spring.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, 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 Willow Garage, Inc. 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: spring.h 3626 2011-12-22 01:51:20Z nizar $
 *
 */

#ifndef PCL_POINT_CLOUD_EXPANDER_H_
#define PCL_POINT_CLOUD_EXPANDER_H_

#include <pcl/point_cloud.h>

namespace pcl
{

  template <typename PointT>
  class PointCloudSpring
  {
    public:
      typedef typename pcl::PointCloud<PointT> PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;
      typedef typename PointCloud::iterator iterator;

      enum EXPAND_POLICY { MIRROR = 0, DUPLICATE };
      enum DIRECTION { HORIZONTAL = 0, VERTICAL, BOTH };
      PointCloudSpring () : expand_policy_(-1), direction_(-1) {}
      inline void
      setExpandPolicy (int policy) { expand_policy_ = policy; }
      inline int
      getExpandPolicy () { return (expand_policy_); } 
      inline void
      setDirection (int direction) { direction_ = direction; }
      inline int
      getDirection () { return (direction_); } 
      inline void
      setAmount (int amount) { amount_ = amount; }
      inline int
      getAmount () { return (amount_); }
      inline void
      setInputCloud (PointCloudPtr& input) { input_ = input; }
      inline PointCloudPtr
      getInputCloud () { return (input_); }
      
    private:
      inline bool
      initCompute ();
      
    public:
      inline void
      expand ()
      {
        if (!initCompute ())
          PCL_THROW_EXCEPTION (InitFailedException,
                               "[pcl::PointCloudSpring::initCompute] init failed");
        if (expand_policy_ == DUPLICATE)
        {
          if ((direction_ == VERTICAL) || (direction_ == BOTH))
            expandVerticalDuplicate ();
          if ((direction_ == HORIZONTAL) || (direction_ == BOTH))
            expandHorizontalDuplicate ();
        }
        else
        {
          if ((direction_ == VERTICAL) || (direction_ == BOTH))
            expandVerticalMirror ();
          if ((direction_ == HORIZONTAL) || (direction_ == BOTH))
            expandHorizontalMirror ();
        }
      }

      inline void
      expand (const PointT& val)
      {
        if (!initCompute ())
          PCL_THROW_EXCEPTION (InitFailedException,
                               "[pcl::PointCloudSpring::initCompute] init failed");
        if ((direction_ == VERTICAL) || (direction_ == BOTH))
        {
          expandVertical (val);
        }
        if ((direction_ == HORIZONTAL) || (direction_ == BOTH))
        {
          expandHorizontal (val);
        }
      }

      inline void
      shrink ()
      {
        if (!initCompute ())
          PCL_THROW_EXCEPTION (InitFailedException,
                               "[pcl::PointCloudShrinker::initCompute] init failed");
        if ((direction_ == VERTICAL) || (direction_ == BOTH))
          deleteRows ();
        if ((direction_ == HORIZONTAL) || (direction_ == BOTH))
          deleteCols ();
      }

    private:
      void 
      expandVertical(const PointT& val);
      void 
      expandHorizontal(const PointT& val);
      void 
      expandVerticalDuplicate();
      void 
      expandHorizontalDuplicate();
      void 
      expandVerticalMirror();
      void 
      expandHorizontalMirror();
      inline void
      deleteRows ();
      inline void
      deleteCols ();
      
      int expand_policy_;
      int direction_;
      int amount_;
      PointCloudPtr input_;
  };
}

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

#endif