--- /dev/null
+#!/bin/sh
+
+PCL_DIR=`pwd`
+BUILD_DIR=$PCL_DIR/build
+DOC_DIR=$BUILD_DIR/doc/doxygen/html
+
+TUTORIALS_DIR=$BUILD_DIR/doc/tutorials/html
+ADVANCED_DIR=$BUILD_DIR/doc/advanced/html
+
+CMAKE_C_FLAGS="-Wall -Wextra -Wabi -O2"
+CMAKE_CXX_FLAGS="-Wall -Wextra -Wabi -O2"
+
+function build ()
+{
+ case $CC in
+ clang ) build_clang;;
+ gcc ) build_gcc;;
+ esac
+}
+
+function build_clang ()
+{
+ # A complete build
+ # Configure
+ mkdir $BUILD_DIR && cd $BUILD_DIR
+ cmake -DCMAKE_C_FLAGS=$CMAKE_C_FLAGS -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS \
+ -DPCL_ONLY_CORE_POINT_TYPES=ON \
+ -DBUILD_global_tests=OFF \
+ $PCL_DIR
+ # Build
+ make -j2
+}
+
+function build_gcc ()
+{
+ # A reduced build, only pcl_common
+ # Configure
+ mkdir $BUILD_DIR && cd $BUILD_DIR
+ cmake -DCMAKE_C_FLAGS=$CMAKE_C_FLAGS -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS \
+ -DPCL_ONLY_CORE_POINT_TYPES=ON \
+ -DBUILD_2d=OFF \
+ -DBUILD_features=OFF \
+ -DBUILD_filters=OFF \
+ -DBUILD_geometry=OFF \
+ -DBUILD_global_tests=OFF \
+ -DBUILD_io=OFF \
+ -DBUILD_kdtree=OFF \
+ -DBUILD_keypoints=OFF \
+ -DBUILD_ml=OFF \
+ -DBUILD_octree=OFF \
+ -DBUILD_outofcore=OFF \
+ -DBUILD_people=OFF \
+ -DBUILD_recognition=OFF \
+ -DBUILD_registration=OFF \
+ -DBUILD_sample_consensus=OFF \
+ -DBUILD_search=OFF \
+ -DBUILD_segmentation=OFF \
+ -DBUILD_stereo=OFF \
+ -DBUILD_surface=OFF \
+ -DBUILD_tools=OFF \
+ -DBUILD_tracking=OFF \
+ -DBUILD_visualization=OFF \
+ $PCL_DIR
+ # Build
+ make -j2
+}
+
+function test ()
+{
+ # Configure
+ mkdir $BUILD_DIR && cd $BUILD_DIR
+ cmake -DCMAKE_C_FLAGS=$CMAKE_C_FLAGS -DCMAKE_CXX_FLAGS=$CMAKE_CXX_FLAGS -DPCL_ONLY_CORE_POINT_TYPES=ON -DBUILD_global_tests=ON -DPCL_NO_PRECOMPILE=ON $PCL_DIR
+ # Build and run tests
+ make pcl_filters -j3
+ make test_filters
+ make pcl_registration -j3
+ make test_registration
+ make test_registration_api
+ make tests -j3
+}
+
+function doc ()
+{
+ # Do not generate documentation for pull requests
+ if [[ $TRAVIS_PULL_REQUEST != 'false' ]]; then exit; fi
+ # Install doxygen and sphinx
+ sudo apt-get install doxygen doxygen-latex graphviz python-pip
+ sudo pip install sphinx sphinxcontrib-doxylink
+ # Configure
+ mkdir $BUILD_DIR && cd $BUILD_DIR
+ cmake -DDOXYGEN_USE_SHORT_NAMES=OFF \
+ -DSPHINX_HTML_FILE_SUFFIX=php \
+ -DWITH_DOCS=1 \
+ -DWITH_TUTORIALS=1 \
+ $PCL_DIR
+
+ git config --global user.email "documentation@pointclouds.org"
+ git config --global user.name "PointCloudLibrary (via TravisCI)"
+
+ if [ -z "$id_rsa_{1..23}" ]; then echo 'No $id_rsa_{1..23} found !' ; exit 1; fi
+
+ echo -n $id_rsa_{1..23} >> ~/.ssh/travis_rsa_64
+ base64 --decode --ignore-garbage ~/.ssh/travis_rsa_64 > ~/.ssh/id_rsa
+
+ chmod 600 ~/.ssh/id_rsa
+
+ echo -e "Host github.com\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+
+ cd $DOC_DIR
+ git clone git@github.com:PointCloudLibrary/documentation.git .
+
+ # Generate documentation and tutorials
+ cd $BUILD_DIR
+ make doc tutorials advanced
+
+ # Upload to GitHub if generation succeeded
+ if [[ $? == 0 ]]; then
+ # Copy generated tutorials to the doc directory
+ cp -r $TUTORIALS_DIR/* $DOC_DIR/tutorials
+ cp -r $ADVANCED_DIR/* $DOC_DIR/advanced
+ # Commit and push
+ cd $DOC_DIR
+ git add --all
+ git commit --amend -m "Documentation for commit $TRAVIS_COMMIT"
+ git push --force
+ else
+ exit 2
+ fi
+}
+
+case $TASK in
+ build ) build;;
+ test ) test;;
+ doc ) doc;;
+esac
compiler:
- gcc
- clang
+env:
+ matrix:
+ - TASK="build"
+ global:
+ - secure: XQw5SBf/7b1SHFR+kKklBWhWVgNvm4vIi+wwyajFSbDLOPpsAqtnDKeA2DV9ciaQJ3CVAvBoyxYgzAvpbsb5k95jadbvu9aSlo/AQnAbz+8DhkJL25DwJAn8G4s4zD1MFi7P4fxJHZsv/l9UcdW4BzjEhh0VidWCO4hP6I9BAQc=
+ - secure: dRKTSeQI2Jad+/K9XCkNZxuu8exPi2wGzf6D0ogd1Nb2ZIUsOtnHSME4DO+xv7F5ZYrythHTrfezQl5hhcK+cr7A12okxlvmF/gVFuGCBPkUbyWPOrxx/Ic5pqdVnmrMFG1hFmr1KmOxCVx0F48JfGNd4ZgtUBAmnIomRp8sXRI=
+ - secure: ah6/Y0D8bBFfAU38RdWsLJ/0Gp5uN5KEHVOnyhEUx1wDaBcDl9+aIE9Xyah44ei/fqQg1MXBfgMnaF7oHpDs4dAKITYP4wV8WDX1DCl1dalIrWMTSFYRknc3Y6hT+HadMlkcV9CCLEhZ7gyyNkm+idbekt/WbQE6Jls/vBhdZxI=
+ - secure: V8XIEPjagHSFInXjogs8ypsC/gL5dq4VENYZbC9q8KYrNT9y1DLnMgNh9pGad25OjOqftBFwsgx6QYo357+MwpynfF+KcYNybjuR/vVGXpLcm0Uytnp6bE7oQbQ1s806TlXHb0Xk/bO2cLRYCCMCkhUOm+Dreu1uhKpoI/z0VMs=
+ - secure: vPRheiXkGnzBHRaVFsA3VtwK6DtWG48VIdbOxboaR6jb9jT9yNz5EQrapiLOFFkhGsZ1mCgeunR58BGUPiSl8gEvOheBBUgZW6x8kbHDpxSUc2H70bLRAKxP4t8e3ZDFg2RjGnvXkGhzUTu9oWnbfWxGAILJAOpNoT0MqDgP+Z0=
+ - secure: bT9kXekVN89zJeS4IEobLOeuAmRJqsgTjZky/mGqmOY1H8oIgcHC+41twB+nxkaU2mQskOvG45UwnAAW/8X6WdTbwKYeFWI5mXpCiXoiGL/dsYiig3GzYYv32ZJQL9B8tkEW6Xc0GY6v4K91Xw+HoKLi/tjxh3NjQxpfktwwCBQ=
+ - secure: kp5CTFyo/E5+v382ypD1mIP7RIVOq5A1NDur1NrYI9or+8+zGcK5A2/Ex6Bb6rac5l7cVcqx6Xel+clxH2eQP2D8GqkaxdZs/u9L7MdFqsfn/QYOIshYlowRoLX86W0KOhsTdLLv2mOS6DnWhIuhgDfrczD3hFQdP9PMTBpd65A=
+ - secure: YXJJRdv5OD/Qo1vNqPnFfx//SotxecFQyXjzEKQ8Zxu+EfVKVs95DUiUX+hiDlPrVGKhI3kTvza+lkaIv9fkjWiwSja5LsUbW/+2cwkhoHmOzVtdcpascfP7fcXc0kWTuvg1FLGNBv26SEym1FfNzp0Sm+ANZsCc4fQVXjDhQSY=
+ - secure: wyWnJoZydXcFW359Vid6YfG9l0WTFqIpuEhgFV8gtSbkrSU0JrrUrKuN5ld/cPb+sRa/I8FAftSDsH4CW67impwLmfNfGf4wZTOBvBKyDGjlI+TLEo4ew/yq+MYIkkEleCWOj5eUkAHPHUUhJzI8SvX+ZuxiJEXapoV0xymbrig=
+ - secure: vCvNI8egL2DRCicbWTuLOyXiW8478tedYvRneDMtCDB2lYToG32sYY0fS9KIciNohgObC8dbVraScgobL5cL4Ir4qrTUfBvGJ71OOMVujNEvkTts4YyI5zhA1PeEJ9+xcbQkE0/f78g7HQnd2LjZLXSxxrFVyJnjGaq1siNNRik=
+ - secure: iUjKlT1bJq3pZp3tS0yOmycSZwmGSbrfTe9fWs0P78o3WRYlzBx4IWa+RZb1l0l6LpCUo00wdgeKKhvzClHFza31fumZJKkFeDf/jxAM2TtSbcIxxXwqpi4yJJZs7SkYrU/lugv0NI6UHtl5wAkIp8sjtCCHVYJjlYNHaLhL75o=
+ - secure: DWrK3JsbzV5iUK3Xj6MpVWwlZv85GxdLl8c73ONcynZJ1tzUU3bfdvOtMxJrAnmH9QANw5RGORgbOyiDnvydCCpmL9RjswFqfkQX0mRTV8UYDPlJ1bBZJkX8I97yw8W1UyK1Q76kfr5bZjhikpsS/81Ll6z6Kj9FOte6KFfbznk=
+ - secure: B32G/fehtPQdu1bF+dbCJ/Eo22MiszxZj7UOwNggRFifoxTmRdffZyuqapW0PLCTbBEvlS6UfajGOmVvZx5QH8Q/gtutJqXDTMgWpOai66JUwnpn6AX6NnhFGc+s2cpp3V2+5I26OrFkaXTcS7flz32XJdKZmPgvjY1qoppmyzo=
+ - secure: u0cyLpY3LVF1gA8Sj4Q7X4Xv4bBT7m8IBDnm/AS412H0dM47dcFu8uxVFgWRu3WrM8T87Uc7+ftHkxKJezXgDPEVUixAnwLg2nEVEf6v3HC/HW+X9m98q1mELKXTLxc/f57rAIhhYPkjQh+leg6JmrhG1t0X7kh7d3CY0wwdSL0=
+ - secure: KlIjQVEWlr+H/PAKIAcKS6WO1EFBdXXvXLisEnferB1RWgGwuLRgtIZzI+BJdt/7BMSyWvRExqt6xNyfqpxKXl1kdJawc3rpeYufklHQgmB2qGBSrpMtNr0S3gPFePBdnETbdPHwA63QCrpRKcrHqJxmeIzAmstH736iRXuubFs=
+ - secure: ldwk79cqSgaEUZLt5rbNLRcNaVf/bx2zjBEDbvzAF9JCqVx/L5zCRTr5raHsxzBOzz25Qs3nFW81e1WLwxMAWshvI7EM/YG8GXqECvJGWpHBwcZI1SVP3zMhpH/jJE8vbMFaM2NOmhMT03z91vt0NlvR4DJMY0KV351awGSL2Do=
+ - secure: SyLCwwc+jjkdmNUkRdGRDR2lNrPCu1ZvPstvVWQke5uw3BlnVKXWK7V3yq9g11ZsCl/7aldBexjf7pqeXbJ5Wl5goiI3E+/Ooujd/EWkMn9K3YlG57p8Zdw/A/fUMJgAH3qrM//ihdO0KDJD8eCGLlm4qV0SnlWFPQ+Dy8BsAc8=
+ - secure: DaqjsZS60Y070Gw2lUNltzDltiYKB8IlYqsp0SyOjZAKlDGgp97+9YGEaIGcKF1qw3VGswg+7rrjWQ59iiwstTqgvx1mTTik0Qc0RCc8GtvIm+PS9TOhWxQginmhZmET9QKnGB7uj6K63qN8V8MZakZWIJxgUXx8jGiCTD22/eQ=
+ - secure: x4x3vHY6Wf4kxjAT8dbWRl8n4PxTGv8RtzfGIZYXvJgbnY2qW+cJ8Edp64V1LegvQbBQmKqAP9YSLHwZsuL3LxfVqt/seRs+DJMDVUd9jVYmym0rPqemJLezapalEg6qfLuoeNkDPWvIVccQCDEBPfaUdD0ZXYo44LS5jIV0+T8=
+ - secure: Pm2hyxdSLnY3ltrAva0FwNWWEQQcnf1JK2Fhjc3sWFpStMF7Obk93u4G5M6f2f28ZY6HFaMRYC1qEz/+yMIjsusIv8j0E6hgB/EnoM0dlxCc0aryH3X2IOYBVjRMjOFPmhYbNBoMmZWLluHWSyVSqr9k9nxowMfM3mi4fah11aQ=
+ - secure: WTZ238yAEfXRyll1n8yau3FUW9HTvq6scKIl9AmNZrnzTr9dktupWrBVV6CtvaufT1mSmDigZ7VGC6T71HkyRIyb2qfVTrnjnxE96Wtcci6PfkuQc2L2puuZYo8dXaBRoOgJKGHFo/uKVKWnp7t55dp3lBJJmclHhon+K2hMSJw=
+ - secure: LNsNoBvqY/jYDoBjWCE5cM+f1H8xOwSBc/tbWZo6E/jPRjUOLzXSicMMUMrlVto+bFzSUT8OVajV3XmoRx+Qntzv6bDSAGjdycvHd2YZQPn8BYrsFtR4So7SsJkF9FlxzbiOXaiSRpwGn7TP/DO7Neubrr4IS2ef4nWowGrnCE8=
+ - secure: PZivWbaCWFA2BFFY8n3UMxdEWjz7rBh568u9LF5LH3HgWADnfiwWzNriACqX9fhe7tSmDru5Bk978s+xPPAY9v24cfiDEX5a5MQ/XVr2rP48n3vlUDWERDhIodJ73F9F9GGZXToGdNz0MBUAHgiv7Lb0GYUfmOYzUJjWghngLBw=
+matrix:
+ include:
+ - compiler: clang
+ env: TASK="test"
+ - env: TASK="doc"
before_install:
- sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl -y
- sudo add-apt-repository ppa:apokluda/boost1.53 -y
+ - sudo add-apt-repository ppa:yade-users/external -y
+ - sudo add-apt-repository ppa:libreoffice/ppa -y
- sudo apt-get update -d
- - sudo apt-get install cmake libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem1.53-dev libboost-iostreams1.53-dev libboost-thread1.53-dev
-script:
- - mkdir build && cd build
- - cmake -DBUILD_global_tests=ON -DCMAKE_C_FLAGS="-Wall -Wextra -Wabi -O2" -DCMAKE_CXX_FLAGS="-Wall -Wextra -Wabi -O2" -DPCL_ONLY_CORE_POINT_TYPES=ON .. && make -j2 && make test
+install:
+ - sudo apt-get install libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem1.53-dev libboost-iostreams1.53-dev libboost-thread1.53-dev libboost-chrono1.53-dev libusb-1.0-0-dev libgtest-dev
+script:
+ - bash .travis.sh
# ChangeList
+## *= 1.7.2 (10.09.2014) =*
+
+* Added support for VTK6
+ [[#363]](https://github.com/PointCloudLibrary/pcl/pull/363)
+* Removed Google Test from the source tree and added it as a system dependency
+ [[#731]](https://github.com/PointCloudLibrary/pcl/pull/731)
+* Added support for QHull 2012 on non-Debian platforms
+ [[#852]](https://github.com/PointCloudLibrary/pcl/pull/852)
+
+### `libpcl_common:`
+
+* Added `BearingAngleImage` class
+ [[#198]](https://github.com/PointCloudLibrary/pcl/pull/198)
+* Added `pcl::CPPFSignature` point type
+ [[#296]](https://github.com/PointCloudLibrary/pcl/pull/296)
+* Added `getRGBAVector4i()`, `getBGRVector3cMap()`, and `getBGRAVector4cMap()`
+ to all point types containing RGB/RGBA fields
+ [[#450]](https://github.com/PointCloudLibrary/pcl/pull/450)
+* Added a family of "has field" functions to check presence of a particular
+ field in a point type both at compile- and run-time
+ [[#462]](https://github.com/PointCloudLibrary/pcl/pull/462)
+* Added a function to copy data between points of different types
+ [[#465]](https://github.com/PointCloudLibrary/pcl/pull/465)
+* Added test macros for equality/nearness checks
+ [[#499]](https://github.com/PointCloudLibrary/pcl/pull/499)
+* Added `descriptorSize()` to all point types with descriptors
+ [[#531]](https://github.com/PointCloudLibrary/pcl/pull/531)
+* Added possibility to copy a cloud inside another one while interpolating
+ borders
+ [[#567]](https://github.com/PointCloudLibrary/pcl/pull/567)
+* Added a function to determine the point of intersection of three non-parallel
+ planes
+ [[#571]](https://github.com/PointCloudLibrary/pcl/pull/571)
+* Fixed a bug in HSV to RGB color conversion
+ [[#581]](https://github.com/PointCloudLibrary/pcl/pull/581)
+* Added a new `CentroidPoint` class
+ [[#586]](https://github.com/PointCloudLibrary/pcl/pull/586)
+* Templated intersection computation functions on scalar type
+ [[#646]](https://github.com/PointCloudLibrary/pcl/pull/646)
+* Templated functions in 'eigen.h' on scalar type
+ [[#660]](https://github.com/PointCloudLibrary/pcl/pull/660)
+* Added functions to transform points, vectors, lines, etc.
+ [[#660]](https://github.com/PointCloudLibrary/pcl/pull/660)
+
+### `libpcl_features:`
+
+* Added a simple implementation of CPPF using normalised HSV values in the
+ feature vector
+ [[#296]](https://github.com/PointCloudLibrary/pcl/pull/296)
+* Added `MomentOfInertiaEstimation` and `ROPSEstimation` features
+ [[#319]](https://github.com/PointCloudLibrary/pcl/pull/319)
+* Fixed a problem in `OURCVFHEstimation::computeRFAndShapeDistribution()`
+ [[#738]](https://github.com/PointCloudLibrary/pcl/pull/738)
+* Fixed undefined behavior in `OURCVFHEstimation::computeFeature()`
+ [[#811]](https://github.com/PointCloudLibrary/pcl/pull/811)
+* Fixed memory corruption error in OUR-CVFH
+ [[#875]](https://github.com/PointCloudLibrary/pcl/pull/875)
+
+### `libpcl_filters:`
+
+* Added a function to set the minimum number of points required for a voxel to
+ be used in `VoxelGrid`
+ [[#434]](https://github.com/PointCloudLibrary/pcl/pull/434)
+* Added `GridMinimum` filter
+ [[#520]](https://github.com/PointCloudLibrary/pcl/pull/520)
+* Added a morphological filter that operates on Z dimension
+ [[#533]](https://github.com/PointCloudLibrary/pcl/pull/533)
+* Added progressive morphological filter to extract ground returns
+ [[#574]](https://github.com/PointCloudLibrary/pcl/pull/574)
+* Added a filter to remove locally maximal points in the z dimension
+ [[#577]](https://github.com/PointCloudLibrary/pcl/pull/577)
+* Added an approximate version of the progressive morphological filter
+ [[#665]](https://github.com/PointCloudLibrary/pcl/pull/665)
+* Added `ModelOutlierRemoval` class that filters points in a cloud based on the
+ distance between model and point
+ [[#702]](https://github.com/PointCloudLibrary/pcl/pull/702)
+
+### `libpcl_io:`
+
+* Added experimental version of an OpenNI 2.x grabber
+ [[#276]](https://github.com/PointCloudLibrary/pcl/pull/276)
+ [[#843]](https://github.com/PointCloudLibrary/pcl/pull/843)
+* Added support for IFS file format
+ [[#354]](https://github.com/PointCloudLibrary/pcl/pull/354)
+ [[#356]](https://github.com/PointCloudLibrary/pcl/pull/356)
+* Added possibility to load `PCLPointCloud2` from OBJ files
+ [[#363]](https://github.com/PointCloudLibrary/pcl/pull/363)
+* Fixed loading and saving of PLY files
+ [[#510]](https://github.com/PointCloudLibrary/pcl/pull/510)
+ [[#579]](https://github.com/PointCloudLibrary/pcl/pull/579)
+* Fixed race conditions in `PCDGrabber`
+ [[#582]](https://github.com/PointCloudLibrary/pcl/pull/582)
+* Fixed multi openni grabber buffer corruption
+ [[#845]](https://github.com/PointCloudLibrary/pcl/pull/845)
+* Fixed incompatibility with Boost 1.56 in `LZFImageWriter`
+ [[#867]](https://github.com/PointCloudLibrary/pcl/pull/867)
+* Fixed a bug in `PLYReader` which lead to deformation of point clouds when
+ displayed in `CloudViewer` or `PCLVisualizer`
+ [[#879]](https://github.com/PointCloudLibrary/pcl/pull/879)
+
+### `libpcl_kdtree:`
+
+* Fixed double memory free bug in `KdTreeFLANN`
+ [[#618]](https://github.com/PointCloudLibrary/pcl/pull/618)
+
+### `libpcl_keypoints:`
+
+* Added a method `Keypoint::getKeypointsIndices ()`
+ [[#318]](https://github.com/PointCloudLibrary/pcl/pull/318)
+* Added keypoints based on Trajkovic and Hedley operator (2D and 3D versions)
+ [[#409]](https://github.com/PointCloudLibrary/pcl/pull/409)
+
+### `libpcl_octree:`
+
+* Fixed a bug in `OctreePointCloudAdjacency::computeNeighbors()`
+ [[#455]](https://github.com/PointCloudLibrary/pcl/pull/455)
+* Accelerated `OctreePointCloudAdjacency` building by disabling dynamic key
+ resizing
+ [[#332]](https://github.com/PointCloudLibrary/pcl/pull/332)
+* Fixed a bug with infinite points in `OctreePointCloudAdjacency`
+ [[#723]](https://github.com/PointCloudLibrary/pcl/pull/723)
+
+### `libpcl_people:`
+
+* Added a possibility to define a transformation matrix for people tracker
+ [[#606]](https://github.com/PointCloudLibrary/pcl/pull/606)
+
+### `libpcl_recognition:`
+
+* Allow PCL to be built against a system-wide installed metslib
+ [[#299]](https://github.com/PointCloudLibrary/pcl/pull/299)
+* Fixed a bug in `ObjRecRANSAC::addModel()`
+ [[#269]](https://github.com/PointCloudLibrary/pcl/pull/269)
+* Added `LINEMOD::loadTemplates()` (useful for object recognition systems that
+ store templates for different objects in different files)
+ [[#358]](https://github.com/PointCloudLibrary/pcl/pull/358)
+
+### `libpcl_registration:`
+
+* Fixed `SampleConsensusInitialAlignment::hasConverged()`
+ [[#339]](https://github.com/PointCloudLibrary/pcl/pull/339)
+* Added `JointIterativeClosestPoint`
+ [[#344]](https://github.com/PointCloudLibrary/pcl/pull/344)
+* Made correspondence rejectors to actually work with ICP
+ [[#419]](https://github.com/PointCloudLibrary/pcl/pull/419)
+* Added `GeneralizedIterativeClosestPoint6D` that integrates Lab color space
+ information into the GICP algorithm
+ [[#491]](https://github.com/PointCloudLibrary/pcl/pull/491)
+* Fixed bugs and optimized `SampleConsensusPrerejective`
+ [[#741]](https://github.com/PointCloudLibrary/pcl/pull/741)
+* Fixed a bug in `TransformationEstimationSVDScale`
+ [[#885]](https://github.com/PointCloudLibrary/pcl/pull/885)
+
+### `libpcl_sample_consensus:`
+
+* Unified `SampleConsensusModelNormalParallelPlane` with
+ `SampleConsensusModelNormalPlane` to avoid code duplication
+ [[#696]](https://github.com/PointCloudLibrary/pcl/pull/696)
+
+### `libpcl_search:`
+
+* `search::KdTree` can now be used with different KdTree implementations
+ [[#81]](https://github.com/PointCloudLibrary/pcl/pull/81)
+* Added a new interface to FLANN's multiple randomized trees for
+ high-dimensional (feature) searches
+ [[#435]](https://github.com/PointCloudLibrary/pcl/pull/435)
+* Fixed a bug in the `Ptr` typdef in `KdTree`
+ [[#820]](https://github.com/PointCloudLibrary/pcl/pull/820)
+
+### `libpcl_segmentation:`
+
+* Added `GrabCut` segmentation and a show-case application for 2D
+ [[#330]](https://github.com/PointCloudLibrary/pcl/pull/330)
+* Updated `RegionGrowingRGB::assembleRegion()` to speed up the algorithm
+ [[#538]](https://github.com/PointCloudLibrary/pcl/pull/538)
+* Fixed a bug with missing point infinity test in `RegionGrowing`
+ [[#617]](https://github.com/PointCloudLibrary/pcl/pull/617)
+* Fixed alignment issue in `SupervoxelClustering`
+ [[#625]](https://github.com/PointCloudLibrary/pcl/pull/625)
+* Added a curvature parameter to `Region3D` class
+ [[#653]](https://github.com/PointCloudLibrary/pcl/pull/653)
+* Fixed a minor bug in `OrganizedConnectedComponentSegmentation`
+ [[#802]](https://github.com/PointCloudLibrary/pcl/pull/802)
+
+### `libpcl_surface:`
+
+* Fixed a bug in `EarClipping` where computation failed if all vertices have
+ the same x or y component
+ [[#130]](https://github.com/PointCloudLibrary/pcl/pull/130)
+* Added support for unequal focal lengths along different axes in texture
+ mapping
+ [[#352]](https://github.com/PointCloudLibrary/pcl/pull/352)
+* Speeded up bilateral upsampling
+ [[#689]](https://github.com/PointCloudLibrary/pcl/pull/689)
+* Reduced space usage in `MovingLeastSquares`
+ [[#785]](https://github.com/PointCloudLibrary/pcl/pull/785)
+
+### `libpcl_tracking:`
+
+* Fixed Hue distance calculation in tracking `HSVColorCoherence`
+ [[#390]](https://github.com/PointCloudLibrary/pcl/pull/390)
+* Added pyramidal KLT tracking
+ [[#587]](https://github.com/PointCloudLibrary/pcl/pull/587)
+
+### `libpcl_visualization:`
+
+* Added a new color handler `PointCloudColorHandlerRGBAField` that takes into
+ account alpha channel
+ [[#306]](https://github.com/PointCloudLibrary/pcl/pull/306)
+* Fixed `PCLVisualizer` crashes on OS X
+ [[#384]](https://github.com/PointCloudLibrary/pcl/pull/384)
+* Added possibility to display texture on polygon meshes
+ [[#400]](https://github.com/PointCloudLibrary/pcl/pull/400)
+* Added ability to add and remove several coordinate systems
+ [[#401]](https://github.com/PointCloudLibrary/pcl/pull/401)
+* Added `ImageViewer::markPoints()`
+ [[#439]](https://github.com/PointCloudLibrary/pcl/pull/439)
+* Added `setWindowPosition()` and `setWindowName()` to `PCLPlotter`
+ [[#457]](https://github.com/PointCloudLibrary/pcl/pull/457)
+* Changed camera parameters display to be more user-friendly
+ [[#544]](https://github.com/PointCloudLibrary/pcl/pull/544)
+* Added `PCLVisualizer::updateCoordinateSystemPose()`
+ [[#569]](https://github.com/PointCloudLibrary/pcl/pull/569)
+* Fixed display of non-triangular meshes in `PCLVisualizer`
+ [[#686]](https://github.com/PointCloudLibrary/pcl/pull/686)
+* Added a capability to save and restore camera view in `PCLVisualizer`
+ [[#703]](https://github.com/PointCloudLibrary/pcl/pull/703)
+* Added `PCLVisualizer::getShapeActorMap()` function
+ [[#725]](https://github.com/PointCloudLibrary/pcl/pull/725)
+* Fixed undefined behavior when drawing axis in `PCLVisualizer`
+ [[#762]](https://github.com/PointCloudLibrary/pcl/pull/762)
+* Fixed HSV to RGB conversion in `PointCloudColorHandlerHSVField`
+ [[#772]](https://github.com/PointCloudLibrary/pcl/pull/772)
+* Fixed non-working key presses in visualization GUIs on Mac OS X systems
+ [[#795]](https://github.com/PointCloudLibrary/pcl/pull/795)
+* Fixed a bug in `PCLVisualizer::addCube()`
+ [[#846]](https://github.com/PointCloudLibrary/pcl/pull/846)
+* Fixed a bug in cone visualization and added possibility to set cone length
+ [[#881]](https://github.com/PointCloudLibrary/pcl/pull/881)
+
+### `PCL Tools:`
+
+* Added a simple tool to compute Hausdorff distance between two point clouds
+ [[#519]](https://github.com/PointCloudLibrary/pcl/pull/519)
+* Updated `pcl_viewer` to use RGB color handler as default
+ [[#556]](https://github.com/PointCloudLibrary/pcl/pull/556)
+* Added a morphological tool `pcl_morph` to apply dilate/erode/open/close
+ operations on the Z dimension
+ [[#572]](https://github.com/PointCloudLibrary/pcl/pull/572)
+* Added a tool `pcl_generate` to generate random clouds
+ [[#599]](https://github.com/PointCloudLibrary/pcl/pull/599)
+* Added a tool `pcl_grid_min` to find grid minimums
+ [[#603]](https://github.com/PointCloudLibrary/pcl/pull/603)
+* Added a tool `pcl_local_max` to filter out local maxima
+ [[#604]](https://github.com/PointCloudLibrary/pcl/pull/604)
+* Added optional depth image input to `pcl_png2pcd` converter
+ [[#680]](https://github.com/PointCloudLibrary/pcl/pull/680)
+* Fixed memory size calculation in `pcl_openni_pcd_recorder`
+ [[#676]](https://github.com/PointCloudLibrary/pcl/pull/676)
+* Added device ID parameter to `pcl_openni_pcd_recorder`
+ [[#673]](https://github.com/PointCloudLibrary/pcl/pull/673)
+* Added automatic camera reset on startup in `pcl_viewer`
+ [[#693]](https://github.com/PointCloudLibrary/pcl/pull/693)
+* Added a capability to save and restore camera view in `pcl_viewer`
+ [[#703]](https://github.com/PointCloudLibrary/pcl/pull/703)
+* Updated `pcl_pcd2png` tool to be able to paint pixels corresponding to
+ infinite points with black. Added Glasbey lookup table to paint labels with
+ a fixed set of highly distinctive colors.
+ [[#767]](https://github.com/PointCloudLibrary/pcl/pull/767)
+* Added `pcl_obj2pcd` tool
+ [[#816]](https://github.com/PointCloudLibrary/pcl/pull/816)
+
+### `PCL Apps:`
+
+* Fixed disappearing cloud from selection in Cloud Composer
+ [[#814]](https://github.com/PointCloudLibrary/pcl/pull/814)
+
+
## *= 1.7.1 (07.10.2013) =*
+
* New pcl::io::savePNGFile() functions and pcd2png tool (deprecates organized_pcd_to_png).
* Support for Intel Perceptual Computing SDK cameras.
* New Dual quaternion transformation estimation algorithm.
### ---[ PCL global CMake
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+if(POLICY CMP0048)
+ cmake_policy(SET CMP0048 OLD) # do not use VERSION option in project() command
+endif()
+
set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurations" FORCE)
# In case the user does not setup CMAKE_BUILD_TYPE, assume it's RelWithDebInfo
string(TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
### ---[ Find universal dependencies
-set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH})
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH})
+
+# ---[ Include pkgconfig
+include (FindPkgConfig)
# ---[ Release/Debug specific flags
if(CMAKE_BUILD_TYPE STREQUAL "Release" OR CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
if(NOT DEFINED CMAKE_RELEASE_POSTFIX)
set(CMAKE_RELEASE_POSTFIX "_release")
endif()
+ if(NOT DEFINED CMAKE_RELWITHDEBINFO_POSTFIX)
+ set(CMAKE_RELWITHDEBINFO_POSTFIX "_release")
+ endif()
+ if(NOT DEFINED CMAKE_MINSIZEREL_POSTFIX)
+ set(CMAKE_MINSIZEREL_POSTFIX "_release")
+ endif()
endif()
# ---[ special maintainer mode
message ("PCL shared libs on Android must be: ${PCL_SHARED_LIBS}")
endif()
-include(${PCL_SOURCE_DIR}/cmake/pcl_verbosity.cmake)
-include(${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake)
-include(${PCL_SOURCE_DIR}/cmake/pcl_options.cmake)
+include("${PCL_SOURCE_DIR}/cmake/pcl_verbosity.cmake")
+include("${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake")
+include("${PCL_SOURCE_DIR}/cmake/pcl_options.cmake")
# Enable verbose timing display?
if(CMAKE_TIMING_VERBOSE AND UNIX)
endif(CMAKE_TIMING_VERBOSE AND UNIX)
# check for SSE flags
-include(${PCL_SOURCE_DIR}/cmake/pcl_find_sse.cmake)
+include("${PCL_SOURCE_DIR}/cmake/pcl_find_sse.cmake")
if (PCL_ENABLE_SSE)
PCL_CHECK_FOR_SSE()
endif (PCL_ENABLE_SSE)
SET(CMAKE_C_FLAGS "-Qunused-arguments")
endif()
if("${CMAKE_CXX_FLAGS}" STREQUAL "")
- SET(CMAKE_CXX_FLAGS "-Qunused-arguments -Wno-invalid-offsetof ${SSE_FLAGS}") # Unfortunately older Clang versions do not have this: -Wno-unnamed-type-template-args
+ SET(CMAKE_CXX_FLAGS "-ftemplate-depth=1024 -Qunused-arguments -Wno-invalid-offsetof ${SSE_FLAGS}") # Unfortunately older Clang versions do not have this: -Wno-unnamed-type-template-args
+ if(APPLE AND WITH_CUDA AND CUDA_FOUND)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libstdc++")
+ endif()
endif()
SET(CLANG_LIBRARIES "stdc++")
endif()
-# ---[ Project folders
-option(USE_PROJECT_FOLDERS "Use folders to organize PCL projects in an IDE." OFF)
-mark_as_advanced(USE_PROJECT_FOLDERS)
-if(USE_PROJECT_FOLDERS)
- set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-endif(USE_PROJECT_FOLDERS)
-
-include(${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake)
-set(PCL_VERSION 1.7.1 CACHE STRING "PCL version")
+include("${PCL_SOURCE_DIR}/cmake/pcl_utils.cmake")
+set(PCL_VERSION 1.7.2 CACHE STRING "PCL version")
DISSECT_VERSION()
GET_OS_INFO()
SET_INSTALL_DIRS()
if(WIN32)
- set(PCL_RESOURCES_DIR ${PCL_SOURCE_DIR}/resources)
- set(PCL_POINTCLOUDS_DIR ${PCL_RESOURCES_DIR}/pointclouds)
+ set(PCL_RESOURCES_DIR "${PCL_SOURCE_DIR}/resources")
+ set(PCL_POINTCLOUDS_DIR "${PCL_RESOURCES_DIR}/pointclouds")
endif(WIN32)
-set(PCL_OUTPUT_LIB_DIR ${PCL_BINARY_DIR}/${LIB_INSTALL_DIR})
-set(PCL_OUTPUT_BIN_DIR ${PCL_BINARY_DIR}/${BIN_INSTALL_DIR})
-make_directory(${PCL_OUTPUT_LIB_DIR})
-make_directory(${PCL_OUTPUT_BIN_DIR})
+set(PCL_OUTPUT_LIB_DIR "${PCL_BINARY_DIR}/${LIB_INSTALL_DIR}")
+set(PCL_OUTPUT_BIN_DIR "${PCL_BINARY_DIR}/${BIN_INSTALL_DIR}")
+make_directory("${PCL_OUTPUT_LIB_DIR}")
+make_directory("${PCL_OUTPUT_BIN_DIR}")
if(WIN32)
foreach(config ${CMAKE_CONFIGURATION_TYPES})
string(TOUPPER ${config} CONFIG)
### ---[ Find universal dependencies
# the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
-if((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1))
+if((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang"))
find_package(OpenMP)
endif()
if(OPENMP_FOUND)
message (STATUS "Not found OpenMP")
endif()
# Boost (required)
-include(${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake)
+include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
# Eigen (required)
find_package(Eigen REQUIRED)
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
include_directories(${FLANN_INCLUDE_DIRS})
# libusb-1.0
-find_package(libusb-1.0)
-if(LIBUSB_1_FOUND)
- include_directories(${LIBUSB_1_INCLUDE_DIR})
-endif(LIBUSB_1_FOUND)
+option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
+if(WITH_LIBUSB)
+ find_package(libusb-1.0)
+ if(LIBUSB_1_FOUND)
+ include_directories("${LIBUSB_1_INCLUDE_DIR}")
+ endif(LIBUSB_1_FOUND)
+endif(WITH_LIBUSB)
# OpenNI
-find_package(OpenNI)
-if (OPENNI_FOUND)
- set(HAVE_OPENNI ON)
- include_directories(SYSTEM ${OPENNI_INCLUDE_DIRS})
-endif()
+option(WITH_OPENNI "OpenNI driver support" TRUE)
+if(WITH_OPENNI)
+ find_package(OpenNI)
+ if (OPENNI_FOUND)
+ set(HAVE_OPENNI ON)
+ include_directories(SYSTEM ${OPENNI_INCLUDE_DIRS})
+ endif(OPENNI_FOUND)
+endif(WITH_OPENNI)
+
+# OpenNI 2
+option(WITH_OPENNI2 "OpenNI 2 driver support" TRUE)
+if(WITH_OPENNI2)
+ find_package(OpenNI2)
+ if (OPENNI2_FOUND)
+ set(HAVE_OPENNI2 ON)
+ include_directories(SYSTEM ${OPENNI2_INCLUDE_DIRS})
+ endif(OPENNI2_FOUND)
+endif(WITH_OPENNI2)
# Fotonic (FZ_API)
-find_package(FZAPI)
-if (FZAPI_FOUND)
- set(HAVE_FZAPI ON)
- include_directories(SYSTEM ${FZAPI_INCLUDE_DIR})
-endif()
+option(WITH_FZAPI "Build Fotonic Camera support" TRUE)
+if(WITH_FZAPI)
+ find_package(FZAPI)
+ if (FZAPI_FOUND)
+ set(HAVE_FZAPI ON)
+ include_directories(SYSTEM "${FZAPI_INCLUDE_DIR}")
+ endif(FZAPI_FOUND)
+endif(WITH_FZAPI)
# Intel Perceptional Computing Interface (PXCAPI)
-find_package(PXCAPI)
-if (PXCAPI_FOUND)
- set(HAVE_PXCAPI ON)
- include_directories(SYSTEM ${PXCAPI_INCLUDE_DIRS})
+option(WITH_PXCAPI "Build PXC Device support" TRUE)
+if(WITH_PXCAPI)
+ find_package(PXCAPI)
+ if (PXCAPI_FOUND)
+ set(HAVE_PXCAPI ON)
+ include_directories(SYSTEM ${PXCAPI_INCLUDE_DIRS})
+ endif(PXCAPI_FOUND)
+endif(WITH_PXCAPI)
+
+# metslib
+if (PKG_CONFIG_FOUND)
+ pkg_check_modules(METSLIB metslib)
+ if (METSLIB_FOUND)
+ set (HAVE_METSLIB ON)
+ include_directories(${METSLIB_INCLUDE_DIRS})
+ else()
+ include_directories("${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/")
+ endif()
+else()
+ include_directories(${PCL_SOURCE_DIR}/recognition/include/pcl/recognition/3rdparty/)
endif()
# LibPNG
-find_package(PNG)
-if (PNG_FOUND)
- set (HAVE_PNG ON)
- include_directories(${PNG_INCLUDE_DIR})
-endif(PNG_FOUND)
+option(WITH_PNG "PNG file support" TRUE)
+if(WITH_PNG)
+ find_package(PNG)
+ if (PNG_FOUND)
+ set (HAVE_PNG ON)
+ include_directories("${PNG_INCLUDE_DIR}")
+ endif(PNG_FOUND)
+endif(WITH_PNG)
# Qhull
-if(NOT PCL_SHARED_LIBS OR WIN32)
- set(QHULL_USE_STATIC ON)
-endif(NOT PCL_SHARED_LIBS OR WIN32)
-find_package(Qhull)
-
-# Find Qt5
-include(cmake/pcl_find_qt5.cmake)
-
-# Find QT4
-if(NOT QT5_FOUND)
- find_package(Qt4)
- if (QT4_FOUND)
- include(${QT_USE_FILE})
- endif (QT4_FOUND)
-endif()
+option(WITH_QHULL "Include convex-hull operations" TRUE)
+if(WITH_QHULL)
+ if(NOT PCL_SHARED_LIBS OR WIN32)
+ set(QHULL_USE_STATIC ON)
+ endif(NOT PCL_SHARED_LIBS OR WIN32)
+ find_package(Qhull)
+endif(WITH_QHULL)
+
+option(WITH_QT "Build QT Front-End" TRUE)
+if(WITH_QT)
+ # Find Qt4
+ find_package(Qt4)
+ if (QT4_FOUND)
+ include("${QT_USE_FILE}")
+ endif (QT4_FOUND)
+
+ # Find QT5
+ if(NOT QT4_FOUND)
+ include(cmake/pcl_find_qt5.cmake)
+ endif(NOT QT4_FOUND)
+endif(WITH_QT)
# Find VTK
-find_package(VTK)
-if(VTK_FOUND)
- if (PCL_SHARED_LIBS OR
- (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
- set(VTK_FOUND TRUE)
- find_package (QVTK)
- message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
- link_directories(${VTK_LIBRARY_DIRS})
- set(HAVE_VTK ON)
- else ()
- set(VTK_FOUND OFF)
- set(HAVE_VTK OFF)
- message ("Warning: You are to build PCL in STATIC but VTK is SHARED!")
- message ("Warning: VTK disabled!")
- endif ()
-endif(VTK_FOUND)
-# Find MPI
-if (WITH_MPI) # this script searches for MPI 10 sec under windows, annoying especially if you do this often
- find_package(MPI)
- if(MPI_CXX_FOUND)
- include_directories(SYSTEM ${MPI_INCLUDE_PATH})
- endif(MPI_CXX_FOUND)
-endif()
-#Find Doxygen and html help compiler if any
-find_package(Doxygen)
-if(DOXYGEN_FOUND)
- find_package(HTMLHelp)
-endif(DOXYGEN_FOUND)
+option(WITH_VTK "Build VTK-Visualizations" TRUE)
+if(WITH_VTK AND NOT ANDROID)
+ find_package(VTK)
+ if(VTK_FOUND)
+ message(STATUS "VTK_MAJOR_VERSION ${VTK_MAJOR_VERSION}")
+ if (PCL_SHARED_LIBS OR
+ (NOT (PCL_SHARED_LIBS) AND NOT (VTK_BUILD_SHARED_LIBS)))
+ set(VTK_FOUND TRUE)
+ find_package (QVTK)
+ if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+ message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARY_DIRS})")
+ link_directories(${VTK_LIBRARY_DIRS})
+ else(${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+ include (${VTK_USE_FILE})
+ message(STATUS "VTK found (include: ${VTK_INCLUDE_DIRS}, lib: ${VTK_LIBRARIES}")
+ endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+ if (APPLE)
+ option (VTK_USE_COCOA "Use Cocoa for VTK render windows" ON)
+ MARK_AS_ADVANCED (VTK_USE_COCOA)
+ endif (APPLE)
+ set(HAVE_VTK ON)
+ else ()
+ set(VTK_FOUND OFF)
+ set(HAVE_VTK OFF)
+ message ("Warning: You are to build PCL in STATIC but VTK is SHARED!")
+ message ("Warning: VTK disabled!")
+ endif ()
+ endif(VTK_FOUND)
+else(WITH_VTK AND NOT ANDROID)
+ set(VTK_FOUND OFF)
+ set(HAVE_VTK OFF)
+endif(WITH_VTK AND NOT ANDROID)
+
+
#Find PCAP
-find_package(Pcap)
+option(WITH_PCAP "pcap file capabilities in Velodyne HDL driver" TRUE)
+if(WITH_PCAP)
+ find_package(Pcap)
+endif(WITH_PCAP)
+
+# OpenGL and GLUT
+include("${PCL_SOURCE_DIR}/cmake/pcl_find_gl.cmake")
### ---[ Create the config.h file
set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")
set(pcl_config_h "${CMAKE_CURRENT_BINARY_DIR}/include/pcl/pcl_config.h")
-configure_file(${pcl_config_h_in} ${pcl_config_h})
-PCL_ADD_INCLUDES(common "" ${pcl_config_h})
-include_directories(${CMAKE_CURRENT_BINARY_DIR}/include)
+configure_file("${pcl_config_h_in}" "${pcl_config_h}")
+PCL_ADD_INCLUDES(common "" "${pcl_config_h}")
+include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
### ---[ Set up for tests
enable_testing()
### ---[ Set up for examples
-#include(${PCL_SOURCE_DIR}/cmake/pcl_examples.cmake)
+#include("${PCL_SOURCE_DIR}/cmake/pcl_examples.cmake")
### ---[ Add the libraries subdirectories
-include(${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake)
+include("${PCL_SOURCE_DIR}/cmake/pcl_targets.cmake")
-collect_subproject_directory_names(${PCL_SOURCE_DIR} "CMakeLists.txt" PCL_MODULES_NAMES PCL_MODULES_DIRS doc)
+collect_subproject_directory_names("${PCL_SOURCE_DIR}" "CMakeLists.txt" PCL_MODULES_NAMES PCL_MODULES_DIRS doc)
set(PCL_MODULES_NAMES_UNSORTED ${PCL_MODULES_NAMES})
topological_sort(PCL_MODULES_NAMES PCL_ _DEPENDS)
sort_relative(PCL_MODULES_NAMES_UNSORTED PCL_MODULES_NAMES PCL_MODULES_DIRS)
foreach(subdir ${PCL_MODULES_DIRS})
- add_subdirectory(${PCL_SOURCE_DIR}/${subdir})
+ add_subdirectory("${PCL_SOURCE_DIR}/${subdir}")
endforeach(subdir)
### ---[ Documentation
add_subdirectory(doc)
### ---[ Configure PCLConfig.cmake
-include(${PCL_SOURCE_DIR}/cmake/pcl_pclconfig.cmake)
+include("${PCL_SOURCE_DIR}/cmake/pcl_pclconfig.cmake")
### ---[ Package creation
-include(${PCL_SOURCE_DIR}/cmake/pcl_all_in_one_installer.cmake)
-include(${PCL_SOURCE_DIR}/cmake/pcl_cpack.cmake)
+include("${PCL_SOURCE_DIR}/cmake/pcl_all_in_one_installer.cmake")
+include("${PCL_SOURCE_DIR}/cmake/pcl_cpack.cmake")
if(CPACK_GENERATOR)
message(STATUS "Found CPack generators: ${CPACK_GENERATOR}")
include(CPack)
endif(CPACK_GENERATOR)
### ---[ Make a pretty picture of the dependency graph
-include(${PCL_SOURCE_DIR}/cmake/dep_graph.cmake)
+include("${PCL_SOURCE_DIR}/cmake/dep_graph.cmake")
MAKE_DEP_GRAPH()
### ---[ Finish up
--- /dev/null
+# Contributing to PCL
+
+Please take a moment to review this document in order to make the contribution
+process easy and effective for everyone involved.
+
+Following these guidelines helps to communicate that you respect the time of
+the developers managing and developing this open source project. In return,
+they should reciprocate that respect in addressing your issue or assessing
+patches and features.
+
+
+## Using the issue tracker
+
+The [issue tracker](https://github.com/PointCloudLibrary/pcl/issues) is
+the preferred channel for submitting [pull requests](#pull-requests) and
+[bug reports](#bugs), but please respect the following
+restrictions:
+
+* Please **do not** use the issue tracker for personal support requests (use
+ [mailing list](http://www.pcl-users.org/)).
+
+* Please **do not** derail or troll issues. Keep the discussion on topic and
+ respect the opinions of others.
+
+
+<a name="pull-requests"></a>
+## Pull requests
+
+Good pull requests - patches, improvements, new features - are a fantastic
+help. They should remain focused in scope and avoid containing unrelated
+commits.
+
+**Please ask first** before embarking on any significant pull request (e.g.
+implementing features, refactoring code), otherwise you risk spending a lot of
+time working on something that the project's developers might not want to merge
+into the project. Please read the [tutorial on writing a new PCL class](http://pointclouds.org/documentation/tutorials/writing_new_classes.php#writing-new-classes) if you want to contribute a
+brand new feature.
+
+If you are new to Git, GitHub, or contributing to an open-source project, you
+may want to consult the [step-by-step guide on preparing and submitting a pull request](https://github.com/PointCloudLibrary/pcl/wiki/A-step-by-step-guide-on-preparing-and-submitting-a-pull-request).
+
+
+<a name="checklist"></a>
+### Checklist
+
+Please use the following checklist to make sure that your contribution is well
+prepared for merging into PCL:
+
+1. Source code adheres to the coding conventions described in [PCL Style Guide](http://pointclouds.org/documentation/advanced/pcl_style_guide.php).
+ But if you modify existing code, do not change/fix style in the lines that
+ are not related to your contribution.
+
+2. Commit history is tidy (no merge commits, commits are [squashed](http://davidwalsh.name/squash-commits-git)
+ into logical units).
+
+3. Each contributed file has a [license](#license) text on top.
+
+
+<a name="bugs"></a>
+## Bug reports
+
+A bug is a _demonstrable problem_ that is caused by the code in the repository.
+Good bug reports are extremely helpful - thank you!
+
+Guidelines for bug reports:
+
+1. **Check if the issue has been reported** — use GitHub issue search and
+ mailing list archive search.
+
+2. **Check if the issue has been fixed** — try to reproduce it using the
+ latest `master` branch in the repository.
+
+3. **Isolate the problem** — ideally create a reduced test
+ case.
+
+A good bug report shouldn't leave others needing to chase you up for more
+information. Please try to be as detailed as possible in your report. What is
+your environment? What steps will reproduce the issue? What would you expect to
+be the outcome? All these details will help people to fix any potential bugs.
+
+Example:
+
+> Short and descriptive example bug report title
+>
+> A summary of the issue and the OS environment in which it occurs. If
+> suitable, include the steps required to reproduce the bug.
+>
+> 1. This is the first step
+> 2. This is the second step
+> 3. Further steps, etc.
+>
+> Any other information you want to share that is relevant to the issue being
+> reported. This might include the lines of code that you have identified as
+> causing the bug, and potential solutions (and your opinions on their
+> merits).
+
+
+<a name="license"></a>
+## License
+
+PCL is 100% [BSD licensed](LICENSE.txt), and by submitting a patch, you agree to
+allow Open Perception, Inc. to license your work under the terms of the BSD
+License. The corpus of the license should be inserted as a C++ comment on top
+of each `.h` and `.cpp` file:
+
+```cpp
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+```
+
+Please note that if the academic institution or company you are affiliated with
+does not allow to give up the rights, you may insert an additional copyright
+line.
endif(PCL_ALL_IN_ONE_INSTALLER)
# use static Boost in Windows
if(WIN32)
- set(Boost_USE_STATIC_LIBS ON)
- set(Boost_USE_STATIC ON)
+ set(Boost_USE_STATIC_LIBS @Boost_USE_STATIC_LIBS@)
+ set(Boost_USE_STATIC @Boost_USE_STATIC@)
+ set(Boost_USE_MULTITHREAD @Boost_USE_MULTITHREAD@)
endif(WIN32)
if(${CMAKE_VERSION} VERSION_LESS 2.8.5)
SET(Boost_ADDITIONAL_VERSIONS "1.43" "1.43.0" "1.44" "1.44.0" "1.45" "1.45.0" "1.46.1" "1.46.0" "1.46" "1.47" "1.47.0")
# Most likely we are on windows so prefer static libraries over shared ones (Mourad's recommend)
find_library(QHULL_LIBRARY
- NAMES qhullstatic qhull qhull${QHULL_MAJOR_VERSION}
+ NAMES "@QHULL_LIBRARY_NAME@"
HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}"
PATHS "$ENV{PROGRAMFILES}/qhull" "$ENV{PROGRAMW6432}/qhull"
PATH_SUFFIXES project build bin lib)
find_library(QHULL_LIBRARY_DEBUG
- NAMES qhullstatic_d qhull_d qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION}
- qhull qhull${QHULL_MAJOR_VERSION}
+ NAMES "@QHULL_LIBRARY_DEBUG_NAME@"
HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}"
PATHS "$ENV{PROGRAMFILES}/qhull" "$ENV{PROGRAMW6432}/qhull"
PATH_SUFFIXES project build bin lib)
endif(OPENNI_FOUND)
endmacro(find_openni)
+#remove this as soon as openni2-dev is shipped with FindOpenni2.cmake
+macro(find_openni2)
+ if(NOT OPENNI2_ROOT AND ("ON" STREQUAL "ON"))
+ get_filename_component(OPENNI2_LIBRARY_HINT "OPENNI_LIBRARY-NOTFOUND" PATH)
+ endif(NOT OPENNI2_ROOT AND ("ON" STREQUAL "ON"))
+
+ set(OPENNI2_SUFFIX)
+ if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+ set(OPENNI2_SUFFIX 64)
+ endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+
+ if(PKG_CONFIG_FOUND)
+ pkg_check_modules(PC_OPENNI2 openni2-dev)
+ endif(PKG_CONFIG_FOUND)
+
+ find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
+ HINTS /usr/include/openni2 /usr/include/ni2
+ PATHS "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}"
+ PATH_SUFFIXES openni openni2 include Include)
+
+ find_library(OPENNI2_LIBRARY
+ NAMES OpenNI2 # No suffix needed on Win64
+ HINTS /usr/lib
+ PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}"
+ PATH_SUFFIXES lib Lib Lib64)
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+ if(OPENNI2_FOUND)
+ get_filename_component(OPENNI_LIBRARY_PATH ${OPENNI2_LIBRARY} PATH)
+ set(OPENNI2_LIBRARY_DIRS ${OPENNI2_LIBRARY_PATH})
+ set(OPENNI2_LIBRARIES "${OPENNI2_LIBRARY}")
+ set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}})
+ endif(OPENNI2_FOUND)
+endmacro(find_openni2)
+
#remove this as soon as flann is shipped with FindFlann.cmake
macro(find_flann)
if(PCL_ALL_IN_ONE_INSTALLER)
endmacro(find_flann)
macro(find_VTK)
- if(PCL_ALL_IN_ONE_INSTALLER)
+ if(PCL_ALL_IN_ONE_INSTALLER AND NOT ANDROID)
set(VTK_DIR "${PCL_ROOT}/3rdParty/VTK/lib/vtk-5.8")
- elseif(NOT VTK_DIR)
+ elseif(NOT VTK_DIR AND NOT ANDROID)
set(VTK_DIR "@VTK_DIR@")
- endif(PCL_ALL_IN_ONE_INSTALLER)
- find_package(VTK ${QUIET_})
- if (VTK_FOUND AND NOT ANDROID)
- set(VTK_LIBRARIES vtkCommon vtkRendering vtkHybrid vtkCharts)
- endif(VTK_FOUND AND NOT ANDROID)
+ endif(PCL_ALL_IN_ONE_INSTALLER AND NOT ANDROID)
+ if(NOT ANDROID)
+ find_package(VTK ${QUIET_})
+ if (VTK_FOUND)
+ set(VTK_LIBRARIES "@VTK_LIBRARIES@")
+ endif(VTK_FOUND)
+ endif()
endmacro(find_VTK)
macro(find_libusb)
find_qhull()
elseif("${_lib}" STREQUAL "openni")
find_openni()
+ elseif("${_lib}" STREQUAL "openni2")
+ find_openni2()
elseif("${_lib}" STREQUAL "vtk")
find_VTK()
elseif("${_lib}" STREQUAL "libusb-1.0")
if(${LIB}_LIBRARIES)
list(APPEND PCL_${COMPONENT}_LIBRARIES "${${LIB}_LIBRARIES}")
endif(${LIB}_LIBRARIES)
- if(${LIB}_DEFINITIONS)
+ if(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
list(APPEND PCL_${COMPONENT}_DEFINITIONS ${${LIB}_DEFINITIONS})
- endif(${LIB}_DEFINITIONS)
+ endif(${LIB}_DEFINITIONS AND NOT ${LIB} STREQUAL "VTK")
else(${LIB}_FOUND)
if("${_is_optional}" STREQUAL "OPTIONAL")
add_definitions("-DDISABLE_${LIB}")
if(EXISTS "${PCL_ROOT}/3rdParty")
set(PCL_ALL_IN_ONE_INSTALLER ON)
endif(EXISTS "${PCL_ROOT}/3rdParty")
+elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
+ # Found a non-standard (likely ANDROID) PCL installation
+ # pcl_message("Found a PCL installation")
+ set(PCL_INCLUDE_DIRS "${PCL_ROOT}/include")
+ set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
+ if(EXISTS "${PCL_ROOT}/3rdParty")
+ set(PCL_ALL_IN_ONE_INSTALLER ON)
+ endif(EXISTS "${PCL_ROOT}/3rdParty")
elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
# Found PCLConfig.cmake in a build tree of PCL
# pcl_message("PCL found into a build tree.")
@PCLCONFIG_OPTIONAL_DEPENDENCIES@
-set(pcl_header_only_components geometry modeler in_hand_scanner)
+set(pcl_header_only_components geometry modeler in_hand_scanner point_cloud_editor cloud_composer optronic_viewer)
include(FindPackageHandleStandardArgs)
PATH)
endif(PCL_${COMPONENT}_LIBRARY_DEBUG)
+ # Restrict this to Windows users
+ if(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
+ # might be debug only
+ set(PCL_${COMPONENT}_LIBRARY ${PCL_${COMPONENT}_LIBRARY_DEBUG})
+ endif(NOT PCL_${COMPONENT}_LIBRARY AND WIN32)
+
find_package_handle_standard_args(PCL_${COMPONENT} DEFAULT_MSG
PCL_${COMPONENT}_LIBRARY PCL_${COMPONENT}_INCLUDE_DIR)
else(_is_header_only EQUAL -1)
list(REMOVE_DUPLICATES PCL_LIBRARY_DIRS)
endif(NOT "${PCL_LIBRARY_DIRS}" STREQUAL "")
-# We need to export march=native for tutorials or user code
-if(NOT CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-list (APPEND PCL_DEFINITIONS "@SSE_FLAGS@")
-endif()
-
-if(NOT MSVC)
-list (APPEND PCL_DEFINITIONS "-Wno-invalid-offsetof")
-endif(NOT MSVC)
-
if(NOT "${PCL_DEFINITIONS}" STREQUAL "")
list(REMOVE_DUPLICATES PCL_DEFINITIONS)
endif(NOT "${PCL_DEFINITIONS}" STREQUAL "")
pcl_remove_duplicate_libraries(PCL_LIBRARIES PCL_DEDUP_LIBRARIES)
set(PCL_LIBRARIES ${PCL_DEDUP_LIBRARIES})
# Add 3rd party libraries, as user code might include our .HPP implementations
-list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})
+list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})
find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)
else(NOT VTK_FOUND)
set(DEFAULT TRUE)
set(REASON)
- include (${VTK_USE_FILE})
+ include("${VTK_USE_FILE}")
endif(NOT VTK_FOUND)
# OpenNI found?
endif(NOT OPENNI_FOUND)
set(DEFAULT FALSE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni vtk)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS openni vtk)
if(build)
- include_directories (${CMAKE_CURRENT_BINARY_DIR})
- include_directories (${CMAKE_CURRENT_SOURCE_DIR}/include)
+ include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
- PCL_ADD_EXECUTABLE(pcl_test_search_speed ${SUBSYS_NAME} src/test_search.cpp)
+ PCL_ADD_EXECUTABLE(pcl_test_search_speed "${SUBSYS_NAME}" src/test_search.cpp)
target_link_libraries(pcl_test_search_speed pcl_common pcl_io pcl_search pcl_kdtree pcl_visualization)
- PCL_ADD_EXECUTABLE(pcl_nn_classification_example ${SUBSYS_NAME} src/nn_classification_example.cpp)
+ PCL_ADD_EXECUTABLE(pcl_nn_classification_example "${SUBSYS_NAME}" src/nn_classification_example.cpp)
target_link_libraries(pcl_nn_classification_example pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE(pcl_pyramid_surface_matching ${SUBSYS_NAME} src/pyramid_surface_matching.cpp)
+ PCL_ADD_EXECUTABLE(pcl_pyramid_surface_matching "${SUBSYS_NAME}" src/pyramid_surface_matching.cpp)
target_link_libraries(pcl_pyramid_surface_matching pcl_common pcl_io pcl_features pcl_registration pcl_filters)
- PCL_ADD_EXECUTABLE(pcl_statistical_multiscale_interest_region_extraction_example ${SUBSYS_NAME} src/statistical_multiscale_interest_region_extraction_example.cpp)
+ PCL_ADD_EXECUTABLE(pcl_statistical_multiscale_interest_region_extraction_example "${SUBSYS_NAME}" src/statistical_multiscale_interest_region_extraction_example.cpp)
target_link_libraries(pcl_statistical_multiscale_interest_region_extraction_example pcl_common pcl_io pcl_features pcl_filters)
if(LIBUSB_1_FOUND)
- PCL_ADD_EXECUTABLE(pcl_dinast_grabber ${SUBSYS_NAME} src/dinast_grabber_example.cpp)
+ PCL_ADD_EXECUTABLE(pcl_dinast_grabber "${SUBSYS_NAME}" src/dinast_grabber_example.cpp)
target_link_libraries(pcl_dinast_grabber pcl_common pcl_visualization pcl_io)
endif(LIBUSB_1_FOUND)
if (VTK_FOUND)
- PCL_ADD_EXECUTABLE(pcl_ppf_object_recognition ${SUBSYS_NAME} src/ppf_object_recognition.cpp)
+ PCL_ADD_EXECUTABLE(pcl_ppf_object_recognition "${SUBSYS_NAME}" src/ppf_object_recognition.cpp)
target_link_libraries(pcl_ppf_object_recognition pcl_common pcl_io pcl_filters pcl_features pcl_registration pcl_visualization pcl_sample_consensus pcl_segmentation)
- PCL_ADD_EXECUTABLE(pcl_multiscale_feature_persistence_example ${SUBSYS_NAME} src/multiscale_feature_persistence_example.cpp)
+ PCL_ADD_EXECUTABLE(pcl_multiscale_feature_persistence_example "${SUBSYS_NAME}" src/multiscale_feature_persistence_example.cpp)
target_link_libraries(pcl_multiscale_feature_persistence_example pcl_common pcl_io pcl_filters pcl_features pcl_visualization)
- PCL_ADD_EXECUTABLE(pcl_surfel_smoothing_test ${SUBSYS_NAME} src/surfel_smoothing_test.cpp)
+ PCL_ADD_EXECUTABLE(pcl_surfel_smoothing_test "${SUBSYS_NAME}" src/surfel_smoothing_test.cpp)
target_link_libraries(pcl_surfel_smoothing_test pcl_common pcl_io pcl_surface pcl_filters pcl_features pcl_visualization)
- PCL_ADD_EXECUTABLE(pcl_feature_matching ${SUBSYS_NAME} src/feature_matching.cpp)
+ PCL_ADD_EXECUTABLE(pcl_feature_matching "${SUBSYS_NAME}" src/feature_matching.cpp)
target_link_libraries(pcl_feature_matching pcl_common pcl_io pcl_registration pcl_keypoints pcl_sample_consensus pcl_visualization pcl_search pcl_features pcl_kdtree pcl_surface pcl_segmentation)
- PCL_ADD_EXECUTABLE(pcl_convolve ${SUBSYS_NAME} src/convolve.cpp)
+ PCL_ADD_EXECUTABLE(pcl_convolve "${SUBSYS_NAME}" src/convolve.cpp)
target_link_libraries(pcl_convolve pcl_common pcl_io pcl_visualization)
- PCL_ADD_EXECUTABLE(pcl_pcd_organized_multi_plane_segmentation ${SUBSYS_NAME} src/pcd_organized_multi_plane_segmentation.cpp)
+ PCL_ADD_EXECUTABLE(pcl_pcd_organized_multi_plane_segmentation "${SUBSYS_NAME}" src/pcd_organized_multi_plane_segmentation.cpp)
target_link_libraries(pcl_pcd_organized_multi_plane_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features)
if (QHULL_FOUND)
- PCL_ADD_EXECUTABLE(pcl_pcd_select_object_plane ${SUBSYS_NAME} src/pcd_select_object_plane.cpp)
+ PCL_ADD_EXECUTABLE(pcl_pcd_select_object_plane "${SUBSYS_NAME}" src/pcd_select_object_plane.cpp)
target_link_libraries(pcl_pcd_select_object_plane pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_surface)
endif()
-# PCL_ADD_EXECUTABLE(pcl_convolve ${SUBSYS_NAME} src/convolve.cpp)
+# PCL_ADD_EXECUTABLE(pcl_convolve "${SUBSYS_NAME}" src/convolve.cpp)
# target_link_libraries(pcl_convolve pcl_common pcl_io pcl_visualization)
+ if (QT4_FOUND AND VTK_USE_QVTK)
+
+ # Manual registration demo
+ QT4_WRAP_UI(manual_registration_ui src/manual_registration/manual_registration.ui)
+ QT4_WRAP_CPP(manual_registration_moc include/pcl/apps/manual_registration.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_manual_registration "${SUBSYS_NAME}" ${manual_registration_ui} ${manual_registration_moc} src/manual_registration/manual_registration.cpp)
+ target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
+
+ QT4_WRAP_UI(pcd_video_player_ui src/pcd_video_player/pcd_video_player.ui)
+ QT4_WRAP_CPP(pcd_video_player_moc include/pcl/apps/pcd_video_player.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_pcd_video_player "${SUBSYS_NAME}" ${pcd_video_player_ui} ${pcd_video_player_moc} src/pcd_video_player/pcd_video_player.cpp)
+ target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
+
+ endif (QT4_FOUND AND VTK_USE_QVTK)
+
if (OPENNI_FOUND AND BUILD_OPENNI)
-# PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_grab_frame ${SUBSYS_NAME} src/openni_grab_frame.cpp)
+# PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_grab_frame "${SUBSYS_NAME}" src/openni_grab_frame.cpp)
# target_link_libraries(pcl_openni_grab_frame pcl_common pcl_io pcl_visualization)
-# PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_grab_images ${SUBSYS_NAME} src/openni_grab_images.cpp)
+# PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_grab_images "${SUBSYS_NAME}" src/openni_grab_images.cpp)
# target_link_libraries(pcl_openni_grab_images pcl_common pcl_io pcl_visualization)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_fast_mesh ${SUBSYS_NAME} src/openni_fast_mesh.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_fast_mesh "${SUBSYS_NAME}" src/openni_fast_mesh.cpp)
target_link_libraries(pcl_openni_fast_mesh pcl_common pcl_io pcl_visualization pcl_surface)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_voxel_grid ${SUBSYS_NAME} src/openni_voxel_grid.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_voxel_grid "${SUBSYS_NAME}" src/openni_voxel_grid.cpp)
target_link_libraries(pcl_openni_voxel_grid pcl_common pcl_io pcl_filters pcl_visualization)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_octree_compression ${SUBSYS_NAME} src/openni_octree_compression.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_octree_compression "${SUBSYS_NAME}" src/openni_octree_compression.cpp)
target_link_libraries(pcl_openni_octree_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree)
if(HAVE_PNG)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_organized_compression ${SUBSYS_NAME} src/openni_organized_compression.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_organized_compression "${SUBSYS_NAME}" src/openni_organized_compression.cpp)
target_link_libraries(pcl_openni_organized_compression pcl_common pcl_io pcl_filters pcl_visualization pcl_octree)
endif(HAVE_PNG)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_shift_to_depth_conversion ${SUBSYS_NAME} src/openni_shift_to_depth_conversion.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_shift_to_depth_conversion "${SUBSYS_NAME}" src/openni_shift_to_depth_conversion.cpp)
target_link_libraries(pcl_openni_shift_to_depth_conversion pcl_common pcl_visualization)
- PCL_ADD_EXECUTABLE(pcl_openni_mobile_server ${SUBSYS_NAME} src/openni_mobile_server.cpp)
+ PCL_ADD_EXECUTABLE(pcl_openni_mobile_server "${SUBSYS_NAME}" src/openni_mobile_server.cpp)
target_link_libraries(pcl_openni_mobile_server pcl_common pcl_io pcl_filters pcl_visualization)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_planar_segmentation ${SUBSYS_NAME} src/openni_planar_segmentation.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_planar_segmentation "${SUBSYS_NAME}" src/openni_planar_segmentation.cpp)
target_link_libraries(pcl_openni_planar_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_organized_multi_plane_segmentation ${SUBSYS_NAME} src/openni_organized_multi_plane_segmentation.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_organized_multi_plane_segmentation "${SUBSYS_NAME}" src/openni_organized_multi_plane_segmentation.cpp)
target_link_libraries(pcl_openni_organized_multi_plane_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_ii_normal_estimation ${SUBSYS_NAME} src/openni_ii_normal_estimation.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_ii_normal_estimation "${SUBSYS_NAME}" src/openni_ii_normal_estimation.cpp)
target_link_libraries(pcl_openni_ii_normal_estimation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_feature_persistence ${SUBSYS_NAME} src/openni_feature_persistence.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_feature_persistence "${SUBSYS_NAME}" src/openni_feature_persistence.cpp)
target_link_libraries(pcl_openni_feature_persistence pcl_common pcl_io pcl_filters pcl_visualization pcl_features)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_mls_smoothing ${SUBSYS_NAME} src/openni_mls_smoothing.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_mls_smoothing "${SUBSYS_NAME}" src/openni_mls_smoothing.cpp)
target_link_libraries(pcl_openni_mls_smoothing pcl_common pcl_io pcl_surface pcl_visualization)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_change_viewer ${SUBSYS_NAME} src/openni_change_viewer.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_change_viewer "${SUBSYS_NAME}" src/openni_change_viewer.cpp)
target_link_libraries(pcl_openni_change_viewer pcl_common pcl_io pcl_kdtree pcl_octree pcl_visualization pcl_filters)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_uniform_sampling ${SUBSYS_NAME} src/openni_uniform_sampling.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_uniform_sampling "${SUBSYS_NAME}" src/openni_uniform_sampling.cpp)
target_link_libraries(pcl_openni_uniform_sampling pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_keypoints)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_boundary_estimation ${SUBSYS_NAME} src/openni_boundary_estimation.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_boundary_estimation "${SUBSYS_NAME}" src/openni_boundary_estimation.cpp)
target_link_libraries(pcl_openni_boundary_estimation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
if (QT4_FOUND AND VTK_USE_QVTK)
# OpenNI Passthrough application demo
QT4_WRAP_UI(openni_passthrough_ui src/openni_passthrough.ui)
QT4_WRAP_CPP(openni_passthrough_moc include/pcl/apps/openni_passthrough.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- PCL_ADD_EXECUTABLE(pcl_openni_passthrough ${SUBSYS_NAME} ${openni_passthrough_ui} ${openni_passthrough_moc} src/openni_passthrough.cpp)
- target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization QVTK ${QT_LIBRARIES})
+ PCL_ADD_EXECUTABLE(pcl_openni_passthrough "${SUBSYS_NAME}" ${openni_passthrough_ui} ${openni_passthrough_moc} src/openni_passthrough.cpp)
+ target_link_libraries(pcl_openni_passthrough pcl_common pcl_io pcl_filters pcl_visualization ${QVTK_LIBRARY} ${QT_LIBRARIES})
# OpenNI Organized Connected Component application demo
QT4_WRAP_UI(organized_segmentation_demo_ui src/organized_segmentation_demo.ui)
QT4_WRAP_CPP(organized_segmentation_demo_moc include/pcl/apps/organized_segmentation_demo.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_organized_segmentation_demo ${SUBSYS_NAME} ${organized_segmentation_demo_ui} ${organized_segmentation_demo_moc} src/organized_segmentation_demo.cpp)
- target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
-
- # Manual registration demo
- QT4_WRAP_UI(manual_registration_ui src/manual_registration/manual_registration.ui)
- QT4_WRAP_CPP(manual_registration_moc include/pcl/apps/manual_registration.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_manual_registration ${SUBSYS_NAME} ${manual_registration_ui} ${manual_registration_moc} src/manual_registration/manual_registration.cpp)
- target_link_libraries(pcl_manual_registration pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
-
- QT4_WRAP_UI(pcd_video_player_ui src/pcd_video_player/pcd_video_player.ui)
- QT4_WRAP_CPP(pcd_video_player_moc include/pcl/apps/pcd_video_player.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_pcd_video_player ${SUBSYS_NAME} ${pcd_video_player_ui} ${pcd_video_player_moc} src/pcd_video_player/pcd_video_player.cpp)
- target_link_libraries(pcl_pcd_video_player pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_organized_segmentation_demo "${SUBSYS_NAME}" ${organized_segmentation_demo_ui} ${organized_segmentation_demo_moc} src/organized_segmentation_demo.cpp)
+ target_link_libraries(pcl_organized_segmentation_demo pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
# Database processing (integration) demo
# QT4_WRAP_UI(db_proc_ui src/db_proc/db_proc.ui)
# QT4_WRAP_CPP(db_proc_moc include/pcl/apps/db_proc.h OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)
-# PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_db_proc ${SUBSYS_NAME} ${db_proc_ui} ${db_proc_moc} src/db_proc/db_proc.cpp)
-# target_link_libraries(pcl_db_proc pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface QVTK ${QT_LIBRARIES})
+# PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_db_proc "${SUBSYS_NAME}" ${db_proc_ui} ${db_proc_moc} src/db_proc/db_proc.cpp)
+# target_link_libraries(pcl_db_proc pcl_common pcl_io pcl_visualization pcl_segmentation pcl_features pcl_surface ${QVTK_LIBRARY} ${QT_LIBRARIES})
endif ()
set(srcs src/render_views_tesselated_sphere.cpp)
if (QHULL_FOUND)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_3d_convex_hull ${SUBSYS_NAME} src/openni_3d_convex_hull.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_3d_convex_hull "${SUBSYS_NAME}" src/openni_3d_convex_hull.cpp)
target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_3d_concave_hull ${SUBSYS_NAME} src/openni_3d_concave_hull.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_3d_concave_hull "${SUBSYS_NAME}" src/openni_3d_concave_hull.cpp)
target_link_libraries(pcl_openni_3d_concave_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_tracking ${SUBSYS_NAME} src/openni_tracking.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_tracking "${SUBSYS_NAME}" src/openni_tracking.cpp)
target_link_libraries(pcl_openni_tracking pcl_common pcl_io pcl_surface pcl_visualization pcl_filters pcl_features pcl_segmentation pcl_tracking pcl_search)
- set(incs include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h ${incs})
- set(impl_incs include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp)
+ set(incs "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h" ${incs})
+ set(impl_incs "include/pcl/${SUBSYS_NAME}/impl/dominant_plane_segmentation.hpp")
set(srcs src/dominant_plane_segmentation.cpp ${srcs})
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_planar_convex_hull ${SUBSYS_NAME} src/openni_planar_convex_hull.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_planar_convex_hull "${SUBSYS_NAME}" src/openni_planar_convex_hull.cpp)
target_link_libraries(pcl_openni_planar_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_linemod "${SUBSYS_NAME}" src/ni_linemod.cpp)
+ target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search)
+
endif() # QHULL_FOUND
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
- set(LIB_NAME pcl_${SUBSYS_NAME})
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${impl_incs} ${incs})
- target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${impl_incs} ${incs})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "" "" "" "" "")
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_agast ${SUBSYS_NAME} src/ni_agast.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_agast "${SUBSYS_NAME}" src/ni_agast.cpp)
target_link_libraries(pcl_ni_agast pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_linemod ${SUBSYS_NAME} src/ni_linemod.cpp)
- target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search)
-
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_susan ${SUBSYS_NAME} src/ni_susan.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_susan "${SUBSYS_NAME}" src/ni_susan.cpp)
target_link_libraries(pcl_ni_susan pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ni_trajkovic ${SUBSYS_NAME} src/ni_trajkovic.cpp)
+ target_link_libraries(pcl_ni_trajkovic pcl_common pcl_visualization pcl_features pcl_keypoints pcl_search)
+
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni_klt "${SUBSYS_NAME}" src/openni_klt.cpp)
+ target_link_libraries(pcl_openni_klt pcl_common pcl_io pcl_visualization pcl_tracking)
endif() # OPENNI_FOUND + BUILD_OPENNI
endif() # VTK_FOUND
- add_subdirectory(modeler)
- add_subdirectory(cloud_composer)
- if(OPENNI_FOUND)
- add_subdirectory(in_hand_scanner)
- endif(OPENNI_FOUND)
- add_subdirectory(point_cloud_editor)
- if(FZAPI_FOUND)
- add_subdirectory(optronic_viewer)
- endif(FZAPI_FOUND)
+ # OpenGL and GLUT
+ if(OPENGL_FOUND AND GLUT_FOUND)
+ include_directories("${OPENGL_INCLUDE_DIR}")
+ include_directories("${GLUT_INCLUDE_DIR}")
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_grabcut_2d "${SUBSYS_NAME}" src/grabcut_2d.cpp)
+ target_link_libraries (pcl_grabcut_2d pcl_common pcl_io pcl_segmentation pcl_search ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES})
+ endif(OPENGL_FOUND AND GLUT_FOUND)
+
+ collect_subproject_directory_names("${CMAKE_CURRENT_SOURCE_DIR}" "CMakeLists.txt" PCL_APPS_MODULES_NAMES PCL_APPS_MODULES_DIRS ${SUBSYS_NAME})
+ set(PCL_APPS_MODULES_NAMES_UNSORTED ${PCL_APPS_MODULES_NAMES})
+ topological_sort(PCL_APPS_MODULES_NAMES PCL_APPS_ _DEPENDS)
+ sort_relative(PCL_APPS_MODULES_NAMES_UNSORTED PCL_APPS_MODULES_NAMES PCL_APPS_MODULES_DIRS)
+ foreach(subdir ${PCL_APPS_MODULES_DIRS})
+ add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}")
+ endforeach(subdir)
endif(build)
-
-
# string(REGEX REPLACE "-Wconversion(.+)" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
#endif()
-set(SUBSYS_NAME cloud_composer)
-set(SUBSYS_DESC "Cloud Composer - Application for Manipulating Point Clouds")
-set(SUBSYS_DEPS common io visualization filters apps)
+SET(SUBSUBSYS_NAME cloud_composer)
+SET(SUBSUBSYS_DESC "Cloud Composer - Application for Manipulating Point Clouds")
+SET(SUBSUBSYS_DEPS common io visualization filters apps)
# Find VTK
if(NOT VTK_FOUND)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "VTK was not found.")
else(NOT VTK_FOUND)
set(DEFAULT TRUE)
set(REASON)
- include (${VTK_USE_FILE})
+ include("${VTK_USE_FILE}")
endif(NOT VTK_FOUND)
# QT4 Found?
if(NOT QT4_FOUND)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "Qt4 was not found.")
-else(NOT QT4_FOUND)
+elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
set(DEFAULT TRUE)
set(REASON)
endif(NOT QT4_FOUND)
# QVTK?
if(NOT VTK_USE_QVTK)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "Cloud composer requires QVTK")
-else(NOT VTK_USE_QVTK)
+elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
set(DEFAULT TRUE)
set(REASON)
endif(NOT VTK_USE_QVTK)
#Default to not building for now
-set(DEFAULT FALSE)
+if ("${DEFAULT}" STREQUAL "TRUE")
+ set(DEFAULT FALSE)
+endif ("${DEFAULT}" STREQUAL "TRUE")
-PCL_SUBSYS_OPTION(build app_${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(build app_${SUBSYS_NAME} ${SUBSYS_DEPS})
+PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC(${SUBSUBSYS_NAME})
if(build)
- include_directories (${CMAKE_CURRENT_BINARY_DIR})
- include_directories (${CMAKE_CURRENT_SOURCE_DIR}/include)
+ include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
- if (VTK_FOUND AND QT4_FOUND AND VTK_USE_QVTK)
#Sources & Headers for main application
- set(incs include/pcl/apps/${SUBSYS_NAME}/qt.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_composer.h
- include/pcl/apps/${SUBSYS_NAME}/project_model.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_viewer.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_view.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_browser.h
- include/pcl/apps/${SUBSYS_NAME}/item_inspector.h
- include/pcl/apps/${SUBSYS_NAME}/tool_interface/abstract_tool.h
- include/pcl/apps/${SUBSYS_NAME}/tool_interface/tool_factory.h
- include/pcl/apps/${SUBSYS_NAME}/commands.h
- include/pcl/apps/${SUBSYS_NAME}/work_queue.h
- include/pcl/apps/${SUBSYS_NAME}/toolbox_model.h
- include/pcl/apps/${SUBSYS_NAME}/properties_model.h
- include/pcl/apps/${SUBSYS_NAME}/signal_multiplexer.h
- include/pcl/apps/${SUBSYS_NAME}/merge_selection.h
- include/pcl/apps/${SUBSYS_NAME}/transform_clouds.h)
+ set(incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/qt.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_composer.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/project_model.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_viewer.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_view.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_browser.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/item_inspector.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tool_interface/abstract_tool.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tool_interface/tool_factory.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/commands.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/work_queue.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/toolbox_model.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/properties_model.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/signal_multiplexer.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/merge_selection.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/transform_clouds.h")
set(srcs src/main.cpp
src/cloud_composer.cpp
src/tool_interface/abstract_tool.cpp
src/transform_clouds.cpp)
- set(impl_incs include/pcl/apps/${SUBSYS_NAME}/impl/cloud_item.hpp
- include/pcl/apps/${SUBSYS_NAME}/impl/merge_selection.hpp
- include/pcl/apps/${SUBSYS_NAME}/impl/transform_clouds.hpp)
+ set(impl_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/cloud_item.hpp"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/merge_selection.hpp"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/transform_clouds.hpp")
#Sources and headers for item types
- set(item_incs include/pcl/apps/${SUBSYS_NAME}/items/cloud_composer_item.h
- include/pcl/apps/${SUBSYS_NAME}/items/cloud_item.h
- include/pcl/apps/${SUBSYS_NAME}/items/normals_item.h
- include/pcl/apps/${SUBSYS_NAME}/items/fpfh_item.h)
+ set(item_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/cloud_composer_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/cloud_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/normals_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/items/fpfh_item.h")
set(item_srcs src/items/cloud_composer_item.cpp
src/items/cloud_item.cpp
src/items/fpfh_item.cpp)
#Sources and headers for point selectors
- set (selector_incs include/pcl/apps/${SUBSYS_NAME}/point_selectors/interactor_style_switch.h
- include/pcl/apps/${SUBSYS_NAME}/point_selectors/rectangular_frustum_selector.h
- include/pcl/apps/${SUBSYS_NAME}/point_selectors/selected_trackball_interactor_style.h
- include/pcl/apps/${SUBSYS_NAME}/point_selectors/click_trackball_interactor_style.h)
+ set (selector_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/interactor_style_switch.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/rectangular_frustum_selector.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/selected_trackball_interactor_style.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/point_selectors/click_trackball_interactor_style.h")
set (selector_srcs src/point_selectors/interactor_style_switch.cpp
src/point_selectors/selection_event.cpp
QT4_WRAP_CPP(cloud_composer_moc ${incs} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
QT4_ADD_RESOURCES(resource_srcs ${resources})
- set(EXE_NAME pcl_${SUBSYS_NAME})
- PCL_ADD_EXECUTABLE(${EXE_NAME} ${SUBSYS_NAME} ${cloud_composer_ui} ${cloud_composer_moc} ${srcs} ${resource_srcs} ${item_srcs} ${selector_srcs} ${impl_incs})
- target_link_libraries(${EXE_NAME} pcl_common pcl_io pcl_visualization pcl_filters QVTK ${QT_LIBRARIES})
+ set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
+ PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${cloud_composer_ui} ${cloud_composer_moc} ${srcs} ${resource_srcs} ${item_srcs} ${selector_srcs} ${impl_incs})
+ target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_visualization pcl_filters ${QVTK_LIBRARY} ${QT_LIBRARIES})
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs} ${item_incs} ${selector_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs} ${item_incs} ${selector_incs})
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${impl_incs})
- PCL_MAKE_PKGCONFIG(${EXE_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
+ PCL_MAKE_PKGCONFIG("${EXE_NAME}" "${SUBSUBSYS_NAME}" "${SUBSYS_DESC}" "" "" "" "" "")
- #TOOL BUILDING SCRIPTS
+ #TOOL buildING SCRIPTS
#Create subdirectory for plugin libs
- set (CLOUD_COMPOSER_PLUGIN_DIR ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloud_composer_plugins)
- make_directory (${CLOUD_COMPOSER_PLUGIN_DIR})
+ set (CLOUD_COMPOSER_PLUGIN_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cloud_composer_plugins")
+ make_directory("${CLOUD_COMPOSER_PLUGIN_DIR}")
- set(INTERFACE_HEADERS include/pcl/apps/${SUBSYS_NAME}/tool_interface/abstract_tool.h)
+ set(INTERFACE_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tool_interface/abstract_tool.h")
set(INTERFACE_SOURCES src/tool_interface/abstract_tool.cpp)
QT4_WRAP_CPP(INTERFACE_HEADERS_MOC ${INTERFACE_HEADERS} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- PCL_ADD_LIBRARY(pcl_cc_tool_interface ${SUBSYS_NAME} ${INTERFACE_SOURCES} ${INTERFACE_HEADERS_MOC})
+ PCL_ADD_LIBRARY(pcl_cc_tool_interface "${SUBSUBSYS_NAME}" ${INTERFACE_SOURCES} ${INTERFACE_HEADERS_MOC})
target_link_libraries(pcl_cc_tool_interface pcl_common ${QT_LIBRARIES})
+
+ IF(APPLE)
+ SET_TARGET_PROPERTIES(pcl_cc_tool_interface PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+ ENDIF()
include(ComposerTool.cmake REQUIRED)
#FPFH Tool
set (FPFH_DEPS pcl_features pcl_kdtree pcl_filters)
set (FPFH_SOURCES tools/fpfh_estimation.cpp)
- set (FPFH_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/fpfh_estimation.h)
+ set (FPFH_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/fpfh_estimation.h")
define_composer_tool (fpfh_estimation "${FPFH_SOURCES}" "${FPFH_HEADERS}" "${FPFH_DEPS}")
#Normals Tool
set (NORMALS_DEPS pcl_features pcl_kdtree)
set (NORMALS_SOURCES tools/normal_estimation.cpp)
- set (NORMALS_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/normal_estimation.h)
+ set (NORMALS_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/normal_estimation.h")
define_composer_tool (normal_estimation "${NORMALS_SOURCES}" "${NORMALS_HEADERS}" "${NORMALS_DEPS}")
#Euclidean Clustering Tool
set (EC_DEPS pcl_segmentation pcl_kdtree)
set (EC_SOURCES tools/euclidean_clustering.cpp)
- set (EC_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/euclidean_clustering.h)
+ set (EC_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/euclidean_clustering.h")
define_composer_tool (euclidean_clustering "${EC_SOURCES}" "${EC_HEADERS}" "${EC_DEPS}")
#Statistical Outlier Removal Tool
set (SOR_DEPS pcl_filters)
set (SOR_SOURCES tools/statistical_outlier_removal.cpp)
- set (SOR_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/statistical_outlier_removal.h)
+ set (SOR_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/statistical_outlier_removal.h")
define_composer_tool (statistical_outlier_removal "${SOR_SOURCES}" "${SOR_HEADERS}" "${SOR_DEPS}")
#Vox Grid Downsample Tool
set (VOXDS_DEPS pcl_filters)
set (VOXDS_SOURCES tools/voxel_grid_downsample.cpp)
- set (VOXDS_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/voxel_grid_downsample.h)
+ set (VOXDS_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/voxel_grid_downsample.h")
define_composer_tool (voxel_grid_downsample "${VOXDS_SOURCES}" "${VOXDS_HEADERS}" "${VOXDS_DEPS}")
#Organized Segmentation
set (OSEG_DEPS pcl_segmentation pcl_kdtree)
- set (OSEG_SOURCES tools/organized_segmentation.cpp include/pcl/apps/${SUBSYS_NAME}/tools/impl/organized_segmentation.hpp)
- set (OSEG_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/organized_segmentation.h)
+ set (OSEG_SOURCES tools/organized_segmentation.cpp "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/impl/organized_segmentation.hpp")
+ set (OSEG_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/organized_segmentation.h")
define_composer_tool (organized_segmentation "${OSEG_SOURCES}" "${OSEG_HEADERS}" "${OSEG_DEPS}")
#Sanitize Cloud Tool
set (SAN_DEPS pcl_filters)
set (SAN_SOURCES tools/sanitize_cloud.cpp)
- set (SAN_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/sanitize_cloud.h)
+ set (SAN_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/sanitize_cloud.h")
define_composer_tool (sanitize_cloud "${SAN_SOURCES}" "${SAN_HEADERS}" "${SAN_DEPS}")
#Supervoxels
set (VSP_DEPS pcl_octree pcl_segmentation)
- set (VSP_SOURCES tools/supervoxels.cpp include/pcl/apps/${SUBSYS_NAME}/tools/impl/supervoxels.hpp)
- set (VSP_HEADERS include/pcl/apps/${SUBSYS_NAME}/tools/supervoxels.h)
+ set (VSP_SOURCES tools/supervoxels.cpp "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/impl/supervoxels.hpp")
+ set (VSP_HEADERS "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/tools/supervoxels.h")
define_composer_tool (supervoxels "${VSP_SOURCES}" "${VSP_HEADERS}" "${VSP_DEPS}")
-
- endif () #VTK_FOUND AND QT4_FOUND AND VTK_USE_QVTK
-
endif(build)
add_dependencies(${TOOL_TARGET} pcl_cc_tool_interface ${DEPS})
target_link_libraries(${TOOL_TARGET} pcl_cc_tool_interface pcl_common pcl_io ${DEPS} ${QT_LIBRARIES})
+
+ IF(APPLE)
+ SET_TARGET_PROPERTIES(${TOOL_TARGET} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+ ENDIF()
endfunction(define_composer_tool TOOL_NAME TOOL_SOURCES TOOL_HEADERS DEPS)
Q_DECLARE_METATYPE (pcl::cloud_composer::CloudView);
#endif
+
/** \brief Slot Called whenever the item selection_model_ changes */
void
- itemSelectionChanged ( const QItemSelection & selected, const QItemSelection & deselected );
+ itemSelectionChanged ( const QItemSelection &, const QItemSelection &);
/** \brief Creates a new cloud from the selected items and points */
void
}
void
-pcl::cloud_composer::CloudView::dataChanged (const QModelIndex & topLeft, const QModelIndex & bottomRight)
+pcl::cloud_composer::CloudView::dataChanged (const QModelIndex &, const QModelIndex &)
{
}
void
-pcl::cloud_composer::CloudView::selectionCompleted (vtkObject* caller, unsigned long event_id, void* client_data, void* call_data)
+pcl::cloud_composer::CloudView::selectionCompleted (vtkObject*, unsigned long, void*, void* call_data)
{
boost::shared_ptr<SelectionEvent> selected (static_cast<SelectionEvent*> (call_data));
void
-pcl::cloud_composer::CloudView::manipulationCompleted (vtkObject* caller, unsigned long event_id, void* client_data, void* call_data)
+pcl::cloud_composer::CloudView::manipulationCompleted (vtkObject*, unsigned long, void*, void* call_data)
{
boost::shared_ptr<ManipulationEvent> manip_event (static_cast<ManipulationEvent*> (call_data));
model_->manipulateClouds (manip_event);
}
-}
\ No newline at end of file
+}
+
}
bool
-pcl::cloud_composer::DeleteItemCommand::runCommand (AbstractTool* tool)
+pcl::cloud_composer::DeleteItemCommand::runCommand (AbstractTool*)
{
//For delete item command, each selected item should be processed separately
//e.g. delete every selected item
- int num_new_items = 0;
foreach (const CloudComposerItem *item, original_data_)
{
QList <CloudComposerItem*> output;
qCritical () << "Removal of items failed in MergeCloudCommand::redo";
}
-}
\ No newline at end of file
+}
+
}
void
-pcl::cloud_composer::ItemInspector::selectionChanged (const QModelIndex ¤t, const QModelIndex &)
+pcl::cloud_composer::ItemInspector::selectionChanged (const QModelIndex &, const QModelIndex &)
{
//If we have a model loaded, save its tree state
// if (current_item_properties_model_)
}
void
-pcl::cloud_composer::CloudComposerItem::paintView (boost::shared_ptr<pcl::visualization::PCLVisualizer> vis) const
+pcl::cloud_composer::CloudComposerItem::paintView (boost::shared_ptr<pcl::visualization::PCLVisualizer>) const
{
qDebug () << "Paint View in Cloud Composer Item - doing nothing";
}
void
-pcl::cloud_composer::CloudComposerItem::removeFromView (boost::shared_ptr<pcl::visualization::PCLVisualizer> vis) const
+pcl::cloud_composer::CloudComposerItem::removeFromView (boost::shared_ptr<pcl::visualization::PCLVisualizer>) const
{
qDebug () << "Remove from View in Cloud Composer Item - doing nothing";
}
pcl::ExtractIndices<pcl::PCLPointCloud2> filter;
pcl::PCLPointCloud2::Ptr merged_cloud (new pcl::PCLPointCloud2);
+ //To Save the pose of the first original item
+ Eigen::Vector4f source_origin;
+ Eigen::Quaternionf source_orientation;
+ bool pose_found = false;
foreach (const CloudItem* input_cloud_item, selected_item_index_map_.keys ())
{
//If this cloud hasn't been completely selected
filter.filter (*selected_points);
qDebug () << "Original minus indices is "<<original_minus_indices->width;
- Eigen::Vector4f source_origin = input_cloud_item->data (ItemDataRole::ORIGIN).value<Eigen::Vector4f> ();
- Eigen::Quaternionf source_orientation = input_cloud_item->data (ItemDataRole::ORIENTATION).value<Eigen::Quaternionf> ();
+
+ if (!pose_found)
+ {
+ source_origin = input_cloud_item->data (ItemDataRole::ORIGIN).value<Eigen::Vector4f> ();
+ source_orientation = input_cloud_item->data (ItemDataRole::ORIENTATION).value<Eigen::Quaternionf> ();
+ pose_found = true;
+ }
CloudItem* new_cloud_item = new CloudItem (input_cloud_item->text ()
, original_minus_indices
, source_origin
concatenatePointCloud (*merged_cloud, *input_cloud, *temp_cloud);
merged_cloud = temp_cloud;
}
-
+
CloudItem* cloud_item = new CloudItem ("Cloud from Selection"
- , merged_cloud);
+ , merged_cloud
+ , source_origin
+ , source_orientation);
output.append (cloud_item);
return output;
-}
\ No newline at end of file
+}
vtkMapper* mapper = act->actor->GetMapper ();
vtkDataSet* data = mapper->GetInput ();
vtkPolyData* poly_data = vtkPolyData::SafeDownCast (data);
+#if VTK_MAJOR_VERSION > 5
+ id_filter->SetInputData (poly_data);
+#else
id_filter->SetInput (poly_data);
+#endif
//extract_geometry->SetInput (poly_data);
vtkSmartPointer<vtkPolyData> selected = vtkSmartPointer<vtkPolyData>::New ();
glyph_filter->SetOutput (selected);
glyph_filter->Update ();
+#if VTK_MAJOR_VERSION < 6
selected->SetSource (0);
+#endif
if (selected->GetNumberOfPoints() > 0)
{
qDebug () << "Selected " << selected->GetNumberOfPoints () << " points.";
id_selected_data_map.insert ( QString::fromStdString ((*it).first), selected);
- #if VTK_MAJOR_VERSION <= 5
+ #if VTK_MAJOR_VERSION < 6
append->AddInput (selected);
#else // VTK 6
append->AddInputData (selected);
append->Update ();
vtkSmartPointer<vtkPolyData> all_points = append->GetOutput ();
qDebug () << "Allpoints = " <<all_points->GetNumberOfPoints ();
-
- selected_mapper->SetInput (all_points);
+#if VTK_MAJOR_VERSION < 6
+ selected_mapper->SetInput (all_points);
+#else
+ selected_mapper->SetInputData (all_points);
+#endif
selected_mapper->ScalarVisibilityOff ();
vtkIdTypeArray* ids = vtkIdTypeArray::SafeDownCast (all_points->GetPointData ()->GetArray ("OriginalIds"));
pcl::PCLPointCloud2::ConstPtr cloud = cloud_to_save->data (ItemDataRole::CLOUD_BLOB).value <pcl::PCLPointCloud2::ConstPtr> ();
Eigen::Vector4f origin = cloud_to_save->data (ItemDataRole::ORIGIN).value <Eigen::Vector4f> ();
Eigen::Quaternionf orientation = cloud_to_save->data (ItemDataRole::ORIENTATION).value <Eigen::Quaternionf> ();
- int result = pcl::io::savePCDFile (filename.toStdString (), *cloud, origin, orientation );
+ pcl::io::savePCDFile (filename.toStdString (), *cloud, origin, orientation );
}
pcl::cloud_composer::ProjectModel::selectAllItems (QStandardItem* item)
{
- int num_rows;
if (!item)
item = this->invisibleRootItem ();
else
emit newCloudFromSelectionAvailable (onlyCloudItemsSelected ());
//Find out which style is active, emit the signal
- QMap<interactor_styles::INTERACTOR_STYLES, bool>::iterator itr = selected_style_map_.begin();
foreach (interactor_styles::INTERACTOR_STYLES style, selected_style_map_.keys())
{
if (selected_style_map_.value (style))
}
void
-pcl::cloud_composer::ProjectModel::itemSelectionChanged ( const QItemSelection & selected, const QItemSelection & deselected )
+pcl::cloud_composer::ProjectModel::itemSelectionChanged ( const QItemSelection &, const QItemSelection &)
{
//qDebug () << "Item selection changed!";
//Set all point selected cloud items back to green text, since if they are selected they get changed to white
void
-pcl::cloud_composer::PropertiesModel::propertyChanged (QStandardItem* property_item)
+pcl::cloud_composer::PropertiesModel::propertyChanged (QStandardItem*)
{
//qDebug () << "Property Changed in properties model";
parent_item_->propertyChanged ();
-}
\ No newline at end of file
+}
+
}
void
-pcl::cloud_composer::ToolBoxModel::activeProjectChanged(ProjectModel* new_model, ProjectModel* previous_model)
+pcl::cloud_composer::ToolBoxModel::activeProjectChanged(ProjectModel* new_model, ProjectModel*)
{
//Disconnect old project model signal for selection change
if (project_model_)
}
void
-pcl::cloud_composer::ToolBoxModel::selectedItemChanged ( const QItemSelection & selected, const QItemSelection & deselected )
+pcl::cloud_composer::ToolBoxModel::selectedItemChanged ( const QItemSelection & selected, const QItemSelection &)
{
updateEnabledTools (selected);
}
-}
\ No newline at end of file
+}
}
QList <pcl::cloud_composer::CloudComposerItem*>
-pcl::cloud_composer::SanitizeCloudTool::performAction (ConstItemList input_data, PointTypeFlags::PointType type)
+pcl::cloud_composer::SanitizeCloudTool::performAction (ConstItemList input_data, PointTypeFlags::PointType)
{
QList <CloudComposerItem*> output;
const CloudComposerItem* input_item;
parameter_model->addProperty ("Keep Organized", false, Qt::ItemIsEditable | Qt::ItemIsEnabled);
return parameter_model;
-}
\ No newline at end of file
+}
+
}
QList <pcl::cloud_composer::CloudComposerItem*>
-pcl::cloud_composer::VoxelGridDownsampleTool::performAction (ConstItemList input_data, PointTypeFlags::PointType type)
+pcl::cloud_composer::VoxelGridDownsampleTool::performAction (ConstItemList input_data, PointTypeFlags::PointType)
{
QList <CloudComposerItem*> output;
const CloudComposerItem* input_item;
-set(SUBSYS_NAME in_hand_scanner)
-set(SUBSYS_DESC "In-hand scanner for small objects")
-set(SUBSYS_DEPS common features io kdtree apps)
-set(SUBSYS_LIBS pcl_common pcl_features pcl_io pcl_kdtree)
+set(SUBSUBSYS_NAME in_hand_scanner)
+set(SUBSUBSYS_DESC "In-hand scanner for small objects")
+set(SUBSUBSYS_DEPS common features io kdtree apps)
+set(SUBSUBSYS_LIBS pcl_common pcl_features pcl_io pcl_kdtree)
+
+################################################################################
+# Qt
+if(NOT QT4_FOUND)
+ set(DEFAULT AUTO_OFF)
+ set(REASON "Qt4 is required for the in_hand_scanner app!")
+else()
+ set(DEFAULT TRUE)
+ set(REASON)
+endif()
+
+# OpenGL
+if(NOT OPENGL_FOUND AND NOT OPENGL_GLU_FOUND)
+ set(DEFAULT AUTO_OFF)
+ set(REASON "OpenGL & GLU are required for the in_hand_scanner app!")
+elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
+ set(DEFAULT TRUE)
+ set(REASON)
+endif()
+
+#OpenNI
+if(NOT OPENNI_FOUND OR NOT BUILD_OPENNI)
+ set(DEFAULT AUTO_OFF)
+ set(REASON "OpenNI was not found or was disabled by the user.")
+elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
+ set(DEFAULT TRUE)
+ set(REASON)
+endif()
+
+# Default to not building for now
+if (${DEFAULT} STREQUAL "TRUE")
+ set(DEFAULT FALSE)
+endif()
+
+pcl_subsubsys_option(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+pcl_subsubsys_depend(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS Qt4 OpenGL OpenGL_GLU openni)
+
+pcl_add_doc("${SUBSUBSYS_NAME}")
################################################################################
set(INCS
- include/pcl/apps/${SUBSYS_NAME}/boost.h
- include/pcl/apps/${SUBSYS_NAME}/common_types.h
- include/pcl/apps/${SUBSYS_NAME}/eigen.h
- include/pcl/apps/${SUBSYS_NAME}/icp.h
- include/pcl/apps/${SUBSYS_NAME}/input_data_processing.h
- include/pcl/apps/${SUBSYS_NAME}/integration.h
- include/pcl/apps/${SUBSYS_NAME}/mesh_processing.h
- include/pcl/apps/${SUBSYS_NAME}/utils.h
- include/pcl/apps/${SUBSYS_NAME}/visibility_confidence.h
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/common_types.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/icp.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/input_data_processing.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/integration.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/mesh_processing.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/utils.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/visibility_confidence.h"
)
set(IMPL_INCS
- include/pcl/apps/${SUBSYS_NAME}/impl/common_types.hpp
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/common_types.hpp"
)
set(SRCS
)
# Qt
-set(MOC_IN_HAND_SCANNER_INC include/pcl/apps/${SUBSYS_NAME}/in_hand_scanner.h)
-set(MOC_OPENGL_VIEWER_INC include/pcl/apps/${SUBSYS_NAME}/opengl_viewer.h)
-set(MOC_OFFLINE_INTEGRATION_INC include/pcl/apps/${SUBSYS_NAME}/offline_integration.h)
+set(MOC_IN_HAND_SCANNER_INC "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/in_hand_scanner.h")
+set(MOC_OPENGL_VIEWER_INC "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/opengl_viewer.h")
+set(MOC_OFFLINE_INTEGRATION_INC "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/offline_integration.h")
-set(MOC_MAIN_WINDOW_INC include/pcl/apps/${SUBSYS_NAME}/main_window.h)
-set(MOC_HELP_WINDOW_INC include/pcl/apps/${SUBSYS_NAME}/help_window.h)
+set(MOC_MAIN_WINDOW_INC "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h")
+set(MOC_HELP_WINDOW_INC "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/help_window.h")
set(UI_MAIN_WINDOW src/main_window.ui)
set(UI_HELP_WINDOW src/help_window.ui)
# Offline integration
set(OI_INCS
- include/pcl/apps/${SUBSYS_NAME}/integration.h
- include/pcl/apps/${SUBSYS_NAME}/visibility_confidence.h
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/integration.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/visibility_confidence.h"
)
set(OI_SRCS
################################################################################
-# Default to not building for now
-set(DEFAULT FALSE)
-
-pcl_subsys_option(BUILD app_${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-pcl_subsys_depend(BUILD app_${SUBSYS_NAME} ${SUBSYS_DEPS})
-pcl_add_doc(${SUBSYS_NAME})
-
-set(ADDITIONAL_LIBS "")
-if(BUILD)
- # Qt
- if(NOT QT4_FOUND)
- message(WARNING "Qt4 is needed for the in_hand_scanner app! It will not be built!")
- set(BUILD FALSE)
- endif()
-
- # OpenGL
- find_package(OpenGL)
- if(OPENGL_FOUND AND OPENGL_GLU_FOUND)
- list(APPEND ADDITIONAL_LIBS ${OPENGL_LIBRARIES})
- else()
- message(WARNING "OpenGL & GLU are needed for the in_hand_scanner app! It will not be built!")
- set(BUILD FALSE)
- endif()
-endif()
-
-################################################################################
-
-if(BUILD)
+if(build)
# Qt
# http://qtnode.net/wiki/Qt4_with_cmake
# http://qt-project.org/quarterly/view/using_cmake_to_build_qt_projects
set(QT_USE_QTOPENGL TRUE)
- include(${QT_USE_FILE})
- qt4_wrap_cpp(MOC_IN_HAND_SCANNER_SRC ${MOC_IN_HAND_SCANNER_INC})
- qt4_wrap_cpp(MOC_OPENGL_VIEWER_SRC ${MOC_OPENGL_VIEWER_INC} OPTIONS -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- qt4_wrap_cpp(MOC_OFFLINE_INTEGRATION_SRC ${MOC_OFFLINE_INTEGRATION_INC} OPTIONS -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ include("${QT_USE_FILE}")
+ qt4_wrap_cpp(MOC_IN_HAND_SCANNER_SRC "${MOC_IN_HAND_SCANNER_INC}")
+ qt4_wrap_cpp(MOC_OPENGL_VIEWER_SRC "${MOC_OPENGL_VIEWER_INC}" OPTIONS -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
+ qt4_wrap_cpp(MOC_OFFLINE_INTEGRATION_SRC "${MOC_OFFLINE_INTEGRATION_INC}" OPTIONS -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- qt4_wrap_cpp(MOC_MAIN_WINDOW_SRC ${MOC_MAIN_WINDOW_INC})
- qt4_wrap_cpp(MOC_HELP_WINDOW_SRC ${MOC_HELP_WINDOW_INC})
- qt4_wrap_ui(UI_MAIN_WINDOW_INC ${UI_MAIN_WINDOW})
- qt4_wrap_ui(UI_HELP_WINDOW_INC ${UI_HELP_WINDOW})
+ qt4_wrap_cpp(MOC_MAIN_WINDOW_SRC "${MOC_MAIN_WINDOW_INC}")
+ qt4_wrap_cpp(MOC_HELP_WINDOW_SRC "${MOC_HELP_WINDOW_INC}")
+ qt4_wrap_ui(UI_MAIN_WINDOW_INC "${UI_MAIN_WINDOW}")
+ qt4_wrap_ui(UI_HELP_WINDOW_INC "${UI_HELP_WINDOW}")
list(APPEND ADDITIONAL_LIBS ${QT_LIBRARIES})
- include_directories(${CMAKE_CURRENT_BINARY_DIR}) # For the ui files
+ include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
# In-hand scanner
- list(APPEND INCS ${MOC_IN_HAND_SCANNER_INC} ${MOC_OPENGL_VIEWER_INC} ${MOC_MAIN_WINDOW_INC} ${MOC_HELP_WINDOW_INC} ${UI_MAIN_WINDOW_INC} ${UI_HELP_WINDOW_INC})
- list(APPEND SRCS ${MOC_IN_HAND_SCANNER_SRC} ${MOC_OPENGL_VIEWER_SRC} ${MOC_MAIN_WINDOW_SRC} ${MOC_HELP_WINDOW_SRC})
-
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+ list(APPEND INCS "${MOC_IN_HAND_SCANNER_INC}" "${MOC_OPENGL_VIEWER_INC}" "${MOC_MAIN_WINDOW_INC}" "${MOC_HELP_WINDOW_INC}" "${UI_MAIN_WINDOW_INC}" "${UI_HELP_WINDOW_INC}")
+ list(APPEND SRCS "${MOC_IN_HAND_SCANNER_SRC}" "${MOC_OPENGL_VIEWER_SRC}" "${MOC_MAIN_WINDOW_SRC}" "${MOC_HELP_WINDOW_SRC}")
- set(EXE_NAME pcl_${SUBSYS_NAME})
- pcl_add_executable_opt_bundle(${EXE_NAME} ${SUBSYS_NAME} ${SRCS} ${INCS} ${IMPL_INCS})
- target_link_libraries(${EXE_NAME} ${SUBSYS_LIBS} ${ADDITIONAL_LIBS})
+ set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
+ pcl_add_executable_opt_bundle("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${SRCS} ${INCS} ${IMPL_INCS})
+ target_link_libraries("${EXE_NAME}" ${SUBSUBSYS_LIBS} ${OPENGL_LIBRARIES} ${QT_LIBRARIES})
- pcl_add_includes(${SUBSYS_NAME} ${SUBSYS_NAME} ${INCS})
- pcl_add_includes(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${IMPL_INCS})
+ pcl_add_includes("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${INCS})
+ pcl_add_includes("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${IMPL_INCS})
- pcl_make_pkgconfig(${EXE_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
+ pcl_make_pkgconfig("${EXE_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" "" "" "" "" "")
# Offline integration
- list(APPEND OI_INCS ${MOC_OPENGL_VIEWER_INC} ${MOC_OFFLINE_INTEGRATION_INC})
- list(APPEND OI_SRCS ${MOC_OPENGL_VIEWER_SRC} ${MOC_OFFLINE_INTEGRATION_SRC})
+ list(APPEND OI_INCS "${MOC_OPENGL_VIEWER_INC}" "${MOC_OFFLINE_INTEGRATION_INC}")
+ list(APPEND OI_SRCS "${MOC_OPENGL_VIEWER_SRC}" "${MOC_OFFLINE_INTEGRATION_SRC}")
- pcl_add_executable_opt_bundle(pcl_offline_integration ${SUBSYS_NAME} ${OI_SRCS} ${OI_INCS})
- target_link_libraries(pcl_offline_integration ${SUBSYS_LIBS} ${ADDITIONAL_LIBS})
+ pcl_add_executable_opt_bundle(pcl_offline_integration "${SUBSUBSYS_NAME}" ${OI_SRCS} ${OI_INCS})
+ target_link_libraries(pcl_offline_integration ${SUBSUBSYS_LIBS} ${OPENGL_LIBRARIES} ${QT_LIBRARIES})
endif()
#include <typeinfo>
#include <cstdlib>
-#ifdef __APPLE__
-# include <OpenGL/gl.h>
-# include <OpenGL/glu.h>
+#include <pcl/pcl_config.h>
+#ifdef OPENGL_IS_A_FRAMEWORK
+# include <OpenGL/gl.h>
+# include <OpenGL/glu.h>
#else
-# include <GL/gl.h>
-# include <GL/glu.h>
+# include <GL/gl.h>
+# include <GL/glu.h>
#endif
#include <QtOpenGL>
if (int (cloud_filtered_->points.size ()) < k_)
{
- PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %zu points! Aborting.",
+ PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %lu points! Aborting.",
cloud_filtered_->points.size ());
return;
}
if (int (cloud_filtered_->points.size ()) < k_)
{
- PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %zu points! Aborting.",
+ PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %lu points! Aborting.",
cloud_filtered_->points.size ());
return;
}
if (int (cloud_filtered_->points.size ()) < k_)
{
- PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %zu points! Aborting.",
+ PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %lu points! Aborting.",
cloud_filtered_->points.size ());
return;
}
grid_.setInputCloud (cloud_filtered_);
grid_.filter (*cloud_downsampled_);
- PCL_INFO ("[DominantPlaneSegmentation] Number of points left after filtering (%f -> %f): %zu out of %zu\n",
+ PCL_INFO ("[DominantPlaneSegmentation] Number of points left after filtering (%f -> %f): %lu out of %lu\n",
min_z_bounds_, max_z_bounds_, cloud_downsampled_->points.size (), input_->points.size ());
// ---[ Estimate the point normals
n3d_.setInputCloud (cloud_downsampled_);
n3d_.compute (*cloud_normals_);
- PCL_INFO ("[DominantPlaneSegmentation] %zu normals estimated. \n", cloud_normals_->points.size ());
+ PCL_INFO ("[DominantPlaneSegmentation] %lu normals estimated. \n", cloud_normals_->points.size ());
// ---[ Perform segmentation
seg_.setInputCloud (cloud_downsampled_);
cluster_.setIndices (boost::make_shared<const pcl::PointIndices> (cloud_object_indices));
cluster_.extract (clusters2);
- PCL_INFO ("[DominantPlaneSegmentation::compute()] Number of clusters found matching the given constraints: %zu.\n",
+ PCL_INFO ("[DominantPlaneSegmentation::compute()] Number of clusters found matching the given constraints: %lu.\n",
clusters2.size ());
clusters.resize (clusters2.size ());
if (int (cloud_filtered_->points.size ()) < k_)
{
- PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %zu points! Aborting.",
+ PCL_WARN ("[DominantPlaneSegmentation] Filtering returned %lu points! Aborting.",
cloud_filtered_->points.size ());
return;
}
grid_.setInputCloud (cloud_filtered_);
grid_.filter (*cloud_downsampled_);
- PCL_INFO ("[DominantPlaneSegmentation] Number of points left after filtering&downsampling (%f -> %f): %zu out of %zu\n",
+ PCL_INFO ("[DominantPlaneSegmentation] Number of points left after filtering&downsampling (%f -> %f): %lu out of %lu\n",
min_z_bounds_, max_z_bounds_, cloud_downsampled_->points.size (), input_->points.size ());
// ---[ Estimate the point normals
n3d_.setInputCloud (cloud_downsampled_);
n3d_.compute (*cloud_normals_);
- PCL_INFO ("[DominantPlaneSegmentation] %zu normals estimated. \n", cloud_normals_->points.size ());
+ PCL_INFO ("[DominantPlaneSegmentation] %lu normals estimated. \n", cloud_normals_->points.size ());
// ---[ Perform segmentation
seg_.setInputCloud (cloud_downsampled_);
cluster_.setIndices (boost::make_shared<const pcl::PointIndices> (cloud_object_indices));
cluster_.extract (clusters2);
- PCL_INFO ("[DominantPlaneSegmentation::compute_full()] Number of clusters found matching the given constraints: %zu.\n",
+ PCL_INFO ("[DominantPlaneSegmentation::compute_full()] Number of clusters found matching the given constraints: %lu.\n",
clusters2.size ());
clusters.resize (clusters2.size ());
-set(SUBSYS_NAME modeler)
-set(SUBSYS_DESC "PCLModeler: PCL based reconstruction platform")
-set(SUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search apps)
+set(SUBSUBSYS_NAME modeler)
+set(SUBSUBSYS_DESC "PCLModeler: PCL based reconstruction platform")
+set(SUBSUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search apps)
set(REASON "")
# Find VTK and QVTK
if(VTK_FOUND AND VTK_USE_QVTK)
set(DEFAULT TRUE)
set(REASON)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
elseif(NOT VTK_FOUND)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "VTK was not found.")
elseif(NOT VTK_USE_QVTK)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "VTK was not built with Qt support.")
endif(VTK_FOUND AND VTK_USE_QVTK)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
-
# Default to not building for now
-set(DEFAULT FALSE)
+if (${DEFAULT} STREQUAL "TRUE")
+ set(DEFAULT FALSE)
+endif()
-PCL_SUBSYS_OPTION(build app_${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(build app_${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk)
+PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSUBSYS_NAME}")
if(build)
-
- include_directories (${CMAKE_CURRENT_BINARY_DIR})
- include_directories (${CMAKE_CURRENT_SOURCE_DIR}/include)
+ include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
# Set Qt files and resources here
set(uis main_window.ui)
- set(moc_incs include/pcl/apps/${SUBSYS_NAME}/main_window.h
- include/pcl/apps/${SUBSYS_NAME}/scene_tree.h
- include/pcl/apps/${SUBSYS_NAME}/parameter_dialog.h
- include/pcl/apps/${SUBSYS_NAME}/thread_controller.h
- include/pcl/apps/${SUBSYS_NAME}/abstract_worker.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_mesh_item_updater.h)
+ set(moc_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/scene_tree.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/parameter_dialog.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/thread_controller.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/abstract_worker.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_mesh_item_updater.h")
set(resources resources/resources.qrc)
set(incs ${moc_incs}
- include/pcl/apps/${SUBSYS_NAME}/qt.h
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/qt.h"
- include/pcl/apps/${SUBSYS_NAME}/dock_widget.h
- include/pcl/apps/${SUBSYS_NAME}/abstract_item.h
- include/pcl/apps/${SUBSYS_NAME}/render_window.h
- include/pcl/apps/${SUBSYS_NAME}/render_window_item.h
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/dock_widget.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/abstract_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/render_window.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/render_window_item.h"
- include/pcl/apps/${SUBSYS_NAME}/parameter.h
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/parameter.h"
- include/pcl/apps/${SUBSYS_NAME}/cloud_mesh.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_mesh_item.h
- include/pcl/apps/${SUBSYS_NAME}/channel_actor_item.h
- include/pcl/apps/${SUBSYS_NAME}/points_actor_item.h
- include/pcl/apps/${SUBSYS_NAME}/normals_actor_item.h
- include/pcl/apps/${SUBSYS_NAME}/surface_actor_item.h
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_mesh.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_mesh_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/channel_actor_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/points_actor_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/normals_actor_item.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/surface_actor_item.h"
- include/pcl/apps/${SUBSYS_NAME}/icp_registration_worker.h
- include/pcl/apps/${SUBSYS_NAME}/voxel_grid_downsample_worker.h
- include/pcl/apps/${SUBSYS_NAME}/statistical_outlier_removal_worker.h
- include/pcl/apps/${SUBSYS_NAME}/normal_estimation_worker.h
- include/pcl/apps/${SUBSYS_NAME}/poisson_worker.h)
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/icp_registration_worker.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/voxel_grid_downsample_worker.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/statistical_outlier_removal_worker.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/normal_estimation_worker.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/poisson_worker.h")
set(srcs src/main.cpp
src/normal_estimation_worker.cpp
src/poisson_worker.cpp)
- set(impl_incs include/pcl/apps/${SUBSYS_NAME}/impl/parameter.hpp
- include/pcl/apps/${SUBSYS_NAME}/impl/scene_tree.hpp)
+ set(impl_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/parameter.hpp"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/impl/scene_tree.hpp")
# Qt stuff
QT4_WRAP_UI(ui_srcs ${uis})
SET_SOURCE_FILES_PROPERTIES(${srcs} PROPERTIES OBJECT_DEPENDS "${ui_srcs}")
# Generate executable
- set(EXE_NAME pcl_${SUBSYS_NAME})
- PCL_ADD_EXECUTABLE(${EXE_NAME} ${SUBSYS_NAME} ${ui_srcs} ${moc_srcs} ${resource_srcs} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${EXE_NAME} pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search QVTK ${QT_LIBRARIES})
+ set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
+ PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${ui_srcs} ${moc_srcs} ${resource_srcs} ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search ${QVTK_LIBRARY} ${QT_LIBRARIES})
# Put the ui in the windows project file
- IF (${CMAKE_BUILD_TOOL} MATCHES "msdev")
- SET (srcs ${srcs} ${uis})
- ENDIF (${CMAKE_BUILD_TOOL} MATCHES "msdev")
- IF (${CMAKE_BUILD_TOOL} MATCHES "devenv")
- SET (srcs ${srcs} ${uis})
- ENDIF (${CMAKE_BUILD_TOOL} MATCHES "devenv")
+ IF("${CMAKE_BUILD_TOOL}" MATCHES "msdev")
+ LIST(APPEND srcs ${uis})
+ ELSEIF("${CMAKE_BUILD_TOOL}" MATCHES "devenv")
+ LIST(APPEND srcs ${uis})
+ ENDIF("${CMAKE_BUILD_TOOL}" MATCHES "msdev")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${impl_incs})
- PCL_MAKE_PKGCONFIG(${EXE_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
+ PCL_MAKE_PKGCONFIG("${EXE_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" "" "" "" "" "")
add_subdirectory(tools)
// Set the euclidean distance difference epsilon (criterion 3)
icp.setEuclideanFitnessEpsilon (*euclidean_fitness_epsilon_);
- icp.setInputCloud(cloud_mesh_item->getCloudMesh()->getCloud());
+ icp.setInputSource(cloud_mesh_item->getCloudMesh()->getCloud());
icp.setInputTarget(cloud_);
pcl::PointCloud<CloudMesh::PointT> result;
icp.align(result);
createNormalLines();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput(poly_data_);
+#else
+ mapper->SetInputData (poly_data_);
+#endif
vtkSmartPointer<vtkDataArray> scalars;
cloud_mesh_->getColorScalarsFromField(scalars, color_scheme_);
scalars->GetRange(minmax);
actor_->GetMapper()->SetScalarRange(minmax);
- poly_data_->Update();
-
return;
}
pcl::modeler::PointsActorItem::initImpl()
{
poly_data_->SetPoints(cloud_mesh_->getVtkPoints());
- poly_data_->Update();
vtkSmartPointer<vtkVertexGlyphFilter> vertex_glyph_filter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
-#if VTK_MAJOR_VERSION <= 5
+#if VTK_MAJOR_VERSION < 6
vertex_glyph_filter->AddInput(poly_data_);
#else
- vertex_glyph_filter->AddInputData(polydata);
+ vertex_glyph_filter->AddInputData (poly_data_);
#endif
vertex_glyph_filter->Update();
scalars->GetRange(minmax);
actor_->GetMapper()->SetScalarRange(minmax);
- poly_data_->Update();
-
return;
}
vtkSmartPointer<vtkDataArray> scalars;
cloud_mesh_->getColorScalarsFromField(scalars, color_scheme_);
poly_data_->GetPointData ()->SetScalars (scalars);
- poly_data_->Update();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput(poly_data_);
+#else
+ mapper->SetInputData (poly_data_);
+#endif
double minmax[2];
scalars->GetRange(minmax);
scalars->GetRange(minmax);
actor_->GetMapper()->SetScalarRange(minmax);
- poly_data_->Update();
-
return;
}
-set(SUBSYS_NAME optronic_viewer)
-set(SUBSYS_DESC "PCL Optronic Viewer")
-set(SUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search apps)
-set(DEFAULT OFF)
-set(REASON "")
+set(SUBSUBSYS_NAME optronic_viewer)
+set(SUBSUBSYS_DESC "PCL Optronic Viewer")
+set(SUBSUBSYS_DEPS common geometry io filters sample_consensus segmentation visualization kdtree features surface octree registration keypoints tracking search apps)
# Find VTK and QVTK
if(VTK_FOUND AND VTK_USE_QVTK)
set(DEFAULT TRUE)
set(REASON)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
elseif(NOT VTK_FOUND)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "VTK was not found.")
elseif(NOT VTK_USE_QVTK)
- set(DEFAULT FALSE)
+ set(DEFAULT AUTO_OFF)
set(REASON "VTK was not built with Qt support.")
endif(VTK_FOUND AND VTK_USE_QVTK)
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+# Find QT
+if(NOT QT_USE_FILE)
+ set(DEFAULT AUTO_OFF)
+ set(REASON "Qt was not found.")
+elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
+ set(DEFAULT TRUE)
+ set(REASON)
+endif(NOT QT_USE_FILE)
+
+# FZAPI
+if(FZAPI_FOUND)
+ set(DEFAULT TRUE)
+ set(REASON)
+elseif(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
+ set(DEFAULT AUTO_OFF)
+ set(REASON "FZAPI was not found.")
