00214 } 00215 } 00216 } 00217 } 00218 } 00219 00221 00222 template <typename DataType> void 00223 pcl::IntegralImage2D<DataType, 1>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride) 00224 { 00225 if ((width + 1) * (height + 1) > first_order_integral_image_.size () ) 00226 { 00227 width_ = width; 00228 height_ = height; 00229 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00230 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00231 if (compute_second_order_integral_images_) 00232 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00233 } 00234 computeIntegralImages (data, row_stride, element_stride); 00235 } 00236 00238 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType 00239 pcl::IntegralImage2D<DataType, 1>::getFirstOrderSum ( 00240 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00241 { 00242 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00243 const unsigned upper_right_idx = upper_left_idx + width; 00244 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00245 const unsigned lower_right_idx = lower_left_idx + width; 00246 00247 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00248 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00249 } 00250 00252 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType 00253 pcl::IntegralImage2D<DataType, 1>::getSecondOrderSum ( 00254 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00255 { 00256 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00257 const unsigned upper_right_idx = upper_left_idx + width; 00258 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00259 const unsigned lower_right_idx = lower_left_idx + width; 00260 00261 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00262 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00263 } 00264 00266 template <typename DataType> unsigned 00267 pcl::IntegralImage2D<DataType, 1>::getFiniteElementsCount ( 00268 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00269 { 00270 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00271 const unsigned upper_right_idx = upper_left_idx + width; 00272 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00273 const unsigned lower_right_idx = lower_left_idx + width; 00274 00275 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00276 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00277 } 00278 00280 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType 00281 pcl::IntegralImage2D<DataType, 1>::getFirstOrderSumSE ( 00282 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00283 { 00284 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00285 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00286 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00287 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00288 00289 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00290 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00291 } 00292 00294 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType 00295 pcl::IntegralImage2D<DataType, 1>::getSecondOrderSumSE ( 00296 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00297 { 00298 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00299 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00300 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00301 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00302 00303 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00304 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00305 } 00306 00308 template <typename DataType> unsigned 00309 pcl::IntegralImage2D<DataType, 1>::getFiniteElementsCountSE ( 00310 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00311 { 00312 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00313 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00314 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00315 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00316 00317 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00318 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00319 } 00320 00322 template <typename DataType> void 00323 pcl::IntegralImage2D<DataType, 1>::computeIntegralImages ( 00324 const DataType *data, unsigned row_stride, unsigned element_stride) 00325 { 00326 ElementType* previous_row = &first_order_integral_image_[0]; 00327 ElementType* current_row = previous_row + (width_ + 1); 00328 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00329 00330 unsigned* count_previous_row = &finite_values_integral_image_[0]; 00331 unsigned* count_current_row = count_previous_row + (width_ + 1); 00332 memset (count_previous_row, 0, sizeof (unsigned) * (width_ + 1)); 00333 00334 if (!compute_second_order_integral_images_) 00335 { 00336 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00337 previous_row = current_row, current_row += (width_ + 1), 00338 count_previous_row = count_current_row, count_current_row += (width_ + 1)) 00339 { 00340 current_row [0] = 0.0; 00341 count_current_row [0] = 0; 00342 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00343 { 00344 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00345 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00346 if (pcl_isfinite (data [valIdx])) 00347 { 00348 current_row [colIdx + 1] += data [valIdx]; 00349 ++(count_current_row [colIdx + 1]); 00350 } 00351 } 00352 } 00353 } 00354 else 00355 { 00356 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00357 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00358 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00359 00360 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00361 previous_row = current_row, current_row += (width_ + 1), 00362 count_previous_row = count_current_row, count_current_row += (width_ + 1), 00363 so_previous_row = so_current_row, so_current_row += (width_ + 1)) 00364 { 00365 current_row [0] = 0.0; 00366 so_current_row [0] = 0.0; 00367 count_current_row [0] = 0; 00368 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00369 { 00370 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00371 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00372 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00373 if (pcl_isfinite (data[valIdx])) 00374 { 00375 current_row [colIdx + 1] += data[valIdx]; 00376 so_current_row [colIdx + 1] += data[valIdx] * data[valIdx]; 00377 ++(count_current_row [colIdx + 1]); 00378 } 00379 } 00380 } 00381 } 00382 } 00383 #endif // PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00384
1.7.6.1
