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Point Cloud Library (PCL)
1.5.1
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Point Cloud Library (PCL)
1.5.1
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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 4702 2012-02-23 09:39:33Z gedikli $ 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> void 00111 pcl::IntegralImage2D<DataType, Dimension>::computeIntegralImages ( 00112 const DataType *data, unsigned row_stride, unsigned element_stride) 00113 { 00114 ElementType* previous_row = &first_order_integral_image_[0]; 00115 ElementType* current_row = previous_row + (width_ + 1); 00116 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00117 00118 unsigned* count_previous_row = &finite_values_integral_image_[0]; 00119 unsigned* count_current_row = count_previous_row + (width_ + 1); 00120 memset (count_previous_row, 0, sizeof (unsigned) * (width_ + 1)); 00121 00122 if (!compute_second_order_integral_images_) 00123 { 00124 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00125 previous_row = current_row, current_row += (width_ + 1), 00126 count_previous_row = count_current_row, count_current_row += (width_ + 1)) 00127 { 00128 current_row [0].setZero (); 00129 count_current_row [0] = 0; 00130 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00131 { 00132 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00133 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00134 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00135 if (pcl_isfinite (element->sum ())) 00136 { 00137 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00138 ++(count_current_row [colIdx + 1]); 00139 } 00140 } 00141 } 00142 } 00143 else 00144 { 00145 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00146 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00147 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00148 00149 SecondOrderType so_element; 00150 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00151 previous_row = current_row, current_row += (width_ + 1), 00152 count_previous_row = count_current_row, count_current_row += (width_ + 1), 00153 so_previous_row = so_current_row, so_current_row += (width_ + 1)) 00154 { 00155 current_row [0].setZero (); 00156 so_current_row [0].setZero (); 00157 count_current_row [0] = 0; 00158 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00159 { 00160 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00161 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00162 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00163 00164 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00165 if (pcl_isfinite (element->sum ())) 00166 { 00167 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00168 ++(count_current_row [colIdx + 1]); 00169 for (unsigned myIdx = 0, elIdx = 0; myIdx < Dimension; ++myIdx) 00170 for (unsigned mxIdx = myIdx; mxIdx < Dimension; ++mxIdx, ++elIdx) 00171 so_current_row [colIdx + 1][elIdx] += (*element)[myIdx] * (*element)[mxIdx]; 00172 } 00173 } 00174 } 00175 } 00176 } 00177 00179 00180 template <typename DataType> void 00181 pcl::IntegralImage2D<DataType, 1>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride) 00182 { 00183 if ((width + 1) * (height + 1) > first_order_integral_image_.size () ) 00184 { 00185 width_ = width; 00186 height_ = height; 00187 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00188 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00189 if (compute_second_order_integral_images_) 00190 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00191 } 00192 computeIntegralImages (data, row_stride, element_stride); 00193 } 00194 00196 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType 00197 pcl::IntegralImage2D<DataType, 1>::getFirstOrderSum ( 00198 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00199 { 00200 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00201 const unsigned upper_right_idx = upper_left_idx + width; 00202 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00203 const unsigned lower_right_idx = lower_left_idx + width; 00204 00205 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00206 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00207 } 00208 00210 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType 00211 pcl::IntegralImage2D<DataType, 1>::getSecondOrderSum ( 00212 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00213 { 00214 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00215 const unsigned upper_right_idx = upper_left_idx + width; 00216 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00217 const unsigned lower_right_idx = lower_left_idx + width; 00218 00219 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00220 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00221 } 00222 00224 template <typename DataType> unsigned 00225 pcl::IntegralImage2D<DataType, 1>::getFiniteElementsCount ( 00226 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00227 { 00228 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00229 const unsigned upper_right_idx = upper_left_idx + width; 00230 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00231 const unsigned lower_right_idx = lower_left_idx + width; 00232 00233 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00234 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00235 } 00236 00238 template <typename DataType> void 00239 pcl::IntegralImage2D<DataType, 1>::computeIntegralImages ( 00240 const DataType *data, unsigned row_stride, unsigned element_stride) 00241 { 00242 ElementType* previous_row = &first_order_integral_image_[0]; 00243 ElementType* current_row = previous_row + (width_ + 1); 00244 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00245 00246 unsigned* count_previous_row = &finite_values_integral_image_[0]; 00247 unsigned* count_current_row = count_previous_row + (width_ + 1); 00248 memset (count_previous_row, 0, sizeof (unsigned) * (width_ + 1)); 00249 00250 if (!compute_second_order_integral_images_) 00251 { 00252 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00253 previous_row = current_row, current_row += (width_ + 1), 00254 count_previous_row = count_current_row, count_current_row += (width_ + 1)) 00255 { 00256 current_row [0] = 0.0; 00257 count_current_row [0] = 0; 00258 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00259 { 00260 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00261 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00262 if (pcl_isfinite (data [valIdx])) 00263 { 00264 current_row [colIdx + 1] += data [valIdx]; 00265 ++(count_current_row [colIdx + 1]); 00266 } 00267 } 00268 } 00269 } 00270 else 00271 { 00272 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00273 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00274 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00275 00276 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00277 previous_row = current_row, current_row += (width_ + 1), 00278 count_previous_row = count_current_row, count_current_row += (width_ + 1), 00279 so_previous_row = so_current_row, so_current_row += (width_ + 1)) 00280 { 00281 current_row [0] = 0.0; 00282 so_current_row [0] = 0.0; 00283 count_current_row [0] = 0; 00284 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00285 { 00286 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00287 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00288 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00289 if (pcl_isfinite (data[valIdx])) 00290 { 00291 current_row [colIdx + 1] += data[valIdx]; 00292 so_current_row [colIdx + 1] += data[valIdx] * data[valIdx]; 00293 ++(count_current_row [colIdx + 1]); 00294 } 00295 } 00296 } 00297 } 00298 } 00299 #endif // PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00300
1.8.0