+endif()
# Default to not building for now
-set(DEFAULT FALSE)
+if (${DEFAULT} STREQUAL "TRUE")
+ set(DEFAULT FALSE)
+endif()
-PCL_SUBSYS_OPTION(build app_${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(build app_${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk)
+PCL_SUBSUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSUBSYS_DEPEND(build "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" DEPS ${SUBSUBSYS_DEPS} EXT_DEPS vtk)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSUBSYS_NAME}")
if(build)
- include_directories (${CMAKE_CURRENT_BINARY_DIR})
- include_directories (${CMAKE_CURRENT_SOURCE_DIR}/include)
+ include_directories("${CMAKE_CURRENT_BINARY_DIR}" "${CMAKE_CURRENT_SOURCE_DIR}/include")
# Set Qt files and resources here
# set(uis main_window.ui)
- set(moc_incs include/pcl/apps/${SUBSYS_NAME}/main_window.h
- include/pcl/apps/${SUBSYS_NAME}/filter_window.h
- include/pcl/apps/${SUBSYS_NAME}/openni_grabber.h)
-# include/pcl/apps/${SUBSYS_NAME}/scene_tree.h
-# include/pcl/apps/${SUBSYS_NAME}/parameter_dialog.h
-# include/pcl/apps/${SUBSYS_NAME}/thread_controller.h
-# include/pcl/apps/${SUBSYS_NAME}/abstract_worker.h
-# include/pcl/apps/${SUBSYS_NAME}/cloud_mesh_item_updater.h)
+ set(moc_incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/filter_window.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/openni_grabber.h")
+# "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/scene_tree.h"
+# "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/parameter_dialog.h"
+# "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/thread_controller.h"
+# "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/abstract_worker.h"
+# "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_mesh_item_updater.h")
# set(resources resources/resources.qrc)
# set(incs ${moc_incs})
- set(incs include/pcl/apps/${SUBSYS_NAME}/qt.h
- include/pcl/apps/${SUBSYS_NAME}/openni_grabber.h
- include/pcl/apps/${SUBSYS_NAME}/cloud_filter.h
- include/pcl/apps/${SUBSYS_NAME}/main_window.h
- include/pcl/apps/${SUBSYS_NAME}/filter_window.h)
+ set(incs "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/qt.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/openni_grabber.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/cloud_filter.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/main_window.h"
+ "include/pcl/${SUBSYS_NAME}/${SUBSUBSYS_NAME}/filter_window.h")
set(srcs src/main.cpp
src/cloud_filter.cpp
# SET_SOURCE_FILES_PROPERTIES(${srcs} PROPERTIES OBJECT_DEPENDS "${ui_srcs}")
# Generate executable
- set(EXE_NAME pcl_${SUBSYS_NAME})
-# PCL_ADD_EXECUTABLE(${EXE_NAME} ${SUBSYS_NAME} ${ui_srcs} ${moc_srcs} ${resource_srcs} ${srcs} ${incs} ${impl_incs})
- PCL_ADD_EXECUTABLE(${EXE_NAME} ${SUBSYS_NAME} ${moc_srcs} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${EXE_NAME} pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search QVTK ${QT_LIBRARIES})
+ set(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
+# PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${ui_srcs} ${moc_srcs} ${resource_srcs} ${srcs} ${incs} ${impl_incs})
+ PCL_ADD_EXECUTABLE("${EXE_NAME}" "${SUBSUBSYS_NAME}" ${moc_srcs} ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${EXE_NAME}" pcl_common pcl_io pcl_kdtree pcl_filters pcl_visualization pcl_segmentation pcl_surface pcl_features pcl_sample_consensus pcl_search QVTK ${QT_LIBRARIES})
# Put the ui in the windows project file
- IF (${CMAKE_BUILD_TOOL} MATCHES "msdev")
- SET (srcs ${srcs} ${uis})
- ENDIF (${CMAKE_BUILD_TOOL} MATCHES "msdev")
- IF (${CMAKE_BUILD_TOOL} MATCHES "devenv")
- SET (srcs ${srcs} ${uis})
- ENDIF (${CMAKE_BUILD_TOOL} MATCHES "devenv")
+ IF("${CMAKE_BUILD_TOOL}" MATCHES "msdev")
+ LIST(APPEND srcs ${uis})
+ ELSEIF("${CMAKE_BUILD_TOOL}" MATCHES "devenv")
+ LIST(APPEND srcs ${uis})
+ ENDIF("${CMAKE_BUILD_TOOL}" MATCHES "msdev")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSUBSYS_NAME}/impl" ${impl_incs})
- PCL_MAKE_PKGCONFIG(${EXE_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
+ PCL_MAKE_PKGCONFIG("${EXE_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" "" "" "" "" "")
endif(build)
-SET(SUBSYS_NAME point_cloud_editor)
-SET(SUBSYS_DESC "Point Cloud Editor - Simple editor for 3D point clouds")
-SET(SUBSYS_DEPS common filters io apps)
+SET(SUBSUBSYS_NAME point_cloud_editor)
+SET(SUBSUBSYS_DESC "Point Cloud Editor - Simple editor for 3D point clouds")
+SET(SUBSUBSYS_DEPS common filters io apps)
-SET(MOC_INCS include/pcl/apps/${SUBSYS_NAME}/cloudEditorWidget.h
- include/pcl/apps/${SUBSYS_NAME}/mainWindow.h
- include/pcl/apps/${SUBSYS_NAME}/denoiseParameterForm.h
- include/pcl/apps/${SUBSYS_NAME}/statisticsDialog.h
+SET(MOC_INCS "include/pcl/apps/${SUBSUBSYS_NAME}/cloudEditorWidget.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/mainWindow.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/denoiseParameterForm.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/statisticsDialog.h"
)
SET(RSRC resources/pceditor_resources.qrc)
SET(INCS ${MOC_INCS}
- include/pcl/apps/${SUBSYS_NAME}/cloud.h
- include/pcl/apps/${SUBSYS_NAME}/cloudTransformTool.h
- include/pcl/apps/${SUBSYS_NAME}/command.h
- include/pcl/apps/${SUBSYS_NAME}/commandQueue.h
- include/pcl/apps/${SUBSYS_NAME}/common.h
- include/pcl/apps/${SUBSYS_NAME}/copyBuffer.h
- include/pcl/apps/${SUBSYS_NAME}/copyCommand.h
- include/pcl/apps/${SUBSYS_NAME}/cutCommand.h
- include/pcl/apps/${SUBSYS_NAME}/deleteCommand.h
- include/pcl/apps/${SUBSYS_NAME}/denoiseCommand.h
- include/pcl/apps/${SUBSYS_NAME}/localTypes.h
- include/pcl/apps/${SUBSYS_NAME}/pasteCommand.h
- include/pcl/apps/${SUBSYS_NAME}/select1DTool.h
- include/pcl/apps/${SUBSYS_NAME}/select2DTool.h
- include/pcl/apps/${SUBSYS_NAME}/selection.h
- include/pcl/apps/${SUBSYS_NAME}/selectionTransformTool.h
- include/pcl/apps/${SUBSYS_NAME}/statistics.h
- include/pcl/apps/${SUBSYS_NAME}/toolInterface.h
- include/pcl/apps/${SUBSYS_NAME}/trackball.h
- include/pcl/apps/${SUBSYS_NAME}/transformCommand.h
+ "include/pcl/apps/${SUBSUBSYS_NAME}/cloud.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/cloudTransformTool.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/command.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/commandQueue.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/common.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/copyBuffer.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/copyCommand.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/cutCommand.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/deleteCommand.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/denoiseCommand.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/localTypes.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/pasteCommand.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/select1DTool.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/select2DTool.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/selection.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/selectionTransformTool.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/statistics.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/toolInterface.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/trackball.h"
+ "include/pcl/apps/${SUBSUBSYS_NAME}/transformCommand.h"
)
-SET(SRCS src/main.cpp
- src/mainWindow.cpp
- src/commandQueue.cpp
- src/selection.cpp
- src/copyBuffer.cpp
- src/deleteCommand.cpp
- src/cutCommand.cpp
- src/pasteCommand.cpp
- src/cloud.cpp
- src/cloudEditorWidget.cpp
- src/cloudTransformTool.cpp
- src/select1DTool.cpp
- src/select2DTool.cpp
- src/selectionTransformTool.cpp
- src/transformCommand.cpp
- src/common.cpp
- src/denoiseCommand.cpp
- src/statistics.cpp
- src/statisticsDialog.cpp
- src/trackball.cpp
- src/denoiseParameterForm.cpp
+SET(SRCS src/main.cpp
+ src/mainWindow.cpp
+ src/commandQueue.cpp
+ src/selection.cpp
+ src/copyBuffer.cpp
+ src/deleteCommand.cpp
+ src/cutCommand.cpp
+ src/pasteCommand.cpp
+ src/cloud.cpp
+ src/cloudEditorWidget.cpp
+ src/cloudTransformTool.cpp
+ src/select1DTool.cpp
+ src/select2DTool.cpp
+ src/selectionTransformTool.cpp
+ src/transformCommand.cpp
+ src/common.cpp
+ src/denoiseCommand.cpp
+ src/statistics.cpp
+ src/statisticsDialog.cpp
+ src/trackball.cpp
+ src/denoiseParameterForm.cpp
)
IF(NOT QT4_FOUND)
- SET(DEFAULT FALSE)
+ SET(DEFAULT AUTO_OFF)
SET(REASON "Qt4 was not found.")
ELSE(NOT QT4_FOUND)
SET(DEFAULT TRUE)
SET(REASON)
ENDIF(NOT QT4_FOUND)
+
# Find OpenGL
-find_package(OpenGL)
IF(NOT OPENGL_FOUND)
- SET(DEFAULT FALSE)
+ SET(DEFAULT AUTO_OFF)
SET(REASON "OpenGL was not found.")
-ELSE(NOT OPENGL_FOUND)
+ELSEIF(NOT ${DEFAULT} STREQUAL "AUTO_OFF")
SET(DEFAULT TRUE)
SET(REASON)
ENDIF(NOT OPENGL_FOUND)
# Default to not building for now
-set(DEFAULT FALSE)
-SET(REASON "")
+if (${DEFAULT} STREQUAL "TRUE")
+ set(DEFAULT FALSE)
+endif()
-PCL_SUBSYS_OPTION(BUILD app_${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(BUILD app_${SUBSYS_NAME} ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_SUBSUBSYS_OPTION(BUILD "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSUBSYS_DEPEND(BUILD "${SUBSYS_NAME}" "${SUBSUBSYS_NAME}" ${SUBSYS_DEPS})
+PCL_ADD_DOC(${SUBSUBSYS_NAME})
IF(BUILD)
-
- INCLUDE(${QT_USE_FILE})
+ INCLUDE("${QT_USE_FILE}")
SET(QT_USE_QTOPENGL TRUE)
#QT4_WRAP_CPP(MOC_SRCS ${MOC_INCS})
QT4_WRAP_CPP(MOC_SRCS ${MOC_INCS} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED)
QT4_ADD_RESOURCES(RESOURCES_SRCS ${RSRC})
- INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}
- ${CMAKE_CURRENT_SOURCE_DIR}/include
- ${QT_QT_INCLUDE_DIR}
- ${QT_QTOPENGL_INCLUDE_DIR}
- )
-
- SET(EXE_NAME pcl_${SUBSYS_NAME})
- PCL_ADD_EXECUTABLE(${EXE_NAME}
- ${SUBSYS_NAME}
- ${SRCS}
- ${RESOURCES_SRCS}
- ${MOC_SRCS}
- ${INCS}
- )
+ INCLUDE_DIRECTORIES("${CMAKE_CURRENT_BINARY_DIR}"
+ "${CMAKE_CURRENT_SOURCE_DIR}/include"
+ "${QT_QTOPENGL_INCLUDE_DIR}"
+ )
- TARGET_LINK_LIBRARIES(${EXE_NAME}
- ${QT_LIBRARIES}
- ${QT_QTOPENGL_LIBRARY}
- ${OPENGL_LIBRARIES}
- ${BOOST_LIBRARIES}
- pcl_common
- pcl_io
- pcl_filters
- )
+ SET(EXE_NAME "pcl_${SUBSUBSYS_NAME}")
+ PCL_ADD_EXECUTABLE("${EXE_NAME}"
+ "${SUBSUBSYS_NAME}"
+ ${SRCS}
+ ${RESOURCES_SRCS}
+ ${MOC_SRCS}
+ ${INCS}
+ )
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${INCS})
- PCL_MAKE_PKGCONFIG(${EXE_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" "" "" "" "")
+ TARGET_LINK_LIBRARIES("${EXE_NAME}"
+ ${QT_LIBRARIES}
+ ${QT_QTOPENGL_LIBRARY}
+ ${OPENGL_LIBRARIES}
+ ${BOOST_LIBRARIES}
+ pcl_common
+ pcl_io
+ pcl_filters
+ )
+ PCL_ADD_INCLUDES("${SUBSUBSYS_NAME}" "${SUBSYS_NAME}/${SUBSUBSYS_NAME}" ${INCS})
+ PCL_MAKE_PKGCONFIG("${EXE_NAME}" "${SUBSUBSYS_NAME}" "${SUBSUBSYS_DESC}" "" "" "" "" "")
ENDIF(BUILD)
assert(false); return (*this);
}
- /// The copy buffer which backs up the points removed from the cloud.
- CopyBuffer cut_cloud_buffer_;
-
- /// a selection which backs up the index of the points cut in the
- /// original cloud.
- Selection cut_selection_;
-
/// A shared pointer pointing to the selection object.
SelectionPtr selection_ptr_;
/// a pointer pointing to the copy buffer.
CopyBufferPtr copy_buffer_ptr_;
+ /// a selection which backs up the index of the points cut in the
+ /// original cloud.
+ Selection cut_selection_;
+
+ /// The copy buffer which backs up the points removed from the cloud.
+ CopyBuffer cut_cloud_buffer_;
+
};
#endif // CUT_COMMAND_H_
assert(false); return (*this);
}
- /// a copy buffer which backs up the points deleted from the cloud.
- CopyBuffer deleted_cloud_buffer_;
+ /// a pointer pointing to the cloud
+ CloudPtr cloud_ptr_;
+
+ /// A shared pointer pointing to the selection object.
+ SelectionPtr selection_ptr_;
/// a selection which backs up the index of the deleted points in the
/// original cloud.
Selection deleted_selection_;
- /// A shared pointer pointing to the selection object.
- SelectionPtr selection_ptr_;
-
- /// a pointer pointing to the cloud
- CloudPtr cloud_ptr_;
+ /// a copy buffer which backs up the points deleted from the cloud.
+ CopyBuffer deleted_cloud_buffer_;
};
#endif // DELETE_COMMAND_H_
assert(false); return (*this);
}
- /// The size of the cloud before new points are pasted. This value is used
- /// to mark the point where points were added to the cloud. In order to
- /// support undo, one only has to resize the cloud using this value.
- unsigned int prev_cloud_size_;
+ /// a pointer pointing to the copy buffer.
+ ConstCopyBufferPtr copy_buffer_ptr_;
/// A shared pointer pointing to the selection object.
SelectionPtr selection_ptr_;
/// a pointer pointing to the cloud
CloudPtr cloud_ptr_;
- /// a pointer pointing to the copy buffer.
- ConstCopyBufferPtr copy_buffer_ptr_;
+ /// The size of the cloud before new points are pasted. This value is used
+ /// to mark the point where points were added to the cloud. In order to
+ /// support undo, one only has to resize the cloud using this value.
+ unsigned int prev_cloud_size_;
};
#endif // PASTE_COMMAND_H_
void
applyTransform(ConstSelectionPtr sel_ptr);
+ /// pointers to constructor params
+ ConstSelectionPtr selection_ptr_;
+
+ /// a pointer poiting to the cloud
+ CloudPtr cloud_ptr_;
+
+ float translate_x_, translate_y_, translate_z_;
+
/// An internal selection object used to perform undo
SelectionPtr internal_selection_ptr_;
/// of the selected points
float transform_matrix_[MATRIX_SIZE];
- float translate_x_, translate_y_, translate_z_;
-
- /// pointers to constructor params
- ConstSelectionPtr selection_ptr_;
-
- /// a pointer poiting to the cloud
- CloudPtr cloud_ptr_;
-
/// The transform matrix of the cloud used by this command
float cloud_matrix_[MATRIX_SIZE];
/// The inverted transform matrix of the cloud used by this command
#include <QMessageBox>
#include <QMouseEvent>
#include <qgl.h>
-#include <GL/glu.h>
+
+#include <pcl/pcl_config.h>
+
+#ifdef OPENGL_IS_A_FRAMEWORK
+# include <OpenGL/glu.h>
+#else
+# include <GL/glu.h>
+#endif
+
#include <pcl/filters/filter.h>
#include <pcl/io/pcd_io.h>
#include <pcl/apps/point_cloud_editor/cloudEditorWidget.h>
#include <pcl/apps/point_cloud_editor/statisticsDialog.h>
-StatisticsDialog::StatisticsDialog(QWidget *parent)
+StatisticsDialog::StatisticsDialog(QWidget *)
{
button_box_ = new QDialogButtonBox;
button_box_->addButton(tr("Hide"), QDialogButtonBox::AcceptRole);
{
int viewport_source, viewport_convolved = 0;
int direction = -1;
- int nb_threads = 0;
+ int nb_threads = 1;
char border_policy = 'Z';
double threshold = 0.001;
pcl::filters::Convolution<pcl::PointXYZRGB, pcl::PointXYZRGB> convolution;
{
if (nb_threads <= 0)
nb_threads = 1;
+#ifndef _OPENMP
+ if (nb_threads > 1)
+ {
+ pcl::console::print_info ("OpenMP not activated. Number of threads: 1\n");
+ nb_threads = 1;
+ }
+#endif
+ }
+#ifdef _OPENMP
+ else
+ {
+ nb_threads = omp_get_num_procs();
}
+#endif
convolution.setNumberOfThreads (nb_threads);
// borders policy if any
}
}
convolved_label << pcl::getTime () - t0 << "s";
+#ifdef _OPENMP
+ convolved_label << "\ncpu cores: " << omp_get_num_procs() << " ";
+#else
+ convolved_label << "\n";
+#endif
+ convolved_label << "threads: " << nb_threads;
// Display
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("Convolution"));
// viewport stuff
--- /dev/null
+#include <pcl/point_cloud.h>
+#include <pcl/segmentation/grabcut_segmentation.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/point_types.h>
+#include <pcl/PCLPointCloud2.h>
+
+#ifdef GLUT_IS_A_FRAMEWORK
+#include <GLUT/glut.h>
+#else
+#include <GL/glut.h>
+#if defined (FREEGLUT)
+#include <GL/freeglut_ext.h>
+#elif defined (GLUI_OPENGLUT)
+#include <GL/openglut.h>
+#endif
+#endif
+
+class GrabCutHelper : public pcl::GrabCut<pcl::PointXYZRGB>
+{
+ using pcl::GrabCut<pcl::PointXYZRGB>::n_links_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::graph_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::indices_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::hard_segmentation_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::width_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::height_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::graph_nodes_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::L_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::K_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::GMM_component_;
+ using pcl::GrabCut<pcl::PointXYZRGB>::input_;
+
+ public:
+ typedef boost::shared_ptr<GrabCutHelper > Ptr;
+ typedef boost::shared_ptr<const GrabCutHelper > ConstPtr;
+
+ GrabCutHelper (uint32_t K = 5, float lambda = 50.f)
+ : pcl::GrabCut<pcl::PointXYZRGB> (K, lambda)
+ {}
+
+ ~GrabCutHelper ()
+ { }
+
+ void
+ setInputCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& cloud);
+ void
+ setBackgroundPointsIndices (const pcl::PointIndices::ConstPtr& point_indices);
+ void
+ setBackgroundPointsIndices (int x1, int y1, int x2, int y2);
+ void
+ setTrimap(int x1, int y1, int x2, int y2, const pcl::segmentation::grabcut::TrimapValue& t);
+ void
+ refine ();
+ int
+ refineOnce ();
+ void
+ fitGMMs ();
+ void
+ display (int display_type);
+ void
+ overlayAlpha ();
+
+ private:
+ void
+ buildImages ();
+
+ // Clouds of various variables that can be displayed for debugging.
+ pcl::PointCloud<float>::Ptr n_links_image_;
+ pcl::segmentation::grabcut::Image::Ptr t_links_image_;
+ pcl::segmentation::grabcut::Image::Ptr gmm_image_;
+ pcl::PointCloud<float>::Ptr alpha_image_;
+
+ int image_height_1_;
+ int image_width_1_;
+};
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::setInputCloud (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr& cloud)
+{
+ pcl::GrabCut<pcl::PointXYZRGB>::setInputCloud (cloud);
+ // Reset clouds
+ n_links_image_.reset (new pcl::PointCloud<float> (cloud->width, cloud->height, 0));
+ t_links_image_.reset (new pcl::segmentation::grabcut::Image (cloud->width, cloud->height));
+ gmm_image_.reset (new pcl::segmentation::grabcut::Image (cloud->width, cloud->height));
+ alpha_image_.reset (new pcl::PointCloud<float> (cloud->width, cloud->height, 0));
+ image_height_1_ = cloud->height-1;
+ image_width_1_ = cloud->width-1;
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::setBackgroundPointsIndices (const pcl::PointIndices::ConstPtr& point_indices)
+{
+ pcl::GrabCut<pcl::PointXYZRGB>::setBackgroundPointsIndices (point_indices);
+ buildImages ();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::setBackgroundPointsIndices (int x1, int y1, int x2, int y2)
+{
+ pcl::PointIndices::Ptr point_indices (new pcl::PointIndices);
+ point_indices->indices.reserve (input_->size ());
+ if (x1 > x2) std::swap (x1, x2);
+ if (y1 > y2) std::swap (y1, y2);
+ for (int y = std::max (y1, 0); y <= std::min (static_cast<int> (input_->height -1), y2); ++y)
+ for (int x = std::max (x1, 0); x <= std::min (static_cast<int> (input_->width -1), x2); ++x)
+ point_indices->indices.push_back (y * input_->width + x);
+ setBackgroundPointsIndices (point_indices);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::setTrimap(int x1, int y1, int x2, int y2, const pcl::segmentation::grabcut::TrimapValue& t)
+{
+ using namespace pcl::segmentation::grabcut;
+ if (x1 > x2) std::swap (x1, x2);
+ if (y1 > y2) std::swap (y1, y2);
+ for (int y = std::max (y1, 0); y <= std::min (static_cast<int> (image_height_1_), y2); ++y)
+ for (int x = std::max (x1, 0); x <= std::min (static_cast<int> (image_width_1_), x2); ++x)
+ {
+ std::size_t idx = y * input_->width + x;
+ trimap_[idx] = TrimapUnknown;
+ // Immediately set the segmentation as well so that the display will update.
+ if (t == TrimapForeground)
+ hard_segmentation_[idx] = SegmentationForeground;
+ else if (t == TrimapBackground)
+ hard_segmentation_[idx] = SegmentationBackground;
+ }
+
+ // Build debugging images
+ buildImages();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::refine ()
+{
+// boost::lock_guard<boost::mutex> lock (refine_mutex);
+ pcl::GrabCut<pcl::PointXYZRGB>::refine ();
+ buildImages ();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+int
+GrabCutHelper::refineOnce ()
+{
+ // boost::lock_guard<boost::mutex> lock (refine_once_mutex);
+ int result = pcl::GrabCut<pcl::PointXYZRGB>::refineOnce ();
+ buildImages ();
+ return (result);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::fitGMMs ()
+{
+// boost::lock_guard<boost::mutex> lock (fit_gmms_mutex);
+ pcl::GrabCut<pcl::PointXYZRGB>::fitGMMs ();
+ buildImages ();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::buildImages ()
+{
+ using namespace pcl::segmentation::grabcut;
+ memset (&n_links_image_->points[0], 0, sizeof (float) * n_links_image_->size ());
+ for (int y = 0; y < static_cast<int> (image_->height); ++y)
+ {
+ for (int x = 0; x < static_cast<int> (image_->width); ++x)
+ {
+ std::size_t index = y * image_->width + x;
+
+ if (x > 0 && y < image_height_1_)
+ {
+ (*n_links_image_)(x,y) += n_links_[index].weights[0];
+ (*n_links_image_)(x-1,y+1) += n_links_[index].weights[0];
+ }
+
+ if (y < image_height_1_)
+ {
+ (*n_links_image_)(x,y) += n_links_[index].weights[1];
+ (*n_links_image_)(x,y+1) += n_links_[index].weights[1];
+ }
+
+ if (x < image_width_1_ && y < image_height_1_)
+ {
+ (*n_links_image_)(x,y) += n_links_[index].weights[2];
+ (*n_links_image_)(x+1,y+1) += n_links_[index].weights[2];
+ }
+
+ if (x < image_width_1_)
+ {
+ (*n_links_image_)(x,y) += n_links_[index].weights[3];
+ (*n_links_image_)(x+1,y) += n_links_[index].weights[3];
+ }
+
+ // TLinks cloud
+ pcl::segmentation::grabcut::Color &tlink_point = t_links_image_->points[index];
+ pcl::segmentation::grabcut::Color &gmm_point = gmm_image_->points[index];
+ float &alpha_point = alpha_image_->points[index];
+ double red = pow (graph_.getSourceEdgeCapacity (index)/L_, 0.25); // red
+ double green = pow (graph_.getTargetEdgeCapacity (index)/L_, 0.25); // green
+ tlink_point.r = static_cast<float> (red);
+ tlink_point.g = static_cast<float> (green);
+ gmm_point.b = tlink_point.b = 0;
+ // GMM cloud and Alpha cloud
+ if (hard_segmentation_[index] == SegmentationForeground)
+ {
+ //assert (static_cast<float>(GMM_component_[index]+1)/static_cast<float> (K_) < 1.f);
+ gmm_point.r = static_cast<float>(GMM_component_[index]+1)/static_cast<float> (K_);
+ alpha_point = 0;
+ }
+ else
+ {
+ gmm_point.g = static_cast<float>(GMM_component_[index]+1)/static_cast<float> (K_);
+ alpha_point = 0.75;
+ }
+ }
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::display (int display_type)
+{
+ switch (display_type)
+ {
+ case 0:
+ glDrawPixels (image_->width, image_->height, GL_RGB, GL_FLOAT, &(image_->points[0]));
+ break;
+
+ case 1:
+ glDrawPixels (gmm_image_->width, gmm_image_->height, GL_RGB, GL_FLOAT, &(gmm_image_->points[0]));
+ break;
+
+ case 2:
+ glDrawPixels (n_links_image_->width, n_links_image_->height, GL_LUMINANCE, GL_FLOAT, &(n_links_image_->points[0]));
+ break;
+
+ case 3:
+ glDrawPixels (t_links_image_->width, t_links_image_->height, GL_RGB, GL_FLOAT, &(t_links_image_->points[0]));
+ break;
+
+ default:
+ // Do nothing
+ break;
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+GrabCutHelper::overlayAlpha ()
+{
+ glDrawPixels (alpha_image_->width, alpha_image_->height, GL_ALPHA, GL_FLOAT, &(alpha_image_->points[0]));
+}
+
+/* GUI interface */
+int display_type = 0;
+bool show_mask = false;
+bool initialized = false;
+// 2D stuff
+int xstart, ystart, xend, yend;
+bool box = false;
+bool left = false, right = false;
+bool refining_ = false;
+uint32_t width, height;
+GrabCutHelper grabcut;
+pcl::segmentation::grabcut::Image::Ptr display_image;
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+display ()
+{
+ glClear(GL_COLOR_BUFFER_BIT);
+
+ if (display_type == -1)
+ glDrawPixels (display_image->width, display_image->height, GL_RGB, GL_FLOAT, &(display_image->points[0]));
+ else
+ grabcut.display (display_type);
+
+ if (show_mask)
+ {
+ grabcut.overlayAlpha ();
+ }
+
+ if (box)
+ {
+ glColor4f( 1, 1, 1, 1 );
+ glBegin( GL_LINE_LOOP );
+ glVertex2d( xstart, ystart );
+ glVertex2d( xstart, yend );
+ glVertex2d( xend, yend );
+ glVertex2d( xend, ystart );
+ glEnd();
+ }
+
+ glFlush();
+ glutSwapBuffers();
+}
+
+/////////////////////////////////////////////////////////////////////////
+void
+idle_callback ()
+{
+ int changed = 0;
+
+ if (refining_)
+ {
+ changed = grabcut.refineOnce ();
+ glutPostRedisplay ();
+ }
+
+ if (!changed)
+ {
+ refining_ = false;
+ glutIdleFunc (NULL);
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////
+void
+motion_callback (int x, int y)
+{
+ y = height - y;
+
+ if (box == true)
+ {
+ xend = x; yend = y;
+ glutPostRedisplay ();
+ }
+
+ if (initialized)
+ {
+ if (left)
+ grabcut.setTrimap (x-2,y-2,x+2,y+2,pcl::segmentation::grabcut::TrimapForeground);
+
+ if (right)
+ grabcut.setTrimap (x-2,y-2,x+2,y+2,pcl::segmentation::grabcut::TrimapForeground);
+
+ glutPostRedisplay ();
+ }
+}
+
+void
+mouse_callback (int button, int state, int x, int y)
+{
+ y = height - y;
+
+ switch (button)
+ {
+ case GLUT_LEFT_BUTTON:
+ if (state==GLUT_DOWN)
+ {
+ left = true;
+
+ if (!initialized)
+ {
+ xstart = x; ystart = y;
+ box = true;
+ }
+ }
+
+ if (state==GLUT_UP)
+ {
+ left = false;
+
+ if (initialized)
+ {
+ grabcut.refineOnce ();
+ glutPostRedisplay ();
+ }
+ else
+ {
+ xend = x; yend = y;
+ grabcut.setBackgroundPointsIndices (xstart, ystart, xend, yend);
+ box = false;
+ initialized = true;
+ show_mask = true;
+ glutPostRedisplay ();
+ }
+ }
+ break;
+
+ case GLUT_RIGHT_BUTTON:
+ if (state==GLUT_DOWN)
+ {
+ right = true;
+ }
+ if (state==GLUT_UP)
+ {
+ right = false;
+
+ if (initialized)
+ {
+ grabcut.refineOnce ();
+ glutPostRedisplay ();
+ }
+ }
+ break;
+
+ default:
+ break;
+ }
+}
+
+/////////////////////////////////////////////////////////////////////////
+void
+keyboard_callback (unsigned char key, int, int)
+{
+ switch (key)
+ {
+ case ' ': // space bar show/hide alpha mask
+ show_mask = !show_mask;
+ break;
+ case '0': case 'i': case 'I':// choose the RGB image
+ display_type = 0;
+ break;
+ case '1': case 'g': case 'G':// choose GMM index mask
+ display_type = 1;
+ break;
+ case '2': case 'n': case 'N': // choose N-Link mask
+ display_type = 2;
+ break;
+ case '3': case 't': case 'T': // choose T-Link mask
+ display_type = 3;
+ break;
+ case 'r': // run GrabCut refinement
+ refining_ = true;
+ glutIdleFunc (idle_callback);
+ break;
+ case 'o': // run one step of GrabCut refinement
+ grabcut.refineOnce ();
+ glutPostRedisplay ();
+ break;
+ case 'l': // rerun the Orchard-Bowman GMM clustering
+ grabcut.fitGMMs ();
+ glutPostRedisplay ();
+ break;
+ // case 's': case 'S':
+ // save ();
+ // break;
+ case 'q': case 'Q':
+#if defined (FREEGLUT) || defined (GLUI_OPENGLUT)
+ glutLeaveMainLoop ();
+#else
+ exit (0);
+#endif
+ break;
+ case 27:
+ refining_ = false;
+ glutIdleFunc(NULL);
+ default:
+ break;
+ }
+ glutPostRedisplay ();
+}
+
+///////////////////////////////////////////////////////////////////////////////////
+int main (int argc, char** argv)
+{
+ // Parse the command line arguments for .pcd files
+ std::vector<int> parsed_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
+ if (parsed_file_indices.empty ())
+ {
+ pcl::console::print_error ("Need at least an input PCD file (e.g. scene.pcd) to continue!\n\n");
+ pcl::console::print_info ("Ideally, need an input file, and two output PCD files, e.g., object.pcd, background.pcd\n");
+ return (-1);
+ }
+
+ std::string object_file = "object.pcd", background_file = "background.pcd";
+ if (parsed_file_indices.size () >= 3)
+ background_file = argv[parsed_file_indices[2]];
+ if (parsed_file_indices.size () >= 2)
+ object_file = argv[parsed_file_indices[1]];
+
+ pcl::PCDReader reader;
+ // Test the header
+ pcl::PCLPointCloud2 dummy;
+ reader.readHeader (argv[parsed_file_indices[0]], dummy);
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr scene (new pcl::PointCloud<pcl::PointXYZRGB>);
+ if (pcl::getFieldIndex (dummy, "rgba") != -1)
+ {
+ if (pcl::io::loadPCDFile (argv[parsed_file_indices[0]], *scene) < 0)
+ {
+ pcl::console::print_error (stderr, "[error]\n");
+ return (-2);
+ }
+ }
+ else
+ if (pcl::getFieldIndex (dummy, "rgb") != -1)
+ {
+ if (pcl::io::loadPCDFile (argv[parsed_file_indices[0]], *scene) < 0)
+ {
+ pcl::console::print_error (stderr, "[error]\n");
+ return (-2);
+ }
+ }
+ else
+ {
+ pcl::console::print_error (stderr, "[No RGB data found!]\n");
+ return (-1);
+ }
+
+ if (scene->isOrganized ())
+ {
+ pcl::console::print_highlight ("Enabling 2D image viewer mode.\n");
+ }
+
+
+ width = scene->width;
+ height = scene->height;
+
+ display_type = -1;
+
+ display_image.reset (new pcl::segmentation::grabcut::Image (scene->width, scene->height));
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr tmp (new pcl::PointCloud<pcl::PointXYZRGB> (scene->width, scene->height));
+
+ if (scene->isOrganized ())
+ {
+ pcl::uint32_t height_1 = scene->height -1;
+ for (std::size_t i = 0; i < scene->height; ++i)
+ {
+ for (std::size_t j = 0; j < scene->width; ++j)
+ {
+ const pcl::PointXYZRGB &p = (*scene) (j,i);
+ std::size_t reverse_index = (height_1-i) * scene->width + j;
+ display_image->points[reverse_index].r = static_cast<float> (p.r) / 255.0;
+ display_image->points[reverse_index].g = static_cast<float> (p.g) / 255.0;
+ display_image->points[reverse_index].b = static_cast<float> (p.b) / 255.0;
+ tmp->points[reverse_index] = p;
+ }
+ }
+ }
+
+ grabcut.setInputCloud (tmp);
+
+ glutInit (&argc,argv);
+ glutInitDisplayMode (GLUT_DOUBLE | GLUT_RGB);
+
+ glutInitWindowSize (width, height);
+ glutInitWindowPosition (100,100);
+
+ glutCreateWindow ("GrabCut");
+
+ glOrtho (0,width,0,height,-1,1);
+
+ //set the background color to black (RGBA)
+ glClearColor(0.0,0.0,0.0,0.0);
+ glEnable(GL_TEXTURE_2D);
+ glEnable(GL_BLEND);
+ glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
+
+ glutDisplayFunc (display);
+ glutMouseFunc (mouse_callback);
+ glutMotionFunc (motion_callback);
+ glutKeyboardFunc (keyboard_callback);
+
+ glutMainLoop ();
+
+ return (0);
+}
vector<PointIndices> label_indices;
vector<PointIndices> boundary_indices;
mps_.segmentAndRefine (regions, model_coefficients, inlier_indices, labels, label_indices, boundary_indices);
- PCL_DEBUG ("Number of planar regions detected: %zu for a cloud of %zu points and %zu normals.\n", regions.size (), search_.getInputCloud ()->points.size (), normal_cloud->points.size ());
+ PCL_DEBUG ("Number of planar regions detected: %lu for a cloud of %lu points and %lu normals.\n", regions.size (), search_.getInputCloud ()->points.size (), normal_cloud->points.size ());
double max_dist = numeric_limits<double>::max ();
// Compute the distances from all the planar regions to the picked point, and select the closest region
PlanarRegion<PointT> refined_region;
pcl::approximatePolygon (region, refined_region, 0.01, false, true);
- PCL_INFO ("Planar region: %zu points initial, %zu points after refinement.\n", region.getContour ().size (), refined_region.getContour ().size ());
+ PCL_INFO ("Planar region: %lu points initial, %lu points after refinement.\n", region.getContour ().size (), refined_region.getContour ().size ());
cloud_viewer_.addPolygon (refined_region, 0.0, 0.0, 1.0, "refined_region");
cloud_viewer_.setShapeRenderingProperties (visualization::PCL_VISUALIZER_LINE_WIDTH, 10, "refined_region");
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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, O R 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.
+ *
+ * $Id$
+ *
+ */
+
+#define SHOW_FPS 1
+#include <pcl/apps/timer.h>
+#include <pcl/common/common.h>
+#include <pcl/io/openni_grabber.h>
+#include <pcl/keypoints/trajkovic_2d.h>
+#include <pcl/keypoints/trajkovic_3d.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/visualization/image_viewer.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+
+using namespace pcl;
+typedef PointXYZRGBA PointT;
+typedef PointXYZI KeyPointT;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+class TrajkovicDemo
+{
+ public:
+ typedef PointCloud<PointT> Cloud;
+ typedef Cloud::Ptr CloudPtr;
+ typedef Cloud::ConstPtr CloudConstPtr;
+
+ TrajkovicDemo (Grabber& grabber, bool enable_3d)
+ : cloud_viewer_ ("TRAJKOVIC 3D Keypoints -- PointCloud")
+ , grabber_ (grabber)
+ , image_viewer_ ("TRAJKOVIC 3D Keypoints -- Image")
+ , enable_3d_ (enable_3d)
+ {
+ }
+
+ /////////////////////////////////////////////////////////////////////////
+ void
+ cloud_callback_3d (const CloudConstPtr& cloud)
+ {
+ FPS_CALC ("cloud callback");
+ boost::mutex::scoped_lock lock (cloud_mutex_);
+ cloud_ = cloud;
+
+ // Compute TRAJKOVIC keypoints 3D
+ TrajkovicKeypoint3D<PointT, KeyPointT> trajkovic;
+ trajkovic.setInputCloud (cloud);
+ trajkovic.setNumberOfThreads (6);
+ keypoints_.reset (new PointCloud<KeyPointT>);
+ trajkovic.compute (*keypoints_);
+ keypoints_indices_ = trajkovic.getKeypointsIndices ();
+ }
+
+ /////////////////////////////////////////////////////////////////////////
+ void
+ cloud_callback_2d (const CloudConstPtr& cloud)
+ {
+ FPS_CALC ("cloud callback");
+ boost::mutex::scoped_lock lock (cloud_mutex_);
+ cloud_ = cloud;
+
+ // Compute TRAJKOVIC keypoints 2D
+ TrajkovicKeypoint2D<PointT, KeyPointT> trajkovic;
+ trajkovic.setInputCloud (cloud);
+ trajkovic.setNumberOfThreads (6);
+ keypoints_.reset (new PointCloud<KeyPointT>);
+ trajkovic.compute (*keypoints_);
+ keypoints_indices_ = trajkovic.getKeypointsIndices ();
+ }
+
+ /////////////////////////////////////////////////////////////////////////
+ void
+ init ()
+ {
+ boost::function<void (const CloudConstPtr&) > cloud_cb;
+ if (enable_3d_)
+ cloud_cb = boost::bind (&TrajkovicDemo::cloud_callback_3d, this, _1);
+ else
+ cloud_cb = boost::bind (&TrajkovicDemo::cloud_callback_2d, this, _1);
+
+ cloud_connection = grabber_.registerCallback (cloud_cb);
+ }
+
+ /////////////////////////////////////////////////////////////////////////
+ std::string
+ getStrBool (bool state)
+ {
+ std::ostringstream ss;
+ ss << state;
+ return (ss.str ());
+ }
+
+ /////////////////////////////////////////////////////////////////////////
+ void
+ run ()
+ {
+ grabber_.start ();
+
+ bool image_init = false, cloud_init = false;
+ bool keypts = true;
+
+ while (!cloud_viewer_.wasStopped () && !image_viewer_.wasStopped ())
+ {
+ PointCloud<KeyPointT>::Ptr keypoints;
+ CloudConstPtr cloud;
+ if (cloud_mutex_.try_lock ())
+ {
+ cloud_.swap (cloud);
+ keypoints_.swap (keypoints);
+
+ cloud_mutex_.unlock ();
+ }
+
+ if (cloud)
+ {
+ int w (cloud->width);
+ if (!cloud_init)
+ {
+ cloud_viewer_.setPosition (0, 0);
+ cloud_viewer_.setSize (cloud->width, cloud->height);
+ cloud_init = !cloud_init;
+ }
+
+ if (!cloud_viewer_.updatePointCloud (cloud, "OpenNICloud"))
+ {
+ cloud_viewer_.addPointCloud (cloud, "OpenNICloud");
+ cloud_viewer_.resetCameraViewpoint ("OpenNICloud");
+ }
+
+ if (!image_init)
+ {
+ image_viewer_.setPosition (cloud->width, 0);
+ image_viewer_.setSize (cloud->width, cloud->height);
+ image_init = !image_init;
+ }
+
+ image_viewer_.addRGBImage<PointT> (cloud);
+
+ if (keypoints && !keypoints->empty ())
+ {
+ image_viewer_.removeLayer (getStrBool (keypts));
+ std::vector<int> uv;
+ uv.reserve (keypoints_indices_->indices.size () * 2);
+ for (std::vector<int>::const_iterator id = keypoints_indices_->indices.begin ();
+ id != keypoints_indices_->indices.end ();
+ ++id)
+ {
+ int u (*id % w);
+ int v (*id / w);
+ image_viewer_.markPoint (u, v, visualization::red_color, visualization::blue_color, 5, getStrBool (!keypts), 0.5);
+ }
+ keypts = !keypts;
+
+ visualization::PointCloudColorHandlerCustom<KeyPointT> blue (keypoints, 0, 0, 255);
+ if (!cloud_viewer_.updatePointCloud (keypoints, blue, "keypoints"))
+ cloud_viewer_.addPointCloud (keypoints, blue, "keypoints");
+ cloud_viewer_.setPointCloudRenderingProperties (visualization::PCL_VISUALIZER_POINT_SIZE, 10, "keypoints");
+ cloud_viewer_.setPointCloudRenderingProperties (visualization::PCL_VISUALIZER_OPACITY, 0.5, "keypoints");
+ }
+ }
+
+ cloud_viewer_.spinOnce ();
+ image_viewer_.spinOnce ();
+ boost::this_thread::sleep (boost::posix_time::microseconds (100));
+ }
+
+ grabber_.stop ();
+ cloud_connection.disconnect ();
+ }
+
+ visualization::PCLVisualizer cloud_viewer_;
+ Grabber& grabber_;
+ boost::mutex cloud_mutex_;
+ CloudConstPtr cloud_;
+
+ visualization::ImageViewer image_viewer_;
+
+ PointCloud<KeyPointT>::Ptr keypoints_;
+ pcl::PointIndicesConstPtr keypoints_indices_;
+ bool enable_3d_;
+ private:
+ boost::signals2::connection cloud_connection;
+};
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ if (pcl::console::find_switch (argc, argv, "-h"))
+ {
+ pcl::console::print_info ("Syntax is: %s [-device device_id_string] [-2d]\n", argv[0]);
+ return (0);
+ }
+
+ std::string device_id ("#1");
+ bool enable_3d = true;
+ if (pcl::console::find_switch (argc, argv, "-2d"))
+ enable_3d = false;
+
+ if (pcl::console::find_argument (argc, argv, "-device"))
+ pcl::console::parse<std::string> (argc, argv, "-device", device_id);
+
+ pcl::console::print_info ("Extracting Trajkovic %s keypoints from device %s.\n",
+ enable_3d ? "3D" : "2D", device_id.c_str ());
+
+ OpenNIGrabber grabber (device_id);
+
+ TrajkovicDemo openni_viewer (grabber, enable_3d);
+
+ openni_viewer.init ();
+ openni_viewer.run ();
+
+ return (0);
+}
+/* ]--- */
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2014-, Open Perception, 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.
+ *
+ */
+
+#define MEASURE_FUNCTION_TIME
+#include <pcl/common/time.h> //fps calculations
+#include <pcl/io/openni_grabber.h>
+#include <pcl/visualization/boost.h>
+#include <pcl/visualization/image_viewer.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/tracking/pyramidal_klt.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/keypoints/harris_2d.h>
+
+#define SHOW_FPS 1
+#if SHOW_FPS
+#define FPS_CALC(_WHAT_) \
+do \
+{ \
+ static unsigned count = 0;\
+ static double last = pcl::getTime ();\
+ double now = pcl::getTime (); \
+ ++count; \
+ if (now - last >= 1.0) \
+ { \
+ std::cout << "Average framerate("<< _WHAT_ << "): " << double(count)/double(now - last) << " Hz" << std::endl; \
+ count = 0; \
+ last = now; \
+ } \
+}while(false)
+#else
+#define FPS_CALC(_WHAT_) \
+do \
+{ \
+}while(false)
+#endif
+
+void
+printHelp (int, char **argv)
+{
+ using pcl::console::print_error;
+ using pcl::console::print_info;
+
+ print_error ("Syntax is: %s [((<device_id> | <path-to-oni-file>) [-depthmode <mode>] [-imagemode <mode>] [-xyz] | -l [<device_id>]| -h | --help)]\n", argv [0]);
+ print_info ("%s -h | --help : shows this help\n", argv [0]);
+ print_info ("%s -xyz : use only XYZ values and ignore RGB components (this flag is required for use with ASUS Xtion Pro) \n", argv [0]);
+ print_info ("%s -l : list all available devices\n", argv [0]);
+ print_info ("%s -l <device-id> :list all available modes for specified device\n", argv [0]);
+ print_info ("\t\t<device_id> may be \"#1\", \"#2\", ... for the first, second etc device in the list\n");
+#ifndef _WIN32
+ print_info ("\t\t bus@address for the device connected to a specific usb-bus / address combination\n");
+ print_info ("\t\t <serial-number>\n");
+#endif
+ print_info ("\n\nexamples:\n");
+ print_info ("%s \"#1\"\n", argv [0]);
+ print_info ("\t\t uses the first device.\n");
+ print_info ("%s \"./temp/test.oni\"\n", argv [0]);
+ print_info ("\t\t uses the oni-player device to play back oni file given by path.\n");
+ print_info ("%s -l\n", argv [0]);
+ print_info ("\t\t list all available devices.\n");
+ print_info ("%s -l \"#2\"\n", argv [0]);
+ print_info ("\t\t list all available modes for the second device.\n");
+ #ifndef _WIN32
+ print_info ("%s A00361800903049A\n", argv [0]);
+ print_info ("\t\t uses the device with the serial number \'A00361800903049A\'.\n");
+ print_info ("%s 1@16\n", argv [0]);
+ print_info ("\t\t uses the device on address 16 at USB bus 1.\n");
+ #endif
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointType>
+class OpenNIViewer
+{
+ public:
+ typedef pcl::PointCloud<PointType> Cloud;
+ typedef typename Cloud::ConstPtr CloudConstPtr;
+
+ OpenNIViewer (pcl::Grabber& grabber)
+ : image_viewer_ ()
+ , grabber_ (grabber)
+ , rgb_data_ (0), rgb_data_size_ (0)
+ { }
+
+ void
+ detect_keypoints (const CloudConstPtr& cloud)
+ {
+ pcl::HarrisKeypoint2D<PointType, pcl::PointXYZI> harris;
+ harris.setInputCloud (cloud);
+ harris.setNumberOfThreads (6);
+ harris.setNonMaxSupression (true);
+ harris.setRadiusSearch (0.01);
+ harris.setMethod (pcl::HarrisKeypoint2D<PointType, pcl::PointXYZI>::TOMASI);
+ harris.setThreshold (0.05);
+ harris.setWindowWidth (5);
+ harris.setWindowHeight (5);
+ pcl::PointCloud<pcl::PointXYZI>::Ptr response (new pcl::PointCloud<pcl::PointXYZI>);
+ harris.compute (*response);
+ points_ = harris.getKeypointsIndices ();
+ }
+
+ void
+ cloud_callback (const CloudConstPtr& cloud)
+ {
+ FPS_CALC ("cloud callback");
+ boost::mutex::scoped_lock lock (cloud_mutex_);
+ cloud_ = cloud;
+ // Compute Tomasi keypoints
+ tracker_->setInputCloud (cloud_);
+ // if (!points_)
+ // {
+ if (!points_ || (counter_ % 10 == 0))
+ {
+ detect_keypoints (cloud_);
+ tracker_->setPointsToTrack (points_);
+ }
+
+ // }
+ tracker_->compute ();
+ ++counter_;
+ }
+
+ void
+ image_callback (const boost::shared_ptr<openni_wrapper::Image>& image)
+ {
+ FPS_CALC ("image callback");
+ boost::mutex::scoped_lock lock (image_mutex_);
+ image_ = image;
+
+ if (image->getEncoding () != openni_wrapper::Image::RGB)
+ {
+ if (rgb_data_size_ < image->getWidth () * image->getHeight ())
+ {
+ if (rgb_data_)
+ delete [] rgb_data_;
+ rgb_data_size_ = image->getWidth () * image->getHeight ();
+ rgb_data_ = new unsigned char [rgb_data_size_ * 3];
+ }
+ image_->fillRGB (image_->getWidth (), image_->getHeight (), rgb_data_);
+ }
+ }
+
+ void
+ keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
+ {
+ static pcl::PCDWriter writer;
+ static std::ostringstream frame;
+ if (event.keyUp ())
+ {
+ if ((event.getKeyCode () == 's') || (event.getKeyCode () == 'S'))
+ {
+ boost::mutex::scoped_lock lock (cloud_mutex_);
+ frame.str ("frame-");
+ frame << boost::posix_time::to_iso_string (boost::posix_time::microsec_clock::local_time ()) << ".pcd";
+ writer.writeBinaryCompressed (frame.str (), *cloud_);
+ PCL_INFO ("Written cloud %s.\n", frame.str ().c_str ());
+ }
+ }
+ }
+
+ void
+ mouse_callback (const pcl::visualization::MouseEvent& mouse_event, void*)
+ {
+ if (mouse_event.getType() == pcl::visualization::MouseEvent::MouseButtonPress && mouse_event.getButton() == pcl::visualization::MouseEvent::LeftButton)
+ {
+ cout << "left button pressed @ " << mouse_event.getX () << " , " << mouse_event.getY () << endl;
+ }
+ }
+
+ /**
+ * @brief starts the main loop
+ */
+ void
+ run ()
+ {
+ boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&OpenNIViewer::cloud_callback, this, _1);
+ boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
+
+ boost::signals2::connection image_connection;
+ if (grabber_.providesCallback<void (const boost::shared_ptr<openni_wrapper::Image>&)>())
+ {
+ image_viewer_.reset (new pcl::visualization::ImageViewer ("Pyramidal KLT Tracker"));
+ boost::function<void (const boost::shared_ptr<openni_wrapper::Image>&) > image_cb = boost::bind (&OpenNIViewer::image_callback, this, _1);
+ image_connection = grabber_.registerCallback (image_cb);
+ }
+
+ tracker_.reset (new pcl::tracking::PyramidalKLTTracker<PointType>);
+
+ bool image_init = false;
+
+ grabber_.start ();
+
+ while (!image_viewer_->wasStopped ())
+ {
+ boost::shared_ptr<openni_wrapper::Image> image;
+ CloudConstPtr cloud;
+
+ // See if we can get a cloud
+ if (cloud_mutex_.try_lock ())
+ {
+ cloud_.swap (cloud);
+ cloud_mutex_.unlock ();
+ }
+
+ // See if we can get an image
+ if (image_mutex_.try_lock ())
+ {
+ image_.swap (image);
+ image_mutex_.unlock ();
+ }
+
+ if (image)
+ {
+ if (!image_init && cloud && cloud->width != 0)
+ {
+ image_viewer_->setPosition (0, 0);
+ image_viewer_->setSize (cloud->width, cloud->height);
+ image_init = !image_init;
+ }
+
+ if (image->getEncoding() == openni_wrapper::Image::RGB)
+ image_viewer_->addRGBImage (image->getMetaData ().Data (), image->getWidth (), image->getHeight ());
+ else
+ image_viewer_->addRGBImage (rgb_data_, image->getWidth (), image->getHeight ());
+ image_viewer_->spinOnce ();
+ }
+
+ if (tracker_->getInitialized () && cloud_)
+ {
+ if (points_mutex_.try_lock ())
+ {
+ keypoints_ = tracker_->getTrackedPoints ();
+ points_status_ = tracker_->getPointsToTrackStatus ();
+ points_mutex_.unlock ();
+ }
+
+ std::vector<float> markers;
+ markers.reserve (keypoints_->size () * 2);
+ for (std::size_t i = 0; i < keypoints_->size (); ++i)
+ {
+ if (points_status_->indices[i] < 0)
+ continue;
+ const pcl::PointUV &uv = keypoints_->points[i];
+ markers.push_back (uv.u);
+ markers.push_back (uv.v);
+ }
+ image_viewer_->removeLayer ("tracked");
+ image_viewer_->markPoints (markers, pcl::visualization::blue_color,
+ pcl::visualization::red_color, 5, "tracked", 1.0);
+
+ }
+ }
+
+ grabber_.stop ();
+
+ cloud_connection.disconnect ();
+ image_connection.disconnect ();
+ if (rgb_data_)
+ delete[] rgb_data_;
+ }
+
+ boost::shared_ptr<pcl::visualization::ImageViewer> image_viewer_;
+
+ pcl::Grabber& grabber_;
+ boost::mutex cloud_mutex_;
+ boost::mutex image_mutex_;
+ boost::mutex points_mutex_;
+
+ CloudConstPtr cloud_;
+ boost::shared_ptr<openni_wrapper::Image> image_;
+ unsigned char* rgb_data_;
+ unsigned rgb_data_size_;
+ boost::shared_ptr<pcl::tracking::PyramidalKLTTracker<PointType> > tracker_;
+ pcl::PointCloud<pcl::PointUV>::ConstPtr keypoints_;
+ pcl::PointIndicesConstPtr points_;
+ pcl::PointIndicesConstPtr points_status_;
+ int counter_;
+};
+
+// Create the PCLVisualizer object
+boost::shared_ptr<pcl::visualization::ImageViewer> img;
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ std::string device_id("");
+ pcl::OpenNIGrabber::Mode depth_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
+ pcl::OpenNIGrabber::Mode image_mode = pcl::OpenNIGrabber::OpenNI_Default_Mode;
+ bool xyz = false;
+
+ if (argc >= 2)
+ {
+ device_id = argv[1];
+ if (device_id == "--help" || device_id == "-h")
+ {
+ printHelp(argc, argv);
+ return 0;
+ }
+ else if (device_id == "-l")
+ {
+ if (argc >= 3)
+ {
+ pcl::OpenNIGrabber grabber(argv[2]);
+ boost::shared_ptr<openni_wrapper::OpenNIDevice> device = grabber.getDevice();
+ cout << "Supported depth modes for device: " << device->getVendorName() << " , " << device->getProductName() << endl;
+ std::vector<std::pair<int, XnMapOutputMode > > modes = grabber.getAvailableDepthModes();
+ for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin(); it != modes.end(); ++it)
+ {
+ cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
+ }
+
+ if (device->hasImageStream ())
+ {
+ cout << endl << "Supported image modes for device: " << device->getVendorName() << " , " << device->getProductName() << endl;
+ modes = grabber.getAvailableImageModes();
+ for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin(); it != modes.end(); ++it)
+ {
+ cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
+ }
+ }
+ }
+ else
+ {
+ openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
+ if (driver.getNumberDevices() > 0)
+ {
+ for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices(); ++deviceIdx)
+ {
+ cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName(deviceIdx) << ", product: " << driver.getProductName(deviceIdx)
+ << ", connected: " << driver.getBus(deviceIdx) << " @ " << driver.getAddress(deviceIdx) << ", serial number: \'" << driver.getSerialNumber(deviceIdx) << "\'" << endl;
+ }
+
+ }
+ else
+ cout << "No devices connected." << endl;
+
+ cout <<"Virtual Devices available: ONI player" << endl;
+ }
+ return 0;
+ }
+ }
+ else
+ {
+ openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance();
+ if (driver.getNumberDevices() > 0)
+ cout << "Device Id not set, using first device." << endl;
+ }
+
+ unsigned mode;
+ if (pcl::console::parse(argc, argv, "-depthmode", mode) != -1)
+ depth_mode = pcl::OpenNIGrabber::Mode (mode);
+
+ if (pcl::console::parse(argc, argv, "-imagemode", mode) != -1)
+ image_mode = pcl::OpenNIGrabber::Mode (mode);
+
+ if (pcl::console::find_argument (argc, argv, "-xyz") != -1)
+ xyz = true;
+
+ pcl::OpenNIGrabber grabber (device_id, depth_mode, image_mode);
+
+ if (xyz || !grabber.providesCallback<pcl::OpenNIGrabber::sig_cb_openni_point_cloud_rgb> ())
+ {
+ OpenNIViewer<pcl::PointXYZ> openni_viewer (grabber);
+ openni_viewer.run ();
+ }
+ else
+ {
+ OpenNIViewer<pcl::PointXYZRGBA> openni_viewer (grabber);
+ openni_viewer.run ();
+ }
+
+ return (0);
+}
+/* ]--- */
viewer->addPointCloud<PointT> (cloud, single_color, "cloud");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
- viewer->addCoordinateSystem (1.0);
+ viewer->addCoordinateSystem (1.0, "global");
viewer->initCameraParameters ();
return (viewer);
}
char name[1024];
for (size_t i = 0; i < prev_models_size; i++)
{
- sprintf (name, "normal_%zu", i);
+ sprintf (name, "normal_%lu", i);
viewer->removeShape (name);
sprintf (name, "plane_%02zu", i);
pcl::PointXYZ pt2 = pcl::PointXYZ (centroid[0] + (0.5f * model[0]),
centroid[1] + (0.5f * model[1]),
centroid[2] + (0.5f * model[2]));
- sprintf (name, "normal_%zu", i);
+ sprintf (name, "normal_%lu", i);
viewer->addArrow (pt2, pt1, 1.0, 0, 0, false, name);
contour->points = regions[i].getContour ();
viewer.setBackgroundColor (0, 0, 0);
//viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
//viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, 0.15, "cloud");
- viewer.addCoordinateSystem (1.0);
+ viewer.addCoordinateSystem (1.0, "global");
viewer.initCameraParameters ();
viewer.registerKeyboardCallback(&PCDOrganizedMultiPlaneSegmentation::keyboard_callback, *this, 0);
}
ec.setIndices (points_above_plane);
ec.extract (euclidean_label_indices);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", euclidean_label_indices.size ()); print_info (" clusters]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", euclidean_label_indices.size ()); print_info (" clusters]\n");
}
// For each cluster found
// Estimate normals
PointCloud<Normal>::Ptr normal_cloud (new PointCloud<Normal>);
estimateNormals (cloud_, *normal_cloud);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", normal_cloud->size ()); print_info (" points]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", normal_cloud->size ()); print_info (" points]\n");
OrganizedMultiPlaneSegmentation<PointT, Normal, Label> mps;
mps.setMinInliers (1000);
print_highlight (stderr, "Searching for the largest plane (%2.0d) ", i++);
TicToc tt; tt.tic ();
seg.segment (*inliers, coefficients);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", inliers->indices.size ()); print_info (" points]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", inliers->indices.size ()); print_info (" points]\n");
// No datasets could be found anymore
if (inliers->indices.empty ())
cloud_segmented.swap (cloud_remaining);
}
}
- print_highlight ("Number of planar regions detected: %zu for a cloud of %zu points\n", regions.size (), cloud_->size ());
+ print_highlight ("Number of planar regions detected: %lu for a cloud of %lu points\n", regions.size (), cloud_->size ());
double max_dist = numeric_limits<double>::max ();
// Compute the distances from all the planar regions to the picked point, and select the closest region
if (cloud_->isOrganized ())
{
approximatePolygon (regions[idx], region, 0.01f, false, true);
- print_highlight ("Planar region: %zu points initial, %zu points after refinement.\n", regions[idx].getContour ().size (), region.getContour ().size ());
+ print_highlight ("Planar region: %lu points initial, %lu points after refinement.\n", regions[idx].getContour ().size (), region.getContour ().size ());
}
else
{
PointCloud<PointT> plane_hull;
chull.reconstruct (plane_hull);
region.setContour (plane_hull);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", plane_hull.size ()); print_info (" points]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", plane_hull.size ()); print_info (" points]\n");
}
}
cloud_viewer_->addPointCloud (cloud_, "scene");
cloud_viewer_->resetCameraViewpoint ("scene");
- cloud_viewer_->addCoordinateSystem (0.1, 0, 0, 0);
+ cloud_viewer_->addCoordinateSystem (0.1, 0, 0, 0, "global");
}
/////////////////////////////////////////////////////////////////////////
return (false);
}
print_info ("[done, "); print_value ("%g", tt.toc ());
- print_info (" ms : "); print_value ("%zu", cloud_->size ()); print_info (" points]\n");
+ print_info (" ms : "); print_value ("%lu", cloud_->size ()); print_info (" points]\n");
if (cloud_->isOrganized ())
search_.reset (new search::OrganizedNeighbor<PointT>);
vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
trans_filter_center->SetTransform (trans_center);
+#if VTK_MAJOR_VERSION < 6
trans_filter_center->SetInput (polydata_);
+#else
+ trans_filter_center->SetInputData (polydata_);
+#endif
trans_filter_center->Update ();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
// Get camera positions
vtkPolyData *sphere = subdivide->GetOutput ();
- sphere->Update ();
std::vector<Eigen::Vector3f> cam_positions;
if (!use_vertices_)
# EIGEN_FOUND - True if Eigen was found.
# EIGEN_INCLUDE_DIRS - Directories containing the Eigen include files.
# EIGEN_DEFINITIONS - Compiler flags for Eigen.
+# EIGEN_VERSION - Package version
find_package(PkgConfig QUIET)
pkg_check_modules(PC_EIGEN eigen3)
if(CMAKE_SYSTEM_NAME STREQUAL Linux)
set(CMAKE_INCLUDE_PATH ${CMAKE_INCLUDE_PATH} /usr /usr/local)
endif(CMAKE_SYSTEM_NAME STREQUAL Linux)
+if(APPLE)
+ list(APPEND CMAKE_INCLUDE_PATH /opt/local)
+ set(CMAKE_FIND_FRAMEWORK NEVER)
+endif()
find_path(EIGEN_INCLUDE_DIR Eigen/Core
HINTS ${PC_EIGEN_INCLUDEDIR} ${PC_EIGEN_INCLUDE_DIRS} "${EIGEN_ROOT}" "$ENV{EIGEN_ROOT}"
"$ENV{PROGRAMFILES}/Eigen 3.0.0" "$ENV{PROGRAMW6432}/Eigen 3.0.0"
PATH_SUFFIXES eigen3 include/eigen3 include)
+if(EIGEN_INCLUDE_DIR)
+ file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen_version_header)
+
+ string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen_world_version_match "${_eigen_version_header}")
+ set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
+ string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen_major_version_match "${_eigen_version_header}")
+ set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}")
+ string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen_minor_version_match "${_eigen_version_header}")
+ set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}")
+ set(EIGEN_VERSION ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION})
+endif(EIGEN_INCLUDE_DIR)
set(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR})
+set(CMAKE_FIND_FRAMEWORK)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR)
mark_as_advanced(EIGEN_INCLUDE_DIR)
if(EIGEN_FOUND)
- message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS})")
+ message(STATUS "Eigen found (include: ${EIGEN_INCLUDE_DIRS}, version: ${EIGEN_VERSION})")
endif(EIGEN_FOUND)
-
# FZAPI_INCLUDE_DIRS - Directories containing the FZAPI include files.
# FZAPI_LIBRARIES - Libraries needed to use FZAPI.
-#MESSAGE("Searching for Fotonic in: ${FZ_API_DIR}")
-
if(FZ_API_DIR)
# Find include dirs
- #MESSAGE("Searching Fotonic includes: ${FZ_API_DIR}")
find_path(FZAPI_INCLUDE_DIR fz_api.h
PATHS "${FZ_API_DIR}" NO_DEFAULT_PATH
DOC "Fotonic include directories")
# Find libraries
- #MESSAGE("Searching Fotonic libs: ${FZ_API_DIR}/Release")
find_library(FZAPI_LIBS fotonic_fz_api
HINTS "${FZ_API_DIR}/Release" NO_DEFAULT_PATH
DOC "Fotonic libraries")
set(FZ_API_DIR "default value" CACHE FILEPATH "directory of Fotonic API")
endif()
-#MESSAGE("FZAPI_INCLUDE_DIR: ${FZAPI_INCLUDE_DIR}")
-#MESSAGE("FZAPI_LIBS: ${FZAPI_LIBS}")
-
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(FZAPI DEFAULT_MSG
FZAPI_LIBS FZAPI_INCLUDE_DIR)
IF (APPLE)
# These values for Apple could probably do with improvement.
+ if (${CMAKE_SYSTEM_VERSION} VERSION_LESS "13.0.0")
FIND_PATH( GLEW_INCLUDE_DIR glew.h
/System/Library/Frameworks/GLEW.framework/Versions/A/Headers
${OPENGL_LIBRARY_DIR}
- )
+ )
SET(GLEW_GLEW_LIBRARY "-framework GLEW" CACHE STRING "GLEW library for OSX")
+ else (${CMAKE_SYSTEM_VERSION} VERSION_LESS "13.0.0")
+ find_package(PkgConfig)
+ pkg_check_modules(glew GLEW)
+ SET(GLEW_GLEW_LIBRARY ${GLEW_LIBRARIES} CACHE STRING "GLEW library for OSX")
+ endif (${CMAKE_SYSTEM_VERSION} VERSION_LESS "13.0.0")
SET(GLEW_cocoa_LIBRARY "-framework Cocoa" CACHE STRING "Cocoa framework for OSX")
ELSE (APPLE)
--- /dev/null
+###############################################################################
+# Find GTest
+#
+# This sets the following variables:
+# GTEST_FOUND - True if GTest was found.
