Point Cloud Library (PCL)
1.7.0
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IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id: feature.h 2784 2011-10-15 22:05:38Z aichim $ 00038 */ 00039 00040 #ifndef PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00041 #define PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00042 00043 #include <cstddef> 00044 00045 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00046 template <typename DataType, unsigned Dimension> void 00047 pcl::IntegralImage2D<DataType, Dimension>::setSecondOrderComputation (bool compute_second_order_integral_images) 00048 { 00049 compute_second_order_integral_images_ = compute_second_order_integral_images; 00050 } 00051 00052 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00053 template <typename DataType, unsigned Dimension> void 00054 pcl::IntegralImage2D<DataType, Dimension>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride) 00055 { 00056 if ((width + 1) * (height + 1) > first_order_integral_image_.size () ) 00057 { 00058 width_ = width; 00059 height_ = height; 00060 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00061 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00062 if (compute_second_order_integral_images_) 00063 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00064 } 00065 computeIntegralImages (data, row_stride, element_stride); 00066 } 00067 00068 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00069 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType 00070 pcl::IntegralImage2D<DataType, Dimension>::getFirstOrderSum ( 00071 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00072 { 00073 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00074 const unsigned upper_right_idx = upper_left_idx + width; 00075 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00076 const unsigned lower_right_idx = lower_left_idx + width; 00077 00078 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00079 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00080 } 00081 00082 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00083 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType 00084 pcl::IntegralImage2D<DataType, Dimension>::getSecondOrderSum ( 00085 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00086 { 00087 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00088 const unsigned upper_right_idx = upper_left_idx + width; 00089 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00090 const unsigned lower_right_idx = lower_left_idx + width; 00091 00092 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00093 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00094 } 00095 00096 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00097 template <typename DataType, unsigned Dimension> unsigned 00098 pcl::IntegralImage2D<DataType, Dimension>::getFiniteElementsCount ( 00099 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00100 { 00101 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00102 const unsigned upper_right_idx = upper_left_idx + width; 00103 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00104 const unsigned lower_right_idx = lower_left_idx + width; 00105 00106 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00107 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00108 } 00109 00110 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00111 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType 00112 pcl::IntegralImage2D<DataType, Dimension>::getFirstOrderSumSE ( 00113 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00114 { 00115 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00116 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00117 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00118 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00119 00120 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00121 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00122 } 00123 00124 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00125 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType 00126 pcl::IntegralImage2D<DataType, Dimension>::getSecondOrderSumSE ( 00127 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00128 { 00129 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00130 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00131 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00132 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00133 00134 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00135 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00136 } 00137 00138 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00139 template <typename DataType, unsigned Dimension> unsigned 00140 pcl::IntegralImage2D<DataType, Dimension>::getFiniteElementsCountSE ( 00141 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00142 { 00143 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00144 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00145 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00146 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00147 00148 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00149 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00150 } 00151 00152 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00153 template <typename DataType, unsigned Dimension> void 00154 pcl::IntegralImage2D<DataType, Dimension>::computeIntegralImages ( 00155 const DataType *data, unsigned row_stride, unsigned element_stride) 00156 { 00157 ElementType* previous_row = &first_order_integral_image_[0]; 00158 ElementType* current_row = previous_row + (width_ + 1); 00159 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00160 00161 unsigned* count_previous_row = &finite_values_integral_image_[0]; 00162 unsigned* count_current_row = count_previous_row + (width_ + 1); 00163 memset (count_previous_row, 0, sizeof (unsigned) * (width_ + 1)); 00164 00165 if (!compute_second_order_integral_images_) 00166 { 00167 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00168 previous_row = current_row, current_row += (width_ + 1), 00169 count_previous_row = count_current_row, count_current_row += (width_ + 1)) 00170 { 00171 current_row [0].setZero (); 00172 count_current_row [0] = 0; 00173 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00174 { 00175 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00176 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00177 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00178 if (pcl_isfinite (element->sum ())) 00179 { 00180 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00181 ++(count_current_row [colIdx + 1]); 00182 } 00183 } 00184 } 00185 } 00186 else 00187 { 00188 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00189 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00190 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00191 00192 SecondOrderType so_element; 00193 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00194 previous_row = current_row, current_row += (width_ + 1), 00195 count_previous_row = count_current_row, count_current_row += (width_ + 1), 00196 so_previous_row = so_current_row, so_current_row += (width_ + 1)) 00197 { 00198 current_row [0].setZero (); 00199 so_current_row [0].setZero (); 00200 count_current_row [0] = 0; 00201 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00202 { 00203 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00204 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00205 