Point Cloud Library (PCL)
1.7.0
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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 the copyright holder(s) 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 * $Id$ 00037 * 00038 */ 00039 00040 #ifndef PCL_POINT_CLOUD_SPRING_H_ 00041 #define PCL_POINT_CLOUD_SPRING_H_ 00042 00043 #include <pcl/point_cloud.h> 00044 00045 namespace pcl 00046 { 00047 namespace common 00048 { 00049 /** expand point cloud inserting \a amount rows at the 00050 * top and the bottom of a point cloud and filling them with 00051 * custom values. 00052 * \param[in] input the input point cloud 00053 * \param[out] output the output point cloud 00054 * \param[in] val the point value to be insterted 00055 * \param[in] amount the amount of rows to be added 00056 */ 00057 template <typename PointT> void 00058 expandRows (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00059 const PointT& val, const size_t& amount); 00060 00061 /** expand point cloud inserting \a amount columns at 00062 * the right and the left of a point cloud and filling them with 00063 * custom values. 00064 * \param[in] input the input point cloud 00065 * \param[out] output the output point cloud 00066 * \param[in] val the point value to be insterted 00067 * \param[in] amount the amount of columns to be added 00068 */ 00069 template <typename PointT> void 00070 expandColumns (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00071 const PointT& val, const size_t& amount); 00072 00073 /** expand point cloud duplicating the \a amount top and bottom rows times. 00074 * \param[in] input the input point cloud 00075 * \param[out] output the output point cloud 00076 * \param[in] amount the amount of rows to be added 00077 */ 00078 template <typename PointT> void 00079 duplicateRows (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00080 const size_t& amount); 00081 00082 /** expand point cloud duplicating the \a amount right and left columns 00083 * times. 00084 * \param[in] input the input point cloud 00085 * \param[out] output the output point cloud 00086 * \param[in] amount the amount of cilumns to be added 00087 */ 00088 template <typename PointT> void 00089 duplicateColumns (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00090 const size_t& amount); 00091 00092 /** expand point cloud mirroring \a amount top and bottom rows. 00093 * \param[in] input the input point cloud 00094 * \param[out] output the output point cloud 00095 * \param[in] amount the amount of rows to be added 00096 */ 00097 template <typename PointT> void 00098 mirrorRows (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00099 const size_t& amount); 00100 00101 /** expand point cloud mirroring \a amount right and left columns. 00102 * \param[in] input the input point cloud 00103 * \param[out] output the output point cloud 00104 * \param[in] amount the amount of rows to be added 00105 */ 00106 template <typename PointT> void 00107 mirrorColumns (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00108 const size_t& amount); 00109 00110 /** delete \a amount rows in top and bottom of point cloud 00111 * \param[in] input the input point cloud 00112 * \param[out] output the output point cloud 00113 * \param[in] amount the amount of rows to be added 00114 */ 00115 template <typename PointT> void 00116 deleteRows (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00117 const size_t& amount); 00118 00119 /** delete \a amount columns in top and bottom of point cloud 00120 * \param[in] input the input point cloud 00121 * \param[out] output the output point cloud 00122 * \param[in] amount the amount of rows to be added 00123 */ 00124 template <typename PointT> void 00125 deleteCols (const PointCloud<PointT>& input, PointCloud<PointT>& output, 00126 const size_t& amount); 00127 }; 00128 } 00129 00130 #include <pcl/common/impl/spring.hpp> 00131 00132 #endif