+# GTEST_INCLUDE_DIRS - Directories containing the GTest include files.
+# GTEST_SRC - Directories containing the GTest source files.
+
+if(CMAKE_SYSTEM_NAME STREQUAL Linux)
+ set(CMAKE_INCLUDE_PATH ${CMAKE_INCLUDE_PATH} /usr /usr/local)
+endif(CMAKE_SYSTEM_NAME STREQUAL Linux)
+if(APPLE)
+ list(APPEND CMAKE_INCLUDE_PATH /opt/local)
+ set(CMAKE_FIND_FRAMEWORK NEVER)
+endif()
+
+find_path(GTEST_INCLUDE_DIR gtest/gtest.h
+ HINTS "${GTEST_ROOT}" "$ENV{GTEST_ROOT}"
+ PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest"
+ PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0"
+ PATH_SUFFIXES gtest include/gtest include)
+
+find_path(GTEST_SRC_DIR src/gtest-all.cc
+ HINTS "${GTEST_ROOT}" "$ENV{GTEST_ROOT}"
+ PATHS "$ENV{PROGRAMFILES}/gtest" "$ENV{PROGRAMW6432}/gtest"
+ PATHS "$ENV{PROGRAMFILES}/gtest-1.7.0" "$ENV{PROGRAMW6432}/gtest-1.7.0"
+ PATH /usr/src/gtest
+ PATH_SUFFIXES gtest usr/src/gtest)
+
+set(GTEST_INCLUDE_DIRS ${GTEST_INCLUDE_DIR})
+set(CMAKE_FIND_FRAMEWORK)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Gtest DEFAULT_MSG GTEST_INCLUDE_DIR GTEST_SRC_DIR)
+
+mark_as_advanced(GTEST_INCLUDE_DIR GTEST_SRC_DIR)
+
+if(GTEST_FOUND)
+ message(STATUS "GTest found (include: ${GTEST_INCLUDE_DIRS}, src: ${GTEST_SRC_DIR})")
+endif(GTEST_FOUND)
+++ /dev/null
-# - Find a Message Passing Interface (MPI) implementation
-# The Message Passing Interface (MPI) is a library used to write
-# high-performance distributed-memory parallel applications, and
-# is typically deployed on a cluster. MPI is a standard interface
-# (defined by the MPI forum) for which many implementations are
-# available. All of them have somewhat different include paths,
-# libraries to link against, etc., and this module tries to smooth
-# out those differences.
-#
-# === Variables ===
-#
-# This module will set the following variables per language in your project,
-# where <lang> is one of C, CXX, or Fortran:
-# MPI_<lang>_FOUND TRUE if FindMPI found MPI flags for <lang>
-# MPI_<lang>_COMPILER MPI Compiler wrapper for <lang>
-# MPI_<lang>_COMPILE_FLAGS Compilation flags for MPI programs
-# MPI_<lang>_INCLUDE_PATH Include path(s) for MPI header
-# MPI_<lang>_LINK_FLAGS Linking flags for MPI programs
-# MPI_<lang>_LIBRARIES All libraries to link MPI programs against
-# Additionally, FindMPI sets the following variables for running MPI
-# programs from the command line:
-# MPIEXEC Executable for running MPI programs
-# MPIEXEC_NUMPROC_FLAG Flag to pass to MPIEXEC before giving
-# it the number of processors to run on
-# MPIEXEC_PREFLAGS Flags to pass to MPIEXEC directly
-# before the executable to run.
-# MPIEXEC_POSTFLAGS Flags to pass to MPIEXEC after other flags
-# === Usage ===
-#
-# To use this module, simply call FindMPI from a CMakeLists.txt file, or
-# run find_package(MPI), then run CMake. If you are happy with the auto-
-# detected configuration for your language, then you're done. If not, you
-# have two options:
-# 1. Set MPI_<lang>_COMPILER to the MPI wrapper (mpicc, etc.) of your
-# choice and reconfigure. FindMPI will attempt to determine all the
-# necessary variables using THAT compiler's compile and link flags.
-# 2. If this fails, or if your MPI implementation does not come with
-# a compiler wrapper, then set both MPI_<lang>_LIBRARIES and
-# MPI_<lang>_INCLUDE_PATH. You may also set any other variables
-# listed above, but these two are required. This will circumvent
-# autodetection entirely.
-# When configuration is successful, MPI_<lang>_COMPILER will be set to the
-# compiler wrapper for <lang>, if it was found. MPI_<lang>_FOUND and other
-# variables above will be set if any MPI implementation was found for <lang>,
-# regardless of whether a compiler was found.
-#
-# When using MPIEXEC to execute MPI applications, you should typically use
-# all of the MPIEXEC flags as follows:
-# ${MPIEXEC} ${MPIEXEC_NUMPROC_FLAG} PROCS
-# ${MPIEXEC_PREFLAGS} EXECUTABLE ${MPIEXEC_POSTFLAGS} ARGS
-# where PROCS is the number of processors on which to execute the program,
-# EXECUTABLE is the MPI program, and ARGS are the arguments to pass to the
-# MPI program.
-#
-# === Backward Compatibility ===
-#
-# For backward compatibility with older versions of FindMPI, these
-# variables are set, but deprecated:
-# MPI_FOUND MPI_COMPILER MPI_LIBRARY
-# MPI_COMPILE_FLAGS MPI_INCLUDE_PATH MPI_EXTRA_LIBRARY
-# MPI_LINK_FLAGS MPI_LIBRARIES
-# In new projects, please use the MPI_<lang>_XXX equivalents.
-
-#=============================================================================
-# Copyright 2001-2011 Kitware, Inc.
-# Copyright 2010-2011 Todd Gamblin tgamblin@llnl.gov
-# Copyright 2001-2009 Dave Partyka
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-# License text for the above reference.)
-
-# include this to handle the QUIETLY and REQUIRED arguments
-include(FindPackageHandleStandardArgs)
-include(GetPrerequisites)
-
-#
-# This part detects MPI compilers, attempting to wade through the mess of compiler names in
-# a sensible way.
-#
-# The compilers are detected in this order:
-#
-# 1. Try to find the most generic availble MPI compiler, as this is usually set up by
-# cluster admins. e.g., if plain old mpicc is available, we'll use it and assume it's
-# the right compiler.
-#
-# 2. If a generic mpicc is NOT found, then we attempt to find one that matches
-# CMAKE_<lang>_COMPILER_ID. e.g. if you are using XL compilers, we'll try to find mpixlc
-# and company, but not mpiicc. This hopefully prevents toolchain mismatches.
-#
-# If you want to force a particular MPI compiler other than what we autodetect (e.g. if you
-# want to compile regular stuff with GNU and parallel stuff with Intel), you can always set
-# your favorite MPI_<lang>_COMPILER explicitly and this stuff will be ignored.
-#
-
-# Start out with the generic MPI compiler names, as these are most commonly used.
-set(_MPI_C_COMPILER_NAMES mpicc mpcc mpicc_r mpcc_r)
-set(_MPI_CXX_COMPILER_NAMES mpicxx mpiCC mpcxx mpCC mpic++ mpc++
- mpicxx_r mpiCC_r mpcxx_r mpCC_r mpic++_r mpc++_r)
-set(_MPI_Fortran_COMPILER_NAMES mpif95 mpif95_r mpf95 mpf95_r
- mpif90 mpif90_r mpf90 mpf90_r
- mpif77 mpif77_r mpf77 mpf77_r)
-
-# GNU compiler names
-set(_MPI_GNU_C_COMPILER_NAMES mpigcc mpgcc mpigcc_r mpgcc_r)
-set(_MPI_GNU_CXX_COMPILER_NAMES mpig++ mpg++ mpig++_r mpg++_r)
-set(_MPI_GNU_Fortran_COMPILER_NAMES mpigfortran mpgfortran mpigfortran_r mpgfortran_r
- mpig77 mpig77_r mpg77 mpg77_r)
-
-# Intel MPI compiler names
-set(_MPI_Intel_C_COMPILER_NAMES mpiicc)
-set(_MPI_Intel_CXX_COMPILER_NAMES mpiicpc mpiicxx mpiic++ mpiiCC)
-set(_MPI_Intel_Fortran_COMPILER_NAMES mpiifort mpiif95 mpiif90 mpiif77)
-
-# PGI compiler names
-set(_MPI_PGI_C_COMPILER_NAMES mpipgcc mppgcc)
-set(_MPI_PGI_CXX_COMPILER_NAMES mpipgCC mppgCC)
-set(_MPI_PGI_Fortran_COMPILER_NAMES mpipgf95 mpipgf90 mppgf95 mppgf90 mpipgf77 mppgf77)
-
-# XLC MPI Compiler names
-set(_MPI_XL_C_COMPILER_NAMES mpxlc mpxlc_r mpixlc mpixlc_r)
-set(_MPI_XL_CXX_COMPILER_NAMES mpixlcxx mpixlC mpixlc++ mpxlcxx mpxlc++ mpixlc++ mpxlCC
- mpixlcxx_r mpixlC_r mpixlc++_r mpxlcxx_r mpxlc++_r mpixlc++_r mpxlCC_r)
-set(_MPI_XL_Fortran_COMPILER_NAMES mpixlf95 mpixlf95_r mpxlf95 mpxlf95_r
- mpixlf90 mpixlf90_r mpxlf90 mpxlf90_r
- mpixlf77 mpixlf77_r mpxlf77 mpxlf77_r
- mpixlf mpixlf_r mpxlf mpxlf_r)
-
-# append vendor-specific compilers to the list if we either don't know the compiler id,
-# or if we know it matches the regular compiler.
-foreach (lang C CXX Fortran)
- foreach (id GNU Intel PGI XL)
- if (NOT CMAKE_${lang}_COMPILER_ID OR "${CMAKE_${lang}_COMPILER_ID}" STREQUAL "${id}")
- list(APPEND _MPI_${lang}_COMPILER_NAMES ${_MPI_${id}_${lang}_COMPILER_NAMES})
- endif()
- unset(_MPI_${id}_${lang}_COMPILER_NAMES) # clean up the namespace here
- endforeach()
-endforeach()
-
-
-# Names to try for MPI exec
-set(_MPI_EXEC_NAMES mpiexec mpirun lamexec srun)
-
-# Grab the path to MPI from the registry if we're on windows.
-set(_MPI_PREFIX_PATH)
-if(WIN32)
- list(APPEND _MPI_PREFIX_PATH "[HKEY_LOCAL_MACHINE\\SOFTWARE\\MPICH\\SMPD;binary]/..")
- list(APPEND _MPI_PREFIX_PATH "[HKEY_LOCAL_MACHINE\\SOFTWARE\\MPICH2;Path]")
- list(APPEND _MPI_PREFIX_PATH "$ENV{ProgramW6432}/MPICH2/")
-endif()
-
-# Build a list of prefixes to search for MPI.
-foreach(SystemPrefixDir ${CMAKE_SYSTEM_PREFIX_PATH})
- foreach(MpiPackageDir ${_MPI_PREFIX_PATH})
- if(EXISTS ${SystemPrefixDir}/${MpiPackageDir})
- list(APPEND _MPI_PREFIX_PATH "${SystemPrefixDir}/${MpiPackageDir}")
- endif()
- endforeach()
-endforeach()
-
-
-#
-# interrogate_mpi_compiler(lang try_libs)
-#
-# Attempts to extract compiler and linker args from an MPI compiler. The arguments set
-# by this function are:
-#
-# MPI_<lang>_INCLUDE_PATH MPI_<lang>_LINK_FLAGS MPI_<lang>_FOUND
-# MPI_<lang>_COMPILE_FLAGS MPI_<lang>_LIBRARIES
-#
-# MPI_<lang>_COMPILER must be set beforehand to the absolute path to an MPI compiler for
-# <lang>. Additionally, MPI_<lang>_INCLUDE_PATH and MPI_<lang>_LIBRARIES may be set
-# to skip autodetection.
-#
-# If try_libs is TRUE, this will also attempt to find plain MPI libraries in the usual
-# way. In general, this is not as effective as interrogating the compilers, as it
-# ignores language-specific flags and libraries. However, some MPI implementations
-# (Windows implementations) do not have compiler wrappers, so this approach must be used.
-#
-function (interrogate_mpi_compiler lang try_libs)
- # MPI_${lang}_NO_INTERROGATE will be set to a compiler name when the *regular* compiler was
- # discovered to be the MPI compiler. This happens on machines like the Cray XE6 that use
- # modules to set cc, CC, and ftn to the MPI compilers. If the user force-sets another MPI
- # compiler, MPI_${lang}_COMPILER won't be equal to MPI_${lang}_NO_INTERROGATE, and we'll
- # inspect that compiler anew. This allows users to set new compilers w/o rm'ing cache.
- string(COMPARE NOTEQUAL "${MPI_${lang}_NO_INTERROGATE}" "${MPI_${lang}_COMPILER}" interrogate)
-
- # If MPI is set already in the cache, don't bother with interrogating the compiler.
- if (interrogate AND ((NOT MPI_${lang}_INCLUDE_PATH) OR (NOT MPI_${lang}_LIBRARIES)))
- if (MPI_${lang}_COMPILER)
- # Check whether the -showme:compile option works. This indicates that we have either OpenMPI
- # or a newer version of LAM-MPI, and implies that -showme:link will also work.
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -showme:compile
- OUTPUT_VARIABLE MPI_COMPILE_CMDLINE OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_COMPILE_CMDLINE ERROR_STRIP_TRAILING_WHITESPACE
- RESULT_VARIABLE MPI_COMPILER_RETURN)
-
- if (MPI_COMPILER_RETURN EQUAL 0)
- # If we appear to have -showme:compile, then we should
- # also have -showme:link. Try it.
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -showme:link
- OUTPUT_VARIABLE MPI_LINK_CMDLINE OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_LINK_CMDLINE ERROR_STRIP_TRAILING_WHITESPACE
- RESULT_VARIABLE MPI_COMPILER_RETURN)
-
- if (MPI_COMPILER_RETURN EQUAL 0)
- # We probably have -showme:incdirs and -showme:libdirs as well,
- # so grab that while we're at it.
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -showme:incdirs
- OUTPUT_VARIABLE MPI_INCDIRS OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_INCDIRS ERROR_STRIP_TRAILING_WHITESPACE)
-
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -showme:libdirs
- OUTPUT_VARIABLE MPI_LIBDIRS OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_LIBDIRS ERROR_STRIP_TRAILING_WHITESPACE)
-
- else()
- # reset things here if something went wrong.
- set(MPI_COMPILE_CMDLINE)
- set(MPI_LINK_CMDLINE)
- endif()
- endif ()
-
- # Older versions of LAM-MPI have "-showme". Try to find that.
- if (NOT MPI_COMPILER_RETURN EQUAL 0)
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -showme
- OUTPUT_VARIABLE MPI_COMPILE_CMDLINE OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_COMPILE_CMDLINE ERROR_STRIP_TRAILING_WHITESPACE
- RESULT_VARIABLE MPI_COMPILER_RETURN)
- endif()
-
- # MVAPICH uses -compile-info and -link-info. Try them.
- if (NOT MPI_COMPILER_RETURN EQUAL 0)
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -compile-info
- OUTPUT_VARIABLE MPI_COMPILE_CMDLINE OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_COMPILE_CMDLINE ERROR_STRIP_TRAILING_WHITESPACE
- RESULT_VARIABLE MPI_COMPILER_RETURN)
-
- # If we have compile-info, also have link-info.
- if (MPI_COMPILER_RETURN EQUAL 0)
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -link-info
- OUTPUT_VARIABLE MPI_LINK_CMDLINE OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_LINK_CMDLINE ERROR_STRIP_TRAILING_WHITESPACE
- RESULT_VARIABLE MPI_COMPILER_RETURN)
- endif()
-
- # make sure we got compile and link. Reset vars if something's wrong.
- if (NOT MPI_COMPILER_RETURN EQUAL 0)
- set(MPI_COMPILE_CMDLINE)
- set(MPI_LINK_CMDLINE)
- endif()
- endif()
-
- # MPICH just uses "-show". Try it.
- if (NOT MPI_COMPILER_RETURN EQUAL 0)
- execute_process(
- COMMAND ${MPI_${lang}_COMPILER} -show
- OUTPUT_VARIABLE MPI_COMPILE_CMDLINE OUTPUT_STRIP_TRAILING_WHITESPACE
- ERROR_VARIABLE MPI_COMPILE_CMDLINE ERROR_STRIP_TRAILING_WHITESPACE
- RESULT_VARIABLE MPI_COMPILER_RETURN)
- endif()
-
- if (MPI_COMPILER_RETURN EQUAL 0)
- # We have our command lines, but we might need to copy MPI_COMPILE_CMDLINE
- # into MPI_LINK_CMDLINE, if we didn't find the link line.
- if (NOT MPI_LINK_CMDLINE)
- set(MPI_LINK_CMDLINE ${MPI_COMPILE_CMDLINE})
- endif()
- else()
- message(STATUS "Unable to determine MPI from MPI driver ${MPI_${lang}_COMPILER}")
- set(MPI_COMPILE_CMDLINE)
- set(MPI_LINK_CMDLINE)
- endif()
-
- # Here, we're done with the interrogation part, and we'll try to extract args we care
- # about from what we learned from the compiler wrapper scripts.
-
- # If interrogation came back with something, extract our variable from the MPI command line
- if (MPI_COMPILE_CMDLINE OR MPI_LINK_CMDLINE)
- # Extract compile flags from the compile command line.
- string(REGEX MATCHALL "(^| )-[Df]([^\" ]+|\"[^\"]+\")" MPI_ALL_COMPILE_FLAGS "${MPI_COMPILE_CMDLINE}")
- set(MPI_COMPILE_FLAGS_WORK)
-
- foreach(FLAG ${MPI_ALL_COMPILE_FLAGS})
- if (MPI_COMPILE_FLAGS_WORK)
- set(MPI_COMPILE_FLAGS_WORK "${MPI_COMPILE_FLAGS_WORK} ${FLAG}")
- else()
- set(MPI_COMPILE_FLAGS_WORK ${FLAG})
- endif()
- endforeach()
-
- # Extract include paths from compile command line
- string(REGEX MATCHALL "(^| )-I([^\" ]+|\"[^\"]+\")" MPI_ALL_INCLUDE_PATHS "${MPI_COMPILE_CMDLINE}")
- foreach(IPATH ${MPI_ALL_INCLUDE_PATHS})
- string(REGEX REPLACE "^ ?-I" "" IPATH ${IPATH})
- string(REGEX REPLACE "//" "/" IPATH ${IPATH})
- list(APPEND MPI_INCLUDE_PATH_WORK ${IPATH})
- endforeach()
-
- # try using showme:incdirs if extracting didn't work.
- if (NOT MPI_INCLUDE_PATH_WORK)
- set(MPI_INCLUDE_PATH_WORK ${MPI_INCDIRS})
- separate_arguments(MPI_INCLUDE_PATH_WORK)
- endif()
-
- # If all else fails, just search for mpi.h in the normal include paths.
- if (NOT MPI_INCLUDE_PATH_WORK)
- set(MPI_HEADER_PATH "MPI_HEADER_PATH-NOTFOUND" CACHE FILEPATH "Cleared" FORCE)
- find_path(MPI_HEADER_PATH mpi.h
- HINTS ${_MPI_BASE_DIR} ${_MPI_PREFIX_PATH}
- PATH_SUFFIXES include)
- set(MPI_INCLUDE_PATH_WORK ${MPI_HEADER_PATH})
- endif()
-
- # Extract linker paths from the link command line
- string(REGEX MATCHALL "(^| |-Wl,)-L([^\" ]+|\"[^\"]+\")" MPI_ALL_LINK_PATHS "${MPI_LINK_CMDLINE}")
- set(MPI_LINK_PATH)
- foreach(LPATH ${MPI_ALL_LINK_PATHS})
- string(REGEX REPLACE "^(| |-Wl,)-L" "" LPATH ${LPATH})
- string(REGEX REPLACE "//" "/" LPATH ${LPATH})
- list(APPEND MPI_LINK_PATH ${LPATH})
- endforeach()
-
- # try using showme:libdirs if extracting didn't work.
- if (NOT MPI_LINK_PATH)
- set(MPI_LINK_PATH ${MPI_LIBDIRS})
- separate_arguments(MPI_LINK_PATH)
- endif()
-
- # Extract linker flags from the link command line
- string(REGEX MATCHALL "(^| )-Wl,([^\" ]+|\"[^\"]+\")" MPI_ALL_LINK_FLAGS "${MPI_LINK_CMDLINE}")
- set(MPI_LINK_FLAGS_WORK)
- foreach(FLAG ${MPI_ALL_LINK_FLAGS})
- if (MPI_LINK_FLAGS_WORK)
- set(MPI_LINK_FLAGS_WORK "${MPI_LINK_FLAGS_WORK} ${FLAG}")
- else()
- set(MPI_LINK_FLAGS_WORK ${FLAG})
- endif()
- endforeach()
-
- # Extract the set of libraries to link against from the link command
- # line
- string(REGEX MATCHALL "(^| )-l([^\" ]+|\"[^\"]+\")" MPI_LIBNAMES "${MPI_LINK_CMDLINE}")
-
- # Determine full path names for all of the libraries that one needs
- # to link against in an MPI program
- foreach(LIB ${MPI_LIBNAMES})
- string(REGEX REPLACE "^ ?-l" "" LIB ${LIB})
- # MPI_LIB is cached by find_library, but we don't want that. Clear it first.
- set(MPI_LIB "MPI_LIB-NOTFOUND" CACHE FILEPATH "Cleared" FORCE)
- find_library(MPI_LIB NAMES ${LIB} HINTS ${MPI_LINK_PATH})
-
- if (MPI_LIB)
- list(APPEND MPI_LIBRARIES_WORK ${MPI_LIB})
- elseif (NOT MPI_FIND_QUIETLY)
- message(WARNING "Unable to find MPI library ${LIB}")
- endif()
- endforeach()
-
- # Sanity check MPI_LIBRARIES to make sure there are enough libraries
- list(LENGTH MPI_LIBRARIES_WORK MPI_NUMLIBS)
- list(LENGTH MPI_LIBNAMES MPI_NUMLIBS_EXPECTED)
- if (NOT MPI_NUMLIBS EQUAL MPI_NUMLIBS_EXPECTED)
- set(MPI_LIBRARIES_WORK "MPI_${lang}_LIBRARIES-NOTFOUND")
- endif()
- endif()
-
- elseif(try_libs)
- # If we didn't have an MPI compiler script to interrogate, attempt to find everything
- # with plain old find functions. This is nasty because MPI implementations have LOTS of
- # different library names, so this section isn't going to be very generic. We need to
- # make sure it works for MS MPI, though, since there are no compiler wrappers for that.
- find_path(MPI_HEADER_PATH mpi.h
- HINTS ${_MPI_BASE_DIR} ${_MPI_PREFIX_PATH}
- PATH_SUFFIXES include Inc)
- set(MPI_INCLUDE_PATH_WORK ${MPI_HEADER_PATH})
-
- # Decide between 32-bit and 64-bit libraries for Microsoft's MPI
- if("${CMAKE_SIZEOF_VOID_P}" EQUAL 8)
- set(MS_MPI_ARCH_DIR amd64)
- else()
- set(MS_MPI_ARCH_DIR i386)
- endif()
-
- set(MPI_LIB "MPI_LIB-NOTFOUND" CACHE FILEPATH "Cleared" FORCE)
- find_library(MPI_LIB
- NAMES mpi mpich mpich2 msmpi
- HINTS ${_MPI_BASE_DIR} ${_MPI_PREFIX_PATH}
- PATH_SUFFIXES lib lib/${MS_MPI_ARCH_DIR} Lib Lib/${MS_MPI_ARCH_DIR})
- set(MPI_LIBRARIES_WORK ${MPI_LIB})
-
- # Right now, we only know about the extra libs for C++.
- # We could add Fortran here (as there is usually libfmpich, etc.), but
- # this really only has to work with MS MPI on Windows.
- # Assume that other MPI's are covered by the compiler wrappers.
- if (${lang} STREQUAL CXX)
- set(MPI_LIB "MPI_LIB-NOTFOUND" CACHE FILEPATH "Cleared" FORCE)
- find_library(MPI_LIB
- NAMES mpi++ mpicxx cxx mpi_cxx
- HINTS ${_MPI_BASE_DIR} ${_MPI_PREFIX_PATH}
- PATH_SUFFIXES lib)
- if (MPI_LIBRARIES_WORK AND MPI_LIB)
- set(MPI_LIBRARIES_WORK "${MPI_LIBRARIES_WORK};${MPI_LIB}")
- endif()
- endif()
-
- if (NOT MPI_LIBRARIES_WORK)
- set(MPI_LIBRARIES_WORK "MPI_${lang}_LIBRARIES-NOTFOUND")
- endif()
- endif()
-
- # If we found MPI, set up all of the appropriate cache entries
- set(MPI_${lang}_COMPILE_FLAGS ${MPI_COMPILE_FLAGS_WORK} CACHE STRING "MPI ${lang} compilation flags" FORCE)
- set(MPI_${lang}_INCLUDE_PATH ${MPI_INCLUDE_PATH_WORK} CACHE STRING "MPI ${lang} include path" FORCE)
- set(MPI_${lang}_LINK_FLAGS ${MPI_LINK_FLAGS_WORK} CACHE STRING "MPI ${lang} linking flags" FORCE)
- set(MPI_${lang}_LIBRARIES ${MPI_LIBRARIES_WORK} CACHE STRING "MPI ${lang} libraries to link against" FORCE)
- mark_as_advanced(MPI_${lang}_COMPILE_FLAGS MPI_${lang}_INCLUDE_PATH MPI_${lang}_LINK_FLAGS MPI_${lang}_LIBRARIES)
-
- # clear out our temporary lib/header detectionv variable here.
- set(MPI_LIB "MPI_LIB-NOTFOUND" CACHE INTERNAL "Scratch variable for MPI lib detection" FORCE)
- set(MPI_HEADER_PATH "MPI_HEADER_PATH-NOTFOUND" CACHE INTERNAL "Scratch variable for MPI header detection" FORCE)
- endif()
-
- # finally set a found variable for each MPI language
- if (MPI_${lang}_INCLUDE_PATH AND MPI_${lang}_LIBRARIES)
- set(MPI_${lang}_FOUND TRUE PARENT_SCOPE)
- else()
- set(MPI_${lang}_FOUND FALSE PARENT_SCOPE)
- endif()
-endfunction()
-
-
-# This function attempts to compile with the regular compiler, to see if MPI programs
-# work with it. This is a last ditch attempt after we've tried interrogating mpicc and
-# friends, and after we've tried to find generic libraries. Works on machines like
-# Cray XE6, where the modules environment changes what MPI version cc, CC, and ftn use.
-function(try_regular_compiler lang success)
- set(scratch_directory ${CMAKE_CURRENT_BINARY_DIR}${CMAKE_FILES_DIRECTORY})
- if (${lang} STREQUAL Fortran)
- set(test_file ${scratch_directory}/cmake_mpi_test.f90)
- file(WRITE ${test_file}
- "program hello\n"
- "include 'mpif.h'\n"
- "integer ierror\n"
- "call MPI_INIT(ierror)\n"
- "call MPI_FINALIZE(ierror)\n"
- "end\n")
- else()
- if (${lang} STREQUAL CXX)
- set(test_file ${scratch_directory}/cmake_mpi_test.cpp)
- else()
- set(test_file ${scratch_directory}/cmake_mpi_test.c)
- endif()
- file(WRITE ${test_file}
- "#include <mpi.h>\n"
- "int main(int argc, char **argv) {\n"
- " MPI_Init(&argc, &argv);\n"
- " MPI_Finalize();\n"
- "}\n")
- endif()
- try_compile(compiler_has_mpi ${scratch_directory} ${test_file})
- if (compiler_has_mpi)
- set(MPI_${lang}_NO_INTERROGATE ${CMAKE_${lang}_COMPILER} CACHE STRING "Whether to interrogate MPI ${lang} compiler" FORCE)
- set(MPI_${lang}_COMPILER ${CMAKE_${lang}_COMPILER} CACHE STRING "MPI ${lang} compiler" FORCE)
- set(MPI_${lang}_COMPILE_FLAGS "" CACHE STRING "MPI ${lang} compilation flags" FORCE)
- set(MPI_${lang}_INCLUDE_PATH "" CACHE STRING "MPI ${lang} include path" FORCE)
- set(MPI_${lang}_LINK_FLAGS "" CACHE STRING "MPI ${lang} linking flags" FORCE)
- set(MPI_${lang}_LIBRARIES "" CACHE STRING "MPI ${lang} libraries to link against" FORCE)
- endif()
- set(${success} ${compiler_has_mpi} PARENT_SCOPE)
- unset(compiler_has_mpi CACHE)
-endfunction()
-
-# End definitions, commence real work here.
-
-# Most mpi distros have some form of mpiexec which gives us something we can reliably look for.
-find_program(MPIEXEC
- NAMES ${_MPI_EXEC_NAMES}
- PATHS ${_MPI_PREFIX_PATH}
- PATH_SUFFIXES bin
- DOC "Executable for running MPI programs.")
-
-# call get_filename_component twice to remove mpiexec and the directory it exists in (typically bin).
-# This gives us a fairly reliable base directory to search for /bin /lib and /include from.
-get_filename_component(_MPI_BASE_DIR "${MPIEXEC}" PATH)
-get_filename_component(_MPI_BASE_DIR "${_MPI_BASE_DIR}" PATH)
-
-set(MPIEXEC_NUMPROC_FLAG "-np" CACHE STRING "Flag used by MPI to specify the number of processes for MPIEXEC; the next option will be the number of processes.")
-set(MPIEXEC_PREFLAGS "" CACHE STRING "These flags will be directly before the executable that is being run by MPIEXEC.")
-set(MPIEXEC_POSTFLAGS "" CACHE STRING "These flags will come after all flags given to MPIEXEC.")
-set(MPIEXEC_MAX_NUMPROCS "2" CACHE STRING "Maximum number of processors available to run MPI applications.")
-mark_as_advanced(MPIEXEC MPIEXEC_NUMPROC_FLAG MPIEXEC_PREFLAGS MPIEXEC_POSTFLAGS MPIEXEC_MAX_NUMPROCS)
-
-
-#=============================================================================
-# Backward compatibility input hacks. Propagate the FindMPI hints to C and
-# CXX if the respective new versions are not defined. Translate the old
-# MPI_LIBRARY and MPI_EXTRA_LIBRARY to respective MPI_${lang}_LIBRARIES.
-#
-# Once we find the new variables, we translate them back into their old
-# equivalents below.
-foreach (lang C CXX)
- # Old input variables.
- set(_MPI_OLD_INPUT_VARS COMPILER COMPILE_FLAGS INCLUDE_PATH LINK_FLAGS)
-
- # Set new vars based on their old equivalents, if the new versions are not already set.
- foreach (var ${_MPI_OLD_INPUT_VARS})
- if (NOT MPI_${lang}_${var} AND MPI_${var})
- set(MPI_${lang}_${var} "${MPI_${var}}")
- endif()
- endforeach()
-
- # Special handling for MPI_LIBRARY and MPI_EXTRA_LIBRARY, which we nixed in the
- # new FindMPI. These need to be merged into MPI_<lang>_LIBRARIES
- if (NOT MPI_${lang}_LIBRARIES AND (MPI_LIBRARY OR MPI_EXTRA_LIBRARY))
- set(MPI_${lang}_LIBRARIES ${MPI_LIBRARY} ${MPI_EXTRA_LIBRARY})
- endif()
-endforeach()
-#=============================================================================
-
-
-# This loop finds the compilers and sends them off for interrogation.
-foreach (lang C CXX Fortran)
- if (CMAKE_${lang}_COMPILER_WORKS)
- # If the user supplies a compiler *name* instead of an absolute path, assume that we need to find THAT compiler.
- if (MPI_${lang}_COMPILER)
- is_file_executable(MPI_${lang}_COMPILER MPI_COMPILER_IS_EXECUTABLE)
- if (NOT MPI_COMPILER_IS_EXECUTABLE)
- # Get rid of our default list of names and just search for the name the user wants.
- set(_MPI_${lang}_COMPILER_NAMES ${MPI_${lang}_COMPILER})
- set(MPI_${lang}_COMPILER "MPI_${lang}_COMPILER-NOTFOUND" CACHE FILEPATH "Cleared" FORCE)
- # If the user specifies a compiler, we don't want to try to search libraries either.
- set(try_libs FALSE)
- endif()
- else()
- set(try_libs TRUE)
- endif()
-
- find_program(MPI_${lang}_COMPILER
- NAMES ${_MPI_${lang}_COMPILER_NAMES}
- PATHS "${MPI_HOME}/bin" "$ENV{MPI_HOME}/bin" ${_MPI_PREFIX_PATH})
- interrogate_mpi_compiler(${lang} ${try_libs})
- mark_as_advanced(MPI_${lang}_COMPILER)
-
- # last ditch try -- if nothing works so far, just try running the regular compiler and
- # see if we can create an MPI executable.
- set(regular_compiler_worked 0)
- if (NOT MPI_${lang}_LIBRARIES OR NOT MPI_${lang}_INCLUDE_PATH)
- try_regular_compiler(${lang} regular_compiler_worked)
- endif()
-
- if (regular_compiler_worked)
- find_package_handle_standard_args(MPI_${lang} DEFAULT_MSG MPI_${lang}_COMPILER)
- else()
- find_package_handle_standard_args(MPI_${lang} DEFAULT_MSG MPI_${lang}_LIBRARIES MPI_${lang}_INCLUDE_PATH)
- endif()
- endif()
-endforeach()
-
-
-#=============================================================================
-# More backward compatibility stuff
-#
-# Bare MPI sans ${lang} vars are set to CXX then C, depending on what was found.
-# This mimics the behavior of the old language-oblivious FindMPI.
-set(_MPI_OLD_VARS FOUND COMPILER INCLUDE_PATH COMPILE_FLAGS LINK_FLAGS LIBRARIES)
-if (MPI_CXX_FOUND)
- foreach (var ${_MPI_OLD_VARS})
- set(MPI_${var} ${MPI_CXX_${var}})
- endforeach()
-elseif (MPI_C_FOUND)
- foreach (var ${_MPI_OLD_VARS})
- set(MPI_${var} ${MPI_C_${var}})
- endforeach()
-else()
- # Note that we might still have found Fortran, but you'll need to use MPI_Fortran_FOUND
- set(MPI_FOUND FALSE)
-endif()
-
-# Chop MPI_LIBRARIES into the old-style MPI_LIBRARY and MPI_EXTRA_LIBRARY, and set them in cache.
-if (MPI_LIBRARIES)
- list(GET MPI_LIBRARIES 0 MPI_LIBRARY_WORK)
- set(MPI_LIBRARY ${MPI_LIBRARY_WORK} CACHE FILEPATH "MPI library to link against" FORCE)
-else()
- set(MPI_LIBRARY "MPI_LIBRARY-NOTFOUND" CACHE FILEPATH "MPI library to link against" FORCE)
-endif()
-
-list(LENGTH MPI_LIBRARIES MPI_NUMLIBS)
-if (MPI_NUMLIBS GREATER 1)
- set(MPI_EXTRA_LIBRARY_WORK ${MPI_LIBRARIES})
- list(REMOVE_AT MPI_EXTRA_LIBRARY_WORK 0)
- set(MPI_EXTRA_LIBRARY ${MPI_EXTRA_LIBRARY_WORK} CACHE STRING "Extra MPI libraries to link against" FORCE)
-else()
- set(MPI_EXTRA_LIBRARY "MPI_EXTRA_LIBRARY-NOTFOUND" CACHE STRING "Extra MPI libraries to link against" FORCE)
-endif()
-#=============================================================================
-
-# unset these vars to cleanup namespace
-unset(_MPI_OLD_VARS)
-unset(_MPI_PREFIX_PATH)
-unset(_MPI_BASE_DIR)
-foreach (lang C CXX Fortran)
- unset(_MPI_${lang}_COMPILER_NAMES)
-endforeach()
# OPENNI_INCLUDE_DIRS - Directories containing the OPENNI include files.
# OPENNI_LIBRARIES - Libraries needed to use OPENNI.
# OPENNI_DEFINITIONS - Compiler flags for OPENNI.
-#
+#
# For libusb-1.0, add USB_10_ROOT if not found
find_package(PkgConfig QUIET)
PATH_SUFFIXES libusb-1.0)
find_library(USB_10_LIBRARY
- NAMES usb-1.0
+ NAMES usb-1.0
HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
PATH_SUFFIXES lib)
-
+
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR)
-
+
if(NOT USB_10_FOUND)
- message(STATUS "OpenNI disabled because libusb-1.0 not found.")
+ message(STATUS "OpenNI disabled because libusb-1.0 not found.")
return()
else()
include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
endif()
endif(NOT WIN32)
-
+
if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
pkg_check_modules(PC_OPENNI openni-dev)
else()
#add a hint so that it can find it without the pkg-config
find_path(OPENNI_INCLUDE_DIR XnStatus.h
- HINTS ${PC_OPENNI_INCLUDEDIR} ${PC_OPENNI_INCLUDE_DIRS} /usr/include/openni /usr/include/ni "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}"
+ HINTS ${PC_OPENNI_INCLUDEDIR} ${PC_OPENNI_INCLUDE_DIRS} /usr/include/openni /usr/include/ni /opt/local/include/ni "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}"
PATHS "$ENV{OPEN_NI_INSTALL_PATH${OPENNI_SUFFIX}}/Include"
PATH_SUFFIXES openni include Include)
#add a hint so that it can find it without the pkg-config
-find_library(OPENNI_LIBRARY
+find_library(OPENNI_LIBRARY
NAMES OpenNI${OPENNI_SUFFIX}
HINTS ${PC_OPENNI_LIBDIR} ${PC_OPENNI_LIBRARY_DIRS} /usr/lib "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}"
PATHS "$ENV{OPEN_NI_LIB${OPENNI_SUFFIX}}"
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(OpenNI DEFAULT_MSG OPENNI_LIBRARY OPENNI_INCLUDE_DIR)
-
+
mark_as_advanced(OPENNI_LIBRARY OPENNI_INCLUDE_DIR)
-if(OPENNI_FOUND)
+if(OPENNI_FOUND)
# Add the include directories
- set(OPENNI_INCLUDE_DIRS ${OPENNI_INCLUDE_DIR})
+ set(OPENNI_INCLUDE_DIRS ${OPENNI_INCLUDE_DIR})
message(STATUS "OpenNI found (include: ${OPENNI_INCLUDE_DIRS}, lib: ${OPENNI_LIBRARY})")
endif(OPENNI_FOUND)
-
--- /dev/null
+###############################################################################
+# Find OpenNI 2
+#
+# This sets the following variables:
+# OPENNI2_FOUND - True if OPENNI 2 was found.
+# OPENNI2_INCLUDE_DIRS - Directories containing the OPENNI 2 include files.
+# OPENNI2_LIBRARIES - Libraries needed to use OPENNI 2.
+# OPENNI2_DEFINITIONS - Compiler flags for OPENNI 2.
+#
+# For libusb-1.0, add USB_10_ROOT if not found
+
+find_package(PkgConfig QUIET)
+
+# Find LibUSB
+if(NOT WIN32)
+ pkg_check_modules(PC_USB_10 libusb-1.0)
+ find_path(USB_10_INCLUDE_DIR libusb-1.0/libusb.h
+ HINTS ${PC_USB_10_INCLUDEDIR} ${PC_USB_10_INCLUDE_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
+ PATH_SUFFIXES libusb-1.0)
+
+ find_library(USB_10_LIBRARY
+ NAMES usb-1.0
+ HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
+ PATH_SUFFIXES lib)
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR)
+
+ if(NOT USB_10_FOUND)
+ message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
+ return()
+ else()
+ include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
+ endif()
+endif(NOT WIN32)
+
+if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+ pkg_check_modules(PC_OPENNI2 openni2-dev)
+else()
+ pkg_check_modules(PC_OPENNI2 QUIET openni2-dev)
+endif()
+
+set(OPENNI2_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER})
+
+set(OPENNI2_SUFFIX)
+if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+ set(OPENNI2_SUFFIX 64)
+endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+
+find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
+ PATHS
+ "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}" # Win64 needs '64' suffix
+ /usr/include/openni2 # common path for deb packages
+)
+
+find_library(OPENNI2_LIBRARY
+ NAMES OpenNI2 # No suffix needed on Win64
+ libOpenNI2 # Linux
+ PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}" # Windows default path, Win64 needs '64' suffix
+ "$ENV{OPENNI2_REDIST}" # Linux install does not use a separate 'lib' directory
+ )
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+ set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} ${LIBUSB_1_LIBRARIES})
+else()
+ set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+mark_as_advanced(OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+if(OPENNI2_FOUND)
+ # Add the include directories
+ set(OPENNI2_INCLUDE_DIRS ${OPENNI2_INCLUDE_DIR})
+ set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}})
+ message(STATUS "OpenNI 2 found (include: ${OPENNI2_INCLUDE_DIRS}, lib: ${OPENNI2_LIBRARY}, redist: ${OPENNI2_REDIST_DIR})")
+endif(OPENNI2_FOUND)
+
# PXCAPI_FOUND - True if PXCAPI was found.
# PXCAPI_INCLUDE_DIRS - Directories containing the PXCAPI include files.
# PXCAPI_LIBRARIES - Libraries needed to use PXCAPI.
-
-#MESSAGE("Searching for PXCAPI in: ${PXCAPI_DIR}")
+
+find_path(PXCAPI_DIR include/pxcimage.h
+ PATHS "${PXCAPI_DIR}" "C:/Program Files/Intel/PCSDK" "C:/Program Files (x86)/Intel/PCSDK"
+ DOC "PXCAPI include directories")
if(PXCAPI_DIR)
set(PXCAPI_INCLUDE_DIRS ${PXCAPI_DIR}/include ${PXCAPI_DIR}/sample/common/include)
- set(PXCAPI_LIB_DIRS ${PXCAPI_DIR}/lib/x64 ${PXCAPI_DIR}/sample/common/lib/x64/v100)
- set(PXCAPI_LIBS ${PXCAPI_DIR}/lib/x64/libpxc.lib ${PXCAPI_DIR}/sample/common/lib/x64/v100/libpxcutils.lib)
-else()
- MESSAGE("Searching PXCAPI includes: ${PXCAPI_DIR}")
- find_path(PXCAPI_DIR include/pxcimage.h
- PATHS "${PXCAPI_DIR}" "C:/Program Files/Intel/PCSDK" "C:/Program Files (x86)/Intel/PCSDK"
- DOC "PXCAPI include directories")
- if(PXCAPI_DIR)
- set(PXCAPI_INCLUDE_DIRS ${PXCAPI_DIR}/include ${PXCAPI_DIR}/sample/common/include)
- set(PXCAPI_LIB_DIRS ${PXCAPI_DIR}/lib/x64 ${PXCAPI_DIR}/sample/common/lib/x64/v100)
- set(PXCAPI_LIBS ${PXCAPI_DIR}/lib/x64/libpxc.lib ${PXCAPI_DIR}/sample/common/lib/x64/v100/libpxcutils.lib)
- else()
- set(PXCAPI_DIR "directory not found (please enter)" CACHE FILEPATH "directory of PXCAPI")
- endif()
+ find_library(PXCAPI_LIB libpxc.lib
+ PATHS "${PXCAPI_DIR}/lib/" NO_DEFAULT_PATH
+ PATH_SUFFIXES x64 Win32)
+ find_library(PXCAPI_SAMPLE_LIB libpxcutils.lib
+ PATHS "${PXCAPI_DIR}/sample/common/lib" NO_DEFAULT_PATH
+ PATH_SUFFIXES x64/v100 Win32/v100)
+ set(PXCAPI_LIBS ${PXCAPI_LIB} ${PXCAPI_SAMPLE_LIB})
endif()
-MESSAGE("PXCAPI_INCLUDE_DIR: ${PXCAPI_INCLUDE_DIRS}")
-MESSAGE("PXCAPI_LIBS: ${PXCAPI_LIBS}")
-
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PXCAPI DEFAULT_MSG
- PXCAPI_LIBS PXCAPI_INCLUDE_DIRS PXCAPI_LIB_DIRS)
-
+ PXCAPI_LIBS PXCAPI_INCLUDE_DIRS)
+
+mark_as_advanced(PXCAPI_LIB PXCAPI_SAMPLE_LIB)
+
if(MSVC)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /NODEFAULTLIB:LIBCMT")
endif()
-
\ No newline at end of file
SET(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES})
#Is pcap found ?
-IF(PCAP_INCLUDE_DIRS AND PCAP_LIBRARIES)
-SET( PCAP_FOUND "YES" )
-message(STATUS "PCAP found (include: ${PCAP_INCLUDE_DIRS}, lib: ${PCAP_LIBRARIES})")
-ELSE()
-SET( PCAP_FOUND "NO" )
-message(STATUS "PCAP NOT found")
-ENDIF(PCAP_INCLUDE_DIRS AND PCAP_LIBRARIES)
-
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(PCAP DEFAULT_MSG
+ PCAP_LIBRARIES PCAP_INCLUDE_DIRS)
MARK_AS_ADVANCED(
PCAP_LIBRARIES
# QVTK_LIBRARY - QVTK library.
# if QVTK_FOUND then QVTK_INCLUDE_DIR is appended to VTK_INCLUDE_DIRS and
# QVTK_LIBRARY is appended to QVTK_LIBRARY_DIR
-
-find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
-find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
-find_package_handle_standard_args(QVTK DEFAULT_MSG
- QVTK_LIBRARY QVTK_INCLUDE_DIR)
-
-if(NOT QVTK_FOUND)
- set (VTK_USE_QVTK OFF)
-else(NOT QVTK_FOUND)
- get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
- set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
- set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
- set (VTK_USE_QVTK ON)
-endif(NOT QVTK_FOUND)
+if (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+ find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
+ find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
+ find_package_handle_standard_args(QVTK DEFAULT_MSG
+ QVTK_LIBRARY QVTK_INCLUDE_DIR)
+ if(NOT QVTK_FOUND)
+ set (VTK_USE_QVTK OFF)
+ else(NOT QVTK_FOUND)
+ get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
+ set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
+ set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
+ set (VTK_USE_QVTK ON)
+ endif(NOT QVTK_FOUND)
+else (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
+ list (FIND VTK_MODULES_ENABLED vtkGUISupportQt GUI_SUPPORT_QT_FOUND)
+ list (FIND VTK_MODULES_ENABLED vtkRenderingQt RENDERING_QT_FOUND)
+ if (GUI_SUPPORT_QT_FOUND AND RENDERING_QT_FOUND)
+ set (VTK_USE_QVTK ON)
+ set (QVTK_LIBRARY vtkRenderingQt vtkGUISupportQt)
+ else (GUI_SUPPORT_QT_FOUND AND RENDERING_QT_FOUND)
+ unset(QVTK_FOUND)
+ endif (GUI_SUPPORT_QT_FOUND AND RENDERING_QT_FOUND)
+endif (${VTK_MAJOR_VERSION} VERSION_LESS "6.0")
set(QHULL_RELEASE_NAME qhullstatic)
set(QHULL_DEBUG_NAME qhullstatic_d)
else(QHULL_USE_STATIC)
- set(QHULL_RELEASE_NAME qhull qhull${QHULL_MAJOR_VERSION})
- set(QHULL_DEBUG_NAME qhull_d qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION})
+ set(QHULL_RELEASE_NAME qhull_p qhull${QHULL_MAJOR_VERSION} qhull)
+ set(QHULL_DEBUG_NAME qhull_pd qhull${QHULL_MAJOR_VERSION}_d qhull_d${QHULL_MAJOR_VERSION} qhull_d)
endif(QHULL_USE_STATIC)
find_file(QHULL_HEADER
PATHS "$ENV{PROGRAMFILES}/QHull" "$ENV{PROGRAMW6432}/QHull"
PATH_SUFFIXES project build bin lib)
+get_filename_component(QHULL_LIBRARY_NAME "${QHULL_LIBRARY}" NAME)
+
find_library(QHULL_LIBRARY_DEBUG
NAMES ${QHULL_DEBUG_NAME} ${QHULL_RELEASE_NAME}
HINTS "${QHULL_ROOT}" "$ENV{QHULL_ROOT}"
set(QHULL_LIBRARY_DEBUG ${QHULL_LIBRARY})
endif(NOT QHULL_LIBRARY_DEBUG)
+get_filename_component(QHULL_LIBRARY_DEBUG_NAME "${QHULL_LIBRARY_DEBUG}" NAME)
+
set(QHULL_INCLUDE_DIRS ${QHULL_INCLUDE_DIR})
set(QHULL_LIBRARIES optimized ${QHULL_LIBRARY} debug ${QHULL_LIBRARY_DEBUG})
# Find and set Boost flags
-if(NOT PCL_SHARED_LIBS OR WIN32)
- set(Boost_USE_STATIC_LIBS ON)
- set(Boost_USE_STATIC ON)
-endif(NOT PCL_SHARED_LIBS OR WIN32)
+# If we would like to compile against a dynamically linked Boost
+if(PCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32 AND WIN32)
+ set(Boost_USE_STATIC_LIBS OFF)
+ set(Boost_USE_STATIC OFF)
+ set(Boost_USE_MULTITHREAD ON)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBOOST_ALL_DYN_LINK -DBOOST_ALL_NO_LIB")
+else(PCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32 AND WIN32)
+ if(NOT PCL_SHARED_LIBS OR WIN32)
+ set(Boost_USE_STATIC_LIBS ON)
+ set(Boost_USE_STATIC ON)
+ endif(NOT PCL_SHARED_LIBS OR WIN32)
+endif(PCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32 AND WIN32)
if(${CMAKE_VERSION} VERSION_LESS 2.8.5)
SET(Boost_ADDITIONAL_VERSIONS "1.43" "1.43.0" "1.44" "1.44.0" "1.45" "1.45.0" "1.46.1" "1.46.0" "1.46" "1.47" "1.47.0")
set(Boost_NO_BOOST_CMAKE ON)
# Optional boost modules
-find_package(Boost 1.40.0 QUIET COMPONENTS serialization mpi)
-if(Boost_MPI_FOUND)
- set(BOOST_MPI_FOUND TRUE)
-endif(Boost_MPI_FOUND)
+find_package(Boost 1.47.0 QUIET COMPONENTS serialization mpi)
if(Boost_SERIALIZATION_FOUND)
set(BOOST_SERIALIZATION_FOUND TRUE)
endif(Boost_SERIALIZATION_FOUND)
# Required boost modules
-set(BOOST_REQUIRED_MODULES system filesystem thread date_time iostreams)
-# Starting with Boost 1.50, boost_thread depends on chrono. As this is not
-# taken care of automatically on Windows, we add an explicit dependency as a
-# workaround.
-if(WIN32 AND Boost_VERSION VERSION_GREATER "104900")
- set(BOOST_REQUIRED_MODULES ${BOOST_REQUIRED_MODULES} chrono)
-endif(WIN32 AND Boost_VERSION VERSION_GREATER "104900")
+set(BOOST_REQUIRED_MODULES system filesystem thread date_time iostreams chrono)
-find_package(Boost 1.40.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})
+find_package(Boost 1.47.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})
if(Boost_FOUND)
set(BOOST_FOUND TRUE)
--- /dev/null
+# Try to Find OpenGL and GLUT silently
+# In addition sets two flags if the found versions are Apple frameworks
+# OPENGL_IS_A_FRAMEWORK
+# GLUT_IS_A_FRAMEWORK
+
+find_package(OpenGL QUIET REQUIRED)
+
+if(APPLE AND OPENGL_FOUND)
+ if ("${OPENGL_INCLUDE_DIR}" MATCHES "\\.framework")
+ set(OPENGL_IS_A_FRAMEWORK TRUE)
+ endif ("${OPENGL_INCLUDE_DIR}" MATCHES "\\.framework")
+endif(APPLE AND OPENGL_FOUND)
+
+find_package(GLUT QUIET)
+
+if(APPLE AND GLUT_FOUND)
+ if ("${GLUT_INCLUDE_DIR}" MATCHES "\\.framework")
+ set(GLUT_IS_A_FRAMEWORK TRUE)
+ endif ("${GLUT_INCLUDE_DIR}" MATCHES "\\.framework")
+endif(APPLE AND GLUT_FOUND)
endif(PCL_SHARED_LIBS)
mark_as_advanced(PCL_SHARED_LIBS)
+# Build with dynamic linking for Boost (advanced users)
+option(PCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32 "Build against a dynamically linked Boost on Win32 platforms." OFF)
+mark_as_advanced(PCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32)
+
# Precompile for a minimal set of point types instead of all.
option(PCL_ONLY_CORE_POINT_TYPES "Compile explicitly only for a small subset of point types (e.g., pcl::PointXYZ instead of PCL_XYZ_POINT_TYPES)." OFF)
mark_as_advanced(PCL_ONLY_CORE_POINT_TYPES)
option(CMAKE_MSVC_CODE_LINK_OPTIMIZATION "Enable the /GL and /LTCG code and link optimization options for MSVC. Enabled by default." ON)
mark_as_advanced(CMAKE_MSVC_CODE_LINK_OPTIMIZATION)
+# Project folders
+option(USE_PROJECT_FOLDERS "Use folders to organize PCL projects in an IDE." OFF)
+mark_as_advanced(USE_PROJECT_FOLDERS)
+if(USE_PROJECT_FOLDERS)
+ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+endif(USE_PROJECT_FOLDERS)
+
+option(BUILD_tools "Useful PCL-based command line tools" ON)
+
+option(WITH_DOCS "Build doxygen documentation" OFF)
endforeach(_opt_dep)
set(PCLCONFIG_OPTIONAL_DEPENDENCIES "${PCLCONFIG_OPTIONAL_DEPENDENCIES})\n")
endif(_opt_deps)
+
+ #look for subsystems
+ string(TOUPPER "PCL_${_ss}_SUBSYS" PCL_SUBSYS_SUBSYS)
+ if (${PCL_SUBSYS_SUBSYS})
+ string(TOUPPER "PCL_${_ss}_SUBSYS_STATUS" PCL_SUBSYS_SUBSYS_STATUS)
+ foreach(_sub ${${PCL_SUBSYS_SUBSYS}})
+ PCL_GET_SUBSUBSYS_STATUS(_sub_status ${_ss} ${_sub})
+ if (_sub_status)
+ set(PCLCONFIG_AVAILABLE_COMPONENTS "${PCLCONFIG_AVAILABLE_COMPONENTS} ${_sub}")
+ set(PCLCONFIG_AVAILABLE_COMPONENTS_LIST "${PCLCONFIG_AVAILABLE_COMPONENTS_LIST}\n# - ${_sub}")
+ GET_IN_MAP(_deps PCL_SUBSYS_DEPS ${_ss}_${sub})
+ if(_deps)
+ set(PCLCONFIG_INTERNAL_DEPENDENCIES "${PCLCONFIG_INTERNAL_DEPENDENCIES}set(pcl_${_sub}_int_dep ")
+ foreach(_dep ${_deps})
+ set(PCLCONFIG_INTERNAL_DEPENDENCIES "${PCLCONFIG_INTERNAL_DEPENDENCIES}${_dep} ")
+ endforeach(_dep)
+ set(PCLCONFIG_INTERNAL_DEPENDENCIES "${PCLCONFIG_INTERNAL_DEPENDENCIES})\n")
+ endif(_deps)
+ endif (_sub_status)
+ endforeach(_sub)
+ endif (${PCL_SUBSYS_SUBSYS})
endif(_status)
endforeach(_ss)
#Boost modules
set(PCLCONFIG_AVAILABLE_BOOST_MODULES "system filesystem thread date_time iostreams")
-if(Boost_MPI_FOUND)
- set(PCLCONFIG_AVAILABLE_BOOST_MODULES "${PCLCONFIG_AVAILABLE_BOOST_MODULES} mpi")
-endif(Boost_MPI_FOUND)
if(Boost_SERIALIZATION_FOUND)
set(PCLCONFIG_AVAILABLE_BOOST_MODULES "${PCLCONFIG_AVAILABLE_BOOST_MODULES} serialization")
endif(Boost_SERIALIZATION_FOUND)
PCL_GET_SUBSYS_HYPERSTATUS(subsys_status ${_name})
if(NOT ("${subsys_status}" STREQUAL "AUTO_OFF"))
option(${_opt_name} ${_desc} ${_default})
- if(NOT ${_default} AND NOT ${_opt_name})
+ if((NOT ${_default} AND NOT ${_opt_name}) OR ("${_default}" STREQUAL "AUTO_OFF"))
set(${_var} FALSE)
if(${ARGC} GREATER 4)
set(_reason ${ARGV4})
set(${_var} TRUE)
PCL_SET_SUBSYS_STATUS(${_name} TRUE)
PCL_ENABLE_DEPENDIES(${_name})
- endif(NOT ${_default} AND NOT ${_opt_name})
+ endif((NOT ${_default} AND NOT ${_opt_name}) OR ("${_default}" STREQUAL "AUTO_OFF"))
endif(NOT ("${subsys_status}" STREQUAL "AUTO_OFF"))
PCL_ADD_SUBSYSTEM(${_name} ${_desc})
endmacro(PCL_SUBSYS_OPTION)
+###############################################################################
+# Add an option to build a subsystem or not.
+# _var The name of the variable to store the option in.
+# _parent The name of the parent subsystem
+# _name The name of the option's target subsubsystem.
+# _desc The description of the subsubsystem.
+# _default The default value (TRUE or FALSE)
+# ARGV5 The reason for disabling if the default is FALSE.
+macro(PCL_SUBSUBSYS_OPTION _var _parent _name _desc _default)
+ set(_opt_name "BUILD_${_parent}_${_name}")
+ PCL_GET_SUBSYS_HYPERSTATUS(parent_status ${_parent})
+ if(NOT ("${parent_status}" STREQUAL "AUTO_OFF") AND NOT ("${parent_status}" STREQUAL "OFF"))
+ PCL_GET_SUBSYS_HYPERSTATUS(subsys_status ${_parent}_${_name})
+ if(NOT ("${subsys_status}" STREQUAL "AUTO_OFF"))
+ option(${_opt_name} ${_desc} ${_default})
+ if((NOT ${_default} AND NOT ${_opt_name}) OR ("${_default}" STREQUAL "AUTO_OFF"))
+ set(${_var} FALSE)
+ if(${ARGC} GREATER 5)
+ set(_reason ${ARGV5})
+ else(${ARGC} GREATER 5)
+ set(_reason "Disabled by default.")
+ endif(${ARGC} GREATER 5)
+ PCL_SET_SUBSYS_STATUS(${_parent}_${_name} FALSE ${_reason})
+ PCL_DISABLE_DEPENDIES(${_parent}_${_name})
+ elseif(NOT ${_opt_name})
+ set(${_var} FALSE)
+ PCL_SET_SUBSYS_STATUS(${_parent}_${_name} FALSE "Disabled manually.")