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00206 00207 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00208 if (pcl_isfinite (element->sum ())) 00209 { 00210 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00211 ++(count_current_row [colIdx + 1]); 00212 for (unsigned myIdx = 0, elIdx = 0; myIdx < Dimension; ++myIdx) 00213 for (unsigned mxIdx = myIdx; mxIdx < Dimension; ++mxIdx, ++elIdx) 00214 so_current_row [colIdx + 1][elIdx] += (*element)[myIdx] * (*element)[mxIdx]; 00215 } 00216 } 00217 } 00218 } 00219 } 00220 00221 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00222 00223 template <typename DataType> void 00224 pcl::IntegralImage2D<DataType, 1>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride) 00225 { 00226 if ((width + 1) * (height + 1) > first_order_integral_image_.size () ) 00227 { 00228 width_ = width; 00229 height_ = height; 00230 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00231 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00232 if (compute_second_order_integral_images_) 00233 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00234 } 00235 computeIntegralImages (data, row_stride, element_stride); 00236 } 00237 00238 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00239 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType 00240 pcl::IntegralImage2D<DataType, 1>::getFirstOrderSum ( 00241 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00242 { 00243 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00244 const unsigned upper_right_idx = upper_left_idx + width; 00245 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00246 const unsigned lower_right_idx = lower_left_idx + width; 00247 00248 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00249 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00250 } 00251 00252 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00253 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType 00254 pcl::IntegralImage2D<DataType, 1>::getSecondOrderSum ( 00255 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00256 { 00257 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00258 const unsigned upper_right_idx = upper_left_idx + width; 00259 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00260 const unsigned lower_right_idx = lower_left_idx + width; 00261 00262 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00263 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00264 } 00265 00266 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00267 template <typename DataType> unsigned 00268 pcl::IntegralImage2D<DataType, 1>::getFiniteElementsCount ( 00269 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00270 { 00271 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00272 const unsigned upper_right_idx = upper_left_idx + width; 00273 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00274 const unsigned lower_right_idx = lower_left_idx + width; 00275 00276 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00277 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00278 } 00279 00280 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00281 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType 00282 pcl::IntegralImage2D<DataType, 1>::getFirstOrderSumSE ( 00283 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00284 { 00285 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00286 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00287 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00288 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00289 00290 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00291 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00292 } 00293 00294 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00295 template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType 00296 pcl::IntegralImage2D<DataType, 1>::getSecondOrderSumSE ( 00297 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00298 { 00299 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00300 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00301 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00302 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00303 00304 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00305 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00306 } 00307 00308 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00309 template <typename DataType> unsigned 00310 pcl::IntegralImage2D<DataType, 1>::getFiniteElementsCountSE ( 00311 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const 00312 { 00313 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00314 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x; 00315 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x; 00316 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x; 00317 00318 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] - 00319 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] ); 00320 } 00321 00322 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00323 template <typename DataType> void 00324 pcl::IntegralImage2D<DataType, 1>::computeIntegralImages ( 00325 const DataType *data, unsigned row_stride, unsigned element_stride) 00326 { 00327 ElementType* previous_row = &first_order_integral_image_[0]; 00328 ElementType* current_row = previous_row + (width_ + 1); 00329 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00330 00331 unsigned* count_previous_row = &finite_values_integral_image_[0]; 00332 unsigned* count_current_row = count_previous_row + (width_ + 1); 00333 memset (count_previous_row, 0, sizeof (unsigned) * (width_ + 1)); 00334 00335 if (!compute_second_order_integral_images_) 00336 { 00337 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00338 previous_row = current_row, current_row += (width_ + 1), 00339 count_previous_row = count_current_row, count_current_row += (width_ + 1)) 00340 { 00341 current_row [0] = 0.0; 00342 count_current_row [0] = 0; 00343 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00344 { 00345 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00346 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00347 if (pcl_isfinite (data [valIdx])) 00348 { 00349 current_row [colIdx + 1] += data [valIdx]; 00350 ++(count_current_row [colIdx + 1]); 00351 } 00352 } 00353 } 00354 } 00355 else 00356 { 00357 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00358 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00359 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00360 00361 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride, 00362 previous_row = current_row, current_row += (width_ + 1), 00363 count_previous_row = count_current_row, count_current_row += (width_ + 1), 00364 so_previous_row = so_current_row, so_current_row += (width_ + 1)) 00365 { 00366 current_row [0] = 0.0; 00367 so_current_row [0] = 0.0; 00368 count_current_row [0] = 0; 00369 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00370 { 00371 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00372 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00373 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx]; 00374 if (pcl_isfinite (data[valIdx])) 00375 { 00376 current_row [colIdx + 1] += data[valIdx]; 00377 so_current_row [colIdx + 1] += data[valIdx] * data[valIdx]; 00378 ++(count_current_row [colIdx + 1]); 00379 } 00380 } 00381 } 00382 } 00383 } 00384 #endif // PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00385