Point Cloud Library (PCL)
1.3.1
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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 3070 2011-11-01 21:12:47Z 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::IntegralImage2Dim<DataType, Dimension>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride) 00047 { 00048 if ((width + 1) * (height + 1) > first_order_integral_image_.size () ) 00049 { 00050 width_ = width; 00051 height_ = height; 00052 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00053 if (compute_second_order_integral_images_) 00054 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) ); 00055 } 00056 computeIntegralImages (data, row_stride, element_stride); 00057 } 00058 00060 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2Dim<DataType, Dimension>::ElementType 00061 pcl::IntegralImage2Dim<DataType, Dimension>::getFirstOrderSum ( 00062 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00063 { 00064 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00065 const unsigned upper_right_idx = upper_left_idx + width; 00066 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00067 const unsigned lower_right_idx = lower_left_idx + width; 00068 00069 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] - 00070 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] ); 00071 } 00072 00074 template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2Dim<DataType, Dimension>::SecondOrderType 00075 pcl::IntegralImage2Dim<DataType, Dimension>::getSecondOrderSum ( 00076 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const 00077 { 00078 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x; 00079 const unsigned upper_right_idx = upper_left_idx + width; 00080 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x; 00081 const unsigned lower_right_idx = lower_left_idx + width; 00082 00083 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] - 00084 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] ); 00085 } 00086 00088 template <typename DataType, unsigned Dimension> void 00089 pcl::IntegralImage2Dim<DataType, Dimension>::computeIntegralImages ( 00090 const DataType *data, unsigned row_stride, unsigned element_stride) 00091 { 00092 ElementType* previous_row = &first_order_integral_image_[0]; 00093 ElementType* current_row = previous_row + (width_ + 1); 00094 memset (previous_row, 0, sizeof (ElementType) * (width_ + 1)); 00095 00096 if (!compute_second_order_integral_images_) 00097 { 00098 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, previous_row = current_row, current_row += (width_ + 1), data += row_stride) 00099 { 00100 current_row [0].setZero (); 00101 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00102 { 00103 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00104 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00105 if (pcl_isfinite (element->sum ())) 00106 { 00107 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00108 } 00109 } 00110 } 00111 } 00112 else 00113 { 00114 SecondOrderType* so_previous_row = &second_order_integral_image_[0]; 00115 SecondOrderType* so_current_row = so_previous_row + (width_ + 1); 00116 memset (so_previous_row, 0, sizeof (SecondOrderType) * (width_ + 1)); 00117 00118 SecondOrderType so_element; 00119 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, 00120 previous_row = current_row, current_row += (width_ + 1), 00121 so_previous_row = so_current_row, so_current_row += (width_ + 1), data += row_stride) 00122 { 00123 current_row [0].setZero (); 00124 so_current_row [0].setZero (); 00125 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride) 00126 { 00127 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx]; 00128 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx]; 00129 00130 const InputType* element = reinterpret_cast <const InputType*> (&data [valIdx]); 00131 if (pcl_isfinite (element->sum ())) 00132 { 00133 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>(); 00134 00135 for (unsigned myIdx = 0, elIdx = 0; myIdx < Dimension; ++myIdx) 00136 for (unsigned mxIdx = myIdx; mxIdx < Dimension; ++mxIdx, ++elIdx) 00137 so_current_row [colIdx + 1][elIdx] += (*element)[myIdx] * (*element)[mxIdx]; 00138 } 00139 } 00140 } 00141 } 00142 } 00143 00144 #endif // PCL_INTEGRAL_IMAGE2D_IMPL_H_ 00145