+ PCL_DISABLE_DEPENDIES(${_parent}_${_name})
+ else(NOT ${_default} AND NOT ${_opt_name})
+ set(${_var} TRUE)
+ PCL_SET_SUBSYS_STATUS(${_parent}_${_name} TRUE)
+ PCL_ENABLE_DEPENDIES(${_parent}_${_name})
+ endif((NOT ${_default} AND NOT ${_opt_name}) OR ("${_default}" STREQUAL "AUTO_OFF"))
+ endif(NOT ("${subsys_status}" STREQUAL "AUTO_OFF"))
+ endif(NOT ("${parent_status}" STREQUAL "AUTO_OFF") AND NOT ("${parent_status}" STREQUAL "OFF"))
+ PCL_ADD_SUBSUBSYSTEM(${_parent} ${_name} ${_desc})
+endmacro(PCL_SUBSUBSYS_OPTION)
###############################################################################
# Make one subsystem depend on one or more other subsystems, and disable it if
endif(${_var} AND (NOT ("${subsys_status}" STREQUAL "AUTO_OFF")))
endmacro(PCL_SUBSYS_DEPEND)
+###############################################################################
+# Make one subsystem depend on one or more other subsystems, and disable it if
+# they are not being built.
+# _var The cumulative build variable. This will be set to FALSE if the
+# dependencies are not met.
+# _parent The parent subsystem name.
+# _name The name of the subsubsystem.
+# ARGN The subsystems and external libraries to depend on.
+macro(PCL_SUBSUBSYS_DEPEND _var _parent _name)
+ set(options)
+ set(parentArg)
+ set(nameArg)
+ set(multiValueArgs DEPS EXT_DEPS OPT_DEPS)
+ cmake_parse_arguments(SUBSYS "${options}" "${parentArg}" "${nameArg}" "${multiValueArgs}" ${ARGN} )
+ if(SUBSUBSYS_DEPS)
+ SET_IN_GLOBAL_MAP(PCL_SUBSYS_DEPS ${_parent}_${_name} "${SUBSUBSYS_DEPS}")
+ endif(SUBSUBSYS_DEPS)
+ if(SUBSUBSYS_EXT_DEPS)
+ SET_IN_GLOBAL_MAP(PCL_SUBSYS_EXT_DEPS ${_parent}_${_name} "${SUBSUBSYS_EXT_DEPS}")
+ endif(SUBSUBSYS_EXT_DEPS)
+ if(SUBSUBSYS_OPT_DEPS)
+ SET_IN_GLOBAL_MAP(PCL_SUBSYS_OPT_DEPS ${_parent}_${_name} "${SUBSUBSYS_OPT_DEPS}")
+ endif(SUBSUBSYS_OPT_DEPS)
+ GET_IN_MAP(subsys_status PCL_SUBSYS_HYPERSTATUS ${_parent}_${_name})
+ if(${_var} AND (NOT ("${subsys_status}" STREQUAL "AUTO_OFF")))
+ if(SUBSUBSYS_DEPS)
+ foreach(_dep ${SUBSUBSYS_DEPS})
+ PCL_GET_SUBSYS_STATUS(_status ${_dep})
+ if(NOT _status)
+ set(${_var} FALSE)
+ PCL_SET_SUBSYS_STATUS(${_parent}_${_name} FALSE "Requires ${_dep}.")
+ else(NOT _status)
+ PCL_GET_SUBSYS_INCLUDE_DIR(_include_dir ${_dep})
+ include_directories(${PROJECT_SOURCE_DIR}/${_include_dir}/include)
+ endif(NOT _status)
+ endforeach(_dep)
+ endif(SUBSUBSYS_DEPS)
+ if(SUBSUBSYS_EXT_DEPS)
+ foreach(_dep ${SUBSUBSYS_EXT_DEPS})
+ string(TOUPPER "${_dep}_found" EXT_DEP_FOUND)
+ if(NOT ${EXT_DEP_FOUND} OR (NOT ("${EXT_DEP_FOUND}" STREQUAL "TRUE")))
+ set(${_var} FALSE)
+ PCL_SET_SUBSYS_STATUS(${_parent}_${_name} FALSE "Requires external library ${_dep}.")
+ endif(NOT ${EXT_DEP_FOUND} OR (NOT ("${EXT_DEP_FOUND}" STREQUAL "TRUE")))
+ endforeach(_dep)
+ endif(SUBSUBSYS_EXT_DEPS)
+ endif(${_var} AND (NOT ("${subsys_status}" STREQUAL "AUTO_OFF")))
+endmacro(PCL_SUBSUBSYS_DEPEND)
###############################################################################
# Add a set of include files to install.
else(${CMAKE_VERSION} VERSION_LESS 2.8.4)
add_test(NAME ${_name} COMMAND ${_exename} ${PCL_ADD_TEST_ARGUMENTS})
endif(${CMAKE_VERSION} VERSION_LESS 2.8.4)
+
+ add_dependencies(tests ${_exename})
endmacro(PCL_ADD_TEST)
###############################################################################
###############################################################################
# Reset the subsystem status map.
macro(PCL_RESET_MAPS)
+ foreach(_ss ${PCL_SUBSYSTEMS})
+ string(TOUPPER "PCL_${_ss}_SUBSYS" PCL_SUBSYS_SUBSYS)
+ if (${PCL_SUBSYS_SUBSYS})
+ string(TOUPPER "PCL_${_ss}_SUBSYS_DESC" PCL_PARENT_SUBSYS_DESC)
+ set(${PCL_SUBSYS_SUBSYS_DESC} "" CACHE INTERNAL "" FORCE)
+ set(${PCL_SUBSYS_SUBSYS} "" CACHE INTERNAL "" FORCE)
+ endif (${PCL_SUBSYS_SUBSYS})
+ endforeach(_ss)
+
set(PCL_SUBSYS_HYPERSTATUS "" CACHE INTERNAL
"To Build Or Not To Build, That Is The Question." FORCE)
set(PCL_SUBSYS_STATUS "" CACHE INTERNAL
SET_IN_GLOBAL_MAP(PCL_SUBSYS_DESC ${_name} ${_desc})
endmacro(PCL_ADD_SUBSYSTEM)
+###############################################################################
+# Register a subsubsystem.
+# _name Subsystem name.
+# _desc Description of the subsystem
+macro(PCL_ADD_SUBSUBSYSTEM _parent _name _desc)
+ string(TOUPPER "PCL_${_parent}_SUBSYS" PCL_PARENT_SUBSYS)
+ string(TOUPPER "PCL_${_parent}_SUBSYS_DESC" PCL_PARENT_SUBSYS_DESC)
+ set(_temp ${${PCL_PARENT_SUBSYS}})
+ list(APPEND _temp ${_name})
+ set(${PCL_PARENT_SUBSYS} ${_temp} CACHE INTERNAL "Internal list of ${_parenr} subsystems"
+ FORCE)
+ set_in_global_map(${PCL_PARENT_SUBSYS_DESC} ${_name} ${_desc})
+endmacro(PCL_ADD_SUBSUBSYSTEM)
+
###############################################################################
# Set the status of a subsystem.
SET_IN_GLOBAL_MAP(PCL_SUBSYS_REASONS ${_name} ${_reason})
endmacro(PCL_SET_SUBSYS_STATUS)
+###############################################################################
+# Set the status of a subsystem.
+# _name Subsystem name.
+# _status TRUE if being built, FALSE otherwise.
+# ARGN[0] Reason for not building.
+macro(PCL_SET_SUBSUBSYS_STATUS _parent _name _status)
+ if(${ARGC} EQUAL 4)
+ set(_reason ${ARGV2})
+ else(${ARGC} EQUAL 4)
+ set(_reason "No reason")
+ endif(${ARGC} EQUAL 4)
+ SET_IN_GLOBAL_MAP(PCL_SUBSYS_STATUS ${_parent}_${_name} ${_status})
+ SET_IN_GLOBAL_MAP(PCL_SUBSYS_REASONS ${_parent}_${_name} ${_reason})
+endmacro(PCL_SET_SUBSUBSYS_STATUS)
+
+
###############################################################################
# Get the status of a subsystem
# _var Destination variable.
GET_IN_MAP(${_var} PCL_SUBSYS_STATUS ${_name})
endmacro(PCL_GET_SUBSYS_STATUS)
+###############################################################################
+# Get the status of a subsystem
+# _var Destination variable.
+# _name Name of the subsystem.
+macro(PCL_GET_SUBSUBSYS_STATUS _var _parent _name)
+ GET_IN_MAP(${_var} PCL_SUBSYS_STATUS ${_parent}_${_name})
+endmacro(PCL_GET_SUBSUBSYS_STATUS)
+
+
###############################################################################
# Set the hyperstatus of a subsystem and its dependee
# _name Subsystem name.
foreach(_ss ${PCL_SUBSYSTEMS})
PCL_GET_SUBSYS_STATUS(_status ${_ss})
if(_status)
- message(STATUS " ${_ss}")
+ set(message_text " ${_ss}")
+ string(TOUPPER "PCL_${_ss}_SUBSYS" PCL_SUBSYS_SUBSYS)
+ if (${PCL_SUBSYS_SUBSYS})
+ set(will_build)
+ foreach(_sub ${${PCL_SUBSYS_SUBSYS}})
+ PCL_GET_SUBSYS_STATUS(_sub_status ${_ss}_${_sub})
+ if (_sub_status)
+ set(will_build "${will_build}\n |_ ${_sub}")
+ endif (_sub_status)
+ endforeach(_sub)
+ if (NOT ("${will_build}" STREQUAL ""))
+ set(message_text "${message_text}\n building: ${will_build}")
+ endif (NOT ("${will_build}" STREQUAL ""))
+ set(wont_build)
+ foreach(_sub ${${PCL_SUBSYS_SUBSYS}})
+ PCL_GET_SUBSYS_STATUS(_sub_status ${_ss}_${_sub})
+ PCL_GET_SUBSYS_HYPERSTATUS(_sub_hyper_status ${_ss}_${sub})
+ if (NOT _sub_status OR ("${_sub_hyper_status}" STREQUAL "AUTO_OFF"))
+ GET_IN_MAP(_reason PCL_SUBSYS_REASONS ${_ss}_${_sub})
+ set(wont_build "${wont_build}\n |_ ${_sub}: ${_reason}")
+ endif (NOT _sub_status OR ("${_sub_hyper_status}" STREQUAL "AUTO_OFF"))
+ endforeach(_sub)
+ if (NOT ("${wont_build}" STREQUAL ""))
+ set(message_text "${message_text}\n not building: ${wont_build}")
+ endif (NOT ("${wont_build}" STREQUAL ""))
+ endif (${PCL_SUBSYS_SUBSYS})
+ message(STATUS "${message_text}")
endif(_status)
endforeach(_ss)
# exception_list OPTIONAL and contains list of subdirectories not to account
macro(collect_subproject_directory_names dirname filename names dirs)
file(GLOB globbed RELATIVE "${dirname}" "${dirname}/*/${filename}")
- if(${ARGC} GREATER 3)
+ if(${ARGC} GREATER 4)
set(exclusion_list ${ARGN})
foreach(file ${globbed})
get_filename_component(dir ${file} PATH)
set(${dirs} ${${dirs}} ${dir})
endif(excluded EQUAL -1)
endforeach()
- else(${ARGC} GREATER 3)
+ else(${ARGC} GREATER 4)
foreach(file ${globbed})
get_filename_component(dir ${file} PATH)
set(${dirs} ${${dirs}} ${dir})
endforeach(file)
- endif(${ARGC} GREATER 3)
+ endif(${ARGC} GREATER 4)
foreach(subdir ${${dirs}})
- file(STRINGS ${dirname}/${subdir}/CMakeLists.txt name REGEX "set.*SUBSYS_NAME .*\\)$")
- string(REGEX REPLACE "set.*SUBSYS_NAME" "" name "${name}")
- string(REPLACE ")" "" name "${name}")
- string(STRIP "${name}" name)
-# message(STATUS "setting ${subdir} component name to ${name}")
+ file(STRINGS ${dirname}/${subdir}/CMakeLists.txt name REGEX "[setSET ]+\\(.*SUBSYS_NAME .*\\)$")
+ string(REGEX REPLACE "[setSET ]+\\(.*SUBSYS_NAME[ ]+([A-Za-z0-9_]+)[ ]*\\)" "\\1" name "${name}")
set(${names} ${${names}} ${name})
file(STRINGS ${dirname}/${subdir}/CMakeLists.txt DEPENDENCIES REGEX "set.*SUBSYS_DEPS .*\\)")
string(REGEX REPLACE "set.*SUBSYS_DEPS" "" DEPENDENCIES "${DEPENDENCIES}")
endforeach(_item)
endmacro(PREFIX_LIST)
+###############################################################################
+# Remove vtk definitions
+# This is used for CUDA targets, because nvcc does not like VTK 6+ definitions
+# style.
+macro(REMOVE_VTK_DEFINITIONS)
+ get_directory_property(_dir_defs DIRECTORY ${CMAKE_SOURCE_DIR} COMPILE_DEFINITIONS)
+ set(_vtk_definitions)
+ foreach(_item ${_dir_defs})
+ if(_item MATCHES "vtk*")
+ list(APPEND _vtk_definitions -D${_item})
+ endif()
+ endforeach()
+ remove_definitions(${_vtk_definitions})
+endmacro(REMOVE_VTK_DEFINITIONS)
###############################################################################
# Pull the component parts out of the version number.
if (NOT DEFINED LIB_INSTALL_DIR)
set(LIB_INSTALL_DIR "lib")
endif (NOT DEFINED LIB_INSTALL_DIR)
- set(INCLUDE_INSTALL_ROOT
- "include/${PROJECT_NAME_LOWER}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+ if(NOT ANDROID)
+ set(INCLUDE_INSTALL_ROOT
+ "include/${PROJECT_NAME_LOWER}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
+ else(NOT ANDROID)
+ set(INCLUDE_INSTALL_ROOT "include") # Android, don't put into subdir
+ endif(NOT ANDROID)
set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_MAJOR_VERSION}.${PCL_MINOR_VERSION}")
set(BIN_INSTALL_DIR "bin")
file(READ "@PROJECT_BINARY_DIR@/install_manifest.txt" files)
string(REGEX REPLACE "\n" ";" files "${files}")
foreach(file ${files})
- message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
if(EXISTS "$ENV{DESTDIR}${file}" OR IS_SYMLINK "$ENV{DESTDIR}${file}")
exec_program("@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
"Directory \"@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@\" does not exist.")
endif(EXISTS "@CMAKE_INSTALL_PREFIX@/@PCLCONFIG_INSTALL_DIR@")
-# remove pcl directory in share (removes all files in it!)
-# created by CMakeLists.txt for PCLConfig.cmake
-message(STATUS "Uninstalling \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"")
-if(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@")
- exec_program("@CMAKE_COMMAND@"
- ARGS "-E remove_directory \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\""
- OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval)
- if(NOT "${rm_retval}" STREQUAL 0)
- message(FATAL_ERROR
- "Problem when removing \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"")
- endif(NOT "${rm_retval}" STREQUAL 0)
-else(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@")
- message(STATUS
- "Directory \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\" does not exist.")
-endif(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@")
+# remove pcl directory in share/doc (removes all files in it!)
+if(@WITH_DOCS@)
+ message(STATUS "Uninstalling \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"")
+ if(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@")
+ exec_program("@CMAKE_COMMAND@"
+ ARGS "-E remove_directory \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\""
+ OUTPUT_VARIABLE rm_out RETURN_VALUE rm_retval)
+ if(NOT "${rm_retval}" STREQUAL 0)
+ message(FATAL_ERROR
+ "Problem when removing \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\"")
+ endif(NOT "${rm_retval}" STREQUAL 0)
+ else(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@")
+ message(STATUS
+ "Directory \"@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@\" does not exist.")
+ endif(EXISTS "@CMAKE_INSTALL_PREFIX@/@DOC_INSTALL_DIR@")
+endif()
set(SUBSYS_DEPS)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS eigen boost)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS eigen boost)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(range_image_incs
+ include/pcl/range_image/bearing_angle_image.h
include/pcl/range_image/range_image.h
include/pcl/range_image/range_image_planar.h
include/pcl/range_image/range_image_spherical.h
)
set(range_image_srcs
+ src/bearing_angle_image.cpp
src/range_image.cpp
src/range_image_planar.cpp
)
src/common.cpp
src/correspondence.cpp
src/distances.cpp
- src/intersections.cpp
src/parse.cpp
src/poses_from_matches.cpp
src/print.cpp
include/pcl/point_traits.h
include/pcl/point_types_conversion.h
include/pcl/point_representation.h
- include/pcl/correspondence.h
include/pcl/point_types.h
include/pcl/for_each_type.h
include/pcl/pcl_tests.h
include/pcl/common/common_headers.h
include/pcl/common/distances.h
include/pcl/common/eigen.h
+ include/pcl/common/copy_point.h
include/pcl/common/io.h
include/pcl/common/file_io.h
include/pcl/common/intersections.h
include/pcl/common/impl/centroid.hpp
include/pcl/common/impl/common.hpp
include/pcl/common/impl/eigen.hpp
+ include/pcl/common/impl/intersections.hpp
+ include/pcl/common/impl/copy_point.hpp
include/pcl/common/impl/io.hpp
include/pcl/common/impl/file_io.hpp
include/pcl/common/impl/norms.hpp
include/pcl/common/impl/random.hpp
include/pcl/common/impl/generate.hpp
include/pcl/common/impl/projection_matrix.hpp
+ include/pcl/common/impl/accumulators.hpp
)
set(impl_incs
src/fft/kiss_fft.c
src/fft/kiss_fftr.c)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${kissfft_srcs} ${incs} ${common_incs} ${impl_incs} ${ros_incs} ${tools_incs} ${kissfft_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl})
- #PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${common_incs} ${impl_incs} ${ros_incs} ${tools_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl})
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "" ""
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${kissfft_srcs} ${incs} ${common_incs} ${impl_incs} ${ros_incs} ${tools_incs} ${kissfft_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl})
+ #PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${common_incs} ${impl_incs} ${ros_incs} ${tools_incs} ${common_incs_impl} ${range_image_incs} ${range_image_incs_impl})
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "" ""
"" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} "" ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} common ${common_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} common/fft ${kissfft_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} common/impl ${common_incs_impl})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} impl ${impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ros ${ros_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} console ${tools_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} range_image ${range_image_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} range_image/impl ${range_image_incs_impl})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" common ${common_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" common/fft ${kissfft_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" common/impl ${common_incs_impl})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" ros ${ros_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" console ${tools_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" range_image ${range_image_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" range_image/impl ${range_image_incs_impl})
endif(build)
PCLHeader (): seq (0), stamp (), frame_id ()
{}
+ /** \brief Sequence number */
pcl::uint32_t seq;
+ /** \brief A timestamp associated with the time when the data was acquired
+ *
+ * The value represents microseconds since 1970-01-01 00:00:00 (the UNIX epoch).
+ */
pcl::uint64_t stamp;
-
+ /** \brief Coordinate frame ID */
std::string frame_id;
typedef boost::shared_ptr<PCLHeader> Ptr;
* \param[out] centroid the output centroid
* \return number of valid point used to determine the centroid. In case of dense point clouds, this is the same as the size of input cloud.
* \note if return value is 0, the centroid is not changed, thus not valid.
+ * The last compononent of the vector is set to 1, this allow to transform the centroid vector with 4x4 matrices.
* \ingroup common
*/
template <typename PointT, typename Scalar> inline unsigned int
* \param[out] centroid the output centroid
* \return number of valid point used to determine the centroid. In case of dense point clouds, this is the same as the size of input cloud.
* \note if return value is 0, the centroid is not changed, thus not valid.
+ * The last compononent of the vector is set to 1, this allow to transform the centroid vector with 4x4 matrices.
* \ingroup common
*/
template <typename PointT, typename Scalar> inline unsigned int
* \param[out] centroid the output centroid
* \return number of valid point used to determine the centroid. In case of dense point clouds, this is the same as the size of input cloud.
* \note if return value is 0, the centroid is not changed, thus not valid.
+ * The last compononent of the vector is set to 1, this allow to transform the centroid vector with 4x4 matrices.
* \ingroup common
*/
template <typename PointT, typename Scalar> inline unsigned int
* \param[out] centroid the output centroid
* \return number of valid point used to determine the centroid. In case of dense point clouds, this is the same as the size of input cloud.
* \note if return value is 0, the centroid is not changed, thus not valid.
+ * The last compononent of the vector is set to 1, this allow to transform the centroid vector with 4x4 matrices.
* \ingroup common
*/
template <typename PointT, typename Scalar> inline unsigned int
return (computeNDCentroid<PointT, double> (cloud, indices, centroid));
}
+}
+
+#include <pcl/common/impl/accumulators.hpp>
+
+namespace pcl
+{
+
+ /** A generic class that computes the centroid of points fed to it.
+ *
+ * Here by "centroid" we denote not just the mean of 3D point coordinates,
+ * but also mean of values in the other data fields. The general-purpose
+ * \ref computeNDCentroid() function also implements this sort of
+ * functionality, however it does it in a "dumb" way, i.e. regardless of the
+ * semantics of the data inside a field it simply averages the values. In
+ * certain cases (e.g. for \c x, \c y, \c z, \c intensity fields) this
+ * behavior is reasonable, however in other cases (e.g. \c rgb, \c rgba,
+ * \c label fields) this does not lead to meaningful results.
+ *
+ * This class is capable of computing the centroid in a "smart" way, i.e.
+ * taking into account the meaning of the data inside fields. Currently the
+ * following fields are supported:
+ *
+ * - XYZ (\c x, \c y, \c z)
+ *
+ * Separate average for each field.
+ *
+ * - Normal (\c normal_x, \c normal_y, \c normal_z)
+ *
+ * Separate average for each field, and the resulting vector is normalized.
+ *
+ * - Curvature (\c curvature)
+ *
+ * Average.
+ *
+ * - RGB/RGBA (\c rgb or \c rgba)
+ *
+ * Separate average for R, G, B, and alpha channels.
+ *
+ * - Intensity (\c intensity)
+ *
+ * Average.
+ *
+ * - Label (\c label)
+ *
+ * Majority vote. If several labels have the same largest support then the
+ * smaller label wins.
+ *
+ * The template parameter defines the type of points that may be accumulated
+ * with this class. This may be an arbitrary PCL point type, and centroid
+ * computation will happen only for the fields that are present in it and are
+ * supported.
+ *
+ * Current centroid may be retrieved at any time using get(). Note that the
+ * function is templated on point type, so it is possible to fetch the
+ * centroid into a point type that differs from the type of points that are
+ * being accumulated. All the "extra" fields for which the centroid is not
+ * being calculated will be left untouched.
+ *
+ * Example usage:
+ *
+ * \code
+ * // Create and accumulate points
+ * CentroidPoint<pcl::PointXYZ> centroid;
+ * centroid.add (pcl::PointXYZ (1, 2, 3);
+ * centroid.add (pcl::PointXYZ (5, 6, 7);
+ * // Fetch centroid using `get()`
+ * pcl::PointXYZ c1;
+ * centroid.get (c1);
+ * // The expected result is: c1.x == 3, c1.y == 4, c1.z == 5
+ * // It is also okay to use `get()` with a different point type
+ * pcl::PointXYZRGB c2;
+ * centroid.get (c2);
+ * // The expected result is: c2.x == 3, c2.y == 4, c2.z == 5,
+ * // and c2.rgb is left untouched
+ * \endcode
+ *
+ * \note Assumes that the points being inserted are valid.
+ *
+ * \note This class template can be successfully instantiated for *any*
+ * PCL point type. Of course, each of the field averages is computed only if
+ * the point type has the corresponding field.
+ *
+ * \ingroup common
+ * \author Sergey Alexandrov */
+ template <typename PointT>
+ class CentroidPoint
+ {
+
+ public:
+
+ CentroidPoint ()
+ : num_points_ (0)
+ {
+ }
+
+ /** Add a new point to the centroid computation.
+ *
+ * In this function only the accumulators and point counter are updated,
+ * actual centroid computation does not happen until get() is called. */
+ void
+ add (const PointT& point)
+ {
+ // Invoke add point on each accumulator
+ boost::fusion::for_each (accumulators_, detail::AddPoint<PointT> (point));
+ ++num_points_;
+ }
+
+ /** Retrieve the current centroid.
+ *
+ * Computation (division of accumulated values by the number of points
+ * and normalization where applicable) happens here. The result is not
+ * cached, so any subsequent call to this function will trigger
+ * re-computation.
+ *
+ * If the number of accumulated points is zero, then the point will be
+ * left untouched. */
+ template <typename PointOutT> void
+ get (PointOutT& point) const
+ {
+ if (num_points_ != 0)
+ {
+ // Filter accumulators so that only those that are compatible with
+ // both PointT and requested point type remain
+ typename pcl::detail::Accumulators<PointT, PointOutT>::type ca (accumulators_);
+ // Invoke get point on each accumulator in filtered list
+ boost::fusion::for_each (ca, detail::GetPoint<PointOutT> (point, num_points_));
+ }
+ }
+
+ /** Get the total number of points that were added. */
+ size_t
+ getSize () const
+ {
+ return (num_points_);
+ }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ private:
+
+ size_t num_points_;
+ typename pcl::detail::Accumulators<PointT>::type accumulators_;
+
+ };
+
+ /** Compute the centroid of a set of points and return it as a point.
+ *
+ * Implementation leverages \ref CentroidPoint class and therefore behaves
+ * differently from \ref compute3DCentroid() and \ref computeNDCentroid().
+ * See \ref CentroidPoint documentation for explanation.
+ *
+ * \param[in] cloud input point cloud
+ * \param[out] centroid output centroid
+ *
+ * \return number of valid points used to determine the centroid (will be the
+ * same as the size of the cloud if it is dense)
+ *
+ * \note If return value is \c 0, then the centroid is not changed, thus is
+ * not valid.
+ *
+ * \ingroup common */
+ template <typename PointInT, typename PointOutT> size_t
+ computeCentroid (const pcl::PointCloud<PointInT>& cloud,
+ PointOutT& centroid);
+
+ /** Compute the centroid of a set of points and return it as a point.
+ * \param[in] cloud
+ * \param[in] indices point cloud indices that need to be used
+ * \param[out] centroid
+ * This is an overloaded function provided for convenience. See the
+ * documentation for computeCentroid().
+ *
+ * \ingroup common */
+ template <typename PointInT, typename PointOutT> size_t
+ computeCentroid (const pcl::PointCloud<PointInT>& cloud,
+ const std::vector<int>& indices,
+ PointOutT& centroid);
+
}
/*@}*/
#include <pcl/common/impl/centroid.hpp>
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_COMMON_COPY_POINT_H_
+#define PCL_COMMON_COPY_POINT_H_
+
+namespace pcl
+{
+
+ /** \brief Copy the fields of a source point into a target point.
+ *
+ * If the source and the target point types are the same, then a complete
+ * copy is made. Otherwise only those fields that the two point types share
+ * in common are copied.
+ *
+ * \param[in] point_in the source point
+ * \param[out] point_out the target point
+ *
+ * \ingroup common */
+ template <typename PointInT, typename PointOutT> void
+ copyPoint (const PointInT& point_in, PointOutT& point_out);
+
+}
+
+#include <pcl/common/impl/copy_point.hpp>
+
+#endif // PCL_COMMON_COPY_POINT_H_
+
#endif
#include <cmath>
+#include <pcl/ModelCoefficients.h>
#include <Eigen/StdVector>
#include <Eigen/Core>
* \param[in] c constant parameter
* \param[out] roots solutions of x^2 + b*x + c = 0
*/
- template<typename Scalar, typename Roots> inline void
- computeRoots2 (const Scalar& b, const Scalar& c, Roots& roots)
- {
- roots (0) = Scalar (0);
- Scalar d = Scalar (b * b - 4.0 * c);
- if (d < 0.0) // no real roots!!!! THIS SHOULD NOT HAPPEN!
- d = 0.0;
-
- Scalar sd = ::std::sqrt (d);
-
- roots (2) = 0.5f * (b + sd);
- roots (1) = 0.5f * (b - sd);
- }
+ template <typename Scalar, typename Roots> void
+ computeRoots2 (const Scalar &b, const Scalar &c, Roots &roots);
/** \brief computes the roots of the characteristic polynomial of the input matrix m, which are the eigenvalues
* \param[in] m input matrix
* \param[out] roots roots of the characteristic polynomial of the input matrix m, which are the eigenvalues
*/
- template<typename Matrix, typename Roots> inline void
- computeRoots (const Matrix& m, Roots& roots)
- {
- typedef typename Matrix::Scalar Scalar;
-
- // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0. The
- // eigenvalues are the roots to this equation, all guaranteed to be
- // real-valued, because the matrix is symmetric.
- Scalar c0 = m (0, 0) * m (1, 1) * m (2, 2)
- + Scalar (2) * m (0, 1) * m (0, 2) * m (1, 2)
- - m (0, 0) * m (1, 2) * m (1, 2)
- - m (1, 1) * m (0, 2) * m (0, 2)
- - m (2, 2) * m (0, 1) * m (0, 1);
- Scalar c1 = m (0, 0) * m (1, 1) -
- m (0, 1) * m (0, 1) +
- m (0, 0) * m (2, 2) -
- m (0, 2) * m (0, 2) +
- m (1, 1) * m (2, 2) -
- m (1, 2) * m (1, 2);
- Scalar c2 = m (0, 0) + m (1, 1) + m (2, 2);
-
-
- if (fabs (c0) < Eigen::NumTraits<Scalar>::epsilon ())// one root is 0 -> quadratic equation
- computeRoots2 (c2, c1, roots);
- else
- {
- const Scalar s_inv3 = Scalar (1.0 / 3.0);
- const Scalar s_sqrt3 = std::sqrt (Scalar (3.0));
- // Construct the parameters used in classifying the roots of the equation
- // and in solving the equation for the roots in closed form.
- Scalar c2_over_3 = c2*s_inv3;
- Scalar a_over_3 = (c1 - c2 * c2_over_3) * s_inv3;
- if (a_over_3 > Scalar (0))
- a_over_3 = Scalar (0);
-
- Scalar half_b = Scalar (0.5) * (c0 + c2_over_3 * (Scalar (2) * c2_over_3 * c2_over_3 - c1));
-
- Scalar q = half_b * half_b + a_over_3 * a_over_3*a_over_3;
- if (q > Scalar (0))
- q = Scalar (0);
-
- // Compute the eigenvalues by solving for the roots of the polynomial.
- Scalar rho = std::sqrt (-a_over_3);
- Scalar theta = std::atan2 (std::sqrt (-q), half_b) * s_inv3;
- Scalar cos_theta = std::cos (theta);
- Scalar sin_theta = std::sin (theta);
- roots (0) = c2_over_3 + Scalar (2) * rho * cos_theta;
- roots (1) = c2_over_3 - rho * (cos_theta + s_sqrt3 * sin_theta);
- roots (2) = c2_over_3 - rho * (cos_theta - s_sqrt3 * sin_theta);
-
- // Sort in increasing order.
- if (roots (0) >= roots (1))
- std::swap (roots (0), roots (1));
- if (roots (1) >= roots (2))
- {
- std::swap (roots (1), roots (2));
- if (roots (0) >= roots (1))
- std::swap (roots (0), roots (1));
- }
-
- if (roots (0) <= 0) // eigenval for symetric positive semi-definite matrix can not be negative! Set it to 0
- computeRoots2 (c2, c1, roots);
- }
- }
+ template <typename Matrix, typename Roots> void
+ computeRoots (const Matrix &m, Roots &roots);
/** \brief determine the smallest eigenvalue and its corresponding eigenvector
* \param[in] mat input matrix that needs to be symmetric and positive semi definite
* \param[out] eigenvector the corresponding eigenvector to the smallest eigenvalue of the input matrix
* \ingroup common
*/
- template <typename Matrix, typename Vector> inline void
- eigen22 (const Matrix& mat, typename Matrix::Scalar& eigenvalue, Vector& eigenvector)
- {
- // if diagonal matrix, the eigenvalues are the diagonal elements
- // and the eigenvectors are not unique, thus set to Identity
- if (fabs(mat.coeff (1)) <= std::numeric_limits<typename Matrix::Scalar>::min ())
- {
- if (mat.coeff (0) < mat.coeff (2))
- {
- eigenvalue = mat.coeff (0);
- eigenvector [0] = 1.0;
- eigenvector [1] = 0.0;
- }
- else
- {
- eigenvalue = mat.coeff (2);
- eigenvector [0] = 0.0;
- eigenvector [1] = 1.0;
- }
- return;
- }
-
- // 0.5 to optimize further calculations
- typename Matrix::Scalar trace = static_cast<typename Matrix::Scalar> (0.5) * (mat.coeff (0) + mat.coeff (3));
- typename Matrix::Scalar determinant = mat.coeff (0) * mat.coeff (3) - mat.coeff (1) * mat.coeff (1);
-
- typename Matrix::Scalar temp = trace * trace - determinant;
-
- if (temp < 0)
- temp = 0;
-
- eigenvalue = trace - ::std::sqrt (temp);
-
- eigenvector [0] = - mat.coeff (1);
- eigenvector [1] = mat.coeff (0) - eigenvalue;
- eigenvector.normalize ();
- }
+ template <typename Matrix, typename Vector> void
+ eigen22 (const Matrix &mat, typename Matrix::Scalar &eigenvalue, Vector &eigenvector);
/** \brief determine the smallest eigenvalue and its corresponding eigenvector
* \param[in] mat input matrix that needs to be symmetric and positive semi definite
* \param[out] eigenvalues the smallest eigenvalue of the input matrix
* \ingroup common
*/
- template <typename Matrix, typename Vector> inline void
- eigen22 (const Matrix& mat, Matrix& eigenvectors, Vector& eigenvalues)
- {
- // if diagonal matrix, the eigenvalues are the diagonal elements
- // and the eigenvectors are not unique, thus set to Identity
- if (fabs(mat.coeff (1)) <= std::numeric_limits<typename Matrix::Scalar>::min ())
- {
- if (mat.coeff (0) < mat.coeff (3))
- {
- eigenvalues.coeffRef (0) = mat.coeff (0);
- eigenvalues.coeffRef (1) = mat.coeff (3);
- eigenvectors.coeffRef (0) = 1.0;
- eigenvectors.coeffRef (1) = 0.0;
- eigenvectors.coeffRef (2) = 0.0;
- eigenvectors.coeffRef (3) = 1.0;
- }
- else
- {
- eigenvalues.coeffRef (0) = mat.coeff (3);
- eigenvalues.coeffRef (1) = mat.coeff (0);
- eigenvectors.coeffRef (0) = 0.0;
- eigenvectors.coeffRef (1) = 1.0;
- eigenvectors.coeffRef (2) = 1.0;
- eigenvectors.coeffRef (3) = 0.0;
- }
- return;
- }
-
- // 0.5 to optimize further calculations
- typename Matrix::Scalar trace = static_cast<typename Matrix::Scalar> (0.5) * (mat.coeff (0) + mat.coeff (3));
- typename Matrix::Scalar determinant = mat.coeff (0) * mat.coeff (3) - mat.coeff (1) * mat.coeff (1);
-
- typename Matrix::Scalar temp = trace * trace - determinant;
-
- if (temp < 0)
- temp = 0;
- else
- temp = ::std::sqrt (temp);
-
- eigenvalues.coeffRef (0) = trace - temp;
- eigenvalues.coeffRef (1) = trace + temp;
-
- // either this is in a row or column depending on RowMajor or ColumnMajor
- eigenvectors.coeffRef (0) = - mat.coeff (1);
- eigenvectors.coeffRef (2) = mat.coeff (0) - eigenvalues.coeff (0);
- typename Matrix::Scalar norm = static_cast<typename Matrix::Scalar> (1.0) /
- static_cast<typename Matrix::Scalar> (::std::sqrt (eigenvectors.coeffRef (0) * eigenvectors.coeffRef (0) + eigenvectors.coeffRef (2) * eigenvectors.coeffRef (2)));
- eigenvectors.coeffRef (0) *= norm;
- eigenvectors.coeffRef (2) *= norm;
- eigenvectors.coeffRef (1) = eigenvectors.coeffRef (2);
- eigenvectors.coeffRef (3) = -eigenvectors.coeffRef (0);
- }
+ template <typename Matrix, typename Vector> void
+ eigen22 (const Matrix &mat, Matrix &eigenvectors, Vector &eigenvalues);
/** \brief determines the corresponding eigenvector to the given eigenvalue of the symmetric positive semi definite input matrix
* \param[in] mat symmetric positive semi definite input matrix
* \param[out] eigenvector the corresponding eigenvector for the input eigenvalue
* \ingroup common
*/
- template<typename Matrix, typename Vector> inline void
- computeCorrespondingEigenVector (const Matrix& mat, const typename Matrix::Scalar& eigenvalue, Vector& eigenvector)
- {
- typedef typename Matrix::Scalar Scalar;
- // Scale the matrix so its entries are in [-1,1]. The scaling is applied
- // only when at least one matrix entry has magnitude larger than 1.
-
- Scalar scale = mat.cwiseAbs ().maxCoeff ();
- if (scale <= std::numeric_limits<Scalar>::min ())
- scale = Scalar (1.0);
-
- Matrix scaledMat = mat / scale;
-
- scaledMat.diagonal ().array () -= eigenvalue / scale;
-
- Vector vec1 = scaledMat.row (0).cross (scaledMat.row (1));
- Vector vec2 = scaledMat.row (0).cross (scaledMat.row (2));
- Vector vec3 = scaledMat.row (1).cross (scaledMat.row (2));
-
- Scalar len1 = vec1.squaredNorm ();
- Scalar len2 = vec2.squaredNorm ();
- Scalar len3 = vec3.squaredNorm ();
-
- if (len1 >= len2 && len1 >= len3)
- eigenvector = vec1 / std::sqrt (len1);
- else if (len2 >= len1 && len2 >= len3)
- eigenvector = vec2 / std::sqrt (len2);
- else
- eigenvector = vec3 / std::sqrt (len3);
- }
+ template <typename Matrix, typename Vector> void
+ computeCorrespondingEigenVector (const Matrix &mat, const typename Matrix::Scalar &eigenvalue, Vector &eigenvector);
/** \brief determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi definite input matrix
* \param[in] mat symmetric positive semi definite input matrix
* \note if the smallest eigenvalue is not unique, this function may return any eigenvector that is consistent to the eigenvalue.
* \ingroup common
*/
- template<typename Matrix, typename Vector> inline void
- eigen33 (const Matrix& mat, typename Matrix::Scalar& eigenvalue, Vector& eigenvector)
- {
- typedef typename Matrix::Scalar Scalar;
- // Scale the matrix so its entries are in [-1,1]. The scaling is applied
- // only when at least one matrix entry has magnitude larger than 1.
-
- Scalar scale = mat.cwiseAbs ().maxCoeff ();
- if (scale <= std::numeric_limits<Scalar>::min ())
- scale = Scalar (1.0);
-
- Matrix scaledMat = mat / scale;
-
- Vector eigenvalues;
- computeRoots (scaledMat, eigenvalues);
-
- eigenvalue = eigenvalues (0) * scale;
-
- scaledMat.diagonal ().array () -= eigenvalues (0);
-
- Vector vec1 = scaledMat.row (0).cross (scaledMat.row (1));
- Vector vec2 = scaledMat.row (0).cross (scaledMat.row (2));
- Vector vec3 = scaledMat.row (1).cross (scaledMat.row (2));
-
- Scalar len1 = vec1.squaredNorm ();
- Scalar len2 = vec2.squaredNorm ();
- Scalar len3 = vec3.squaredNorm ();
-
- if (len1 >= len2 && len1 >= len3)
- eigenvector = vec1 / std::sqrt (len1);
- else if (len2 >= len1 && len2 >= len3)
- eigenvector = vec2 / std::sqrt (len2);
- else
- eigenvector = vec3 / std::sqrt (len3);
- }
+ template <typename Matrix, typename Vector> void
+ eigen33 (const Matrix &mat, typename Matrix::Scalar &eigenvalue, Vector &eigenvector);
/** \brief determines the eigenvalues of the symmetric positive semi definite input matrix
* \param[in] mat symmetric positive semi definite input matrix
* \param[out] evals resulting eigenvalues in ascending order
* \ingroup common
*/
- template<typename Matrix, typename Vector> inline void
- eigen33 (const Matrix& mat, Vector& evals)
- {
- typedef typename Matrix::Scalar Scalar;
- Scalar scale = mat.cwiseAbs ().maxCoeff ();
- if (scale <= std::numeric_limits<Scalar>::min ())
- scale = Scalar (1.0);
-
- Matrix scaledMat = mat / scale;
- computeRoots (scaledMat, evals);
- evals *= scale;
- }
+ template <typename Matrix, typename Vector> void
+ eigen33 (const Matrix &mat, Vector &evals);
/** \brief determines the eigenvalues and corresponding eigenvectors of the symmetric positive semi definite input matrix
* \param[in] mat symmetric positive semi definite input matrix
* \param[out] evals corresponding eigenvectors in correct order according to eigenvalues
* \ingroup common
*/
- template<typename Matrix, typename Vector> inline void
- eigen33 (const Matrix& mat, Matrix& evecs, Vector& evals)
- {
- typedef typename Matrix::Scalar Scalar;
- // Scale the matrix so its entries are in [-1,1]. The scaling is applied
- // only when at least one matrix entry has magnitude larger than 1.
-
- Scalar scale = mat.cwiseAbs ().maxCoeff ();
- if (scale <= std::numeric_limits<Scalar>::min ())
- scale = Scalar (1.0);
-
- Matrix scaledMat = mat / scale;
-
- // Compute the eigenvalues
- computeRoots (scaledMat, evals);
-
- if ((evals (2) - evals (0)) <= Eigen::NumTraits<Scalar>::epsilon ())
- {
- // all three equal
- evecs.setIdentity ();
- }
- else if ((evals (1) - evals (0)) <= Eigen::NumTraits<Scalar>::epsilon () )
- {
- // first and second equal
- Matrix tmp;
- tmp = scaledMat;
- tmp.diagonal ().array () -= evals (2);
-
- Vector vec1 = tmp.row (0).cross (tmp.row (1));
- Vector vec2 = tmp.row (0).cross (tmp.row (2));
- Vector vec3 = tmp.row (1).cross (tmp.row (2));
-
- Scalar len1 = vec1.squaredNorm ();
- Scalar len2 = vec2.squaredNorm ();
- Scalar len3 = vec3.squaredNorm ();
-
- if (len1 >= len2 && len1 >= len3)
- evecs.col (2) = vec1 / std::sqrt (len1);
- else if (len2 >= len1 && len2 >= len3)
- evecs.col (2) = vec2 / std::sqrt (len2);
- else
- evecs.col (2) = vec3 / std::sqrt (len3);
-
- evecs.col (1) = evecs.col (2).unitOrthogonal ();
- evecs.col (0) = evecs.col (1).cross (evecs.col (2));
- }
- else if ((evals (2) - evals (1)) <= Eigen::NumTraits<Scalar>::epsilon () )
- {
- // second and third equal
- Matrix tmp;
- tmp = scaledMat;
- tmp.diagonal ().array () -= evals (0);
-
- Vector vec1 = tmp.row (0).cross (tmp.row (1));
- Vector vec2 = tmp.row (0).cross (tmp.row (2));
- Vector vec3 = tmp.row (1).cross (tmp.row (2));
-
- Scalar len1 = vec1.squaredNorm ();
- Scalar len2 = vec2.squaredNorm ();
- Scalar len3 = vec3.squaredNorm ();
-
- if (len1 >= len2 && len1 >= len3)
- evecs.col (0) = vec1 / std::sqrt (len1);
- else if (len2 >= len1 && len2 >= len3)
- evecs.col (0) = vec2 / std::sqrt (len2);
- else
- evecs.col (0) = vec3 / std::sqrt (len3);
-
- evecs.col (1) = evecs.col (0).unitOrthogonal ();
- evecs.col (2) = evecs.col (0).cross (evecs.col (1));
- }
- else
- {
- Matrix tmp;
- tmp = scaledMat;
- tmp.diagonal ().array () -= evals (2);
-
- Vector vec1 = tmp.row (0).cross (tmp.row (1));
- Vector vec2 = tmp.row (0).cross (tmp.row (2));
- Vector vec3 = tmp.row (1).cross (tmp.row (2));
-
- Scalar len1 = vec1.squaredNorm ();
- Scalar len2 = vec2.squaredNorm ();
- Scalar len3 = vec3.squaredNorm ();
-#ifdef _WIN32
- Scalar *mmax = new Scalar[3];
-#else
- Scalar mmax[3];
-#endif
- unsigned int min_el = 2;
- unsigned int max_el = 2;
- if (len1 >= len2 && len1 >= len3)
- {
- mmax[2] = len1;
- evecs.col (2) = vec1 / std::sqrt (len1);
- }
- else if (len2 >= len1 && len2 >= len3)
- {
- mmax[2] = len2;
- evecs.col (2) = vec2 / std::sqrt (len2);
- }
- else
- {
- mmax[2] = len3;
- evecs.col (2) = vec3 / std::sqrt (len3);
- }
-
- tmp = scaledMat;
- tmp.diagonal ().array () -= evals (1);
-
- vec1 = tmp.row (0).cross (tmp.row (1));
- vec2 = tmp.row (0).cross (tmp.row (2));
- vec3 = tmp.row (1).cross (tmp.row (2));
-
- len1 = vec1.squaredNorm ();
- len2 = vec2.squaredNorm ();
- len3 = vec3.squaredNorm ();
- if (len1 >= len2 && len1 >= len3)
- {
- mmax[1] = len1;
- evecs.col (1) = vec1 / std::sqrt (len1);
- min_el = len1 <= mmax[min_el] ? 1 : min_el;
- max_el = len1 > mmax[max_el] ? 1 : max_el;
- }
- else if (len2 >= len1 && len2 >= len3)
- {
- mmax[1] = len2;
- evecs.col (1) = vec2 / std::sqrt (len2);
- min_el = len2 <= mmax[min_el] ? 1 : min_el;
- max_el = len2 > mmax[max_el] ? 1 : max_el;
- }
- else
- {
- mmax[1] = len3;
- evecs.col (1) = vec3 / std::sqrt (len3);
- min_el = len3 <= mmax[min_el] ? 1 : min_el;
- max_el = len3 > mmax[max_el] ? 1 : max_el;
- }
-
- tmp = scaledMat;
- tmp.diagonal ().array () -= evals (0);
-
- vec1 = tmp.row (0).cross (tmp.row (1));
- vec2 = tmp.row (0).cross (tmp.row (2));
- vec3 = tmp.row (1).cross (tmp.row (2));
-
- len1 = vec1.squaredNorm ();
- len2 = vec2.squaredNorm ();
- len3 = vec3.squaredNorm ();
- if (len1 >= len2 && len1 >= len3)
- {
- mmax[0] = len1;
- evecs.col (0) = vec1 / std::sqrt (len1);
- min_el = len3 <= mmax[min_el] ? 0 : min_el;
- max_el = len3 > mmax[max_el] ? 0 : max_el;
- }
- else if (len2 >= len1 && len2 >= len3)
- {
- mmax[0] = len2;
- evecs.col (0) = vec2 / std::sqrt (len2);
- min_el = len3 <= mmax[min_el] ? 0 : min_el;
- max_el = len3 > mmax[max_el] ? 0 : max_el;
- }
- else
- {
- mmax[0] = len3;
- evecs.col (0) = vec3 / std::sqrt (len3);
- min_el = len3 <= mmax[min_el] ? 0 : min_el;
- max_el = len3 > mmax[max_el] ? 0 : max_el;
- }
-
- unsigned mid_el = 3 - min_el - max_el;
- evecs.col (min_el) = evecs.col ((min_el + 1) % 3).cross ( evecs.col ((min_el + 2) % 3) ).normalized ();
- evecs.col (mid_el) = evecs.col ((mid_el + 1) % 3).cross ( evecs.col ((mid_el + 2) % 3) ).normalized ();
-#ifdef _WIN32
- delete [] mmax;
-#endif
- }
- // Rescale back to the original size.
- evals *= scale;
- }
+ template <typename Matrix, typename Vector> void
+ eigen33 (const Matrix &mat, Matrix &evecs, Vector &evals);
/** \brief Calculate the inverse of a 2x2 matrix
* \param[in] matrix matrix to be inverted
* \return determinant of the original matrix => if 0 no inverse exists => result is invalid
* \ingroup common
*/
- template<typename Matrix> inline typename Matrix::Scalar
- invert2x2 (const Matrix& matrix, Matrix& inverse)
- {
- typedef typename Matrix::Scalar Scalar;
- Scalar det = matrix.coeff (0) * matrix.coeff (3) - matrix.coeff (1) * matrix.coeff (2) ;
-
- if (det != 0)
- {
- //Scalar inv_det = Scalar (1.0) / det;
- inverse.coeffRef (0) = matrix.coeff (3);
- inverse.coeffRef (1) = - matrix.coeff (1);
- inverse.coeffRef (2) = - matrix.coeff (2);
- inverse.coeffRef (3) = matrix.coeff (0);
- inverse /= det;
- }
- return det;
- }
+ template <typename Matrix> typename Matrix::Scalar
+ invert2x2 (const Matrix &matrix, Matrix &inverse);
/** \brief Calculate the inverse of a 3x3 symmetric matrix.
* \param[in] matrix matrix to be inverted
* \return determinant of the original matrix => if 0 no inverse exists => result is invalid
* \ingroup common
*/
- template<typename Matrix> inline typename Matrix::Scalar
- invert3x3SymMatrix (const Matrix& matrix, Matrix& inverse)
- {
- typedef typename Matrix::Scalar Scalar;
- // elements
- // a b c
- // b d e
- // c e f
- //| a b c |-1 | fd-ee ce-bf be-cd |
- //| b d e | = 1/det * | ce-bf af-cc bc-ae |
- //| c e f | | be-cd bc-ae ad-bb |
-
- //det = a(fd-ee) + b(ec-fb) + c(eb-dc)
-
- Scalar fd_ee = matrix.coeff (4) * matrix.coeff (8) - matrix.coeff (7) * matrix.coeff (5);
- Scalar ce_bf = matrix.coeff (2) * matrix.coeff (5) - matrix.coeff (1) * matrix.coeff (8);
- Scalar be_cd = matrix.coeff (1) * matrix.coeff (5) - matrix.coeff (2) * matrix.coeff (4);
-
- Scalar det = matrix.coeff (0) * fd_ee + matrix.coeff (1) * ce_bf + matrix.coeff (2) * be_cd;
-
- if (det != 0)
- {
- //Scalar inv_det = Scalar (1.0) / det;
- inverse.coeffRef (0) = fd_ee;
- inverse.coeffRef (1) = inverse.coeffRef (3) = ce_bf;
- inverse.coeffRef (2) = inverse.coeffRef (6) = be_cd;
- inverse.coeffRef (4) = (matrix.coeff (0) * matrix.coeff (8) - matrix.coeff (2) * matrix.coeff (2));
- inverse.coeffRef (5) = inverse.coeffRef (7) = (matrix.coeff (1) * matrix.coeff (2) - matrix.coeff (0) * matrix.coeff (5));
- inverse.coeffRef (8) = (matrix.coeff (0) * matrix.coeff (4) - matrix.coeff (1) * matrix.coeff (1));
- inverse /= det;
- }
- return det;
- }
+ template <typename Matrix> typename Matrix::Scalar
+ invert3x3SymMatrix (const Matrix &matrix, Matrix &inverse);
/** \brief Calculate the inverse of a general 3x3 matrix.
* \param[in] matrix matrix to be inverted
* \return determinant of the original matrix => if 0 no inverse exists => result is invalid
* \ingroup common
*/
- template<typename Matrix> inline typename Matrix::Scalar
- invert3x3Matrix (const Matrix& matrix, Matrix& inverse)
- {
- typedef typename Matrix::Scalar Scalar;
-
- //| a b c |-1 | ie-hf hc-ib fb-ec |
- //| d e f | = 1/det * | gf-id ia-gc dc-fa |
- //| g h i | | hd-ge gb-ha ea-db |
- //det = a(ie-hf) + d(hc-ib) + g(fb-ec)
-
- Scalar ie_hf = matrix.coeff (8) * matrix.coeff (4) - matrix.coeff (7) * matrix.coeff (5);
- Scalar hc_ib = matrix.coeff (7) * matrix.coeff (2) - matrix.coeff (8) * matrix.coeff (1);
- Scalar fb_ec = matrix.coeff (5) * matrix.coeff (1) - matrix.coeff (4) * matrix.coeff (2);
- Scalar det = matrix.coeff (0) * (ie_hf) + matrix.coeff (3) * (hc_ib) + matrix.coeff (6) * (fb_ec) ;
-
- if (det != 0)
- {
- inverse.coeffRef (0) = ie_hf;
- inverse.coeffRef (1) = hc_ib;
- inverse.coeffRef (2) = fb_ec;
- inverse.coeffRef (3) = matrix.coeff (6) * matrix.coeff (5) - matrix.coeff (8) * matrix.coeff (3);
- inverse.coeffRef (4) = matrix.coeff (8) * matrix.coeff (0) - matrix.coeff (6) * matrix.coeff (2);
- inverse.coeffRef (5) = matrix.coeff (3) * matrix.coeff (2) - matrix.coeff (5) * matrix.coeff (0);
- inverse.coeffRef (6) = matrix.coeff (7) * matrix.coeff (3) - matrix.coeff (6) * matrix.coeff (4);
- inverse.coeffRef (7) = matrix.coeff (6) * matrix.coeff (1) - matrix.coeff (7) * matrix.coeff (0);
- inverse.coeffRef (8) = matrix.coeff (4) * matrix.coeff (0) - matrix.coeff (3) * matrix.coeff (1);
-
- inverse /= det;
- }
- return det;
- }
+ template <typename Matrix> typename Matrix::Scalar
+ invert3x3Matrix (const Matrix &matrix, Matrix &inverse);
- template<typename Matrix> inline typename Matrix::Scalar
- determinant3x3Matrix (const Matrix& matrix)
- {
- // result is independent of Row/Col Major storage!
- return matrix.coeff (0) * (matrix.coeff (4) * matrix.coeff (8) - matrix.coeff (5) * matrix.coeff (7)) +
- matrix.coeff (1) * (matrix.coeff (5) * matrix.coeff (6) - matrix.coeff (3) * matrix.coeff (8)) +
- matrix.coeff (2) * (matrix.coeff (3) * matrix.coeff (7) - matrix.coeff (4) * matrix.coeff (6)) ;
- }
+ /** \brief Calculate the determinant of a 3x3 matrix.
+ * \param[in] matrix matrix
+ * \return determinant of the matrix
+ * \ingroup common
+ */
+ template <typename Matrix> typename Matrix::Scalar
+ determinant3x3Matrix (const Matrix &matrix);
/** \brief Get the unique 3D rotation that will rotate \a z_axis into (0,0,1) and \a y_direction into a vector
* with x=0 (or into (0,1,0) should \a y_direction be orthogonal to \a z_axis)
* \param[in] yaw the resulting yaw angle
* \ingroup common
*/
+ template <typename Scalar> void
+ getEulerAngles (const Eigen::Transform<Scalar, 3, Eigen::Affine> &t, Scalar &roll, Scalar &pitch, Scalar &yaw);
+
+ inline void
+ getEulerAngles (const Eigen::Affine3f &t, float &roll, float &pitch, float &yaw)
+ {
+ getEulerAngles<float> (t, roll, pitch, yaw);
+ }
+
inline void
- getEulerAngles (const Eigen::Affine3f& t, float& roll, float& pitch, float& yaw);
+ getEulerAngles (const Eigen::Affine3d &t, double &roll, double &pitch, double &yaw)
+ {
+ getEulerAngles<double> (t, roll, pitch, yaw);
+ }
/** Extract x,y,z and the Euler angles (XYZ-convention) from the given transformation
* \param[in] t the input transformation matrix
* \param[out] yaw the resulting yaw angle
* \ingroup common
*/
+ template <typename Scalar> void
+ getTranslationAndEulerAngles (const Eigen::Transform<Scalar, 3, Eigen::Affine> &t,
+ Scalar &x, Scalar &y, Scalar &z,
+ Scalar &roll, Scalar &pitch, Scalar &yaw);
+
+ inline void
+ getTranslationAndEulerAngles (const Eigen::Affine3f &t,
+ float &x, float &y, float &z,
+ float &roll, float &pitch, float &yaw)
+ {
+ getTranslationAndEulerAngles<float> (t, x, y, z, roll, pitch, yaw);
+ }
+
inline void
- getTranslationAndEulerAngles (const Eigen::Affine3f& t,
- float& x, float& y, float& z,
- float& roll, float& pitch, float& yaw);
+ getTranslationAndEulerAngles (const Eigen::Affine3d &t,
+ double &x, double &y, double &z,
+ double &roll, double &pitch, double &yaw)
+ {
+ getTranslationAndEulerAngles<double> (t, x, y, z, roll, pitch, yaw);
+ }
/** \brief Create a transformation from the given translation and Euler angles (XYZ-convention)
* \param[in] x the input x translation
* \param[out] t the resulting transformation matrix
* \ingroup common
*/
- template <typename Scalar> inline void
+ template <typename Scalar> void
getTransformation (Scalar x, Scalar y, Scalar z, Scalar roll, Scalar pitch, Scalar yaw,
Eigen::Transform<Scalar, 3, Eigen::Affine> &t);
* \ingroup common
*/
inline Eigen::Affine3f
- getTransformation (float x, float y, float z, float roll, float pitch, float yaw);
+ getTransformation (float x, float y, float z, float roll, float pitch, float yaw)
+ {
+ Eigen::Affine3f t;
+ getTransformation<float> (x, y, z, roll, pitch, yaw, t);
+ return (t);
+ }
/** \brief Write a matrix to an output stream
* \param[in] matrix the matrix to output
template <typename Derived, typename OtherDerived>
typename Eigen::internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type
umeyama (const Eigen::MatrixBase<Derived>& src, const Eigen::MatrixBase<OtherDerived>& dst, bool with_scaling = false);
+
+/** \brief Transform a point using an affine matrix
+ * \param[in] point_in the vector to be transformed
+ * \param[out] point_out the transformed vector
+ * \param[in] transformation the transformation matrix
+ *
+ * \note Can be used with \c point_in = \c point_out
+ */
+ template<typename Scalar> inline void
+ transformPoint (const Eigen::Matrix<Scalar, 3, 1> &point_in,
+ Eigen::Matrix<Scalar, 3, 1> &point_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
+ {
+ Eigen::Matrix<Scalar, 4, 1> point;
+ point << point_in, 1.0;
+ point_out = (transformation * point).template head<3> ();
+ }
+
+ inline void
+ transformPoint (const Eigen::Vector3f &point_in,
+ Eigen::Vector3f &point_out,
+ const Eigen::Affine3f &transformation)
+ {
+ transformPoint<float> (point_in, point_out, transformation);
+ }
+
+ inline void
+ transformPoint (const Eigen::Vector3d &point_in,
+ Eigen::Vector3d &point_out,
+ const Eigen::Affine3d &transformation)
+ {
+ transformPoint<double> (point_in, point_out, transformation);
+ }
+
+/** \brief Transform a vector using an affine matrix
+ * \param[in] vector_in the vector to be transformed
+ * \param[out] vector_out the transformed vector
+ * \param[in] transformation the transformation matrix
+ *
+ * \note Can be used with \c vector_in = \c vector_out
+ */
+ template <typename Scalar> inline void
+ transformVector (const Eigen::Matrix<Scalar, 3, 1> &vector_in,
+ Eigen::Matrix<Scalar, 3, 1> &vector_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
+ {
+ vector_out = transformation.linear () * vector_in;
+ }
+
+ inline void
+ transformVector (const Eigen::Vector3f &vector_in,
+ Eigen::Vector3f &vector_out,
+ const Eigen::Affine3f &transformation)
+ {
+ transformVector<float> (vector_in, vector_out, transformation);
+ }
+
+ inline void
+ transformVector (const Eigen::Vector3d &vector_in,
+ Eigen::Vector3d &vector_out,
+ const Eigen::Affine3d &transformation)
+ {
+ transformVector<double> (vector_in, vector_out, transformation);
+ }
+
+/** \brief Transform a line using an affine matrix
+ * \param[in] line_in the line to be transformed
+ * \param[out] line_out the transformed line
+ * \param[in] transformation the transformation matrix
+ *
+ * Lines must be filled in this form:\n
+ * line[0-2] = Origin coordinates of the vector\n
+ * line[3-5] = Direction vector
+ *
+ * \note Can be used with \c line_in = \c line_out
+ */
+ template <typename Scalar> bool
+ transformLine (const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_in,
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation);
+
+ inline bool
+ transformLine (const Eigen::VectorXf &line_in,
+ Eigen::VectorXf &line_out,
+ const Eigen::Affine3f &transformation)
+ {
+ return (transformLine<float> (line_in, line_out, transformation));
+ }
+
+ inline bool
+ transformLine (const Eigen::VectorXd &line_in,
+ Eigen::VectorXd &line_out,
+ const Eigen::Affine3d &transformation)
+ {
+ return (transformLine<double> (line_in, line_out, transformation));
+ }
+
+/** \brief Transform plane vectors using an affine matrix
+ * \param[in] plane_in the plane coefficients to be transformed
+ * \param[out] plane_out the transformed plane coefficients to fill
+ * \param[in] transformation the transformation matrix
+ *
+ * The plane vectors are filled in the form ax+by+cz+d=0
+ * Can be used with non Hessian form planes coefficients
+ * Can be used with \c plane_in = \c plane_out
+ */
+ template <typename Scalar> void
+ transformPlane (const Eigen::Matrix<Scalar, 4, 1> &plane_in,
+ Eigen::Matrix<Scalar, 4, 1> &plane_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation);
+
+ inline void
+ transformPlane (const Eigen::Matrix<double, 4, 1> &plane_in,
+ Eigen::Matrix<double, 4, 1> &plane_out,
+ const Eigen::Transform<double, 3, Eigen::Affine> &transformation)
+ {
+ transformPlane<double> (plane_in, plane_out, transformation);
+ }
+
+ inline void
+ transformPlane (const Eigen::Matrix<float, 4, 1> &plane_in,
+ Eigen::Matrix<float, 4, 1> &plane_out,
+ const Eigen::Transform<float, 3, Eigen::Affine> &transformation)
+ {
+ transformPlane<float> (plane_in, plane_out, transformation);
+ }
+
+/** \brief Transform plane vectors using an affine matrix
+ * \param[in] plane_in the plane coefficients to be transformed
+ * \param[out] plane_out the transformed plane coefficients to fill
+ * \param[in] transformation the transformation matrix
+ *
+ * The plane vectors are filled in the form ax+by+cz+d=0
+ * Can be used with non Hessian form planes coefficients
+ * Can be used with \c plane_in = \c plane_out
+ * \warning ModelCoefficients stores floats only !
+ */
+ template<typename Scalar> void
+ transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+ pcl::ModelCoefficients::Ptr plane_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation);
+
+ inline void
+ transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+ pcl::ModelCoefficients::Ptr plane_out,
+ const Eigen::Transform<double, 3, Eigen::Affine> &transformation)
+ {
+ transformPlane<double> (plane_in, plane_out, transformation);
+ }
+
+ inline void
+ transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+ pcl::ModelCoefficients::Ptr plane_out,
+ const Eigen::Transform<float, 3, Eigen::Affine> &transformation)
+ {
+ transformPlane<float> (plane_in, plane_out, transformation);
+ }
+
+/** \brief Check coordinate system integrity
+ * \param[in] line_x the first axis
+ * \param[in] line_y the second axis
+ * \param[in] norm_limit the limit to ignore norm rounding errors
+ * \param[in] dot_limit the limit to ignore dot product rounding errors
+ * \return True if the coordinate system is consistent, false otherwise.
+ *
+ * Lines must be filled in this form:\n
+ * line[0-2] = Origin coordinates of the vector\n
+ * line[3-5] = Direction vector
+ *
+ * Can be used like this :\n
+ * line_x = X axis and line_y = Y axis\n
+ * line_x = Z axis and line_y = X axis\n
+ * line_x = Y axis and line_y = Z axis\n
+ * Because X^Y = Z, Z^X = Y and Y^Z = X.
+ * Do NOT invert line order !
+ *
+ * Determine whether a coordinate system is consistent or not by checking :\n
+ * Line origins: They must be the same for the 2 lines\n
+ * Norm: The 2 lines must be normalized\n
+ * Dot products: Must be 0 or perpendicular vectors
+ */
+ template<typename Scalar> bool
+ checkCoordinateSystem (const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_x,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_y,
+ const Scalar norm_limit = 1e-3,
+ const Scalar dot_limit = 1e-3);
+
+ inline bool
+ checkCoordinateSystem (const Eigen::Matrix<double, Eigen::Dynamic, 1> &line_x,
+ const Eigen::Matrix<double, Eigen::Dynamic, 1> &line_y,
+ const double norm_limit = 1e-3,
+ const double dot_limit = 1e-3)
+ {
+ return (checkCoordinateSystem<double> (line_x, line_y, norm_limit, dot_limit));
+ }
+
+ inline bool
+ checkCoordinateSystem (const Eigen::Matrix<float, Eigen::Dynamic, 1> &line_x,
+ const Eigen::Matrix<float, Eigen::Dynamic, 1> &line_y,
+ const float norm_limit = 1e-3,
+ const float dot_limit = 1e-3)
+ {
+ return (checkCoordinateSystem<float> (line_x, line_y, norm_limit, dot_limit));
+ }
+
+/** \brief Check coordinate system integrity
+ * \param[in] origin the origin of the coordinate system
+ * \param[in] x_direction the first axis
+ * \param[in] y_direction the second axis
+ * \param[in] norm_limit the limit to ignore norm rounding errors
+ * \param[in] dot_limit the limit to ignore dot product rounding errors
+ * \return True if the coordinate system is consistent, false otherwise.
+ *
+ * Read the other variant for more information
+ */
+ template <typename Scalar> inline bool
+ checkCoordinateSystem (const Eigen::Matrix<Scalar, 3, 1> &origin,
+ const Eigen::Matrix<Scalar, 3, 1> &x_direction,
+ const Eigen::Matrix<Scalar, 3, 1> &y_direction,
+ const Scalar norm_limit = 1e-3,
+ const Scalar dot_limit = 1e-3)
+ {
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> line_x;
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> line_y;
+ line_x << origin, x_direction;
+ line_y << origin, y_direction;
+ return (checkCoordinateSystem<Scalar> (line_x, line_y, norm_limit, dot_limit));
+ }
+
+ inline bool
+ checkCoordinateSystem (const Eigen::Matrix<double, 3, 1> &origin,
+ const Eigen::Matrix<double, 3, 1> &x_direction,
+ const Eigen::Matrix<double, 3, 1> &y_direction,
+ const double norm_limit = 1e-3,
+ const double dot_limit = 1e-3)
+ {
+ Eigen::Matrix<double, Eigen::Dynamic, 1> line_x;
+ Eigen::Matrix<double, Eigen::Dynamic, 1> line_y;
+ line_x.resize (6);
+ line_y.resize (6);
+ line_x << origin, x_direction;
+ line_y << origin, y_direction;
+ return (checkCoordinateSystem<double> (line_x, line_y, norm_limit, dot_limit));
+ }
+
+ inline bool
+ checkCoordinateSystem (const Eigen::Matrix<float, 3, 1> &origin,
+ const Eigen::Matrix<float, 3, 1> &x_direction,
+ const Eigen::Matrix<float, 3, 1> &y_direction,
+ const float norm_limit = 1e-3,
+ const float dot_limit = 1e-3)
+ {
+ Eigen::Matrix<float, Eigen::Dynamic, 1> line_x;
+ Eigen::Matrix<float, Eigen::Dynamic, 1> line_y;
+ line_x.resize (6);
+ line_y.resize (6);
+ line_x << origin, x_direction;
+ line_y << origin, y_direction;
+ return (checkCoordinateSystem<float> (line_x, line_y, norm_limit, dot_limit));
+ }
+
+/** \brief Compute the transformation between two coordinate systems
+ * \param[in] from_line_x X axis from the origin coordinate system
+ * \param[in] from_line_y Y axis from the origin coordinate system
+ * \param[in] to_line_x X axis from the destination coordinate system
+ * \param[in] to_line_y Y axis from the destination coordinate system
+ * \param[out] transformation the transformation matrix to fill
+ * \return true if transformation was filled, false otherwise.
+ *
+ * Line must be filled in this form:\n
+ * line[0-2] = Coordinate system origin coordinates \n
+ * line[3-5] = Direction vector (norm doesn't matter)
+ */
+ template <typename Scalar> bool
+ transformBetween2CoordinateSystems (const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> from_line_x,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> from_line_y,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> to_line_x,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> to_line_y,
+ Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation);
+
+ inline bool
+ transformBetween2CoordinateSystems (const Eigen::Matrix<double, Eigen::Dynamic, 1> from_line_x,
+ const Eigen::Matrix<double, Eigen::Dynamic, 1> from_line_y,
+ const Eigen::Matrix<double, Eigen::Dynamic, 1> to_line_x,
+ const Eigen::Matrix<double, Eigen::Dynamic, 1> to_line_y,
+ Eigen::Transform<double, 3, Eigen::Affine> &transformation)
+ {
+ return (transformBetween2CoordinateSystems<double> (from_line_x, from_line_y, to_line_x, to_line_y, transformation));
+ }
+
+ inline bool
+ transformBetween2CoordinateSystems (const Eigen::Matrix<float, Eigen::Dynamic, 1> from_line_x,
+ const Eigen::Matrix<float, Eigen::Dynamic, 1> from_line_y,
+ const Eigen::Matrix<float, Eigen::Dynamic, 1> to_line_x,
+ const Eigen::Matrix<float, Eigen::Dynamic, 1> to_line_y,
+ Eigen::Transform<float, 3, Eigen::Affine> &transformation)
+ {
+ return (transformBetween2CoordinateSystems<float> (from_line_x, from_line_y, to_line_x, to_line_y, transformation));
+ }
+
}
#include <pcl/common/impl/eigen.hpp>
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP
+#define PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP
+
+#include <map>
+
+#include <boost/mpl/filter_view.hpp>
+#include <boost/fusion/include/mpl.hpp>
+#include <boost/fusion/include/for_each.hpp>
+#include <boost/fusion/include/as_vector.hpp>
+
+#include <pcl/point_types.h>
+
+namespace pcl
+{
+
+ namespace detail
+ {
+
+ /* Below are several helper accumulator structures that are used by the
+ * `CentroidPoint` class. Each of them is capable of accumulating
+ * information from a particular field(s) of a point. The points are
+ * inserted via `add()` and extracted via `get()` functions. Note that the
+ * accumulators are not templated on point type, so in principle it is
+ * possible to insert and extract points of different types. It is the
+ * responsibility of the user to make sure that points have corresponding
+ * fields. */
+
+ struct AccumulatorXYZ
+ {
+
+ // Requires that point type has x, y, and z fields
+ typedef pcl::traits::has_xyz<boost::mpl::_1> IsCompatible;
+
+ // Storage
+ Eigen::Vector3f xyz;
+
+ AccumulatorXYZ () : xyz (Eigen::Vector3f::Zero ()) { }
+
+ template <typename PointT> void
+ add (const PointT& t) { xyz += t.getVector3fMap (); }
+
+ template <typename PointT> void
+ get (PointT& t, size_t n) const { t.getVector3fMap () = xyz / n; }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ };
+
+ struct AccumulatorNormal
+ {
+
+ // Requires that point type has normal_x, normal_y, and normal_z fields
+ typedef pcl::traits::has_normal<boost::mpl::_1> IsCompatible;
+
+ // Storage
+ Eigen::Vector4f normal;
+
+ AccumulatorNormal () : normal (Eigen::Vector4f::Zero ()) { }
+
+ // Requires that the normal of the given point is normalized, otherwise it
+ // does not make sense to sum it up with the accumulated value.
+ template <typename PointT> void
+ add (const PointT& t) { normal += t.getNormalVector4fMap (); }
+
+ template <typename PointT> void
+ get (PointT& t, size_t) const
+ {
+ t.getNormalVector4fMap () = normal;
+ t.getNormalVector4fMap ().normalize ();
+ }
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+ };
+
+ struct AccumulatorCurvature
+ {
+
+ // Requires that point type has curvature field
+ typedef pcl::traits::has_curvature<boost::mpl::_1> IsCompatible;
+
+ // Storage
+ float curvature;
+
+ AccumulatorCurvature () : curvature (0) { }
+
+ template <typename PointT> void
+ add (const PointT& t) { curvature += t.curvature; }
+
+ template <typename PointT> void
+ get (PointT& t, size_t n) const { t.curvature = curvature / n; }
+
+ };
+
+ struct AccumulatorRGBA
+ {
+
+ // Requires that point type has rgb or rgba field
+ typedef pcl::traits::has_color<boost::mpl::_1> IsCompatible;
+
+ // Storage
+ float r, g, b, a;
+
+ AccumulatorRGBA () : r (0), g (0), b (0), a (0) { }
+
+ template <typename PointT> void
+ add (const PointT& t)
+ {
+ r += static_cast<float> (t.r);
+ g += static_cast<float> (t.g);
+ b += static_cast<float> (t.b);
+ a += static_cast<float> (t.a);
+ }
+
+ template <typename PointT> void
+ get (PointT& t, size_t n) const
+ {
+ t.rgba = static_cast<uint32_t> (a / n) << 24 |
+ static_cast<uint32_t> (r / n) << 16 |
+ static_cast<uint32_t> (g / n) << 8 |
+ static_cast<uint32_t> (b / n);
+ }
+
+ };
+
+ struct AccumulatorIntensity
+ {
+
+ // Requires that point type has intensity field
+ typedef pcl::traits::has_intensity<boost::mpl::_1> IsCompatible;
+
+ // Storage
+ float intensity;
+
+ AccumulatorIntensity () : intensity (0) { }
+
+ template <typename PointT> void
+ add (const PointT& t) { intensity += t.intensity; }
+
+ template <typename PointT> void
+ get (PointT& t, size_t n) const { t.intensity = intensity / n; }
+
+ };
+
+ struct AccumulatorLabel
+ {
+
+ // Requires that point type has label field
+ typedef pcl::traits::has_label<boost::mpl::_1> IsCompatible;
+
+ // Storage
+ // A better performance may be achieved with a heap structure
+ std::map<uint32_t, size_t> labels;
+
+ AccumulatorLabel () { }
+
+ template <typename PointT> void
+ add (const PointT& t)
+ {
+ std::map<uint32_t, size_t>::iterator itr = labels.find (t.label);
+ if (itr == labels.end ())
+ labels.insert (std::make_pair (t.label, 1));
+ else
+ ++itr->second;
+ }
+
+ template <typename PointT> void
+ get (PointT& t, size_t) const
+ {
+ size_t max = 0;
+ std::map<uint32_t, size_t>::const_iterator itr;
+ for (itr = labels.begin (); itr != labels.end (); ++itr)
+ if (itr->second > max)
+ {
+ max = itr->second;
+ t.label = itr->first;
+ }
+ }
+
+ };
+
+ /* This is a meta-function that may be used to create a Fusion vector of
+ * those accumulator types that are compatible with given point type(s). */
+
+ template <typename Point1T, typename Point2T = Point1T>
+ struct Accumulators
+ {
+
+ // Check if a given accumulator type is compatible with a given point type
+ template <typename AccumulatorT, typename PointT>
+ struct IsCompatible : boost::mpl::apply<typename AccumulatorT::IsCompatible, PointT> { };
+
+ // A Fusion vector with accumulator types that are compatible with given
+ // point types
+ typedef
+ typename boost::fusion::result_of::as_vector<
+ typename boost::mpl::filter_view<
+ boost::mpl::vector<
+ AccumulatorXYZ
+ , AccumulatorNormal
+ , AccumulatorCurvature
+ , AccumulatorRGBA
+ , AccumulatorIntensity
+ , AccumulatorLabel
+ >
+ , boost::mpl::and_<
+ IsCompatible<boost::mpl::_1, Point1T>
+ , IsCompatible<boost::mpl::_1, Point2T>
+ >
+ >
+ >::type
+ type;
+ };
+
+ /* Fusion function object to invoke point addition on every accumulator in
+ * a fusion sequence. */
+
+ template <typename PointT>
+ struct AddPoint
+ {
+
+ const PointT& p;
+
+ AddPoint (const PointT& point) : p (point) { }
+
+ template <typename AccumulatorT> void
+ operator () (AccumulatorT& accumulator) const
+ {
+ accumulator.add (p);
+ }
+
+ };
+
+ /* Fusion function object to invoke get point on every accumulator in a
+ * fusion sequence. */
+
+ template <typename PointT>
+ struct GetPoint
+ {
+
+ PointT& p;
+ size_t n;
+
+ GetPoint (PointT& point, size_t num) : p (point), n (num) { }
+
+ template <typename AccumulatorT> void
+ operator () (AccumulatorT& accumulator) const
+ {
+ accumulator.get (p, n);
+ }
+
+ };
+
+ }
+
+}
+
+#endif /* PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP */
+
++cp;
++cloud_iterator;
}
- centroid[3] = 0;
centroid /= static_cast<Scalar> (cp);
+ centroid[3] = 1;
return (cp);
}
centroid[1] += cloud[i].y;
centroid[2] += cloud[i].z;
}
- centroid[3] = 0;
centroid /= static_cast<Scalar> (cloud.size ());
+ centroid[3] = 1;
return (static_cast<unsigned int> (cloud.size ()));
}
centroid[2] += cloud[i].z;
++cp;
}
- centroid[3] = 0;
centroid /= static_cast<Scalar> (cp);
+ centroid[3] = 1;
return (cp);
}
centroid[1] += cloud[indices[i]].y;
centroid[2] += cloud[indices[i]].z;
}
- centroid[3] = 0;
centroid /= static_cast<Scalar> (indices.size ());
+ centroid[3] = 1;
return (static_cast<unsigned int> (indices.size ()));
}
// NaN or Inf values could exist => check for them
centroid[2] += cloud[indices[i]].z;
++cp;
}
- centroid[3] = 0;
centroid /= static_cast<Scalar> (cp);
+ centroid[3] = 1;
return (cp);
}
}
{
//centroid.head<3> () = accu.tail<3> (); -- does not compile with Clang 3.0
centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];
- centroid[3] = 0;
+ centroid[3] = 1;
covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];
covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];
covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];
//centroid.head<3> () = vec;//= accu.tail<3> ();
//centroid.head<3> () = accu.tail<3> (); -- does not compile with Clang 3.0
centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];
- centroid[3] = 0;
+ centroid[3] = 1;
covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];
covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];
covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];
return (pcl::computeNDCentroid (cloud, indices.indices, centroid));
}
+/////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> size_t
+pcl::computeCentroid (const pcl::PointCloud<PointInT>& cloud,
+ PointOutT& centroid)
+{
+ pcl::CentroidPoint<PointInT> cp;
+
+ if (cloud.is_dense)
+ for (size_t i = 0; i < cloud.size (); ++i)
+ cp.add (cloud[i]);
+ else
+ for (size_t i = 0; i < cloud.size (); ++i)
+ if (pcl::isFinite (cloud[i]))
+ cp.add (cloud[i]);
+
+ cp.get (centroid);
+ return (cp.getSize ());
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> size_t
+pcl::computeCentroid (const pcl::PointCloud<PointInT>& cloud,
+ const std::vector<int>& indices,
+ PointOutT& centroid)
+{
+ pcl::CentroidPoint<PointInT> cp;
+
+ if (cloud.is_dense)
+ for (size_t i = 0; i < indices.size (); ++i)
+ cp.add (cloud[indices[i]]);
+ else
+ for (size_t i = 0; i < indices.size (); ++i)
+ if (pcl::isFinite (cloud[indices[i]]))
+ cp.add (cloud[indices[i]]);
+
+ cp.get (centroid);
+ return (cp.getSize ());
+}
+
#endif //#ifndef PCL_COMMON_IMPL_CENTROID_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_COMMON_IMPL_COPY_POINT_HPP_
+#define PCL_COMMON_IMPL_COPY_POINT_HPP_
+
+#include <pcl/point_types.h>
+#include <pcl/point_traits.h>
+#include <pcl/for_each_type.h>
+#include <pcl/common/concatenate.h>
+
+namespace pcl
+{
+
+ namespace detail
+ {
+
+ /* CopyPointHelper and its specializations copy the contents of a source
+ * point to a target point. There are three cases:
+ *
+ * - Points have the same type.
+ * In this case a single `memcpy` is used.
+ *
+ * - Points have different types and one of the following is true:
+ * * both have RGB fields;
+ * * both have RGBA fields;
+ * * one or both have no RGB/RGBA fields.
+ * In this case we find the list of common fields and copy their
+ * contents one by one with `NdConcatenateFunctor`.
+ *
+ * - Points have different types and one of these types has RGB field, and
+ * the other has RGBA field.
+ * In this case we also find the list of common fields and copy their
+ * contents. In order to account for the fact that RGB and RGBA do not
+ * match we have an additional `memcpy` to copy the contents of one into
+ * another.
+ *
+ * An appropriate version of CopyPointHelper is instantiated during
+ * compilation time automatically, so there is absolutely no run-time
+ * overhead. */
+
+ template <typename PointInT, typename PointOutT, typename Enable = void>
+ struct CopyPointHelper { };
+
+ template <typename PointInT, typename PointOutT>
+ struct CopyPointHelper<PointInT, PointOutT, typename boost::enable_if<boost::is_same<PointInT, PointOutT> >::type>
+ {
+ void operator () (const PointInT& point_in, PointOutT& point_out) const
+ {
+ memcpy (&point_out, &point_in, sizeof (PointInT));
+ }
+ };
+
+ template <typename PointInT, typename PointOutT>
+ struct CopyPointHelper<PointInT, PointOutT,
+ typename boost::enable_if<boost::mpl::and_<boost::mpl::not_<boost::is_same<PointInT, PointOutT> >,
+ boost::mpl::or_<boost::mpl::not_<pcl::traits::has_color<PointInT> >,
+ boost::mpl::not_<pcl::traits::has_color<PointOutT> >,
+ boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
+ pcl::traits::has_field<PointOutT, pcl::fields::rgb> >,
+ boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
+ pcl::traits::has_field<PointOutT, pcl::fields::rgba> > > > >::type>
+ {
+ void operator () (const PointInT& point_in, PointOutT& point_out) const
+ {
+ typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
+ typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
+ typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
+ pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
+ }
+ };
+
+ template <typename PointInT, typename PointOutT>
+ struct CopyPointHelper<PointInT, PointOutT,
+ typename boost::enable_if<boost::mpl::and_<boost::mpl::not_<boost::is_same<PointInT, PointOutT> >,
+ boost::mpl::or_<boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
+ pcl::traits::has_field<PointOutT, pcl::fields::rgba> >,
+ boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
+ pcl::traits::has_field<PointOutT, pcl::fields::rgb> > > > >::type>
+ {
+ void operator () (const PointInT& point_in, PointOutT& point_out) const
+ {
+ typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
+ typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
+ typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
+ const uint32_t offset_in = boost::mpl::if_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
+ pcl::traits::offset<PointInT, pcl::fields::rgb>,
+ pcl::traits::offset<PointInT, pcl::fields::rgba> >::type::value;
+ const uint32_t offset_out = boost::mpl::if_<pcl::traits::has_field<PointOutT, pcl::fields::rgb>,
+ pcl::traits::offset<PointOutT, pcl::fields::rgb>,
+ pcl::traits::offset<PointOutT, pcl::fields::rgba> >::type::value;
+ pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
+ memcpy (reinterpret_cast<char*> (&point_out) + offset_out,
+ reinterpret_cast<const char*> (&point_in) + offset_in,
+ 4);
+ }
+ };
+
+ }
+
+}
+
+template <typename PointInT, typename PointOutT> void
+pcl::copyPoint (const PointInT& point_in, PointOutT& point_out)
+{
+ detail::CopyPointHelper<PointInT, PointOutT> copy;
+ copy (point_in, point_out);
+}
+
+#endif //PCL_COMMON_IMPL_COPY_POINT_HPP_
+
#ifndef PCL_COMMON_EIGEN_IMPL_HPP_
#define PCL_COMMON_EIGEN_IMPL_HPP_
-#include <pcl/pcl_macros.h>
+#include <pcl/console/print.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Scalar, typename Roots> inline void
+pcl::computeRoots2 (const Scalar& b, const Scalar& c, Roots& roots)
+{
+ roots (0) = Scalar (0);
+ Scalar d = Scalar (b * b - 4.0 * c);
+ if (d < 0.0) // no real roots ! THIS SHOULD NOT HAPPEN!
+ d = 0.0;
+
+ Scalar sd = ::std::sqrt (d);
+
+ roots (2) = 0.5f * (b + sd);
+ roots (1) = 0.5f * (b - sd);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Roots> inline void
+pcl::computeRoots (const Matrix& m, Roots& roots)
+{
+ typedef typename Matrix::Scalar Scalar;
+
+ // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0. The
+ // eigenvalues are the roots to this equation, all guaranteed to be
+ // real-valued, because the matrix is symmetric.
+ Scalar c0 = m (0, 0) * m (1, 1) * m (2, 2)
+ + Scalar (2) * m (0, 1) * m (0, 2) * m (1, 2)
+ - m (0, 0) * m (1, 2) * m (1, 2)
+ - m (1, 1) * m (0, 2) * m (0, 2)
+ - m (2, 2) * m (0, 1) * m (0, 1);
+ Scalar c1 = m (0, 0) * m (1, 1) -
+ m (0, 1) * m (0, 1) +
+ m (0, 0) * m (2, 2) -
+ m (0, 2) * m (0, 2) +
+ m (1, 1) * m (2, 2) -
+ m (1, 2) * m (1, 2);
+ Scalar c2 = m (0, 0) + m (1, 1) + m (2, 2);
+
+ if (fabs (c0) < Eigen::NumTraits < Scalar > ::epsilon ()) // one root is 0 -> quadratic equation
+ computeRoots2 (c2, c1, roots);
+ else
+ {
+ const Scalar s_inv3 = Scalar (1.0 / 3.0);
+ const Scalar s_sqrt3 = std::sqrt (Scalar (3.0));
+ // Construct the parameters used in classifying the roots of the equation
+ // and in solving the equation for the roots in closed form.
+ Scalar c2_over_3 = c2 * s_inv3;
+ Scalar a_over_3 = (c1 - c2 * c2_over_3) * s_inv3;
+ if (a_over_3 > Scalar (0))
+ a_over_3 = Scalar (0);
+
+ Scalar half_b = Scalar (0.5) * (c0 + c2_over_3 * (Scalar (2) * c2_over_3 * c2_over_3 - c1));
+
+ Scalar q = half_b * half_b + a_over_3 * a_over_3 * a_over_3;
+ if (q > Scalar (0))
+ q = Scalar (0);
+
+ // Compute the eigenvalues by solving for the roots of the polynomial.
+ Scalar rho = std::sqrt (-a_over_3);
+ Scalar theta = std::atan2 (std::sqrt (-q), half_b) * s_inv3;
+ Scalar cos_theta = std::cos (theta);
+ Scalar sin_theta = std::sin (theta);
+ roots (0) = c2_over_3 + Scalar (2) * rho * cos_theta;
+ roots (1) = c2_over_3 - rho * (cos_theta + s_sqrt3 * sin_theta);
+ roots (2) = c2_over_3 - rho * (cos_theta - s_sqrt3 * sin_theta);
+
+ // Sort in increasing order.
+ if (roots (0) >= roots (1))
+ std::swap (roots (0), roots (1));
+ if (roots (1) >= roots (2))
+ {
+ std::swap (roots (1), roots (2));
+ if (roots (0) >= roots (1))
+ std::swap (roots (0), roots (1));
+ }
+
+ if (roots (0) <= 0) // eigenval for symetric positive semi-definite matrix can not be negative! Set it to 0
+ computeRoots2 (c2, c1, roots);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Vector> inline void
+pcl::eigen22 (const Matrix& mat, typename Matrix::Scalar& eigenvalue, Vector& eigenvector)
+{
+ // if diagonal matrix, the eigenvalues are the diagonal elements
+ // and the eigenvectors are not unique, thus set to Identity
+ if (fabs (mat.coeff (1)) <= std::numeric_limits<typename Matrix::Scalar>::min ())
+ {
+ if (mat.coeff (0) < mat.coeff (2))
+ {
+ eigenvalue = mat.coeff (0);
+ eigenvector[0] = 1.0;
+ eigenvector[1] = 0.0;
+ }
+ else
+ {
+ eigenvalue = mat.coeff (2);
+ eigenvector[0] = 0.0;
+ eigenvector[1] = 1.0;
+ }
+ return;
+ }
+
+ // 0.5 to optimize further calculations
+ typename Matrix::Scalar trace = static_cast<typename Matrix::Scalar> (0.5) * (mat.coeff (0) + mat.coeff (3));
+ typename Matrix::Scalar determinant = mat.coeff (0) * mat.coeff (3) - mat.coeff (1) * mat.coeff (1);
+
+ typename Matrix::Scalar temp = trace * trace - determinant;
+
+ if (temp < 0)
+ temp = 0;
+
+ eigenvalue = trace - ::std::sqrt (temp);
+
+ eigenvector[0] = -mat.coeff (1);
+ eigenvector[1] = mat.coeff (0) - eigenvalue;
+ eigenvector.normalize ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Vector> inline void
+pcl::eigen22 (const Matrix& mat, Matrix& eigenvectors, Vector& eigenvalues)
+{
+ // if diagonal matrix, the eigenvalues are the diagonal elements
+ // and the eigenvectors are not unique, thus set to Identity
+ if (fabs (mat.coeff (1)) <= std::numeric_limits<typename Matrix::Scalar>::min ())
+ {
+ if (mat.coeff (0) < mat.coeff (3))
+ {
+ eigenvalues.coeffRef (0) = mat.coeff (0);
+ eigenvalues.coeffRef (1) = mat.coeff (3);
+ eigenvectors.coeffRef (0) = 1.0;
+ eigenvectors.coeffRef (1) = 0.0;
+ eigenvectors.coeffRef (2) = 0.0;
+ eigenvectors.coeffRef (3) = 1.0;
+ }
+ else
+ {
+ eigenvalues.coeffRef (0) = mat.coeff (3);
+ eigenvalues.coeffRef (1) = mat.coeff (0);
+ eigenvectors.coeffRef (0) = 0.0;
+ eigenvectors.coeffRef (1) = 1.0;
+ eigenvectors.coeffRef (2) = 1.0;
+ eigenvectors.coeffRef (3) = 0.0;
+ }
+ return;
+ }
+
+ // 0.5 to optimize further calculations
+ typename Matrix::Scalar trace = static_cast<typename Matrix::Scalar> (0.5) * (mat.coeff (0) + mat.coeff (3));
+ typename Matrix::Scalar determinant = mat.coeff (0) * mat.coeff (3) - mat.coeff (1) * mat.coeff (1);
+
+ typename Matrix::Scalar temp = trace * trace - determinant;
+
+ if (temp < 0)
+ temp = 0;
+ else
+ temp = ::std::sqrt (temp);
+
+ eigenvalues.coeffRef (0) = trace - temp;
+ eigenvalues.coeffRef (1) = trace + temp;
+
+ // either this is in a row or column depending on RowMajor or ColumnMajor
+ eigenvectors.coeffRef (0) = -mat.coeff (1);
+ eigenvectors.coeffRef (2) = mat.coeff (0) - eigenvalues.coeff (0);
+ typename Matrix::Scalar norm = static_cast<typename Matrix::Scalar> (1.0)
+ / static_cast<typename Matrix::Scalar> (::std::sqrt (eigenvectors.coeffRef (0) * eigenvectors.coeffRef (0) + eigenvectors.coeffRef (2) * eigenvectors.coeffRef (2)));
+ eigenvectors.coeffRef (0) *= norm;
+ eigenvectors.coeffRef (2) *= norm;
+ eigenvectors.coeffRef (1) = eigenvectors.coeffRef (2);
+ eigenvectors.coeffRef (3) = -eigenvectors.coeffRef (0);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Vector> inline void
+pcl::computeCorrespondingEigenVector (const Matrix& mat, const typename Matrix::Scalar& eigenvalue, Vector& eigenvector)
+{
+ typedef typename Matrix::Scalar Scalar;
+ // Scale the matrix so its entries are in [-1,1]. The scaling is applied
+ // only when at least one matrix entry has magnitude larger than 1.
+
+ Scalar scale = mat.cwiseAbs ().maxCoeff ();
+ if (scale <= std::numeric_limits < Scalar > ::min ())
+ scale = Scalar (1.0);
+
+ Matrix scaledMat = mat / scale;
+
+ scaledMat.diagonal ().array () -= eigenvalue / scale;
+
+ Vector vec1 = scaledMat.row (0).cross (scaledMat.row (1));
+ Vector vec2 = scaledMat.row (0).cross (scaledMat.row (2));
+ Vector vec3 = scaledMat.row (1).cross (scaledMat.row (2));
+
+ Scalar len1 = vec1.squaredNorm ();
+ Scalar len2 = vec2.squaredNorm ();
+ Scalar len3 = vec3.squaredNorm ();
+
+ if (len1 >= len2 && len1 >= len3)
+ eigenvector = vec1 / std::sqrt (len1);
+ else if (len2 >= len1 && len2 >= len3)
+ eigenvector = vec2 / std::sqrt (len2);
+ else
+ eigenvector = vec3 / std::sqrt (len3);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Vector> inline void
+pcl::eigen33 (const Matrix& mat, typename Matrix::Scalar& eigenvalue, Vector& eigenvector)
+{
+ typedef typename Matrix::Scalar Scalar;
+ // Scale the matrix so its entries are in [-1,1]. The scaling is applied
+ // only when at least one matrix entry has magnitude larger than 1.
+
+ Scalar scale = mat.cwiseAbs ().maxCoeff ();
+ if (scale <= std::numeric_limits < Scalar > ::min ())
+ scale = Scalar (1.0);
+
+ Matrix scaledMat = mat / scale;
+
+ Vector eigenvalues;
+ computeRoots (scaledMat, eigenvalues);
+
+ eigenvalue = eigenvalues (0) * scale;
+
+ scaledMat.diagonal ().array () -= eigenvalues (0);
+
+ Vector vec1 = scaledMat.row (0).cross (scaledMat.row (1));
+ Vector vec2 = scaledMat.row (0).cross (scaledMat.row (2));
+ Vector vec3 = scaledMat.row (1).cross (scaledMat.row (2));
+
+ Scalar len1 = vec1.squaredNorm ();
+ Scalar len2 = vec2.squaredNorm ();
+ Scalar len3 = vec3.squaredNorm ();
+
+ if (len1 >= len2 && len1 >= len3)
+ eigenvector = vec1 / std::sqrt (len1);
+ else if (len2 >= len1 && len2 >= len3)
+ eigenvector = vec2 / std::sqrt (len2);
+ else
+ eigenvector = vec3 / std::sqrt (len3);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Vector> inline void
+pcl::eigen33 (const Matrix& mat, Vector& evals)
+{
+ typedef typename Matrix::Scalar Scalar;
+ Scalar scale = mat.cwiseAbs ().maxCoeff ();
+ if (scale <= std::numeric_limits < Scalar > ::min ())
+ scale = Scalar (1.0);
+
+ Matrix scaledMat = mat / scale;
+ computeRoots (scaledMat, evals);
+ evals *= scale;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix, typename Vector> inline void
+pcl::eigen33 (const Matrix& mat, Matrix& evecs, Vector& evals)
+{
+ typedef typename Matrix::Scalar Scalar;
+ // Scale the matrix so its entries are in [-1,1]. The scaling is applied
+ // only when at least one matrix entry has magnitude larger than 1.
+
+ Scalar scale = mat.cwiseAbs ().maxCoeff ();
+ if (scale <= std::numeric_limits < Scalar > ::min ())
+ scale = Scalar (1.0);
+
+ Matrix scaledMat = mat / scale;
+
+ // Compute the eigenvalues
+ computeRoots (scaledMat, evals);
+
+ if ( (evals (2) - evals (0)) <= Eigen::NumTraits < Scalar > ::epsilon ())
+ {
+ // all three equal
+ evecs.setIdentity ();
+ }
+ else if ( (evals (1) - evals (0)) <= Eigen::NumTraits < Scalar > ::epsilon ())
+ {
+ // first and second equal
+ Matrix tmp;
+ tmp = scaledMat;
+ tmp.diagonal ().array () -= evals (2);
+
+ Vector vec1 = tmp.row (0).cross (tmp.row (1));
+ Vector vec2 = tmp.row (0).cross (tmp.row (2));
+ Vector vec3 = tmp.row (1).cross (tmp.row (2));
+
+ Scalar len1 = vec1.squaredNorm ();
+ Scalar len2 = vec2.squaredNorm ();
+ Scalar len3 = vec3.squaredNorm ();
+
+ if (len1 >= len2 && len1 >= len3)
+ evecs.col (2) = vec1 / std::sqrt (len1);
+ else if (len2 >= len1 && len2 >= len3)
+ evecs.col (2) = vec2 / std::sqrt (len2);
+ else
+ evecs.col (2) = vec3 / std::sqrt (len3);
+
+ evecs.col (1) = evecs.col (2).unitOrthogonal ();
+ evecs.col (0) = evecs.col (1).cross (evecs.col (2));
+ }
+ else if ( (evals (2) - evals (1)) <= Eigen::NumTraits < Scalar > ::epsilon ())
+ {
+ // second and third equal
+ Matrix tmp;
+ tmp = scaledMat;
+ tmp.diagonal ().array () -= evals (0);
+
+ Vector vec1 = tmp.row (0).cross (tmp.row (1));
+ Vector vec2 = tmp.row (0).cross (tmp.row (2));
+ Vector vec3 = tmp.row (1).cross (tmp.row (2));
+
+ Scalar len1 = vec1.squaredNorm ();
+ Scalar len2 = vec2.squaredNorm ();
+ Scalar len3 = vec3.squaredNorm ();
+
+ if (len1 >= len2 && len1 >= len3)
+ evecs.col (0) = vec1 / std::sqrt (len1);
+ else if (len2 >= len1 && len2 >= len3)
+ evecs.col (0) = vec2 / std::sqrt (len2);
+ else
+ evecs.col (0) = vec3 / std::sqrt (len3);
+
+ evecs.col (1) = evecs.col (0).unitOrthogonal ();
+ evecs.col (2) = evecs.col (0).cross (evecs.col (1));
+ }
+ else
+ {
+ Matrix tmp;
+ tmp = scaledMat;
+ tmp.diagonal ().array () -= evals (2);
+
+ Vector vec1 = tmp.row (0).cross (tmp.row (1));
+ Vector vec2 = tmp.row (0).cross (tmp.row (2));
+ Vector vec3 = tmp.row (1).cross (tmp.row (2));
+
+ Scalar len1 = vec1.squaredNorm ();
+ Scalar len2 = vec2.squaredNorm ();
+ Scalar len3 = vec3.squaredNorm ();
+#ifdef _WIN32
+ Scalar *mmax = new Scalar[3];
+#else
+ Scalar mmax[3];
+#endif
+ unsigned int min_el = 2;
+ unsigned int max_el = 2;
+ if (len1 >= len2 && len1 >= len3)
+ {
+ mmax[2] = len1;
+ evecs.col (2) = vec1 / std::sqrt (len1);
+ }
+ else if (len2 >= len1 && len2 >= len3)
+ {
+ mmax[2] = len2;
+ evecs.col (2) = vec2 / std::sqrt (len2);
+ }
+ else
+ {
+ mmax[2] = len3;
+ evecs.col (2) = vec3 / std::sqrt (len3);
+ }
+
+ tmp = scaledMat;
+ tmp.diagonal ().array () -= evals (1);
+
+ vec1 = tmp.row (0).cross (tmp.row (1));
+ vec2 = tmp.row (0).cross (tmp.row (2));
+ vec3 = tmp.row (1).cross (tmp.row (2));
+
+ len1 = vec1.squaredNorm ();
+ len2 = vec2.squaredNorm ();
+ len3 = vec3.squaredNorm ();
+ if (len1 >= len2 && len1 >= len3)
+ {
+ mmax[1] = len1;
+ evecs.col (1) = vec1 / std::sqrt (len1);
+ min_el = len1 <= mmax[min_el] ? 1 : min_el;
+ max_el = len1 > mmax[max_el] ? 1 : max_el;
+ }
+ else if (len2 >= len1 && len2 >= len3)
+ {
+ mmax[1] = len2;
+ evecs.col (1) = vec2 / std::sqrt (len2);
+ min_el = len2 <= mmax[min_el] ? 1 : min_el;
+ max_el = len2 > mmax[max_el] ? 1 : max_el;
+ }
+ else
+ {
+ mmax[1] = len3;
+ evecs.col (1) = vec3 / std::sqrt (len3);
+ min_el = len3 <= mmax[min_el] ? 1 : min_el;
+ max_el = len3 > mmax[max_el] ? 1 : max_el;
+ }
+
+ tmp = scaledMat;
+ tmp.diagonal ().array () -= evals (0);
+
+ vec1 = tmp.row (0).cross (tmp.row (1));
+ vec2 = tmp.row (0).cross (tmp.row (2));
+ vec3 = tmp.row (1).cross (tmp.row (2));
+
+ len1 = vec1.squaredNorm ();
+ len2 = vec2.squaredNorm ();
+ len3 = vec3.squaredNorm ();
+ if (len1 >= len2 && len1 >= len3)
+ {
+ mmax[0] = len1;
+ evecs.col (0) = vec1 / std::sqrt (len1);
+ min_el = len3 <= mmax[min_el] ? 0 : min_el;
+ max_el = len3 > mmax[max_el] ? 0 : max_el;
+ }
+ else if (len2 >= len1 && len2 >= len3)
+ {
+ mmax[0] = len2;
+ evecs.col (0) = vec2 / std::sqrt (len2);
+ min_el = len3 <= mmax[min_el] ? 0 : min_el;
+ max_el = len3 > mmax[max_el] ? 0 : max_el;
+ }
+ else
+ {
+ mmax[0] = len3;
+ evecs.col (0) = vec3 / std::sqrt (len3);
+ min_el = len3 <= mmax[min_el] ? 0 : min_el;
+ max_el = len3 > mmax[max_el] ? 0 : max_el;
+ }
+
+ unsigned mid_el = 3 - min_el - max_el;
+ evecs.col (min_el) = evecs.col ( (min_el + 1) % 3).cross (evecs.col ( (min_el + 2) % 3)).normalized ();
+ evecs.col (mid_el) = evecs.col ( (mid_el + 1) % 3).cross (evecs.col ( (mid_el + 2) % 3)).normalized ();
+#ifdef _WIN32
+ delete [] mmax;
+#endif
+ }
+ // Rescale back to the original size.
+ evals *= scale;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix> inline typename Matrix::Scalar
+pcl::invert2x2 (const Matrix& matrix, Matrix& inverse)
+{
+ typedef typename Matrix::Scalar Scalar;
+ Scalar det = matrix.coeff (0) * matrix.coeff (3) - matrix.coeff (1) * matrix.coeff (2);
+
+ if (det != 0)
+ {
+ //Scalar inv_det = Scalar (1.0) / det;
+ inverse.coeffRef (0) = matrix.coeff (3);
+ inverse.coeffRef (1) = -matrix.coeff (1);
+ inverse.coeffRef (2) = -matrix.coeff (2);
+ inverse.coeffRef (3) = matrix.coeff (0);
+ inverse /= det;
+ }
+ return det;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix> inline typename Matrix::Scalar
+pcl::invert3x3SymMatrix (const Matrix& matrix, Matrix& inverse)
+{
+ typedef typename Matrix::Scalar Scalar;
+ // elements
+ // a b c
+ // b d e
+ // c e f
+ //| a b c |-1 | fd-ee ce-bf be-cd |
+ //| b d e | = 1/det * | ce-bf af-cc bc-ae |
+ //| c e f | | be-cd bc-ae ad-bb |
+
+ //det = a(fd-ee) + b(ec-fb) + c(eb-dc)
+
+ Scalar fd_ee = matrix.coeff (4) * matrix.coeff (8) - matrix.coeff (7) * matrix.coeff (5);
+ Scalar ce_bf = matrix.coeff (2) * matrix.coeff (5) - matrix.coeff (1) * matrix.coeff (8);
+ Scalar be_cd = matrix.coeff (1) * matrix.coeff (5) - matrix.coeff (2) * matrix.coeff (4);
+
+ Scalar det = matrix.coeff (0) * fd_ee + matrix.coeff (1) * ce_bf + matrix.coeff (2) * be_cd;
+
+ if (det != 0)
+ {
+ //Scalar inv_det = Scalar (1.0) / det;
+ inverse.coeffRef (0) = fd_ee;
+ inverse.coeffRef (1) = inverse.coeffRef (3) = ce_bf;
+ inverse.coeffRef (2) = inverse.coeffRef (6) = be_cd;
+ inverse.coeffRef (4) = (matrix.coeff (0) * matrix.coeff (8) - matrix.coeff (2) * matrix.coeff (2));
+ inverse.coeffRef (5) = inverse.coeffRef (7) = (matrix.coeff (1) * matrix.coeff (2) - matrix.coeff (0) * matrix.coeff (5));
+ inverse.coeffRef (8) = (matrix.coeff (0) * matrix.coeff (4) - matrix.coeff (1) * matrix.coeff (1));
+ inverse /= det;
+ }
+ return det;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix> inline typename Matrix::Scalar
+pcl::invert3x3Matrix (const Matrix& matrix, Matrix& inverse)
+{
+ typedef typename Matrix::Scalar Scalar;
+
+ //| a b c |-1 | ie-hf hc-ib fb-ec |
+ //| d e f | = 1/det * | gf-id ia-gc dc-fa |
+ //| g h i | | hd-ge gb-ha ea-db |
+ //det = a(ie-hf) + d(hc-ib) + g(fb-ec)
+
+ Scalar ie_hf = matrix.coeff (8) * matrix.coeff (4) - matrix.coeff (7) * matrix.coeff (5);
+ Scalar hc_ib = matrix.coeff (7) * matrix.coeff (2) - matrix.coeff (8) * matrix.coeff (1);
+ Scalar fb_ec = matrix.coeff (5) * matrix.coeff (1) - matrix.coeff (4) * matrix.coeff (2);
+ Scalar det = matrix.coeff (0) * (ie_hf) + matrix.coeff (3) * (hc_ib) + matrix.coeff (6) * (fb_ec);
+
+ if (det != 0)
+ {
+ inverse.coeffRef (0) = ie_hf;
+ inverse.coeffRef (1) = hc_ib;
+ inverse.coeffRef (2) = fb_ec;
+ inverse.coeffRef (3) = matrix.coeff (6) * matrix.coeff (5) - matrix.coeff (8) * matrix.coeff (3);
+ inverse.coeffRef (4) = matrix.coeff (8) * matrix.coeff (0) - matrix.coeff (6) * matrix.coeff (2);
+ inverse.coeffRef (5) = matrix.coeff (3) * matrix.coeff (2) - matrix.coeff (5) * matrix.coeff (0);
+ inverse.coeffRef (6) = matrix.coeff (7) * matrix.coeff (3) - matrix.coeff (6) * matrix.coeff (4);
+ inverse.coeffRef (7) = matrix.coeff (6) * matrix.coeff (1) - matrix.coeff (7) * matrix.coeff (0);
+ inverse.coeffRef (8) = matrix.coeff (4) * matrix.coeff (0) - matrix.coeff (3) * matrix.coeff (1);
+
+ inverse /= det;
+ }
+ return det;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Matrix> inline typename Matrix::Scalar
+pcl::determinant3x3Matrix (const Matrix& matrix)
+{
+ // result is independent of Row/Col Major storage!
+ return matrix.coeff (0) * (matrix.coeff (4) * matrix.coeff (8) - matrix.coeff (5) * matrix.coeff (7)) +
+ matrix.coeff (1) * (matrix.coeff (5) * matrix.coeff (6) - matrix.coeff (3) * matrix.coeff (8)) +
+ matrix.coeff (2) * (matrix.coeff (3) * matrix.coeff (7) - matrix.coeff (4) * matrix.coeff (6)) ;
+}
//////////////////////////////////////////////////////////////////////////////////////////
void
}
//////////////////////////////////////////////////////////////////////////////////////////
-void
-pcl::getEulerAngles (const Eigen::Affine3f& t, float& roll, float& pitch, float& yaw)
+template <typename Scalar> void
+pcl::getEulerAngles (const Eigen::Transform<Scalar, 3, Eigen::Affine> &t, Scalar &roll, Scalar &pitch, Scalar &yaw)
{
- roll = atan2f(t(2,1), t(2,2));
- pitch = asinf(-t(2,0));
- yaw = atan2f(t(1,0), t(0,0));
+ roll = atan2 (t (2, 1), t (2, 2));
+ pitch = asin (-t (2, 0));
+ yaw = atan2 (t (1, 0), t (0, 0));
}
//////////////////////////////////////////////////////////////////////////////////////////
-void
-pcl::getTranslationAndEulerAngles (const Eigen::Affine3f& t,
- float& x, float& y, float& z,
- float& roll, float& pitch, float& yaw)
+template <typename Scalar> void
+pcl::getTranslationAndEulerAngles (const Eigen::Transform<Scalar, 3, Eigen::Affine> &t,
+ Scalar &x, Scalar &y, Scalar &z,
+ Scalar &roll, Scalar &pitch, Scalar &yaw)
{
- x = t(0,3);
- y = t(1,3);
- z = t(2,3);
- roll = atan2f(t(2,1), t(2,2));
- pitch = asinf(-t(2,0));
- yaw = atan2f(t(1,0), t(0,0));
+ x = t (0, 3);
+ y = t (1, 3);
+ z = t (2, 3);
+ roll = atan2 (t (2, 1), t (2, 2));
+ pitch = asin (-t (2, 0));
+ yaw = atan2 (t (1, 0), t (0, 0));
}
//////////////////////////////////////////////////////////////////////////////////////////
t (3, 0) = 0; t (3, 1) = 0; t (3, 2) = 0; t (3, 3) = 1;
}
-//////////////////////////////////////////////////////////////////////////////////////////
-Eigen::Affine3f
-pcl::getTransformation (float x, float y, float z, float roll, float pitch, float yaw)
-{
- Eigen::Affine3f t;
- getTransformation (x, y, z, roll, pitch, yaw, t);
- return (t);
-}
-
//////////////////////////////////////////////////////////////////////////////////////////
template <typename Derived> void
pcl::saveBinary (const Eigen::MatrixBase<Derived>& matrix, std::ostream& file)
return (Rt);
}
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Scalar> bool
+pcl::transformLine (const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_in,
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
+{
+ if (line_in.innerSize () != 6 || line_out.innerSize () != 6)
+ {
+ PCL_DEBUG ("transformLine: lines size != 6\n");
+ return (false);
+ }
+
+ Eigen::Matrix<Scalar, 3, 1> point, vector;
+ point << line_in.template head<3> ();
+ vector << line_out.template tail<3> ();
+
+ pcl::transformPoint (point, point, transformation);
+ pcl::transformVector (vector, vector, transformation);
+ line_out << point, vector;
+ return (true);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Scalar> void
+pcl::transformPlane (const Eigen::Matrix<Scalar, 4, 1> &plane_in,
+ Eigen::Matrix<Scalar, 4, 1> &plane_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
+{
+ Eigen::Hyperplane < Scalar, 3 > plane;
+ plane.coeffs () << plane_in;
+ plane.transform (transformation);
+ plane_out << plane.coeffs ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Scalar> void
+pcl::transformPlane (const pcl::ModelCoefficients::Ptr plane_in,
+ pcl::ModelCoefficients::Ptr plane_out,
+ const Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
+{
+ Eigen::Matrix < Scalar, 4, 1 > v_plane_in (std::vector < Scalar > (plane_in->values.begin (), plane_in->values.end ()).data ());
+ pcl::transformPlane (v_plane_in, v_plane_in, transformation);
+ plane_out->values.resize (4);
+ for (int i = 0; i < 4; i++)
+ plane_in->values[i] = v_plane_in[i];
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Scalar> bool
+pcl::checkCoordinateSystem (const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_x,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line_y,
+ const Scalar norm_limit,
+ const Scalar dot_limit)
+{
+ if (line_x.innerSize () != 6 || line_y.innerSize () != 6)
+ {
+ PCL_DEBUG ("checkCoordinateSystem: lines size != 6\n");
+ return (false);
+ }
+
+ if (line_x.template head<3> () != line_y.template head<3> ())
+ {
+ PCL_DEBUG ("checkCoorZdinateSystem: vector origins are different !\n");
+ return (false);
+ }
+
+ // Make a copy of vector directions
+ // X^Y = Z | Y^Z = X | Z^X = Y
+ Eigen::Matrix<Scalar, 3, 1> v_line_x (line_x.template tail<3> ()),
+ v_line_y (line_y.template tail<3> ()),
+ v_line_z (v_line_x.cross (v_line_y));
+
+ // Check vectors norms
+ if (v_line_x.norm () < 1 - norm_limit || v_line_x.norm () > 1 + norm_limit)
+ {
+ PCL_DEBUG ("checkCoordinateSystem: line_x norm %d != 1\n", v_line_x.norm ());
+ return (false);
+ }
+
+ if (v_line_y.norm () < 1 - norm_limit || v_line_y.norm () > 1 + norm_limit)
+ {
+ PCL_DEBUG ("checkCoordinateSystem: line_y norm %d != 1\n", v_line_y.norm ());
+ return (false);
+ }
+
+ if (v_line_z.norm () < 1 - norm_limit || v_line_z.norm () > 1 + norm_limit)
+ {
+ PCL_DEBUG ("checkCoordinateSystem: line_z norm %d != 1\n", v_line_z.norm ());
+ return (false);
+ }
+
+ // Check vectors perendicularity
+ if (std::abs (v_line_x.dot (v_line_y)) > dot_limit)
+ {
+ PCL_DEBUG ("checkCSAxis: line_x dot line_y %e = > %e\n", v_line_x.dot (v_line_y), dot_limit);
+ return (false);
+ }
+
+ if (std::abs (v_line_x.dot (v_line_z)) > dot_limit)
+ {
+ PCL_DEBUG ("checkCSAxis: line_x dot line_z = %e > %e\n", v_line_x.dot (v_line_z), dot_limit);
+ return (false);
+ }
+
+ if (std::abs (v_line_y.dot (v_line_z)) > dot_limit)
+ {
+ PCL_DEBUG ("checkCSAxis: line_y dot line_z = %e > %e\n", v_line_y.dot (v_line_z), dot_limit);
+ return (false);
+ }
+
+ return (true);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename Scalar> bool
+pcl::transformBetween2CoordinateSystems (const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> from_line_x,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> from_line_y,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> to_line_x,
+ const Eigen::Matrix<Scalar, Eigen::Dynamic, 1> to_line_y,
+ Eigen::Transform<Scalar, 3, Eigen::Affine> &transformation)
+{
+ if (from_line_x.innerSize () != 6 || from_line_y.innerSize () != 6 || to_line_x.innerSize () != 6 || to_line_y.innerSize () != 6)
+ {
+ PCL_DEBUG ("transformBetween2CoordinateSystems: lines size != 6\n");
+ return (false);
+ }
+
+ // Check if coordinate systems are valid
+ if (!pcl::checkCoordinateSystem (from_line_x, from_line_y) || !pcl::checkCoordinateSystem (to_line_x, to_line_y))
+ {
+ PCL_DEBUG ("transformBetween2CoordinateSystems: coordinate systems invalid !\n");
+ return (false);
+ }
+
+ // Convert lines into Vector3 :
+ Eigen::Matrix<Scalar, 3, 1> fr0 (from_line_x.template head<3>()),
+ fr1 (from_line_x.template head<3>() + from_line_x.template tail<3>()),
+ fr2 (from_line_y.template head<3>() + from_line_y.template tail<3>()),
+
+ to0 (to_line_x.template head<3>()),
+ to1 (to_line_x.template head<3>() + to_line_x.template tail<3>()),
+ to2 (to_line_y.template head<3>() + to_line_y.template tail<3>());
+
+ // Code is inspired from http://stackoverflow.com/a/15277421/1816078
+ // Define matrices and points :
+ Eigen::Transform<Scalar, 3, Eigen::Affine> T2, T3 = Eigen::Transform<Scalar, 3, Eigen::Affine>::Identity ();
+ Eigen::Matrix<Scalar, 3, 1> x1, y1, z1, x2, y2, z2;
+
+ // Axes of the coordinate system "fr"
+ x1 = (fr1 - fr0).normalized (); // the versor (unitary vector) of the (fr1-fr0) axis vector
+ y1 = (fr2 - fr0).normalized ();
+
+ // Axes of the coordinate system "to"
+ x2 = (to1 - to0).normalized ();
+ y2 = (to2 - to0).normalized ();
+
+ // Transform from CS1 to CS2
+ // Note: if fr0 == (0,0,0) --> CS1 == CS2 --> T2 = Identity
+ T2.linear () << x1, y1, x1.cross (y1);
+
+ // Transform from CS1 to CS3
+ T3.linear () << x2, y2, x2.cross (y2);
+
+ // Identity matrix = transform to CS2 to CS3
+ // Note: if CS1 == CS2 --> transformation = T3
+ transformation = Eigen::Transform<Scalar, 3, Eigen::Affine>::Identity ();
+ transformation.linear () = T3.linear () * T2.linear ().inverse ();
+ transformation.translation () = to0 - (transformation.linear () * fr0);
+ return (true);
+}
+
#endif //PCL_COMMON_EIGEN_IMPL_HPP_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2010, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_COMMON_INTERSECTIONS_IMPL_HPP_
+#define PCL_COMMON_INTERSECTIONS_IMPL_HPP_
+
+#include <pcl/pcl_macros.h>
+#include <pcl/console/print.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////
+
+bool
+pcl::lineWithLineIntersection (const Eigen::VectorXf &line_a,
+ const Eigen::VectorXf &line_b,
+ Eigen::Vector4f &point, double sqr_eps)
+{
+ Eigen::Vector4f p1, p2;
+ lineToLineSegment (line_a, line_b, p1, p2);
+
+ // If the segment size is smaller than a pre-given epsilon...
+ double sqr_dist = (p1 - p2).squaredNorm ();
+ if (sqr_dist < sqr_eps)
+ {
+ point = p1;
+ return (true);
+ }
+ point.setZero ();
+ return (false);
+}
+
+bool
+pcl::lineWithLineIntersection (const pcl::ModelCoefficients &line_a,
+ const pcl::ModelCoefficients &line_b,
+ Eigen::Vector4f &point, double sqr_eps)
+{
+ Eigen::VectorXf coeff1 = Eigen::VectorXf::Map (&line_a.values[0], line_a.values.size ());
+ Eigen::VectorXf coeff2 = Eigen::VectorXf::Map (&line_b.values[0], line_b.values.size ());
+ return (lineWithLineIntersection (coeff1, coeff2, point, sqr_eps));
+}
+
+template <typename Scalar> bool
+pcl::planeWithPlaneIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
+ const Eigen::Matrix<Scalar, 4, 1> &plane_b,
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line,
+ double angular_tolerance)
+{
+ typedef Eigen::Matrix<Scalar, 3, 1> Vector3;
+ typedef Eigen::Matrix<Scalar, 4, 1> Vector4;
+ typedef Eigen::Matrix<Scalar, 5, 1> Vector5;
+ typedef Eigen::Matrix<Scalar, 5, 5> Matrix5;
+
+ // Normalize plane normals
+ Vector3 plane_a_norm (plane_a.template head<3> ());
+ Vector3 plane_b_norm (plane_b.template head<3> ());
+ plane_a_norm.normalize ();
+ plane_b_norm.normalize ();
+
+ // Test if planes are parallel (test_cos == 1)
+ double test_cos = plane_a_norm.dot (plane_b_norm);
+ double upper_limit = 1 + angular_tolerance;
+ double lower_limit = 1 - angular_tolerance;
+
+ if ((test_cos > lower_limit) && (test_cos < upper_limit))
+ {
+ PCL_DEBUG ("Plane A and Plane B are parallel.\n");
+ return (false);
+ }
+
+ Vector4 line_direction = plane_a.cross3 (plane_b);
+ line_direction.normalized();
+
+ // Construct system of equations using lagrange multipliers with one objective function and two constraints
+ Matrix5 langrange_coefs;
+ langrange_coefs << 2,0,0, plane_a[0], plane_b[0],
+ 0,2,0, plane_a[1], plane_b[1],
+ 0,0,2, plane_a[2], plane_b[2],
+ plane_a[0], plane_a[1], plane_a[2], 0, 0,
+ plane_b[0], plane_b[1], plane_b[2], 0, 0;
+
+ Vector5 b;
+ b << 0, 0, 0, -plane_a[3], -plane_b[3];
+
+ line.resize(6);
+ // Solve for the lagrange multipliers
+ line.template head<3>() = langrange_coefs.colPivHouseholderQr().solve(b).template head<3> ();
+ line.template tail<3>() = line_direction.template head<3>();
+ return (true);
+}
+
+template <typename Scalar> bool
+pcl::threePlanesIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
+ const Eigen::Matrix<Scalar, 4, 1> &plane_b,
+ const Eigen::Matrix<Scalar, 4, 1> &plane_c,
+ Eigen::Matrix<Scalar, 3, 1> &intersection_point,
+ double determinant_tolerance)
+{
+ typedef Eigen::Matrix<Scalar, 3, 1> Vector3;
+ typedef Eigen::Matrix<Scalar, 3, 3> Matrix3;
+
+ // TODO: Using Eigen::HyperPlanes is better to solve this problem
+ // Check if some planes are parallel
+ Matrix3 normals_in_lines;
+
+ for (int i = 0; i < 3; i++)
+ {
+ normals_in_lines (i, 0) = plane_a[i];
+ normals_in_lines (i, 1) = plane_b[i];
+ normals_in_lines (i, 2) = plane_c[i];
+ }
+
+ Scalar determinant = normals_in_lines.determinant ();
+ if (fabs (determinant) < determinant_tolerance)
+ {
+ // det ~= 0
+ PCL_DEBUG ("At least two planes are parralel.\n");
+ return (false);
+ }
+
+ // Left part of the 3 equations
+ Matrix3 left_member;
+
+ for (int i = 0; i < 3; i++)
+ {
+ left_member (0, i) = plane_a[i];
+ left_member (1, i) = plane_b[i];
+ left_member (2, i) = plane_c[i];
+ }
+
+ // Right side of the 3 equations
+ Vector3 right_member;
+ right_member << -plane_a[3], -plane_b[3], -plane_c[3];
+
+ // Solve the system
+ intersection_point = left_member.fullPivLu ().solve (right_member);
+ return (true);
+}
+
+#endif //PCL_COMMON_INTERSECTIONS_IMPL_HPP
#define PCL_IO_IMPL_IO_HPP_
#include <pcl/common/concatenate.h>
+#include <pcl/common/copy_point.h>
#include <pcl/point_types.h>
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
-pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
+pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
pcl::PointCloud<PointOutT> &cloud_out)
{
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
-
+ // Allocate enough space and copy the basics
cloud_out.header = cloud_in.header;
cloud_out.width = cloud_in.width;
cloud_out.height = cloud_in.height;
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
cloud_out.points.resize (cloud_in.points.size ());
- // If the point types are the same, don't copy one by one
if (isSamePointType<PointInT, PointOutT> ())
- {
+ // Copy the whole memory block
memcpy (&cloud_out.points[0], &cloud_in.points[0], cloud_in.points.size () * sizeof (PointInT));
- return;
- }
-
- std::vector<pcl::PCLPointField> fields_in, fields_out;
- pcl::for_each_type<FieldListInT> (pcl::detail::FieldAdder<PointInT> (fields_in));
- pcl::for_each_type<FieldListOutT> (pcl::detail::FieldAdder<PointOutT> (fields_out));
-
- // RGB vs RGBA is an official missmatch until PCL 2.0, so we need to search for it and
- // fix it manually
- int rgb_idx_in = -1, rgb_idx_out = -1;
- for (size_t i = 0; i < fields_in.size (); ++i)
- if (fields_in[i].name == "rgb" || fields_in[i].name == "rgba")
- {
- rgb_idx_in = int (i);
- break;
- }
- for (size_t i = 0; i < fields_out.size (); ++i)
- if (fields_out[i].name == "rgb" || fields_out[i].name == "rgba")
- {
- rgb_idx_out = int (i);
- break;
- }
-
- // We have one of the two cases: RGB vs RGBA or RGBA vs RGB
- if (rgb_idx_in != -1 && rgb_idx_out != -1 &&
- fields_in[rgb_idx_in].name != fields_out[rgb_idx_out].name)
- {
- size_t field_size_in = getFieldSize (fields_in[rgb_idx_in].datatype),
- field_size_out = getFieldSize (fields_out[rgb_idx_out].datatype);
-
- if (field_size_in == field_size_out)
- {
- for (size_t i = 0; i < cloud_in.points.size (); ++i)
- {
- // Copy the rest
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[i], cloud_out.points[i]));
- // Copy RGB<->RGBA
- memcpy (reinterpret_cast<char*> (&cloud_out.points[i]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[i]) + fields_in[rgb_idx_in].offset, field_size_in);
- }
- return;
- }
- }
-
- // Iterate over each point if no RGB/RGBA or if their size is different
- for (size_t i = 0; i < cloud_in.points.size (); ++i)
- // Iterate over each dimension
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[i], cloud_out.points[i]));
+ else
+ // Iterate over each point
+ for (size_t i = 0; i < cloud_in.points.size (); ++i)
+ copyPoint (cloud_in.points[i], cloud_out.points[i]);
}
//////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
-pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
+pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
const std::vector<int> &indices,
pcl::PointCloud<PointOutT> &cloud_out)
{
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
-
- // If the point types are the same, don't copy one by one
- if (isSamePointType<PointInT, PointOutT> ())
- {
- // Iterate over each point
- for (size_t i = 0; i < indices.size (); ++i)
- memcpy (&cloud_out.points[i], &cloud_in.points[indices[i]], sizeof (PointInT));
- return;
- }
-
- std::vector<pcl::PCLPointField> fields_in, fields_out;
- pcl::for_each_type<FieldListInT> (pcl::detail::FieldAdder<PointInT> (fields_in));
- pcl::for_each_type<FieldListOutT> (pcl::detail::FieldAdder<PointOutT> (fields_out));
-
- // RGB vs RGBA is an official missmatch until PCL 2.0, so we need to search for it and
- // fix it manually
- int rgb_idx_in = -1, rgb_idx_out = -1;
- for (size_t i = 0; i < fields_in.size (); ++i)
- if (fields_in[i].name == "rgb" || fields_in[i].name == "rgba")
- {
- rgb_idx_in = int (i);
- break;
- }
- for (size_t i = 0; int (i) < fields_out.size (); ++i)
- if (fields_out[i].name == "rgb" || fields_out[i].name == "rgba")
- {
- rgb_idx_out = int (i);
- break;
- }
-
- // We have one of the two cases: RGB vs RGBA or RGBA vs RGB
- if (rgb_idx_in != -1 && rgb_idx_out != -1 &&
- fields_in[rgb_idx_in].name != fields_out[rgb_idx_out].name)
- {
- size_t field_size_in = getFieldSize (fields_in[rgb_idx_in].datatype),
- field_size_out = getFieldSize (fields_out[rgb_idx_out].datatype);
-
- if (field_size_in == field_size_out)
- {
- for (size_t i = 0; i < indices.size (); ++i)
- {
- // Copy the rest
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
- // Copy RGB<->RGBA
- memcpy (reinterpret_cast<char*> (&cloud_out.points[indices[i]]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[i]) + fields_in[rgb_idx_in].offset, field_size_in);
- }
- return;
- }
- }
-
- // Iterate over each point if no RGB/RGBA or if their size is different
+ // Iterate over each point
for (size_t i = 0; i < indices.size (); ++i)
- // Iterate over each dimension
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
+ copyPoint (cloud_in.points[indices[i]], cloud_out.points[i]);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
-pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
+pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
const std::vector<int, Eigen::aligned_allocator<int> > &indices,
pcl::PointCloud<PointOutT> &cloud_out)
{
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
-
- // If the point types are the same, don't copy one by one
- if (isSamePointType<PointInT, PointOutT> ())
- {
- // Iterate over each point
- for (size_t i = 0; i < indices.size (); ++i)
- memcpy (&cloud_out.points[i], &cloud_in.points[indices[i]], sizeof (PointInT));
- return;
- }
-
- std::vector<pcl::PCLPointField> fields_in, fields_out;
- pcl::for_each_type<FieldListInT> (pcl::detail::FieldAdder<PointInT> (fields_in));
- pcl::for_each_type<FieldListOutT> (pcl::detail::FieldAdder<PointOutT> (fields_out));
-
- // RGB vs RGBA is an official missmatch until PCL 2.0, so we need to search for it and
- // fix it manually
- int rgb_idx_in = -1, rgb_idx_out = -1;
- for (size_t i = 0; i < fields_in.size (); ++i)
- if (fields_in[i].name == "rgb" || fields_in[i].name == "rgba")
- {
- rgb_idx_in = int (i);
- break;
- }
- for (size_t i = 0; i < fields_out.size (); ++i)
- if (fields_out[i].name == "rgb" || fields_out[i].name == "rgba")
- {
- rgb_idx_out = int (i);
- break;
- }
-
- // We have one of the two cases: RGB vs RGBA or RGBA vs RGB
- if (rgb_idx_in != -1 && rgb_idx_out != -1 &&
- fields_in[rgb_idx_in].name != fields_out[rgb_idx_out].name)
- {
- size_t field_size_in = getFieldSize (fields_in[rgb_idx_in].datatype),
- field_size_out = getFieldSize (fields_out[rgb_idx_out].datatype);
-
- if (field_size_in == field_size_out)
- {
- for (size_t i = 0; i < indices.size (); ++i)
- {
- // Copy the rest
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
- // Copy RGB<->RGBA
- memcpy (reinterpret_cast<char*> (&cloud_out.points[i]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[indices[i]]) + fields_in[rgb_idx_in].offset, field_size_in);
- }
- return;
- }
- }
-
- // Iterate over each point if no RGB/RGBA or if their size is different
+ // Iterate over each point
for (size_t i = 0; i < indices.size (); ++i)
- // Iterate over each dimension
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[i]], cloud_out.points[i]));
+ copyPoint (cloud_in.points[indices[i]], cloud_out.points[i]);
}
//////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT> void
-pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
+pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
const pcl::PointIndices &indices,
pcl::PointCloud<PointOutT> &cloud_out)
{
- // Allocate enough space and copy the basics
- cloud_out.points.resize (indices.indices.size ());
- cloud_out.header = cloud_in.header;
- cloud_out.width = indices.indices.size ();
- cloud_out.height = 1;
- cloud_out.is_dense = cloud_in.is_dense;
- cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
- cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
-
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
-
- // If the point types are the same, don't copy one by one
- if (isSamePointType<PointInT, PointOutT> ())
- {
- // Iterate over each point
- for (size_t i = 0; i < indices.indices.size (); ++i)
- memcpy (&cloud_out.points[i], &cloud_in.points[indices.indices[i]], sizeof (PointInT));
- return;
- }
-
- std::vector<pcl::PCLPointField> fields_in, fields_out;
- pcl::for_each_type<FieldListInT> (pcl::detail::FieldAdder<PointInT> (fields_in));
- pcl::for_each_type<FieldListOutT> (pcl::detail::FieldAdder<PointOutT> (fields_out));
-
- // RGB vs RGBA is an official missmatch until PCL 2.0, so we need to search for it and
- // fix it manually
- int rgb_idx_in = -1, rgb_idx_out = -1;
- for (size_t i = 0; i < fields_in.size (); ++i)
- if (fields_in[i].name == "rgb" || fields_in[i].name == "rgba")
- {
- rgb_idx_in = int (i);
- break;
- }
- for (size_t i = 0; i < fields_out.size (); ++i)
- if (fields_out[i].name == "rgb" || fields_out[i].name == "rgba")
- {
- rgb_idx_out = int (i);
- break;
- }
-
- // We have one of the two cases: RGB vs RGBA or RGBA vs RGB
- if (rgb_idx_in != -1 && rgb_idx_out != -1 &&
- fields_in[rgb_idx_in].name != fields_out[rgb_idx_out].name)
- {
- size_t field_size_in = getFieldSize (fields_in[rgb_idx_in].datatype),
- field_size_out = getFieldSize (fields_out[rgb_idx_out].datatype);
-
- if (field_size_in == field_size_out)
- {
- for (size_t i = 0; i < indices.indices.size (); ++i)
- {
- // Copy the rest
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices.indices[i]], cloud_out.points[i]));
- // Copy RGB<->RGBA
- memcpy (reinterpret_cast<char*> (&cloud_out.points[indices.indices[i]]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[i]) + fields_in[rgb_idx_in].offset, field_size_in);
- }
- return;
- }
- }
-
- // Iterate over each point if no RGB/RGBA or if their size is different
- for (size_t i = 0; i < indices.indices.size (); ++i)
- // Iterate over each dimension
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices.indices[i]], cloud_out.points[i]));
+ copyPointCloud (cloud_in, indices.indices, cloud_out);
}
//////////////////////////////////////////////////////////////////////////////////////////////
cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointInT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointOutT>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
-
- // If the point types are the same, don't copy one by one
- if (isSamePointType<PointInT, PointOutT> ())
- {
- // Iterate over each cluster
- int cp = 0;
- for (size_t cc = 0; cc < indices.size (); ++cc)
- {
- // Iterate over each idx
- for (size_t i = 0; i < indices[cc].indices.size (); ++i)
- {
- cloud_out.points[cp] = cloud_in.points[indices[cc].indices[i]];
- ++cp;
- }
- }
- return;
- }
-
- std::vector<pcl::PCLPointField> fields_in, fields_out;
- pcl::for_each_type<FieldListInT> (pcl::detail::FieldAdder<PointInT> (fields_in));
- pcl::for_each_type<FieldListOutT> (pcl::detail::FieldAdder<PointOutT> (fields_out));
-
- // RGB vs RGBA is an official missmatch until PCL 2.0, so we need to search for it and
- // fix it manually
- int rgb_idx_in = -1, rgb_idx_out = -1;
- for (size_t i = 0; i < fields_in.size (); ++i)
- if (fields_in[i].name == "rgb" || fields_in[i].name == "rgba")
- {
- rgb_idx_in = int (i);
- break;
- }
- for (size_t i = 0; i < fields_out.size (); ++i)
- if (fields_out[i].name == "rgb" || fields_out[i].name == "rgba")
- {
- rgb_idx_out = int (i);
- break;
- }
-
- // We have one of the two cases: RGB vs RGBA or RGBA vs RGB
- if (rgb_idx_in != -1 && rgb_idx_out != -1 &&
- fields_in[rgb_idx_in].name != fields_out[rgb_idx_out].name)
- {
- size_t field_size_in = getFieldSize (fields_in[rgb_idx_in].datatype),
- field_size_out = getFieldSize (fields_out[rgb_idx_out].datatype);
-
- if (field_size_in == field_size_out)
- {
- // Iterate over each cluster
- int cp = 0;
- for (size_t cc = 0; cc < indices.size (); ++cc)
- {
- // Iterate over each idx
- for (size_t i = 0; i < indices[cc].indices.size (); ++i)
- {
- // Iterate over each dimension
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[cc].indices[i]], cloud_out.points[cp]));
- // Copy RGB<->RGBA
- memcpy (reinterpret_cast<char*> (&cloud_out.points[cp]) + fields_out[rgb_idx_out].offset, reinterpret_cast<const char*> (&cloud_in.points[indices[cp].indices[i]]) + fields_in[rgb_idx_in].offset, field_size_in);
- ++cp;
- }
- }
- return;
- }
- }
-
// Iterate over each cluster
int cp = 0;
for (size_t cc = 0; cc < indices.size (); ++cc)
// Iterate over each idx
for (size_t i = 0; i < indices[cc].indices.size (); ++i)
{
- // Iterate over each dimension
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (cloud_in.points[indices[cc].indices[i]], cloud_out.points[cp]));
+ copyPoint (cloud_in.points[indices[cc].indices[i]], cloud_out.points[cp]);
++cp;
}
}
}
}
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::copyPointCloud (const pcl::PointCloud<PointT> &cloud_in, pcl::PointCloud<PointT> &cloud_out,
+ int top, int bottom, int left, int right, pcl::InterpolationType border_type, const PointT& value)
+{
+ if (top < 0 || left < 0 || bottom < 0 || right < 0)
+ {
+ std::string faulty = (top < 0) ? "top" : (left < 0) ? "left" : (bottom < 0) ? "bottom" : "right";
+ PCL_THROW_EXCEPTION (pcl::BadArgumentException, "[pcl::copyPointCloud] error: " << faulty << " must be positive!");
+ return;
+ }
+
+ if (top == 0 && left == 0 && bottom == 0 && right == 0)
+ cloud_out = cloud_in;
+ else
+ {
+ // Allocate enough space and copy the basics
+ cloud_out.header = cloud_in.header;
+ cloud_out.width = cloud_in.width + left + right;
+ cloud_out.height = cloud_in.height + top + bottom;
+ if (cloud_out.size () != cloud_out.width * cloud_out.height)
+ cloud_out.resize (cloud_out.width * cloud_out.height);
+ cloud_out.is_dense = cloud_in.is_dense;
+ cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
+ cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
+
+ if (border_type == pcl::BORDER_TRANSPARENT)
+ {
+ const PointT* in = &(cloud_in.points[0]);
+ PointT* out = &(cloud_out.points[0]);
+ PointT* out_inner = out + cloud_out.width*top + left;
+ for (uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
+ {
+ if (out_inner != in)
+ memcpy (out_inner, in, cloud_in.width * sizeof (PointT));
+ }
+ }
+ else
+ {
+ // Copy the data
+ if (border_type != pcl::BORDER_CONSTANT)
+ {
+ try
+ {
+ std::vector<int> padding (cloud_out.width - cloud_in.width);
+ int right = cloud_out.width - cloud_in.width - left;
+ int bottom = cloud_out.height - cloud_in.height - top;
+
+ for (int i = 0; i < left; i++)
+ padding[i] = pcl::interpolatePointIndex (i-left, cloud_in.width, border_type);
+
+ for (int i = 0; i < right; i++)
+ padding[i+left] = pcl::interpolatePointIndex (cloud_in.width+i, cloud_in.width, border_type);
+
+ const PointT* in = &(cloud_in.points[0]);
+ PointT* out = &(cloud_out.points[0]);
+ PointT* out_inner = out + cloud_out.width*top + left;
+
+ for (uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
+ {
+ if (out_inner != in)
+ memcpy (out_inner, in, cloud_in.width * sizeof (PointT));
+
+ for (int j = 0; j < left; j++)
+ out_inner[j - left] = in[padding[j]];
+
+ for (int j = 0; j < right; j++)
+ out_inner[j + cloud_in.width] = in[padding[j + left]];
+ }
+
+ for (int i = 0; i < top; i++)
+ {
+ int j = pcl::interpolatePointIndex (i - top, cloud_in.height, border_type);
+ memcpy (out + i*cloud_out.width,
+ out + (j+top) * cloud_out.width,
+ sizeof (PointT) * cloud_out.width);
+ }
+
+ for (int i = 0; i < bottom; i++)
+ {
+ int j = pcl::interpolatePointIndex (i + cloud_in.height, cloud_in.height, border_type);
+ memcpy (out + (i + cloud_in.height + top)*cloud_out.width,
+ out + (j+top)*cloud_out.width,
+ cloud_out.width * sizeof (PointT));
+ }
+ }
+ catch (pcl::BadArgumentException &e)
+ {
+ PCL_ERROR ("[pcl::copyPointCloud] Unhandled interpolation type %d!\n", border_type);
+ }
+ }
+ else
+ {
+ int right = cloud_out.width - cloud_in.width - left;
+ int bottom = cloud_out.height - cloud_in.height - top;
+ std::vector<PointT> buff (cloud_out.width, value);
+ PointT* buff_ptr = &(buff[0]);
+ const PointT* in = &(cloud_in.points[0]);
+ PointT* out = &(cloud_out.points[0]);
+ PointT* out_inner = out + cloud_out.width*top + left;
+
+ for (uint32_t i = 0; i < cloud_in.height; i++, out_inner += cloud_out.width, in += cloud_in.width)
+ {
+ if (out_inner != in)
+ memcpy (out_inner, in, cloud_in.width * sizeof (PointT));
+
+ memcpy (out_inner - left, buff_ptr, left * sizeof (PointT));
+ memcpy (out_inner + cloud_in.width, buff_ptr, right * sizeof (PointT));
+ }
+
+ for (int i = 0; i < top; i++)
+ {
+ memcpy (out + i*cloud_out.width, buff_ptr, cloud_out.width * sizeof (PointT));
+ }
+
+ for (int i = 0; i < bottom; i++)
+ {
+ memcpy (out + (i + cloud_in.height + top)*cloud_out.width,
+ buff_ptr,
+ cloud_out.width * sizeof (PointT));
+ }
+ }
+ }
+ }
+}
+
#endif // PCL_IO_IMPL_IO_H_
/////////////////////////////////////////////////////////////////////////////////////////
/** \brief Constructor with direct computation
- * \param[in] X input m*n matrix (ie n vectors of R(m))
+ * \param[in] cloud input m*n matrix (ie n vectors of R(m))
* \param[in] basis_only flag to compute only the PCA basis
*/
template<typename PointT>
-pcl::PCA<PointT>::PCA (const pcl::PointCloud<PointT>& X, bool basis_only)
+pcl::PCA<PointT>::PCA (const pcl::PointCloud<PointT> &cloud, bool basis_only)
{
Base ();
basis_only_ = basis_only;
- setInputCloud (X.makeShared ());
+ setInputCloud (cloud.makeShared ());
compute_done_ = initCompute ();
}
struct IntensityFieldAccessor
{
/** \brief get intensity field
- * \param[in] point p
+ * \param[in] p point
* \return p.intensity
*/
inline float
return p.intensity;
}
/** \brief gets the intensity value of a point
- * \param[in/out] p point for which intensity to be get
+ * \param p point for which intensity to be get
* \param[in] intensity value of the intensity field
*/
inline void
intensity = p.intensity;
}
/** \brief sets the intensity value of a point
- * \param[in/out] p point for which intensity to be set
+ * \param p point for which intensity to be set
* \param[in] intensity value of the intensity field
*/
inline void
p.intensity = intensity;
}
/** \brief subtract value from intensity field
- * \param[in/out] p point for which to modify inetnsity
+ * \param p point for which to modify inetnsity
* \param[in] value value to be subtracted from point intensity
*/
inline void
p.intensity -= value;
}
/** \brief add value to intensity field
- * \param[in/out] p point for which to modify inetnsity
+ * \param p point for which to modify inetnsity
* \param[in] value value to be added to point intensity
*/
inline void
* $Id$
*
*/
+
#ifndef PCL_INTERSECTIONS_H_
#define PCL_INTERSECTIONS_H_
* \param[in] sqr_eps maximum allowable squared distance to the true solution
* \ingroup common
*/
- PCL_EXPORTS bool
+ PCL_EXPORTS inline bool
lineWithLineIntersection (const Eigen::VectorXf &line_a,
const Eigen::VectorXf &line_b,
- Eigen::Vector4f &point, double sqr_eps = 1e-4);
+ Eigen::Vector4f &point,
+ double sqr_eps = 1e-4);
/** \brief Get the intersection of a two 3D lines in space as a 3D point
* \param[in] line_a the coefficients of the first line (point, direction)
* \param[in] sqr_eps maximum allowable squared distance to the true solution
* \ingroup common
*/
- PCL_EXPORTS bool
+
+ PCL_EXPORTS inline bool
lineWithLineIntersection (const pcl::ModelCoefficients &line_a,
const pcl::ModelCoefficients &line_b,
- Eigen::Vector4f &point, double sqr_eps = 1e-4);
+ Eigen::Vector4f &point,
+ double sqr_eps = 1e-4);
/** \brief Determine the line of intersection of two non-parallel planes using lagrange multipliers
* \note Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA"
* \param[in] plane_a coefficients of plane A and plane B in the form ax + by + cz + d = 0
- * \param[out] plane_b coefficients of line where line.tail<3>() = direction vector and
+ * \param[in] plane_b coefficients of line where line.tail<3>() = direction vector and
* line.head<3>() the point on the line clossest to (0, 0, 0)
+ * \param[out] line the intersected line to be filled
+ * \param[in] angular_tolerance tolerance in radians
* \return true if succeeded/planes aren't parallel
*/
- PCL_EXPORTS bool
+ PCL_EXPORTS template <typename Scalar> bool
+ planeWithPlaneIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
+ const Eigen::Matrix<Scalar, 4, 1> &plane_b,
+ Eigen::Matrix<Scalar, Eigen::Dynamic, 1> &line,
+ double angular_tolerance = 0.1);
+
+ PCL_EXPORTS inline bool
planeWithPlaneIntersection (const Eigen::Vector4f &plane_a,
- const Eigen::Vector4f &fplane_b,
+ const Eigen::Vector4f &plane_b,
Eigen::VectorXf &line,
- double angular_tolerance = 0.1);
+ double angular_tolerance = 0.1)
+ {
+ return (planeWithPlaneIntersection<float> (plane_a, plane_b, line, angular_tolerance));
+ }
+
+ PCL_EXPORTS inline bool
+ planeWithPlaneIntersection (const Eigen::Vector4d &plane_a,
+ const Eigen::Vector4d &plane_b,
+ Eigen::VectorXd &line,
+ double angular_tolerance = 0.1)
+ {
+ return (planeWithPlaneIntersection<double> (plane_a, plane_b, line, angular_tolerance));
+ }
+
+ /** \brief Determine the point of intersection of three non-parallel planes by solving the equations.
+ * \note If using nearly parralel planes you can lower the determinant_tolerance value. This can
+ * lead to inconsistent results.
+ * If the three planes intersects in a line the point will be anywhere on the line.
+ * \param[in] plane_a are the coefficients of the first plane in the form ax + by + cz + d = 0
+ * \param[in] plane_b are the coefficients of the second plane
+ * \param[in] plane_c are the coefficients of the third plane
+ * \param[in] determinant_tolerance is a limit to determine whether planes are parallel or not
+ * \param[out] intersection_point the three coordinates x, y, z of the intersection point
+ * \return true if succeeded/planes aren't parallel
+ */
+ PCL_EXPORTS template <typename Scalar> bool
+ threePlanesIntersection (const Eigen::Matrix<Scalar, 4, 1> &plane_a,
+ const Eigen::Matrix<Scalar, 4, 1> &plane_b,
+ const Eigen::Matrix<Scalar, 4, 1> &plane_c,
+ Eigen::Matrix<Scalar, 3, 1> &intersection_point,
+ double determinant_tolerance = 1e-6);
+
+
+ PCL_EXPORTS inline bool
+ threePlanesIntersection (const Eigen::Vector4f &plane_a,
+ const Eigen::Vector4f &plane_b,
+ const Eigen::Vector4f &plane_c,
+ Eigen::Vector3f &intersection_point,
+ double determinant_tolerance = 1e-6)
+ {
+ return (threePlanesIntersection<float> (plane_a, plane_b, plane_c,
+ intersection_point, determinant_tolerance));
+ }
+
+ PCL_EXPORTS inline bool
+ threePlanesIntersection (const Eigen::Vector4d &plane_a,
+ const Eigen::Vector4d &plane_b,
+ const Eigen::Vector4d &plane_c,
+ Eigen::Vector3d &intersection_point,
+ double determinant_tolerance = 1e-6)
+ {
+ return (threePlanesIntersection<double> (plane_a, plane_b, plane_c,
+ intersection_point, determinant_tolerance));
+ }
+
}
/*@}*/
-#endif //#ifndef PCL_INTERSECTIONS_H_
+#include <pcl/common/impl/intersections.hpp>
+
+#endif //#ifndef PCL_INTERSECTIONS_H_
#include <pcl/pcl_base.h>
#include <pcl/PointIndices.h>
#include <pcl/conversions.h>
+#include <pcl/exceptions.h>
#include <locale>
namespace pcl
}
}
+ typedef enum
+ {
+ BORDER_CONSTANT = 0, BORDER_REPLICATE = 1,
+ BORDER_REFLECT = 2, BORDER_WRAP = 3,
+ BORDER_REFLECT_101 = 4, BORDER_TRANSPARENT = 5,
+ BORDER_DEFAULT = BORDER_REFLECT_101
+ } InterpolationType;
+
+ /** \brief \return the right index according to the interpolation type.
+ * \note this is adapted from OpenCV
+ * \param p the index of point to interpolate
+ * \param length the top/bottom row or left/right column index
+ * \param type the requested interpolation
+ * \throws pcl::BadArgumentException if type is unknown
+ */
+ PCL_EXPORTS int
+ interpolatePointIndex (int p, int length, InterpolationType type);
+
/** \brief Concatenate two pcl::PCLPointCloud2.
* \param[in] cloud1 the first input point cloud dataset
* \param[in] cloud2 the second input point cloud dataset
const std::vector<pcl::PointIndices> &indices,
pcl::PointCloud<PointOutT> &cloud_out);
+ /** \brief Copy a point cloud inside a larger one interpolating borders.
+ * \param[in] cloud_in the input point cloud dataset
+ * \param[out] cloud_out the resultant output point cloud dataset
+ * \param top
+ * \param bottom
+ * \param left
+ * \param right
+ * Position of cloud_in inside cloud_out is given by \a top, \a left, \a bottom \a right.
+ * \param[in] border_type the interpolating method (pcl::BORDER_XXX)
+ * BORDER_REPLICATE: aaaaaa|abcdefgh|hhhhhhh
+ * BORDER_REFLECT: fedcba|abcdefgh|hgfedcb
+ * BORDER_REFLECT_101: gfedcb|abcdefgh|gfedcba
+ * BORDER_WRAP: cdefgh|abcdefgh|abcdefg
+ * BORDER_CONSTANT: iiiiii|abcdefgh|iiiiiii with some specified 'i'
+ * BORDER_TRANSPARENT: mnopqr|abcdefgh|tuvwxyz where m-r and t-z are orignal values of cloud_out
+ * \param value
+ * \throw pcl::BadArgumentException if any of top, bottom, left or right is negative.
+ * \ingroup common
+ */
+ template <typename PointT> void
+ copyPointCloud (const pcl::PointCloud<PointT> &cloud_in,
+ pcl::PointCloud<PointT> &cloud_out,
+ int top, int bottom, int left, int right,
+ pcl::InterpolationType border_type, const PointT& value);
+
/** \brief Concatenate two datasets representing different fields.
*
* \note If the input datasets have overlapping fields (i.e., both contain
* X input m*n matrix (ie n vectors of R(m))
* basis_only flag to compute only the PCA basis
*/
- PCL_DEPRECATED (PCA (const pcl::PointCloud<PointT>& X, bool basis_only = false),
- "Use PCA (bool basis_only); setInputCloud (X.makeShared ()); instead");
+ PCL_DEPRECATED ("Use PCA (bool basis_only); setInputCloud (X.makeShared ()); instead")
+ PCA (const pcl::PointCloud<PointT>& X, bool basis_only = false);
/** Copy Constructor
* \param[in] pca PCA object
template<> inline bool isFinite<pcl::RGB> (const pcl::RGB&) { return (true); }
template<> inline bool isFinite<pcl::Label> (const pcl::Label&) { return (true); }
template<> inline bool isFinite<pcl::Axis> (const pcl::Axis&) { return (true); }
+ template<> inline bool isFinite<pcl::Intensity> (const pcl::Intensity&) { return (true); }
template<> inline bool isFinite<pcl::MomentInvariants> (const pcl::MomentInvariants&) { return (true); }
template<> inline bool isFinite<pcl::PrincipalRadiiRSD> (const pcl::PrincipalRadiiRSD&) { return (true); }
template<> inline bool isFinite<pcl::Boundary> (const pcl::Boundary&) { return (true); }
/** Constructor
* \param parameters uniform distribution parameters and generator seed
*/
- UniformGenerator(const Parameters& paramters);
+ UniformGenerator(const Parameters& parameters);
/** Change seed value
* \param[in] seed new generator seed value
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] argument_name the string value to search for
- * \return index of found argument or -1 of arguments does not appear in list
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
find_argument (int argc, char** argv, const char* argument_name);
* \param[in] argv the command line arguments
* \param[in] argument_name the name of the argument to search for
* \param[out] value The value of the argument
- * \return index of found argument or -1 of arguments does not appear in list
+ * \return index of found argument or -1 if arguments do not appear in list
*/
template<typename Type> int
parse (int argc, char** argv, const char* argument_name, Type& value)
return (index - 1);
}
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as a string.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, std::string &val);
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as a boolean.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, bool &val);
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as a double.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, float &val);
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as a double.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, double &val);
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as an int.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, int &val);
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as an unsigned int.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, unsigned int &val);
- /** \brief Parse for a specific given command line argument. Returns the value
- * sent as an int.
+ /** \brief Parse for a specific given command line argument.
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] val the resultant value
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_argument (int argc, char** argv, const char* str, char &val);
/** \brief Parse for specific given command line arguments (2x values comma
- * separated). Returns the values sent as doubles.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] f the first output value
* \param[out] s the second output value
* \param[in] debug whether to print debug info or not
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_2x_arguments (int argc, char** argv, const char* str, float &f, float &s, bool debug = true);
/** \brief Parse for specific given command line arguments (2x values comma
- * separated). Returns the values sent as doubles.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] f the first output value
* \param[out] s the second output value
* \param[in] debug whether to print debug info or not
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_2x_arguments (int argc, char** argv, const char* str, double &f, double &s, bool debug = true);
/** \brief Parse for specific given command line arguments (2x values comma
- * separated). Returns the values sent as ints.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] f the first output value
* \param[out] s the second output value
* \param[in] debug whether to print debug info or not
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_2x_arguments (int argc, char** argv, const char* str, int &f, int &s, bool debug = true);
/** \brief Parse for specific given command line arguments (3x values comma
- * separated). Returns the values sent as doubles.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] s the second output value
* \param[out] t the third output value
* \param[in] debug whether to print debug info or not
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_3x_arguments (int argc, char** argv, const char* str, float &f, float &s, float &t, bool debug = true);
/** \brief Parse for specific given command line arguments (3x values comma
- * separated). Returns the values sent as doubles.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] s the second output value
* \param[out] t the third output value
* \param[in] debug whether to print debug info or not
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_3x_arguments (int argc, char** argv, const char* str, double &f, double &s, double &t, bool debug = true);
/** \brief Parse for specific given command line arguments (3x values comma
- * separated). Returns the values sent as ints.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] s the second output value
* \param[out] t the third output value
* \param[in] debug whether to print debug info or not
+ * return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_3x_arguments (int argc, char** argv, const char* str, int &f, int &s, int &t, bool debug = true);
/** \brief Parse for specific given command line arguments (3x values comma
- * separated). Returns the values sent as doubles.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] v the vector into which the parsed values will be copied
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_x_arguments (int argc, char** argv, const char* str, std::vector<double>& v);
/** \brief Parse for specific given command line arguments (N values comma
- * separated). Returns the values sent as ints.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] v the vector into which the parsed values will be copied
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_x_arguments (int argc, char** argv, const char* str, std::vector<float>& v);
/** \brief Parse for specific given command line arguments (N values comma
- * separated). Returns the values sent as ints.
+ * separated).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] v the vector into which the parsed values will be copied
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS int
parse_x_arguments (int argc, char** argv, const char* str, std::vector<int>& v);
- /** \brief Parse for specific given command line arguments (multiple occurances
- * of the same command line parameter). Returns the values sent as a vector.
+ /** \brief Parse for specific given command line arguments (multiple occurences
+ * of the same command line parameter).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] values the resultant output values
+ * \return index of found argument or -1 if arguments do not appear in list
*/
PCL_EXPORTS bool
parse_multiple_arguments (int argc, char** argv, const char* str, std::vector<int> &values);
- /** \brief Parse for specific given command line arguments (multiple occurances
- * of the same command line parameter). Returns the values sent as a vector.
+ /** \brief Parse for specific given command line arguments (multiple occurences
+ * of the same command line parameter).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] values the resultant output values
+ * \return true if found, false otherwise
*/
PCL_EXPORTS bool
parse_multiple_arguments (int argc, char** argv, const char* str, std::vector<float> &values);
- /** \brief Parse for specific given command line arguments (multiple occurances
- * of the same command line parameter). Returns the values sent as a vector.
+ /** \brief Parse for specific given command line arguments (multiple occurences
+ * of the same command line parameter).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] values the resultant output values
+ * \return true if found, false otherwise
*/
PCL_EXPORTS bool
parse_multiple_arguments (int argc, char** argv, const char* str, std::vector<double> &values);
/** \brief Parse for a specific given command line argument (multiple occurences
- * of the same command line parameter). Returns the value sent as a vector.
+ * of the same command line parameter).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the string value to search for
* \param[out] values the resultant output values
+ * \return true if found, false otherwise
*/
PCL_EXPORTS bool
parse_multiple_arguments (int argc, char** argv, const char* str, std::vector<std::string> &values);
- /** \brief Parse for specific given command line arguments (multiple occurances
- * of 2x argument groups, separated by commas). Returns 2 vectors holding the
- * given values.
+ /** \brief Parse command line arguments for file names with given extension (multiple occurences
+ * of 2x argument groups, separated by commas).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] values_f the first vector of output values
* \param[out] values_s the second vector of output values
+ * \return true if found, false otherwise
*/
PCL_EXPORTS bool
parse_multiple_2x_arguments (int argc, char** argv, const char* str,
std::vector<double> &values_f,
std::vector<double> &values_s);
- /** \brief Parse for specific given command line arguments (multiple occurances
- * of 3x argument groups, separated by commas). Returns 3 vectors holding the
- * given values.
+ /** \brief Parse command line arguments for file names with given extension (multiple occurences
+ * of 3x argument groups, separated by commas).
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] str the command line argument to search for
* \param[out] values_f the first vector of output values
* \param[out] values_s the second vector of output values
* \param[out] values_t the third vector of output values
+ * \return true if found, false otherwise
*/
PCL_EXPORTS bool
parse_multiple_3x_arguments (int argc, char** argv, const char* str,
std::vector<double> &values_s,
std::vector<double> &values_t);
- /** \brief Parse command line arguments for file names. Returns a vector with
- * file names indices.
+ /** \brief Parse command line arguments for file names with given extension
* \param[in] argc the number of command line arguments
* \param[in] argv the command line arguments
* \param[in] ext the extension to search for
+ * \return a vector with file names indices
*/
PCL_EXPORTS std::vector<int>
parse_file_extension_argument (int argc, char** argv, const std::string &ext);
: pcl::PCLException (error_description, file_name, function_name, line_number) { }
};
+ /** \class BadArgumentException
+ * \brief An exception that is thrown when the argments number or type is wrong/unhandled.
+ */
+ class BadArgumentException : public PCLException
+ {
+ public:
+ BadArgumentException (const std::string& error_description,
+ const std::string& file_name = "",
+ const std::string& function_name = "" ,
+ unsigned line_number = 0) throw ()
+ : pcl::PCLException (error_description, file_name, function_name, line_number) { }
+ };
}
}
catch (std::bad_alloc)
{
- PCL_ERROR ("[initCompute] Failed to allocate %zu indices.\n", input_->points.size ());
+ PCL_ERROR ("[initCompute] Failed to allocate %lu indices.\n", input_->points.size ());
}
for (size_t i = 0; i < indices_->size (); ++i) { (*indices_)[i] = static_cast<int>(i); }
}
(pcl::PFHSignature125) \
(pcl::PFHRGBSignature250) \
(pcl::PPFSignature) \
+ (pcl::CPPFSignature) \
(pcl::PPFRGBSignature) \
(pcl::NormalBasedSignature12) \
(pcl::FPFHSignature33) \
(pcl::PFHSignature125) \
(pcl::PFHRGBSignature250) \
(pcl::PPFSignature) \
+ (pcl::CPPFSignature) \
(pcl::PPFRGBSignature) \
(pcl::NormalBasedSignature12) \
(pcl::FPFHSignature33) \
namespace pcl
{
-#define PCL_ADD_POINT4D \
+ typedef Eigen::Map<Eigen::Array3f> Array3fMap;
+ typedef const Eigen::Map<const Eigen::Array3f> Array3fMapConst;
+ typedef Eigen::Map<Eigen::Array4f, Eigen::Aligned> Array4fMap;
+ typedef const Eigen::Map<const Eigen::Array4f, Eigen::Aligned> Array4fMapConst;
+ typedef Eigen::Map<Eigen::Vector3f> Vector3fMap;
+ typedef const Eigen::Map<const Eigen::Vector3f> Vector3fMapConst;
+ typedef Eigen::Map<Eigen::Vector4f, Eigen::Aligned> Vector4fMap;
+ typedef const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned> Vector4fMapConst;
+
+ typedef Eigen::Matrix<uint8_t, 3, 1> Vector3c;
+ typedef Eigen::Map<Vector3c> Vector3cMap;
+ typedef const Eigen::Map<const Vector3c> Vector3cMapConst;
+ typedef Eigen::Matrix<uint8_t, 4, 1> Vector4c;
+ typedef Eigen::Map<Vector4c, Eigen::Aligned> Vector4cMap;
+ typedef const Eigen::Map<const Vector4c, Eigen::Aligned> Vector4cMapConst;
+
+#define PCL_ADD_UNION_POINT4D \
union EIGEN_ALIGN16 { \
float data[4]; \
struct { \
float y; \
float z; \
}; \
- }; \
- inline Eigen::Map<Eigen::Vector3f> getVector3fMap () { return (Eigen::Vector3f::Map (data)); } \
- inline const Eigen::Map<const Eigen::Vector3f> getVector3fMap () const { return (Eigen::Vector3f::Map (data)); } \
- inline Eigen::Map<Eigen::Vector4f, Eigen::Aligned> getVector4fMap () { return (Eigen::Vector4f::MapAligned (data)); } \
- inline const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned> getVector4fMap () const { return (Eigen::Vector4f::MapAligned (data)); } \
- inline Eigen::Map<Eigen::Array3f> getArray3fMap () { return (Eigen::Array3f::Map (data)); } \
- inline const Eigen::Map<const Eigen::Array3f> getArray3fMap () const { return (Eigen::Array3f::Map (data)); } \
- inline Eigen::Map<Eigen::Array4f, Eigen::Aligned> getArray4fMap () { return (Eigen::Array4f::MapAligned (data)); } \
- inline const Eigen::Map<const Eigen::Array4f, Eigen::Aligned> getArray4fMap () const { return (Eigen::Array4f::MapAligned (data)); }
+ };
-#define PCL_ADD_NORMAL4D \
+#define PCL_ADD_EIGEN_MAPS_POINT4D \
+ inline pcl::Vector3fMap getVector3fMap () { return (pcl::Vector3fMap (data)); } \
+ inline pcl::Vector3fMapConst getVector3fMap () const { return (pcl::Vector3fMapConst (data)); } \
+ inline pcl::Vector4fMap getVector4fMap () { return (pcl::Vector4fMap (data)); } \
+ inline pcl::Vector4fMapConst getVector4fMap () const { return (pcl::Vector4fMapConst (data)); } \
+ inline pcl::Array3fMap getArray3fMap () { return (pcl::Array3fMap (data)); } \
+ inline pcl::Array3fMapConst getArray3fMap () const { return (pcl::Array3fMapConst (data)); } \
+ inline pcl::Array4fMap getArray4fMap () { return (pcl::Array4fMap (data)); } \
+ inline pcl::Array4fMapConst getArray4fMap () const { return (pcl::Array4fMapConst (data)); }
+
+#define PCL_ADD_POINT4D \
+ PCL_ADD_UNION_POINT4D \
+ PCL_ADD_EIGEN_MAPS_POINT4D
+
+#define PCL_ADD_UNION_NORMAL4D \
union EIGEN_ALIGN16 { \
float data_n[4]; \
float normal[3]; \
float normal_y; \
float normal_z; \
}; \
- }; \
- inline Eigen::Map<Eigen::Vector3f> getNormalVector3fMap () { return (Eigen::Vector3f::Map (data_n)); } \
- inline const Eigen::Map<const Eigen::Vector3f> getNormalVector3fMap () const { return (Eigen::Vector3f::Map (data_n)); } \
- inline Eigen::Map<Eigen::Vector4f, Eigen::Aligned> getNormalVector4fMap () { return (Eigen::Vector4f::MapAligned (data_n)); } \
- inline const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned> getNormalVector4fMap () const { return (Eigen::Vector4f::MapAligned (data_n)); }
+ };
-#define PCL_ADD_RGB \
+#define PCL_ADD_EIGEN_MAPS_NORMAL4D \
+ inline pcl::Vector3fMap getNormalVector3fMap () { return (pcl::Vector3fMap (data_n)); } \
+ inline pcl::Vector3fMapConst getNormalVector3fMap () const { return (pcl::Vector3fMapConst (data_n)); } \
+ inline pcl::Vector4fMap getNormalVector4fMap () { return (pcl::Vector4fMap (data_n)); } \
+ inline pcl::Vector4fMapConst getNormalVector4fMap () const { return (pcl::Vector4fMapConst (data_n)); }
+
+#define PCL_ADD_NORMAL4D \
+ PCL_ADD_UNION_NORMAL4D \
+ PCL_ADD_EIGEN_MAPS_NORMAL4D
+
+#define PCL_ADD_UNION_RGB \
union \
{ \
union \
uint32_t rgba; \
};
+#define PCL_ADD_EIGEN_MAPS_RGB \
+ inline Eigen::Vector3i getRGBVector3i () { return (Eigen::Vector3i (r, g, b)); } \
+ inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); } \
+ inline Eigen::Vector4i getRGBVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
+ inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
+ inline Eigen::Vector4i getRGBAVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
+ inline const Eigen::Vector4i getRGBAVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
+ inline pcl::Vector3cMap getBGRVector3cMap () { return (pcl::Vector3cMap (reinterpret_cast<uint8_t*> (&rgba))); } \
+ inline pcl::Vector3cMapConst getBGRVector3cMap () const { return (pcl::Vector3cMapConst (reinterpret_cast<const uint8_t*> (&rgba))); } \
+ inline pcl::Vector4cMap getBGRAVector4cMap () { return (pcl::Vector4cMap (reinterpret_cast<uint8_t*> (&rgba))); } \
+ inline pcl::Vector4cMapConst getBGRAVector4cMap () const { return (pcl::Vector4cMapConst (reinterpret_cast<const uint8_t*> (&rgba))); }
+
+#define PCL_ADD_RGB \
+ PCL_ADD_UNION_RGB \
+ PCL_ADD_EIGEN_MAPS_RGB
+
#define PCL_ADD_INTENSITY \
struct \
{ \
uint32_t intensity; \
}; \
- typedef Eigen::Map<Eigen::Array3f> Array3fMap;
- typedef const Eigen::Map<const Eigen::Array3f> Array3fMapConst;
- typedef Eigen::Map<Eigen::Array4f, Eigen::Aligned> Array4fMap;
- typedef const Eigen::Map<const Eigen::Array4f, Eigen::Aligned> Array4fMapConst;
- typedef Eigen::Map<Eigen::Vector3f> Vector3fMap;
- typedef const Eigen::Map<const Eigen::Vector3f> Vector3fMapConst;
- typedef Eigen::Map<Eigen::Vector4f, Eigen::Aligned> Vector4fMap;
- typedef const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned> Vector4fMapConst;
-
struct _PointXYZ
{
intensity = 0;
}
+#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
+ operator unsigned char() const
+ {
+ return intensity;
+ }
+#endif
+
friend std::ostream& operator << (std::ostream& os, const Intensity8u& p);
};
{
x = y = z = 0.0f;
data[3] = 1.0f;
- r = g = b = a = 0;
- }
- inline Eigen::Vector3i getRGBVector3i ()
- {
- return (Eigen::Vector3i (r, g, b));
- }
- inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); }
- inline Eigen::Vector4i getRGBVector4i ()
- {
- return (Eigen::Vector4i (r, g, b, a));
+ r = g = b = 0;
+ a = 255;
}
- inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); }
-
+
friend std::ostream& operator << (std::ostream& os, const PointXYZRGBA& p);
};
a = 0;
}
- inline Eigen::Vector3i getRGBVector3i ()
- {
- return (Eigen::Vector3i (r, g, b));
- }
- inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); }
- inline Eigen::Vector4i getRGBVector4i ()
- {
- return (Eigen::Vector4i (r, g, b, a));
- }
- inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); }
-
-
friend std::ostream& operator << (std::ostream& os, const PointXYZRGB& p);
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
{
struct
{
- // RGB union
- union
- {
- struct
- {
- uint8_t b;
- uint8_t g;
- uint8_t r;
- uint8_t a;
- };
- float rgb;
- uint32_t rgba;
- };
+ PCL_ADD_UNION_RGB;
float curvature;
};
float data_c[4];
};
+ PCL_ADD_EIGEN_MAPS_RGB;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
curvature = 0;
}
- inline Eigen::Vector3i getRGBVector3i ()
- {
- return (Eigen::Vector3i (r, g, b));
- }
- inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); }
- inline Eigen::Vector4i getRGBVector4i ()
- {
- return (Eigen::Vector4i (r, g, b, a));
- }
- inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); }
-
friend std::ostream& operator << (std::ostream& os, const PointXYZRGBNormal& p);
};
struct Boundary
{
uint8_t boundary_point;
+
+#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
+ operator unsigned char() const
+ {
+ return boundary_point;
+ }
+#endif
friend std::ostream& operator << (std::ostream& os, const Boundary& p);
};
struct PFHSignature125
{
float histogram[125];
+ static int descriptorSize () { return 125; }
friend std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
};
struct PFHRGBSignature250
{
float histogram[250];
-
+ static int descriptorSize () { return 250; }
+
friend std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
};
friend std::ostream& operator << (std::ostream& os, const PPFSignature& p);
};
+ PCL_EXPORTS std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
+ /** \brief A point structure for storing the Point Pair Feature (CPPF) values
+ * \ingroup common
+ */
+ struct CPPFSignature
+ {
+ float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10;
+ float alpha_m;
+
+ friend std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
+ };
+
PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PPFRGBSignature& p);
/** \brief A point structure for storing the Point Pair Color Feature (PPFRGB) values
* \ingroup common
{
float descriptor[1980];
float rf[9];
-
+ static int descriptorSize () { return 1980; }
+
friend std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
};
{
float descriptor[352];
float rf[9];
-
+ static int descriptorSize () { return 352; }
+
friend std::ostream& operator << (std::ostream& os, const SHOT352& p);
};
{
float descriptor[1344];
float rf[9];
-
+ static int descriptorSize () { return 1344; }
+
friend std::ostream& operator << (std::ostream& os, const SHOT1344& p);
};
struct FPFHSignature33
{
float histogram[33];
-
+ static int descriptorSize () { return 33; }
+
friend std::ostream& operator << (std::ostream& os, const FPFHSignature33& p);
};
struct VFHSignature308
{
float histogram[308];
-
+ static int descriptorSize () { return 308; }
+
friend std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
};
struct ESFSignature640
{
float histogram[640];
-
+ static int descriptorSize () { return 640; }
+
friend std::ostream& operator << (std::ostream& os, const ESFSignature640& p);
};
struct GFPFHSignature16
{
float histogram[16];
- static int descriptorSize() { return 16; }
+ static int descriptorSize () { return 16; }
friend std::ostream& operator << (std::ostream& os, const GFPFHSignature16& p);
};
{
float x, y, z, roll, pitch, yaw;
float descriptor[36];
-
+ static int descriptorSize () { return 36; }
+
friend std::ostream& operator << (std::ostream& os, const Narf36& p);
};
struct Histogram
{
float histogram[N];
+ static int descriptorSize () { return N; }
};
struct EIGEN_ALIGN16 _PointWithScale
{
struct
{
- // RGB union
- union
- {
- struct
- {
- uint8_t b;
- uint8_t g;
- uint8_t r;
- uint8_t a;
- };
- float rgb;
- uint32_t rgba;
- };
+ PCL_ADD_UNION_RGB;
float radius;
float confidence;
float curvature;
};
float data_c[4];
};
+ PCL_ADD_EIGEN_MAPS_RGB;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
/** \brief Get a pointer to the input point cloud dataset. */
inline PointCloudConstPtr const
- getInputCloud () { return (input_); }
+ getInputCloud () const { return (input_); }
/** \brief Provide a pointer to the vector of indices that represents the input data.
* \param[in] indices a pointer to the indices that represent the input data.
inline IndicesPtr const
getIndices () { return (indices_); }
+ /** \brief Get a pointer to the vector of indices used. */
+ inline IndicesConstPtr const
+ getIndices () const { return (indices_); }
+
/** \brief Override PointCloud operator[] to shorten code
* \note this method can be called instead of (*input_)[(*indices_)[pos]]
* or input_->points[(*indices_)[pos]]
* \param[in] pos position in indices_ vector
*/
- inline const PointT& operator[] (size_t pos)
+ inline const PointT& operator[] (size_t pos) const
{
return ((*input_)[(*indices_)[pos]]);
}
#elif ANDROID
// Use the math.h macros
# include <math.h>
-# define pcl_isnan(x) isnan(x)
-# define pcl_isfinite(x) isfinite(x)
-# define pcl_isinf(x) isinf(x)
+# define pcl_isnan(x) std::isnan(x)
+# define pcl_isfinite(x) std::isfinite(x)
+# define pcl_isinf(x) std::isinf(x)
#elif _GLIBCXX_USE_C99_MATH
// Are the C++ cmath functions enabled?
#endif
#if (defined(__GNUC__) && PCL_LINEAR_VERSION(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__) < PCL_LINEAR_VERSION(4,5,0) && ! defined(__clang__)) || defined(__INTEL_COMPILER)
-#define PCL_DEPRECATED(func, message) func __attribute__ ((deprecated))
+#define PCL_DEPRECATED(message) __attribute__ ((deprecated))
#endif
// gcc supports this starting from 4.5 : http://gcc.gnu.org/bugzilla/show_bug.cgi?id=43666
#if (defined(__GNUC__) && PCL_LINEAR_VERSION(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__) >= PCL_LINEAR_VERSION(4,5,0)) || (defined(__clang__) && __has_extension(attribute_deprecated_with_message))
-#define PCL_DEPRECATED(func, message) func __attribute__ ((deprecated(message)))
+#define PCL_DEPRECATED(message) __attribute__ ((deprecated(message)))
#endif
#ifdef _MSC_VER
-#define PCL_DEPRECATED(func, message) __declspec(deprecated(message)) func
+#define PCL_DEPRECATED(message) __declspec(deprecated(message))
#endif
#ifndef PCL_DEPRECATED
#pragma message("WARNING: You need to implement PCL_DEPRECATED for this compiler")
-#define PCL_DEPRECATED(func) func
+#define PCL_DEPRECATED(message)
#endif
#ifndef PCL_TEST_MACROS
#define PCL_TEST_MACROS
+#include <Eigen/Core>
+
+/** \file pcl_tests.h
+ * Helper macros for testing equality of various data fields in PCL points */
+
namespace pcl
{
+
/** test_macros.h provide helper macros for testing vectors, matrices etc.
* We took some liberty with upcasing names to make them look like googletest
* macros names so that reader is not confused.
*
- * \author Nizar Sallem
+ * This file also provides a family of googletest-style macros for asserting
+ * equality or nearness of xyz, normal, and rgba fields.
+ *
+ * \author Nizar Sallem, Sergey Alexandrov
*/
+
namespace test
{
+
template <typename V1, typename V2>
void EXPECT_EQ_VECTORS (const V1& v1, const V2& v2)
{
for (size_t i = 0; i < length; ++i)
EXPECT_NEAR (v1[i], v2[i], epsilon);
}
+
+ namespace internal
+ {
+
+ template <typename Point1T, typename Point2T>
+ ::testing::AssertionResult XYZEQ (const char* expr1,
+ const char* expr2,
+ const Point1T& p1,
+ const Point2T& p2)
+ {
+ if ((p1).getVector3fMap ().cwiseEqual ((p2).getVector3fMap ()).all ())
+ return ::testing::AssertionSuccess ();
+ return ::testing::AssertionFailure ()
+ << "Value of: " << expr2 << ".getVector3fMap ()" << std::endl
+ << " Actual: " << p2.getVector3fMap ().transpose () << std::endl
+ << "Expected: " << expr1 << ".getVector3fMap ()" << std::endl
+ << "Which is: " << p1.getVector3fMap ().transpose ();
+ }
+
+ template <typename Point1T, typename Point2T>
+ ::testing::AssertionResult XYZNear (const char* expr1,
+ const char* expr2,
+ const char* abs_error_expr,
+ const Point1T& p1,
+ const Point2T& p2,
+ double abs_error)
+ {
+ const Eigen::Vector3f diff = ((p1).getVector3fMap () -
+ (p2).getVector3fMap ()).cwiseAbs ();
+ if ((diff.array () < abs_error).all ())
+ return ::testing::AssertionSuccess ();
+ return ::testing::AssertionFailure ()
+ << "Some of the element-wise differences exceed " << abs_error_expr
+ << " (which evaluates to " << abs_error << ")" << std::endl
+ << "Difference: " << diff.transpose () << std::endl
+ << " Value of: " << expr2 << ".getVector3fMap ()" << std::endl
+ << " Actual: " << p2.getVector3fMap ().transpose () << std::endl
+ << " Expected: " << expr1 << ".getVector3fMap ()" << std::endl
+ << " Which is: " << p1.getVector3fMap ().transpose ();
+ }
+
+ template <typename Point1T, typename Point2T>
+ ::testing::AssertionResult NormalEQ (const char* expr1,
+ const char* expr2,
+ const Point1T& p1,
+ const Point2T& p2)
+ {
+ if ((p1).getNormalVector3fMap ().cwiseEqual ((p2).getNormalVector3fMap ()).all ())
+ return ::testing::AssertionSuccess ();
+ return ::testing::AssertionFailure ()
+ << "Value of: " << expr2 << ".getNormalVector3fMap ()" << std::endl
+ << " Actual: " << p2.getNormalVector3fMap ().transpose () << std::endl
+ << "Expected: " << expr1 << ".getNormalVector3fMap ()" << std::endl
+ << "Which is: " << p1.getNormalVector3fMap ().transpose ();
+ }
+
+ template <typename Point1T, typename Point2T>
+ ::testing::AssertionResult NormalNear (const char* expr1,
+ const char* expr2,
+ const char* abs_error_expr,
+ const Point1T& p1,
+ const Point2T& p2,
+ double abs_error)
+ {
+ const Eigen::Vector3f diff = ((p1).getNormalVector3fMap () -
+ (p2).getNormalVector3fMap ()).cwiseAbs ();
+ if ((diff.array () < abs_error).all ())
+ return ::testing::AssertionSuccess ();
+ return ::testing::AssertionFailure ()
+ << "Some of the element-wise differences exceed " << abs_error_expr
+ << " (which evaluates to " << abs_error << ")" << std::endl
+ << "Difference: " << diff.transpose () << std::endl
+ << " Value of: " << expr2 << ".getNormalVector3fMap ()" << std::endl
+ << " Actual: " << p2.getNormalVector3fMap ().transpose () << std::endl
+ << " Expected: " << expr1 << ".getNormalVector3fMap ()" << std::endl
+ << " Which is: " << p1.getNormalVector3fMap ().transpose ();
+ }
+
+ template <typename Point1T, typename Point2T>
+ ::testing::AssertionResult RGBEQ (const char* expr1,
+ const char* expr2,
+ const Point1T& p1,
+ const Point2T& p2)
+ {
+ if ((p1).getRGBVector3i ().cwiseEqual ((p2).getRGBVector3i ()).all ())
+ return ::testing::AssertionSuccess ();
+ return ::testing::AssertionFailure ()
+ << "Value of: " << expr2 << ".getRGBVector3i ()" << std::endl
+ << " Actual: " << p2.getRGBVector3i ().transpose () << std::endl
+ << "Expected: " << expr1 << ".getRGBVector3i ()" << std::endl
+ << "Which is: " << p1.getRGBVector3i ().transpose ();
+ }
+
+ template <typename Point1T, typename Point2T>
+ ::testing::AssertionResult RGBAEQ (const char* expr1,
+ const char* expr2,
+ const Point1T& p1,
+ const Point2T& p2)
+ {
+ if ((p1).getRGBAVector4i ().cwiseEqual ((p2).getRGBAVector4i ()).all ())
+ return ::testing::AssertionSuccess ();
+ return ::testing::AssertionFailure ()
+ << "Value of: " << expr2 << ".getRGBAVector4i ()" << std::endl
+ << " Actual: " << p2.getRGBAVector4i ().transpose () << std::endl
+ << "Expected: " << expr1 << ".getRGBAVector4i ()" << std::endl
+ << "Which is: " << p1.getRGBAVector4i ().transpose ();
+ }
+
+ }
+
}
+
}
+/// Expect that each of x, y, and z fields are equal in
+/// two points.
+#define EXPECT_XYZ_EQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::pcl::test::internal::XYZEQ, \
+ (expected), (actual))
+
+/// Assert that each of x, y, and z fields are equal in
+/// two points.
+#define ASSERT_XYZ_EQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::pcl::test::internal::XYZEQ, \
+ (expected), (actual))
+
+/// Expect that differences between x, y, and z fields in
+/// two points are each within abs_error.
+#define EXPECT_XYZ_NEAR(expected, actual, abs_error) \
+ EXPECT_PRED_FORMAT3(::pcl::test::internal::XYZNear, \
+ (expected), (actual), abs_error)
+
+/// Assert that differences between x, y, and z fields in
+/// two points are each within abs_error.
+#define ASSERT_XYZ_NEAR(expected, actual, abs_error) \
+ EXPECT_PRED_FORMAT3(::pcl::test::internal::XYZNear, \
+ (expected), (actual), abs_error)
+
+/// Expect that each of normal_x, normal_y, and normal_z
+/// fields are equal in two points.
+#define EXPECT_NORMAL_EQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::pcl::test::internal::NormalEQ, \
+ (expected), (actual))
+
+/// Assert that each of normal_x, normal_y, and normal_z
+/// fields are equal in two points.
+#define ASSERT_NORMAL_EQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::pcl::test::internal::NormalEQ, \
+ (expected), (actual))
+
+/// Expect that differences between normal_x, normal_y,
+/// and normal_z fields in two points are each within
+/// abs_error.
+#define EXPECT_NORMAL_NEAR(expected, actual, abs_error) \
+ EXPECT_PRED_FORMAT3(::pcl::test::internal::NormalNear, \
+ (expected), (actual), abs_error)
+
+/// Assert that differences between normal_x, normal_y,
+/// and normal_z fields in two points are each within
+/// abs_error.
+#define ASSERT_NORMAL_NEAR(expected, actual, abs_error) \
+ EXPECT_PRED_FORMAT3(::pcl::test::internal::NormalNear, \
+ (expected), (actual), abs_error)
+
+/// Expect that each of r, g, and b fields are equal in
+/// two points.
+#define EXPECT_RGB_EQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::pcl::test::internal::RGBEQ, \
+ (expected), (actual))
+
+/// Assert that each of r, g, and b fields are equal in
+/// two points.
+#define ASSERT_RGB_EQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::pcl::test::internal::RGBEQ, \
+ (expected), (actual))
+
+/// Expect that each of r, g, b, and a fields are equal
+/// in two points.
+#define EXPECT_RGBA_EQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::pcl::test::internal::RGBAEQ, \
+ (expected), (actual))
+
+/// Assert that each of r, g, b, and a fields are equal
+/// in two points.
+#define ASSERT_RGBA_EQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::pcl::test::internal::RGBAEQ, \
+ (expected), (actual))
+
#endif
#include <boost/mpl/bool.hpp>
#endif
+// This is required for the workaround at line 109
+#ifdef _MSC_VER
+#include <Eigen/Core>
+#include <Eigen/src/StlSupport/details.h>
+#endif
+
namespace pcl
{
typedef PointT type;
};
+#ifdef _MSC_VER
+
+ /* Sometimes when calling functions like `copyPoint()` or `copyPointCloud`
+ * without explicitly specifying point types, MSVC deduces them to be e.g.
+ * `Eigen::internal::workaround_msvc_stl_support<pcl::PointXYZ>` instead of
+ * plain `pcl::PointXYZ`. Subsequently these types are passed to meta-
+ * functions like `has_field` or `fieldList` and make them choke. This hack
+ * makes use of the fact that internally `fieldList` always applies `POD` to
+ * its argument type. This specialization therefore allows to unwrap the
+ * contained point type. */
+ template<typename PointT>
+ struct POD<Eigen::internal::workaround_msvc_stl_support<PointT> >
+ {
+ typedef PointT type;
+ };
+
+#endif
+
// name
/* This really only depends on Tag, but we go through some gymnastics to avoid ODR violations.
We template it on the point type PointT to avoid ODR violations when registering multiple
}
};
- /** \brief A helper functor that can copy a specific value if the given field exists. */
+ /** \brief A helper functor that can copy a specific value if the given field exists.
+ *
+ * \note In order to actually copy the value an instance of this functor should be passed
+ * to a pcl::for_each_type loop. See the example below.
+ *
+ * \code
+ * PointInT p;
+ * bool exists;
+ * float value;
+ * typedef typename pcl::traits::fieldList<PointInT>::type FieldList;
+ * pcl::for_each_type<FieldList> (pcl::CopyIfFieldExists<PointT, float> (p, "intensity", exists, value));
+ * \endcode
+ */
template <typename PointInT, typename OutT>
struct CopyIfFieldExists
{
OutT &value_;
};
- /** \brief A helper functor that can set a specific value in a field if the field exists. */
+ /** \brief A helper functor that can set a specific value in a field if the field exists.
+ *
+ * \note In order to actually set the value an instance of this functor should be passed
+ * to a pcl::for_each_type loop. See the example below.
+ *
+ * \code
+ * PointT p;
+ * typedef typename pcl::traits::fieldList<PointT>::type FieldList;
+ * pcl::for_each_type<FieldList> (pcl::SetIfFieldExists<PointT, float> (p, "intensity", 42.0f));
+ * \endcode
+ */
template <typename PointOutT, typename InT>
struct SetIfFieldExists
{
#include <pcl/pcl_macros.h>
#include <bitset>
#include <pcl/register_point_struct.h>
+#include <boost/mpl/contains.hpp>
+#include <boost/mpl/fold.hpp>
+#include <boost/mpl/vector.hpp>
/**
* \file pcl/point_types.h
*/
struct PPFSignature;
+ /** \brief Members: float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, alpha_m
+ * \ingroup common
+ */
+ struct CPPFSignature;
+
/** \brief Members: float f1, f2, f3, f4, r_ratio, g_ratio, b_ratio, alpha_m
* \ingroup common
*/
(float, alpha_m, alpha_m)
)
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::CPPFSignature,
+ (float, f1, f1)
+ (float, f2, f2)
+ (float, f3, f3)
+ (float, f4, f4)
+ (float, f5, f5)
+ (float, f6, f6)
+ (float, f7, f7)
+ (float, f8, f8)
+ (float, f9, f9)
+ (float, f10, f10)
+ (float, alpha_m, alpha_m)
+)
+
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
(float, f1, f1)
(float, f2, f2)
}
}
};
+
+ namespace traits
+ {
+
+ /** \brief Metafunction to check if a given point type has a given field.
+ *
+ * Example usage at run-time:
+ *
+ * \code
+ * bool curvature_available = pcl::traits::has_field<PointT, pcl::fields::curvature>::value;
+ * \endcode
+ *
+ * Example usage at compile-time:
+ *
+ * \code
+ * BOOST_MPL_ASSERT_MSG ((pcl::traits::has_field<PointT, pcl::fields::label>::value),
+ * POINT_TYPE_SHOULD_HAVE_LABEL_FIELD,
+ * (PointT));
+ * \endcode
+ */
+ template <typename PointT, typename Field>
+ struct has_field : boost::mpl::contains<typename pcl::traits::fieldList<PointT>::type, Field>::type
+ { };
+
+ /** Metafunction to check if a given point type has all given fields. */
+ template <typename PointT, typename Field>
+ struct has_all_fields : boost::mpl::fold<Field,
+ boost::mpl::bool_<true>,
+ boost::mpl::and_<boost::mpl::_1,
+ has_field<PointT, boost::mpl::_2> > >::type
+ { };
+
+ /** Metafunction to check if a given point type has any of the given fields. */
+ template <typename PointT, typename Field>
+ struct has_any_field : boost::mpl::fold<Field,
+ boost::mpl::bool_<false>,
+ boost::mpl::or_<boost::mpl::_1,
+ has_field<PointT, boost::mpl::_2> > >::type
+ { };
+
+ /** Metafunction to check if a given point type has x, y, and z fields. */
+ template <typename PointT>
+ struct has_xyz : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
+ pcl::fields::y,
+ pcl::fields::z> >
+ { };
+
+ /** Metafunction to check if a given point type has normal_x, normal_y, and
+ * normal_z fields. */
+ template <typename PointT>
+ struct has_normal : has_all_fields<PointT, boost::mpl::vector<pcl::fields::normal_x,
+ pcl::fields::normal_y,
+ pcl::fields::normal_z> >
+ { };
+
+ /** Metafunction to check if a given point type has curvature field. */
+ template <typename PointT>
+ struct has_curvature : has_field<PointT, pcl::fields::curvature>
+ { };
+
+ /** Metafunction to check if a given point type has intensity field. */
+ template <typename PointT>
+ struct has_intensity : has_field<PointT, pcl::fields::intensity>
+ { };
+
+ /** Metafunction to check if a given point type has either rgb or rgba field. */
+ template <typename PointT>
+ struct has_color : has_any_field<PointT, boost::mpl::vector<pcl::fields::rgb,
+ pcl::fields::rgba> >
+ { };
+
+ /** Metafunction to check if a given point type has label field. */
+ template <typename PointT>
+ struct has_label : has_field<PointT, pcl::fields::label>
+ { };
+
+ }
+
} // namespace pcl
#if defined _MSC_VER
out.x = in.x; out.y = in.y; out.z = in.z;
if (in.s == 0)
{
- out.r = out.g = out.b = static_cast<uint8_t> (in.v);
+ out.r = out.g = out.b = static_cast<uint8_t> (255 * in.v);
return;
}
float a = in.h / 60;
* \param[in] focal the focal length
* \param[out] out the output pointcloud
* **/
- void
+ inline void
PointCloudDepthAndRGBtoXYZRGBA (PointCloud<Intensity>& depth,
PointCloud<RGB>& image,
float& focal,
PointCloud<PointXYZRGBA>& out)
{
float bad_point = std::numeric_limits<float>::quiet_NaN();
- int width_ = depth.width;
- int height_ = depth.height;
+ size_t width_ = depth.width;
+ size_t height_ = depth.height;
float constant_ = 1.0f / focal;
- for(unsigned int v = 0; v < height_; v++)
+ for (size_t v = 0; v < height_; v++)
{
- for(unsigned int u = 0; u < width_; u++)
+ for (size_t u = 0; u < width_; u++)
{
PointXYZRGBA pt;
pt.a = 0;
- float depth_ = depth.at(u,v).intensity;
+ float depth_ = depth.at (u, v).intensity;
if (depth_ == 0)
{
pt.x = static_cast<float> (u) * pt.z * constant_;
pt.y = static_cast<float> (v) * pt.z * constant_;
}
- pt.r = image.at(u,v).r;
- pt.g = image.at(u,v).g;
- pt.b = image.at(u,v).b;
+ pt.r = image.at (u, v).r;
+ pt.g = image.at (u, v).g;
+ pt.b = image.at (u, v).b;
- out.points.push_back(pt);
+ out.points.push_back (pt);
}
}
out.width = width_;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
+ * Author: Qinghua Li, Yan Zhuang, Fei Yan
+ *
+ * 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 Intelligent Robotics Lab, DLUT. 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.
+ */
+
+/**
+ * \file bearing_angle_image.h
+ * \Created on: July 07, 2012
+ */
+
+#ifndef PCL_BEARING_ANGLE_IMAGE_H_
+#define PCL_BEARING_ANGLE_IMAGE_H_
+
+#include <cmath>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+
+namespace pcl
+{
+ /** \brief class BearingAngleImage is used as an interface to generate Bearing Angle(BA) image.
+ * \author: Qinghua Li (qinghua__li@163.com)
+ */
+ class BearingAngleImage : public pcl::PointCloud<PointXYZRGBA>
+ {
+ public:
+ // ===== TYPEDEFS =====
+ typedef pcl::PointCloud<PointXYZRGBA> BaseClass;
+
+ // =====CONSTRUCTOR & DESTRUCTOR=====
+ /** Constructor */
+ BearingAngleImage ();
+ /** Destructor */
+ virtual ~BearingAngleImage ();
+
+ public:
+ /** \brief Reset all values to an empty Bearing Angle image */
+ void
+ reset ();
+
+ /** \brief Calculate the angle between the laser beam and the segment joining two consecutive
+ * measurement points.
+ * \param point1
+ * \param point2
+ */
+ double
+ getAngle (const PointXYZ &point1, const PointXYZ &point2);
+
+ /** \brief Transform 3D point cloud into a 2D Bearing Angle(BA) image */
+ void
+ generateBAImage (PointCloud<PointXYZ>& point_cloud);
+
+ protected:
+ /**< This point is used to be able to return a reference to a unknown gray point */
+ PointXYZRGBA unobserved_point_;
+ };
+}
+
+#endif // PCL_BEARING_ANGLE_IMAGE_H_
* individual pixels in the image in the x-direction
* \param angular_resolution_y the angular difference (in radians) between the
* individual pixels in the image in the y-direction
- * \param angular_resolution the angle (in radians) between each sample in the depth image
* \param point_cloud_center the center of bounding sphere
* \param point_cloud_radius the radius of the bounding sphere
* \param sensor_pose an affine matrix defining the pose of the sensor (defaults to
* createMapping<PointT> (msg.fields, field_map);
* \endcode
*/
- PCL_DEPRECATED (template <typename PointT> void fromROSMsg (
- const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
- const MsgFieldMap& field_map),
- "pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.");
-
- template <typename PointT> void
+ template <typename PointT>
+ PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
+ void
fromROSMsg (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
const MsgFieldMap& field_map)
{
* \param[in] msg the PCLPointCloud2 binary blob
* \param[out] cloud the resultant pcl::PointCloud<T>
*/
- PCL_DEPRECATED (template<typename PointT> void fromROSMsg (
- const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud),
- "pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.");
- template<typename PointT> void
+ template<typename PointT>
+ PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
+ void
fromROSMsg (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud)
{
fromPCLPointCloud2 (msg, cloud);
* \param[in] cloud the input pcl::PointCloud<T>
* \param[out] msg the resultant PCLPointCloud2 binary blob
*/
- PCL_DEPRECATED (template<typename PointT> void toROSMsg (
- const pcl::PointCloud<PointT>& cloud, pcl::PCLPointCloud2& msg),
- "pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.");
- template<typename PointT> void
+ template<typename PointT>
+ PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
+ void
toROSMsg (const pcl::PointCloud<PointT>& cloud, pcl::PCLPointCloud2& msg)
{
toPCLPointCloud2 (cloud, msg);
* CloudT cloud type, CloudT should be akin to pcl::PointCloud<pcl::PointXYZRGBA>
* \note will throw std::runtime_error if there is a problem
*/
- PCL_DEPRECATED (template<typename CloudT> void toROSMsg (
- const CloudT& cloud, pcl::PCLImage& msg),
- "pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.");
- template<typename CloudT> void
+ template<typename CloudT>
+ PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
+ void
toROSMsg (const CloudT& cloud, pcl::PCLImage& msg)
{
toPCLPointCloud2 (cloud, msg);
* \param msg the resultant pcl::PCLImage
* will throw std::runtime_error if there is a problem
*/
- PCL_DEPRECATED (inline void toROSMsg (
- const pcl::PCLPointCloud2& cloud, pcl::PCLImage& msg),
- "pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.");
inline void
+ PCL_DEPRECATED ("pcl::fromROSMsg is deprecated, please use fromPCLPointCloud2 instead.")
toROSMsg (const pcl::PCLPointCloud2& cloud, pcl::PCLImage& msg)
{
toPCLPointCloud2 (cloud, msg);
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
+ * Author: Qinghua Li, Yan Zhuang, Fei Yan
+ *
+ * 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 Intelligent Robotics Lab, DLUT. 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.
+ */
+
+/**
+ * \file bearing_angle_image.cpp
+ * \created on: July 07, 2012
+ * \author: Qinghua Li (qinghua__li@163.com)
+ */
+
+#include <pcl/common/eigen.h>
+#include <pcl/range_image/bearing_angle_image.h>
+
+namespace pcl
+{
+/////////////////////////////////////////////////////////
+BearingAngleImage::BearingAngleImage () :
+ BearingAngleImage::BaseClass (),
+ unobserved_point_ ()
+{
+ reset ();
+ unobserved_point_.x = unobserved_point_.y = unobserved_point_.z = 0.0;
+ unobserved_point_.rgba = 255;
+}
+
+/////////////////////////////////////////////////////////
+BearingAngleImage::~BearingAngleImage ()
+{
+}
+
+/////////////////////////////////////////////////////////
+void
+BearingAngleImage::reset ()
+{
+ width = height = 0;
+ points.clear ();
+}
+
+/////////////////////////////////////////////////////////
+double
+BearingAngleImage::getAngle (const PointXYZ &point1, const PointXYZ &point2)
+{
+ double a, b, c;
+ double theta;
+ const Eigen::Vector3f& p1 = point1.getVector3fMap ();
+ const Eigen::Vector3f& p2 = point2.getVector3fMap ();
+ a = p1.squaredNorm ();
+ b = (p1 - p2).squaredNorm ();
+ c = p2.squaredNorm ();
+
+ if (a != 0 && b != 0)
+ {
+ theta = acos ((a + b - c) / (2 * sqrt (a) * sqrt (b))) * 180 / M_PI;
+ }
+ else
+ {
+ theta = 0.0;
+ }
+
+ return theta;
+}
+
+/////////////////////////////////////////////////////////
+void
+BearingAngleImage::generateBAImage (PointCloud<PointXYZ>& point_cloud)
+{
+ width = point_cloud.width;
+ height = point_cloud.height;
+ unsigned int size = width * height;
+ points.clear ();
+ points.resize (size, unobserved_point_);
+
+ double theta;
+ uint8_t r, g, b, gray;
+
+ // primary transformation process
+ for (int i = 0; i < static_cast<int> (height) - 1; ++i)
+ {
+ for (int j = 0; j < static_cast<int> (width) - 1; ++j)
+ {
+ theta = getAngle (point_cloud.at (j, i + 1), point_cloud.at (j + 1, i));
+
+ // based on the theta, calculate the gray value of every pixel point
+ gray = theta * 255 / 180;
+ r = gray;
+ g = gray;
+ b = gray;
+
+ points[(i + 1) * width + j].x = point_cloud.at (j, i + 1).x;
+ points[(i + 1) * width + j].y = point_cloud.at (j, i + 1).y;
+ points[(i + 1) * width + j].z = point_cloud.at (j, i + 1).z;
+ // set the gray value for every pixel point
+ points[(i + 1) * width + j].rgba = ((int)r) << 24 | ((int)g) << 16 | ((int)b) << 8 | 0xff;
+ }
+ }
+}
+
+} // namespace end
+++ /dev/null
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2010, 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 the copyright holder(s) 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.
- *
- * $Id$
- *
- */
-
-#include <pcl/common/intersections.h>
-#include <pcl/console/print.h>
-
-bool
-pcl::lineWithLineIntersection (const Eigen::VectorXf &line_a,
- const Eigen::VectorXf &line_b,
- Eigen::Vector4f &point, double sqr_eps)
-{
- Eigen::Vector4f p1, p2;
- lineToLineSegment (line_a, line_b, p1, p2);
-
- // If the segment size is smaller than a pre-given epsilon...
- double sqr_dist = (p1 - p2).squaredNorm ();
- if (sqr_dist < sqr_eps)
- {
- point = p1;
- return (true);
- }
- point.setZero ();
- return (false);
-}
-
-bool
-pcl::lineWithLineIntersection (const pcl::ModelCoefficients &line_a,
- const pcl::ModelCoefficients &line_b,
- Eigen::Vector4f &point, double sqr_eps)
-{
- Eigen::VectorXf coeff1 = Eigen::VectorXf::Map (&line_a.values[0], line_a.values.size ());
- Eigen::VectorXf coeff2 = Eigen::VectorXf::Map (&line_b.values[0], line_b.values.size ());
- return (lineWithLineIntersection (coeff1, coeff2, point, sqr_eps));
-}
-
-bool
-pcl::planeWithPlaneIntersection (const Eigen::Vector4f &plane_a,
- const Eigen::Vector4f &plane_b,
- Eigen::VectorXf &line,
- double angular_tolerance)
-{
- //planes shouldn't be parallel
- double test_cosine = plane_a.head<3>().dot(plane_b.head<3>());
- double upper_limit = 1 + angular_tolerance;
- double lower_limit = 1 - angular_tolerance;
-
- if ((test_cosine < upper_limit) && (test_cosine > lower_limit))
- {
- PCL_ERROR ("Plane A and Plane B are Parallel");
- return (false);
- }
-
- if ((test_cosine > -upper_limit) && (test_cosine < -lower_limit))
- {
- PCL_ERROR ("Plane A and Plane B are Parallel");
- return (false);
- }
-
- Eigen::Vector4f line_direction = plane_a.cross3(plane_b);
- line_direction.normalized();
-
- //construct system of equations using lagrange multipliers with one objective function and two constraints
- Eigen::MatrixXf langegrange_coefs(5,5);
- langegrange_coefs << 2,0,0,plane_a[0],plane_b[0], 0,2,0,plane_a[1],plane_b[1], 0,0,2, plane_a[2], plane_b[2], plane_a[0], plane_a[1] , plane_a[2], 0,0, plane_b[0], plane_b[1], plane_b[2], 0,0;
-
- Eigen::VectorXf b;
- b.resize(5);
- b << 0, 0, 0, -plane_a[3], -plane_b[3];
-
- //solve for the lagrange Multipliers
- Eigen::VectorXf x;
- x.resize(5);
- x = langegrange_coefs.colPivHouseholderQr().solve(b);
-
- line.resize(6);
- line.head<3>() = x.head<3>(); // the x[3] and x[4] are the values of the lagrange multipliers and are neglected
- line[3] = line_direction[0];
- line[4] = line_direction[1];
- line[5] = line_direction[2];
- return true;
-}
cloud_out.data = cloud_in.data;
}
+////////////////////////////////////////////////////////////////////////////////
+int
+pcl::interpolatePointIndex (int p, int len, InterpolationType type)
+{
+ if (static_cast<unsigned> (p) >= static_cast<unsigned> (len))
+ {
+ if (type == BORDER_REPLICATE)
+ p = p < 0 ? 0 : len - 1;
+ else if (type == BORDER_REFLECT || type == BORDER_REFLECT_101)
+ {
+ int delta = type == BORDER_REFLECT_101;
+ if (len == 1)
+ return 0;
+ do
+ {
+ if (p < 0)
+ p = -p - 1 + delta;
+ else
+ p = len - 1 - (p - len) - delta;
+ }
+ while (static_cast<unsigned> (p) >= static_cast<unsigned> (len));
+ }
+ else if (type == BORDER_WRAP)
+ {
+ if (p < 0)
+ p -= ((p-len+1)/len)*len;
+ if (p >= len)
+ p %= len;
+ }
+ else if (type == BORDER_CONSTANT)
+ p = -1;
+ else
+ {
+ PCL_THROW_EXCEPTION (BadArgumentException,
+ "[pcl::interpolate_point_index] error: Unhandled interpolation type "
+ << type << " !");
+ }
+ }
+
+ return (p);
+}
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 2 && debug)
{
- print_error ("[parse_2x_arguments] Number of values for %s (%zu) different than 2!\n", str, values.size ());
+ print_error ("[parse_2x_arguments] Number of values for %s (%lu) different than 2!\n", str, values.size ());
return (-2);
}
f = static_cast<float> (atof (values.at (0).c_str ()));
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 2 && debug)
{
- print_error ("[parse_2x_arguments] Number of values for %s (%zu) different than 2!\n", str, values.size ());
+ print_error ("[parse_2x_arguments] Number of values for %s (%lu) different than 2!\n", str, values.size ());
return (-2);
}
f = atof (values.at (0).c_str ());
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 2 && debug)
{
- print_error ("[parse_2x_arguments] Number of values for %s (%zu) different than 2!\n", str, values.size ());
+ print_error ("[parse_2x_arguments] Number of values for %s (%lu) different than 2!\n", str, values.size ());
return (-2);
}
f = atoi (values.at (0).c_str ());
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 3 && debug)
{
- print_error ("[parse_3x_arguments] Number of values for %s (%zu) different than 3!\n", str, values.size ());
+ print_error ("[parse_3x_arguments] Number of values for %s (%lu) different than 3!\n", str, values.size ());
return (-2);
}
f = static_cast<float> (atof (values.at (0).c_str ()));
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 3 && debug)
{
- print_error ("[parse_3x_arguments] Number of values for %s (%zu) different than 3!\n", str, values.size ());
+ print_error ("[parse_3x_arguments] Number of values for %s (%lu) different than 3!\n", str, values.size ());
return (-2);
}
f = atof (values.at (0).c_str ());
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 3 && debug)
{
- print_error ("[parse_3x_arguments] Number of values for %s (%zu) different than 3!\n", str, values.size ());
+ print_error ("[parse_3x_arguments] Number of values for %s (%lu) different than 3!\n", str, values.size ());
return (-2);
}
f = atoi (values.at (0).c_str ());
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 2)
{
- print_error ("[parse_multiple_2x_arguments] Number of values for %s (%zu) different than 2!\n", str, values.size ());
+ print_error ("[parse_multiple_2x_arguments] Number of values for %s (%lu) different than 2!\n", str, values.size ());
return (false);
}
f = atof (values.at (0).c_str ());
boost::split (values, argv[i], boost::is_any_of (","), boost::token_compress_on);
if (values.size () != 3)
{
- print_error ("[parse_multiple_3x_arguments] Number of values for %s (%zu) different than 3!\n", str, values.size ());
+ print_error ("[parse_multiple_3x_arguments] Number of values for %s (%lu) different than 3!\n", str, values.size ());
return (false);
}
f = atof (values.at (0).c_str ());
}
catch (std::bad_alloc)
{
- PCL_ERROR ("[initCompute] Failed to allocate %zu indices.\n", (input_->width * input_->height));
+ PCL_ERROR ("[initCompute] Failed to allocate %lu indices.\n", (input_->width * input_->height));
}
for (size_t i = 0; i < indices_->size (); ++i) { (*indices_)[i] = static_cast<int>(i); }
}
return (os);
}
+ std::ostream&
+ operator << (std::ostream& os, const CPPFSignature& p)
+ {
+ os << "(" << p.f1 << ", " << p.f2 << ", " << p.f3 << ", " << p.f4 << ", " << p.f5 << ", " << p.f6 << ", " << p.f7 << ", " << p.f8 << ", " << p.f9 << ", " << p.f10 << ", " << p.alpha_m << ")";
+ return (os);
+ }
+
std::ostream&
operator << (std::ostream& os, const PPFRGBSignature& p)
{
+include(CMakeDependentOption)
+
+cmake_dependent_option(WITH_TUTORIALS "Build tutorials (requires Sphinx)" FALSE "WITH_DOCS" FALSE)
+if(WITH_TUTORIALS)
+ find_package(Sphinx)
+ if(SPHINX_FOUND)
+ set(SPHINX_CACHE_DIR "${CMAKE_CURRENT_BINARY_DIR}/_doctrees")
+ set(SPHINX_HTML_FILE_SUFFIX "html" CACHE STRING "Suffix (extension) of the HTML files generated by Sphinx")
+ endif(SPHINX_FOUND)
+endif(WITH_TUTORIALS)
+
add_subdirectory(doxygen)
+add_subdirectory(advanced)
add_subdirectory(tutorials)
--- /dev/null
+if(SPHINX_FOUND)
+ add_custom_target(advanced ALL
+ COMMAND "${SPHINX_EXECUTABLE}" -b html -a -d "${SPHINX_CACHE_DIR}" -D html_file_suffix=".${SPHINX_HTML_FILE_SUFFIX}" "${CMAKE_CURRENT_SOURCE_DIR}/content" html)
+ add_dependencies(advanced doc)
+ if(USE_PROJECT_FOLDERS)
+ set_target_properties(advanced PROPERTIES FOLDER "Documentation (Advanced)")
+ endif(USE_PROJECT_FOLDERS)
+ install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/html"
+ DESTINATION "${DOC_INSTALL_DIR}/advanced"
+ COMPONENT doc)
+ install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/content/files"
+ DESTINATION "${DOC_INSTALL_DIR}/advanced"
+ COMPONENT doc)
+endif(SPHINX_FOUND)
+++ /dev/null
-.PHONY: html
-
-html:
- -rm -rf html /tmp/doctrees
- sphinx-build -b html -a -d /tmp/doctrees content html
-
--- /dev/null
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2011 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+ clear: both;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+ width: 100%;
+ font-size: 90%;
+}
+
+div.related h3 {
+ display: none;
+}
+
+div.related ul {
+ margin: 0;
+ padding: 0 0 0 10px;
+ list-style: none;
+}
+
+div.related li {
+ display: inline;
+}
+
+div.related li.right {
+ float: right;
+ margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+ padding: 10px 5px 0 10px;
+}
+
+div.sphinxsidebar {
+ float: left;
+ width: 230px;
+ margin-left: -100%;
+ font-size: 90%;
+}
+
+div.sphinxsidebar ul {
+ list-style: none;
+}
+
+div.sphinxsidebar ul ul,
+div.sphinxsidebar ul.want-points {
+ margin-left: 20px;
+ list-style: square;
+}
+
+div.sphinxsidebar ul ul {
+ margin-top: 0;
+ margin-bottom: 0;
+}
+
+div.sphinxsidebar form {
+ margin-top: 10px;
+}
+
+div.sphinxsidebar input {
+ border: 1px solid #98dbcc;
+ font-family: sans-serif;
+ font-size: 1em;
+}
+
+img {
+ border: 0;
+}
+
+/* -- search page ----------------------------------------------------------- */
+
+ul.search {
+ margin: 10px 0 0 20px;
+ padding: 0;
+}
+
+ul.search li {
+ padding: 5px 0 5px 20px;
+ background-image: url(file.png);
+ background-repeat: no-repeat;
+ background-position: 0 7px;
+}
+
+ul.search li a {
+ font-weight: bold;
+}
+
+ul.search li div.context {
+ color: #888;
+ margin: 2px 0 0 30px;
+ text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+ font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+ width: 90%;
+}
+
+table.contentstable p.biglink {
+ line-height: 150%;
+}
+
+a.biglink {
+ font-size: 1.3em;
+}
+
+span.linkdescr {
+ font-style: italic;
+ padding-top: 5px;
+ font-size: 90%;
+}
+
+/* -- general index --------------------------------------------------------- */
+
+table.indextable {
+ width: 100%;
+}
+
+table.indextable td {
+ text-align: left;
+ vertical-align: top;
+}
+
+table.indextable dl, table.indextable dd {
+ margin-top: 0;
+ margin-bottom: 0;
+}
+
+table.indextable tr.pcap {
+ height: 10px;
+}
+
+table.indextable tr.cap {
+ margin-top: 10px;
+ background-color: #f2f2f2;
+}
+
+img.toggler {
+ margin-right: 3px;
+ margin-top: 3px;
+ cursor: pointer;
+}
+
+div.modindex-jumpbox {
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+ margin: 1em 0 1em 0;
+ padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+ margin: 1em 0 1em 0;
+ padding: 0.4em;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+a.headerlink {
+ visibility: hidden;
+}
+
+h1:hover > a.headerlink,
+h2:hover > a.headerlink,
+h3:hover > a.headerlink,
+h4:hover > a.headerlink,
+h5:hover > a.headerlink,
+h6:hover > a.headerlink,
+dt:hover > a.headerlink {
+ visibility: visible;
+}
+
+div.body p.caption {
+ text-align: inherit;
+}
+
+div.body td {
+ text-align: left;
+}
+
+.field-list ul {
+ padding-left: 1em;
+}
+
+.first {
+font-family: "Droid Serif", "DejaVu Serif", "Garamond", serif;
+font-size: 1.3em;
+color: #64794c;
+margin-bottom: 0;
+ margin-top: 0 !important;
+}
+
+.first img {
+max-width: none !important;
+}
+
+p.rubric {
+ margin-top: 30px;
+ font-weight: bold;
+}
+
+img.align-left, .figure.align-left, object.align-left {
+ clear: left;
+ float: left;
+ margin-right: 1em;
+}
+
+img.align-right, .figure.align-right, object.align-right {
+ clear: right;
+ float: right;
+ margin-left: 1em;
+}
+
+img.align-center, .figure.align-center, object.align-center {
+ display: block;
+ margin-left: auto;
+ margin-right: auto;
+}
+
+.align-left {
+ text-align: left;
+}
+
+.align-center {
+ clear: both;
+ text-align: center;
+}
+
+.align-right {
+ text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar {
+ margin: 0 0 0.5em 1em;
+ border: 1px solid #ddb;
+ padding: 7px 7px 0 7px;
+ background-color: #ffe;
+ width: 40%;
+ float: right;
+}
+
+p.sidebar-title {
+ font-weight: bold;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+div.topic {
+ border: 1px solid #ccc;
+ padding: 7px 7px 0 7px;
+ margin: 10px 0 10px 0;
+}
+
+p.topic-title {
+ font-size: 1.1em;
+ font-weight: bold;
+ margin-top: 10px;
+}
+
+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+ margin-top: 10px;
+ margin-bottom: 10px;
+ padding: 7px;
+}
+
+div.admonition dt {
+ font-weight: bold;
+}
+
+div.admonition dl {
+ margin-bottom: 0;
+}
+
+p.admonition-title {
+ margin: 0px 10px 5px 0px;
+ font-weight: bold;
+}
+
+div.body p.centered {
+ text-align: center;
+ margin-top: 25px;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+ border: 0;
+ border-collapse: collapse;
+}
+
+table.docutils td, table.docutils th {
+ padding: 1px 8px 1px 5px;
+ border-top: 0;
+ border-left: 0;
+ border-right: 0;
+ border-bottom: 1px solid #aaa;
+}
+
+table.field-list td, table.field-list th {
+ border: 0 !important;
+}
+
+table.footnote td, table.footnote th {
+ border: 0 !important;
+}
+
+th {
+ text-align: left;
+ padding-right: 5px;
+}
+
+table.citation {
+ border-left: solid 1px gray;
+ margin-left: 1px;
+}
+
+table.citation td {
+ border-bottom: none;
+}
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+ list-style: decimal;
+}
+
+ol.loweralpha {
+ list-style: lower-alpha;
+}
+
+ol.upperalpha {
+ list-style: upper-alpha;
+}
+
+ol.lowerroman {
+ list-style: lower-roman;
+}
+
+ol.upperroman {
+ list-style: upper-roman;
+}
+
+dl {
+ margin-bottom: 15px;
+}
+
+dd p {
+ margin-top: 0px;
+}
+
+dd ul, dd table {
+ margin-bottom: 10px;
+}
+
+dd {
+ margin-top: 3px;
+ margin-bottom: 10px;
+ margin-left: 30px;
+}
+
+dt:target, .highlighted {
+ background-color: #fbe54e;
+}
+
+dl.glossary dt {
+ font-weight: bold;
+ font-size: 1.1em;
+}
+
+.field-list ul {
+ margin: 0;
+ padding-left: 1em;
+}
+
+.field-list p {
+ margin: 0;
+}
+
+.refcount {
+ color: #060;
+}
+
+.optional {
+ font-size: 1.3em;
+}
+
+.versionmodified {
+ font-style: italic;
+}
+
+.system-message {
+ background-color: #fda;
+ padding: 5px;
+ border: 3px solid red;
+}
+
+.footnote:target {
+ background-color: #ffa;
+}
+
+.line-block {
+ display: block;
+ margin-top: 1em;
+ margin-bottom: 1em;
+}
+
+.line-block .line-block {
+ margin-top: 0;
+ margin-bottom: 0;
+ margin-left: 1.5em;
+}
+
+.guilabel, .menuselection {
+ font-family: sans-serif;
+}
+
+.accelerator {
+ text-decoration: underline;
+}
+
+.classifier {
+ font-style: oblique;
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+ overflow: auto;
+ overflow-y: hidden; /* fixes display issues on Chrome browsers */
+white-space : pre-wrap; /*for Mozilla*/
+word-wrap: break-word; /*for IE*/
+}
+
+td.linenos pre {
+ padding: 5px 0px;
+ border: 0;
+ background-color: transparent;
+ color: #aaa;
+}
+
+table.highlighttable {
+ margin-left: 0.5em;
+}
+
+table.highlighttable td {
+ padding: 0 0.5em 0 0.5em;
+}
+
+tt.descname {
+ background-color: transparent;
+ font-weight: bold;
+ font-size: 1.2em;
+}
+
+tt.descclassname {
+ background-color: transparent;
+}
+
+tt.xref, a tt {
+ background-color: transparent;
+ font-weight: bold;
+}
+
+h1 tt, h2 tt, h3 tt, h4 tt, h5 tt, h6 tt {
+ background-color: transparent;
+}
+
+.viewcode-link {
+ float: right;
+}
+
+.viewcode-back {
+ float: right;
+ font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+ margin: -1px -10px;
+ padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+ vertical-align: middle;
+}
+
+div.math p {
+ text-align: center;
+}
+
+span.eqno {
+ float: right;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+ div.document,
+ div.documentwrapper,
+ div.bodywrapper {
+ margin: 0 !important;
+ width: 100%;
+ }
+
+ div.sphinxsidebar,
+ div.related,
+ div.footer,
+ #top-link {
+ display: none;
+ }
+}
--- /dev/null
+/*
+ * sphinxdoc.css_t
+ * ~~~~~~~~~~~~~~~
+ *
+ * Sphinx stylesheet -- sphinxdoc theme. Originally created by
+ * Armin Ronacher for Werkzeug.
+ *
+ * :copyright: Copyright 2007-2011 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+@import url("basic.css");
+
+/* -- page layout ----------------------------------------------------------- */
+
+body {
+ color: black;
+ padding: 0;
+ margin: 0px 80px 0px 80px;
+ min-width: 740px;
+}
+
+div.document {
+
+ text-align: left;
+
+
+}
+
+div.bodywrapper {
+ margin: 0 240px 0 0;
+ border-right: 1px solid #ccc;
+}
+
+div.body {
+ margin: 0;
+ padding: 0.5em 20px 20px 20px;
+}
+
+div.related {
+ font-size: 1em;
+}
+
+div.related ul {
+ background-image: url(navigation.png);
+ height: 2em;
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+}
+
+div.related ul li {
+ margin: 0;
+ padding: 0;
+ height: 2em;
+ float: left;
+}
+
+div.related ul li.right {
+ float: right;
+ margin-right: 5px;
+}
+
+div.related ul li a {
+ margin: 0;
+ padding: 0 5px 0 5px;
+ line-height: 1.75em;
+ color: #EE9816;
+}
+
+div.related ul li a:hover {
+ color: #3CA8E7;
+}
+
+div.sphinxsidebarwrapper {
+ padding: 0;
+}
+
+div.sphinxsidebar {
+ margin: 0;
+ padding: 0.5em 15px 15px 0;
+ width: 210px;
+ float: right;
+ font-size: 1em;
+ text-align: left;
+}
+
+div.sphinxsidebar h3, div.sphinxsidebar h4 {
+ margin: 1em 0 0.5em 0;
+ font-size: 1em;
+ padding: 0.1em 0 0.1em 0.5em;
+ color: white;
+ border: 1px solid #86989B;
+ background-color: #AFC1C4;
+}
+
+div.sphinxsidebar h3 a {
+ color: white;
+}
+
+div.sphinxsidebar ul {
+ padding-left: 1.5em;
+ margin-top: 7px;
+ padding: 0;
+ line-height: 130%;
+}
+
+div.sphinxsidebar ul ul {
+ margin-left: 20px;
+}
+
+div.footer {
+ background-color: #E3EFF1;
+ color: #86989B;
+ padding: 3px 8px 3px 0;
+ clear: both;
+ font-size: 0.8em;
+ text-align: right;
+}
+
+div.footer a {
+ color: #86989B;
+ text-decoration: underline;
+}
+
+/* -- body styles ----------------------------------------------------------- */
+
+p {
+ margin: 0.8em 0 0.5em 0;
+}
+
+div.body a {
+ text-decoration: underline;
+}
+
+h2 {
+/* color: #11557C;*/
+ margin: 1.3em 0 0.2em 0;
+ font-size: 1.35em;
+ padding: 0;
+}
+
+h3 {
+ margin: 1em 0 -0.3em 0;
+ font-size: 1.2em;
+}
+
+div.body h1 a, div.body h2 a, div.body h3 a, div.body h4 a, div.body h5 a, div.body h6 a {
+ color: black!important;
+}
+
+h1 a.anchor, h2 a.anchor, h3 a.anchor, h4 a.anchor, h5 a.anchor, h6 a.anchor {
+ display: none;
+ margin: 0 0 0 0.3em;
+ padding: 0 0.2em 0 0.2em;
+ color: #aaa!important;
+}
+
+h1:hover a.anchor, h2:hover a.anchor, h3:hover a.anchor, h4:hover a.anchor,
+h5:hover a.anchor, h6:hover a.anchor {
+ display: inline;
+}
+
+h1 a.anchor:hover, h2 a.anchor:hover, h3 a.anchor:hover, h4 a.anchor:hover,
+h5 a.anchor:hover, h6 a.anchor:hover {
+ color: #777;
+ background-color: #eee;
+}
+
+a.headerlink {
+ color: #c60f0f!important;
+ font-size: 1em;
+ margin-left: 6px;
+ padding: 0 4px 0 4px;
+ text-decoration: none!important;
+}
+
+a.headerlink:hover {
+ background-color: #ccc;
+ color: white!important;
+}
+
+cite, code, tt {
+ font-family: 'Consolas', 'Deja Vu Sans Mono',
+ 'Bitstream Vera Sans Mono', monospace;
+ font-size: 0.95em;
+ letter-spacing: 0.01em;
+}
+
+tt {
+ background-color: #f2f2f2;
+ border-bottom: 1px solid #ddd;
+ color: #333;
+}
+
+tt.descname, tt.descclassname, tt.xref {
+ border: 0;
+}
+
+hr {
+ border: 1px solid #abc;
+ margin: 2em;
+}
+
+a tt {
+ border: 0;
+ color: #CA7900;
+}
+
+a tt:hover {
+ color: #2491CF;
+}
+
+pre {
+ font-family: 'Consolas', 'Deja Vu Sans Mono',
+ 'Bitstream Vera Sans Mono', monospace;
+ font-size: 0.95em;
+ letter-spacing: 0.015em;
+ line-height: 120%;
+ padding: 0.5em;
+ border: 1px solid #ccc;
+ background-color: #f8f8f8;
+}
+
+pre a {
+ color: inherit;
+ text-decoration: underline;
+}
+
+td.linenos pre {
+ padding: 0.5em 0;
+}
+
+div.quotebar {
+ background-color: #f8f8f8;
+ max-width: 250px;
+ float: right;
+ padding: 2px 7px;
+ border: 1px solid #ccc;
+}
+
+div.topic {
+ background-color: #f8f8f8;
+}
+
+table {
+ border-collapse: collapse;
+ margin: 0 -0.5em 0 -0.5em;
+}
+
+table td, table th {
+ padding: 0.2em 0.5em 0.2em 0.5em;
+}
+
+div.admonition, div.warning {
+ font-size: 0.9em;
+ margin: 1em 0 1em 0;
+ border: 1px solid #86989B;
+ background-color: #f7f7f7;
+ padding: 0;
+}
+
+div.admonition p, div.warning p {
+ margin: 0.5em 1em 0.5em 1em;
+ padding: 0;
+}
+
+div.admonition pre, div.warning pre {
+ margin: 0.4em 1em 0.4em 1em;
+}
+
+div.admonition p.admonition-title,
+div.warning p.admonition-title {
+ margin: 0;
+ padding: 0.1em 0 0.1em 0.5em;
+ color: white;
+ border-bottom: 1px solid #86989B;
+ font-weight: bold;
+ background-color: #AFC1C4;
+}
+
+div.warning {
+ border: 1px solid #940000;
+}
+
+div.warning p.admonition-title {
+ background-color: #CF0000;
+ border-bottom-color: #940000;
+}
+
+div.admonition ul, div.admonition ol,
+div.warning ul, div.warning ol {
+ margin: 0.1em 0.5em 0.5em 3em;
+ padding: 0;
+}
+
+div.versioninfo {
+ margin: 1em 0 0 0;
+ border: 1px solid #ccc;
+ background-color: #DDEAF0;
+ padding: 8px;
+ line-height: 1.3em;
+ font-size: 0.9em;
+}
+
+.viewcode-back {
+ font-family: 'Lucida Grande', 'Lucida Sans Unicode', 'Geneva',
+ 'Verdana', sans-serif;
+}
+
+div.viewcode-block:target {
+ background-color: #f4debf;
+ border-top: 1px solid #ac9;
+ border-bottom: 1px solid #ac9;
+}
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<title>Documentation - Point Cloud Library (PCL)</title>
+</head>
{% extends "!layout.html" %}
{% block extrahead %}
+<?php
+define('MODX_CORE_PATH', '/var/www/pointclouds.org/core/');
+define('MODX_CONFIG_KEY', 'config');
+
+require_once MODX_CORE_PATH.'config/'.MODX_CONFIG_KEY.'.inc.php';
+require_once MODX_CORE_PATH.'model/modx/modx.class.php';
+$modx = new modX();
+$modx->initialize('web');
+
+$snip = $modx->runSnippet("getSiteNavigation", array('id'=>5, 'phLevels'=>'sitenav.level0,sitenav.level1', 'showPageNav'=>'n'));
+$chunkOutput = $modx->getChunk("site-header", array('sitenav'=>$snip));
+$bodytag = str_replace("[[+showSubmenus:notempty=`", "", $chunkOutput);
+$bodytag = str_replace("`]]", "", $bodytag);
+echo $bodytag;
+echo "\n";
+?>
+<div id="pagetitle">
+<h1>Documentation</h1>
+<a id="donate" href="http://www.openperception.org/support/"><img src="/assets/images/donate-button.png" alt="Donate to the Open Perception foundation"/></a>
+</div>
+<div id="page-content">
{% endblock %}
+{% block relbar1 %}{% endblock %}
+{% block relbar2 %}{% endblock %}
{% block rootrellink %}{% endblock %}
{% block sidebarsearch %}{% endblock %}
+
+{% block footer %}
+</div> <!-- #page-content -->
+
+<?php
+$chunkOutput = $modx->getChunk("site-footer");
+echo $chunkOutput;
+?>
+{% endblock %}
+</html>
+
+++ /dev/null
-.. _branches_repository:
-
-How to commit concurrently to trunk and branches
-------------------------------------------------
-
-Most often as a developer you will have to deal with the problem of either applying a commit to a particular branch, or pushing a modification that you just made on your machine to more than one branch. This simple example will show you one of the many ways of doing this.
-
-The example is given for a piece of code/patch that has to be committed to both **trunk** and one of the **branches** (1.x in this case).
-
-Before continuing, make sure your code compiles and tests carefully, and follows the indentation guidelines/C++ programming style (see :ref:`pcl_style_guide`). Then, follow this set of simple steps:
-
- 1. In case you checked out only one of the branches or trunk, go ahead and check out **svn+ssh://svn@svn.pointclouds.org/pcl** instead. As a developer you shouldn't worry too much for the extra space that the tags/branches will consume on your hard drive, but if you do, visit **http://svn.pointclouds.org** and check out all the branches that you want to work on individually. For the former::
-
- svn+ssh://svn@svn.pointclouds.org/pcl pcl
-
-
- This will give you both trunk, and all the branches, and tags.
-
- 2. Assuming that you're working in trunk, go ahead and do the following::
-
-
- cd pcl/trunk # change directory to where trunk is
- svn st -q # check to see what the commit queue contains
- svn diff . > /tmp/a.patch # obtain a patch of your code
-
- At this point */tmp/a.patch* will contain the patch that has to be pushed in the repository.
-
- 3. Change directory to the branch that you want to commit the same patch to, and do::
-
-
- cd pcl/branches/pcl-1.x # change directory to where the branch is
- patch -p0 < /tmp/a.patch # apply the patch
-
-
- One problem that we will have to deal with now is adding new files that have been added by your patch::
-
- svn st # check to see which files have "?" in the branch but should have "A" instead
- svn add <filename> # add all files that need to be added
-
- 4. If possible, commit both patches at the same time. Here, we're assuming that branches/pcl-1.x and trunk have the same root directory::
-
- cd pcl # change directory to where trunk+branches is
- svn st -q
- svn commit branches/ trunk/
-
- Alternatively, you can perform two individual commits in steps 2 and 3.
-
-
Using colorgcc to colorize output
---------------------------------
-`colorgcc<https://github.com/johannes/colorgcc>`_ is a colorizer for the output
+`colorgcc <https://github.com/johannes/colorgcc>`_ is a colorizer for the output
of GCC, and allows you to better interpret the compiler warnings/errors.
To enable both colorgcc and ccache, perform the following steps:
[pcl] $ mkdir build && cd build
[pcl/build] $ CC="distcc gcc" CXX="distcc g++" cmake ..
+ Sometimes compiling on systems supporting different SSE extensions will lead
+ to problems. Setting PCL_ENABLE_SSE to false will solve this, like::
+
+ [pcl/build] $ CC="distcc gcc" CXX="distcc g++" cmake -DPCL_ENABLE_SSE:BOOL=FALSE ../pcl
+
The output of ``CC="distcc gcc" CXX="distcc g++" cmake ..`` will generate
something like this. Please note that this is just an example and that the
messages might vary depending on your operating system and the way your
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<profiles version="1">
<profile kind="CodeFormatterProfile" name="PCL" version="1">
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_for" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_declaration" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_for" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_in_empty_block" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.lineSplit" value="80"/>
+<setting id="org.eclipse.cdt.core.formatter.lineSplit" value="160"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_member_access" value="0"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_base_types" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_else_statement_on_same_line" value="false"/>
-<setting id="org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list" value="0"/>
<setting id="org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_switch" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list" value="83"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_brace_in_array_initializer" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_if" value="do not insert"/>
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<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_exception_specification" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_base_types" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_access_specifier" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_exception_specification" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_arguments" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_block" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_declaration" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_labeled_statement" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.use_tabs_only_for_leading_indentations" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_labeled_statement" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_case" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_enum_declarations" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_array_initializer" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.comment.min_distance_between_code_and_line_comment" value="2"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_enum_declarations" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_expressions_in_array_initializer" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_declarator_list" value="insert"/>
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<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_bracket" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_for" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_prefix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.tabulation.size" value="2"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_else_in_if_statement" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_enumerator_list" value="48"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_declaration" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.alignment_for_declarator_list" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_switch" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.indent_empty_lines" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_declarator_list" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_parenthesized_expression" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_empty_lines" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_cases" value="true"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_method_declaration" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_empty_array_initializer_on_one_line" value="false"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_switch" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_method_declaration" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.put_empty_statement_on_new_line" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_switch" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_cast" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.brace_position_for_method_declaration" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_braces_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_method_declaration" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_while" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_question_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_semicolon" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_base_clause" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_breaks_compare_to_cases" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_unary_operator" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_declarator_list" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.join_wrapped_lines" value="true"/>
-<setting id="org.eclipse.cdt.core.formatter.alignment_for_arguments_in_method_invocation" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_declarator_list" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_arguments_in_method_invocation" value="18"/>
+<setting id="org.eclipse.cdt.core.formatter.comment.never_indent_line_comments_on_first_column" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_while" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_bracket" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_brackets" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.alignment_for_parameters_in_method_declaration" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_bracket" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_parameters_in_method_declaration" value="83"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_closing_brace_in_array_initializer" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.number_of_empty_lines_to_preserve" value="1"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_invocation" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_brace_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_semicolon_in_for" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.comment.preserve_white_space_between_code_and_line_comments" value="true"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_block" value="next_line"/>
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<setting id="org.eclipse.cdt.core.formatter.brace_position_for_type_declaration" value="next_line"/>
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<setting id="org.eclipse.cdt.core.formatter.continuation_indentation_for_array_initializer" value="2"/>
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<setting id="org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_namespace_header" value="true"/>
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<setting id="org.eclipse.cdt.core.formatter.alignment_for_compact_if" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_assignment_operator" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_brace_in_block" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_array_initializer" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.alignment_for_assignment" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_at_end_of_file_if_missing" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_parameters" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_assignment" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_conditional_expression_chain" value="18"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_parameters" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_expression_list" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_exception_specification" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_question_in_conditional" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_exception_specification" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_binary_operator" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_base_clause_in_type_declaration" value="80"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_identifier_in_function_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_identifier_in_function_declaration" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_throws" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.indent_declaration_compare_to_template_header" value="false"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_exception_specification" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_declaration_compare_to_template_header" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_unary_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_switch" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_throws" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.indent_statements_compare_to_body" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_throws" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_binary_expression" value="16"/>
<setting id="org.eclipse.cdt.core.formatter.indent_statements_compare_to_block" value="true"/>
-<setting id="org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration" value="16"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_arguments" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration" value="83"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_invocation" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_catch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_paren_in_cast" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_parameters" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_parameters" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.tabulation.char" value="space"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_parameters" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_colon_in_constructor_initializer_list" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_while" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_invocation_arguments" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_block_in_case" value="next_line"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.compact_else_if" value="true"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_base_clause" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_template_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_base_clause" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_catch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_then_statement_on_same_line" value="false"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_switch" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.alignment_for_overloaded_left_shift_chain" value="16"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_switch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_if" value="insert"/>
-<setting id="org.eclipse.cdt.core.formatter.indentation.size" value="2"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_opening_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_switch" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.keep_imple_if_on_one_line" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_opening_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indentation.size" value="2"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_namespace_declaration" value="next_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_conditional" value="insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_enum_declarations" value="do not insert"/>
-<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_after_prefix_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_arguments" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.brace_position_for_array_initializer" value="end_of_line"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_case" value="do not insert"/>
<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_catch" value="insert"/>
Both documentation sources are stored in our `Source repository
-<http://svn.pointclouds.org/pcl/>`_ and the web pages are generated hourly by
-our server via `crontab` jobs.
+<https://github.com/PointCloudLibrary/pcl>`_ and the web pages are generated
+hourly by our server via `crontab` jobs.
In the next two sections we will address both of the above, and present a small
example for each. We'll begin with the easiest of the two: adding a new
* http://www.siafoo.net/help/reST - has a nice tutorial/set of examples
Once you understand how reST works, look over our current set of tutorials for
-examples at http://svn.pointclouds.org/pcl/trunk/doc/tutorials/content/.
+examples at https://github.com/PointCloudLibrary/pcl/tree/master/doc/tutorials/content.
To add a new tutorial, simply create a new file, and send it to us together
with the images/videos that you want included in the tutorial. The best way to
-do this is to login to http://dev.pointclouds.org, create an issue on the
-tracker, and add the new tutorial as an attachement.
+do this is to login to https://github.com/PointCloudLibrary/pcl and send it as
+a pull request.
Improving the API documentation
check out the source code of PCL (we recommend trunk if you're going to start
editing the sources), like::
- svn co http://svn.pointclouds.org/pcl/trunk pcl
+ git clone https://github.com/PointCloudLibrary/pcl
Then, edit the file containing the function/class that you want to improve the
documentation for, say *common/include/pcl/point_cloud.h*, and go to the
What you have to modify is the Doxygen-style comment starting with /\*\* and
ending with \*/. See http://www.doxygen.org for more information.
-To send us the modification, please login to http://dev.pointclouds.org, create
-an issue on the tracker, and add the output of the following command to the
-issue::
-
- svn diff common/include/pcl/point_cloud.h
+To send us the modification, please send a pull request through Github.
Testing the modified API documentation
--------------------------------------
.. topic:: Rules
- * if you make any commits, please **_add the commit log_** or something similar **_to
+ * if you make important commits, please **_add the commit log_** or something similar **_to
the changelist page_**
- (http://dev.pointclouds.org/projects/pcl/wiki/ChangeList);
+ (https://github.com/PointCloudLibrary/pcl/blob/master/CHANGES.md);
* if you change anything in an existing algorithm, **_make sure that there are
unit tests_** for it and **_make sure that they pass before you commit_** the code;
Short documentation on how to add new, throw and handle exceptions in PCL.
-* :ref:`branches_repository`
-
- If you're not sure how to best make concurrent commits to the repository to both **trunk**, and any of the existing **branches**, see this example.
-
-
* :ref:`pcl2`
An in-depth discussion about the PCL 2.x API can be found here.
-Commiting changes to trunk
---------------------------
+Commiting changes to the git master
+-----------------------------------
In order to oversee the commit messages more easier and that the changelist looks homogenous please keep the following format:
"* <fixed|bugfix|changed|new> X in @<classname>@ (#<bug number>)"
documentation and tutorials/examples, please read our short guide on how to
start.
-..
- Profiling your code
+How to build a minimal example
+------------------------------
+* :ref:`minimal_example`
-Contents
---------
-
-.. toctree::
-
- c_cache
- distcc
- compiler_optimizations
- single_compile_unit
- pcl_style_guide
- branches_repository
- how_to_write_a_tutorial
+ In case you need help to debug your code, please follow this guidelines to write a minimal example.
* make sure we can access a slice of the data as a *2D image*, thus allowing fast 2D displaying, [u, v] operations, etc
* make sure we can access a slice of the data as a subpoint cloud: only certain points are chosen from the main point cloud
* implement channels (of a single type!) as data holders, e.g.:
-
* cloud["xyz"] => gets all 3D x,y,z data
* cloud["normals"] => gets all surface normal data
* etc
pos_space = ( "float with euclidean 2-norm distance", { "x", "y", "z" }, [[(0.3,0,1.3) , ... , (1.2,3.1,2)], ... , [(1,0.3,1) , ... , (2,0,3.5)] )
color_space = ( "uint8 with rgb distance", { "r", "g", "b" }, [[(0,255,0), ... , (128,255,32)] ... [(12,54,31) ... (255,0,192)]] )
-
1.2 PointTypes
^^^^^^^^^^^^^^
1.6 RANSAC
^^^^^^^^^^
- * Renaming the functions and internal variables: everything should be named with _src and _tgt: we have confusing names like indices_ and indices_tgt_ (and no indices_src_), setInputCloud and setInputTarget (duuh, everything is an input, it should be setTarget, setSource), in the code, a sample is named: selection, model_ and samples. getModelCoefficients is confusing with getModel (this one should be getBestSample).
+ * Renaming the functions and internal variables: everything should be named with _src and _tgt: we have confusing names like \indices_ and \indices_tgt_ (and no \indices_src_), setInputCloud and setInputTarget (duuh, everything is an input, it should be setTarget, setSource), in the code, a sample is named: selection, \model_ and samples. getModelCoefficients is confusing with getModel (this one should be getBestSample).
* no const-correctness all over, it's pretty scary: all the get should be const, selectWithinDistance and so on too.
* the getModel, getInliers function should not force you to fill a vector: you should just return a const reference to the internal vector: that could allow you to save a useless copy
* some private members should be made protected in the sub sac models (like sac_model_registration) so that we can inherit from them.
===============
- synthetic data
- real word data (how to get ground truth?)
- - Kinect
- - PR2 laser scanner
- - SICK laser data
- - small range 3D scanner
- - mid range 3D scanner (Faro)
- - high end 3D scanner (Riegl, Velodyne)
+ - Kinect
+ - PR2 laser scanner
+ - SICK laser data
+ - small range 3D scanner
+ - mid range 3D scanner (Faro)
+ - high end 3D scanner (Riegl, Velodyne)
- Point Types
- - 2D(?)
- - 3D
- - RGB
+ - 2D(?)
+ - 3D
+ - RGB
- dynamics
- - static scans
- - scanning while driving (e.g. robots)
+ - static scans
+ - scanning while driving (e.g. robots)
- size
- - room
- - building
- - outdoor (street)
+ - room
+ - building
+ - outdoor (street)
Architecture
============
^^^
- how does the algorithm cope with outliers
- how are the point pairs evaluated:
- - does it use normal or RGB information
- - does it weight the pairs differently
- - which kind of point pairs are used:
- - one-to-one
- - one-to-many
- - many-to-many
+
+ - does it use normal or RGB information
+ - does it weight the pairs differently
+ - which kind of point pairs are used:
+
+ - one-to-one
+ - one-to-many
+ - many-to-many
Similar Projects
================
^^^^^
This should hold the SLAM graph. I would propose to use Boost::Graph for it, as it allows us to access a lot of algorithms.
-.. todo::
+.. note::
define abstract structure.
void addConstraint (Graph &gr, PointCloud &from, PointCloud &to, Pose &pose);
}
-.. todo::
+.. note::
I'm not sure about this one.
* open .emacs
* add the following before any C/C++ custom hooks
-.. code-block:: lisp
+::
(load-file "/location/to/pcl-c-style.el")
(add-hook 'c-mode-common-hook 'pcl-set-c-style)
2.6.3 Eclipse
"""""""""""""
-You can find a PCL code style file for Eclipse here: `http://svn.pointclouds.org/pcl/trunk/doc/advanced/content/files/`
-Be warned that this can still contain errors, please mention on the user mailing list if this file needs changes. (feel free to patch)
+| You can find a PCL code style file for Eclipse `on GitHub <https://github.com/PointCloudLibrary/pcl/tree/master/doc/advanced/content/files>`_.
+| To add the new formatting style go to: Windows > Preferences > C/C++ > Code Style > Formatter
+
+| To format portion of codes, select the code and press Ctrl + Shift + F.
+| If you want to format the whole code in your project go to the tree and right click on the project: Source > Format.
+
+Note that the Eclipse formatter style is configured to wrap all arguments in a function, feel free to re-arange the arguments if you feel the need; for example,
+this improves readability:
+
+.. code-block:: cpp
+
+ int
+ displayPoint (float x, float y, float z,
+ float r, float g, float b
+ );
+
+This eclipse formatter fails to add a space before brackets when using PCL macros:
+
+.. code-block:: cpp
+
+ PCL_ERROR("Text\n");
+
+should be
+
+.. code-block:: cpp
+
+ PCL_ERROR ("Text\n");
+
+.. note::
+
+ This style sheet is not perfect, please mention errors on the user mailing list and feel free to patch!
3. Structuring
==============
The point clouds used are:
-* `capture000X.pcd <http://dev.pointclouds.org/attachments/download/742/pairwise_incremental_registration_tutorial_data.tar.gz>`_
-* `table_scene_mug_stereo_textured.pcd <http://dev.pointclouds.org/attachments/download/158/table_scene_mug_stereo_textured.pcd>`_
-* `table_scene_lms400.pcd <http://dev.pointclouds.org/attachments/download/157/table_scene_lms400.pcd>`_
+* `capture000X.pcd <https://github.com/PointCloudLibrary/data/tree/master/tutorials/pairwise>`_
+* `table_scene_mug_stereo_textured.pcd <https://github.com/PointCloudLibrary/data/blob/master/tutorials/table_scene_lms400.pcd?raw=true>`_
+* `table_scene_lms400.pcd <https://github.com/PointCloudLibrary/data/blob/master/tutorials/table_scene_lms400.pcd?raw=true>`_
``capture0001.pcd`` (organized, 640x480, 57553 NaNs)::
+if(WITH_DOCS)
+ find_package(Doxygen)
+ if(DOXYGEN_FOUND)
+ find_package(HTMLHelp)
+ endif(DOXYGEN_FOUND)
+endif(WITH_DOCS)
+
message(STATUS "DOXYGEN_FOUND ${DOXYGEN_FOUND}")
message(STATUS "HTML_HELP_COMPILER ${HTML_HELP_COMPILER}")
+
if(DOXYGEN_FOUND)
if(HTML_HELP_COMPILER)
set(DOCUMENTATION_HTML_HELP YES)
set(HAVE_DOT NO)
endif(DOXYGEN_DOT_EXECUTABLE)
+ option(DOXYGEN_USE_SHORT_NAMES "Generate shorter (but less readable) file names" OFF)
+ if(DOXYGEN_USE_SHORT_NAMES)
+ set(SHORT_NAMES YES)
+ else(DOXYGEN_USE_SHORT_NAMES)
+ set(SHORT_NAMES NO)
+ endif(DOXYGEN_USE_SHORT_NAMES)
+
set(STRIPPED_HEADERS "${PCL_SOURCE_DIR}/${PCL_MODULES_NAMES}/include")
string(REPLACE ";" "/include \\\n\t\t\t\t\t\t\t\t\t\t\t\t ${PCL_SOURCE_DIR}/" STRIPPED_HEADERS "${STRIPPED_HEADERS}")
set(DOC_SOURCE_DIR "\"${PCL_SOURCE_DIR}\"\\")
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/html")
set(doxyfile "${CMAKE_CURRENT_BINARY_DIR}/doxyfile")
- configure_file("${CMAKE_CURRENT_SOURCE_DIR}/doxyfile.in" ${doxyfile})
- add_custom_target(doc ${DOXYGEN_EXECUTABLE} ${doxyfile})
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/doxyfile.in" "${doxyfile}")
+ add_custom_target(doc ALL "${DOXYGEN_EXECUTABLE}" "${doxyfile}")
if(USE_PROJECT_FOLDERS)
- set_target_properties(doc PROPERTIES FOLDER "Documentation")
+ set_target_properties(doc PROPERTIES FOLDER "Documentation (Doxygen)")
endif(USE_PROJECT_FOLDERS)
if(DOCUMENTATION_HTML_HELP STREQUAL YES)
install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/html"
FULL_PATH_NAMES = YES
STRIP_FROM_PATH =
STRIP_FROM_INC_PATH = @STRIPPED_HEADERS@
-SHORT_NAMES = YES
+SHORT_NAMES = @SHORT_NAMES@
JAVADOC_AUTOBRIEF = YES
QT_AUTOBRIEF = NO
MULTILINE_CPP_IS_BRIEF = NO
INLINE_GROUPED_CLASSES = NO
INLINE_SIMPLE_STRUCTS = NO
TYPEDEF_HIDES_STRUCT = NO
-SYMBOL_CACHE_SIZE = 0
LOOKUP_CACHE_SIZE = 0
#---------------------------------------------------------------------------
MAX_INITIALIZER_LINES = 30
SHOW_USED_FILES = YES
SHOW_FILES = NO
-SHOW_DIRECTORIES = NO
SHOW_NAMESPACES = YES
FILE_VERSION_FILTER =
LAYOUT_FILE = "@PCL_SOURCE_DIR@/doc/doxygen/doxygen_layout.xml"
*.hpp \
*.doxy
RECURSIVE = YES
-EXCLUDE = */.svn \
- "@PCL_SOURCE_DIR@/cmake" \
+EXCLUDE = "@PCL_SOURCE_DIR@/cmake" \
"@PCL_SOURCE_DIR@/3rdparty" \
"@PCL_SOURCE_DIR@/test" \
"@PCL_SOURCE_DIR@/android" \
HTML_FOOTER = @PCL_SOURCE_DIR@/doc/doxygen/footer.html
HTML_STYLESHEET =
HTML_EXTRA_FILES =
-HTML_COLORSTYLE_HUE = 220
-HTML_COLORSTYLE_SAT = 100
-HTML_COLORSTYLE_GAMMA = 80
+HTML_COLORSTYLE_HUE = 87
+HTML_COLORSTYLE_SAT = 46
+HTML_COLORSTYLE_GAMMA = 73
HTML_TIMESTAMP = YES
HTML_DYNAMIC_SECTIONS = YES
GENERATE_DOCSET = YES
SEARCH_INCLUDES = YES
INCLUDE_PATH =
INCLUDE_FILE_PATTERNS = *.h
-#PREDEFINED = protected=private \
-PREDEFINED = "HAVE_QHULL=1" \
- "HAVE_OPENNI=1"
+#PREDEFINED = protected=private \
+PREDEFINED = = "HAVE_QHULL=1" \
+ "HAVE_OPENNI=1" \
+ "PCL_DEPRECATED(x)="
EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
<tab type="files" visible="yes" title=""/>
<tab type="globals" visible="yes" title=""/>
</tab>
- <tab type="dirs" visible="no" title=""/>
<tab type="examples" visible="no" title=""/>
</navindex>
<h1>Quick Links</h1>
<ul>
<li>Main website: http://www.pointclouds.org</li>
- <li>Developer Zone: http://dev.pointclouds.org</li>
- <li>SVN Repository: http://svn.pointclouds.org</li>
- <li>Build farm: http://build.pointclouds.org</li>
+ <li>Developer Zone: https://github.com/PointCloudLibrary</li>
+ <li>Build farm: https://travis-ci.org/PointCloudLibrary/pcl</li>
</ul>
<h1>References</h1>
+++ /dev/null
-.PHONY: html
-
-html:
- -rm -rf html /tmp/doctrees
- sphinx-build -b html -a -d /tmp/doctrees content html
-
+++ /dev/null
-{% extends "!layout.html" %}
-
-{% block extrahead %}
-{% endblock %}
-
-{% block rootrellink %}{% endblock %}
-
-{% block sidebarsearch %}{% endblock %}
+++ /dev/null
-# All configuration values have a default; values that are commented out
-# serve to show the default.
-
-import sys, os
-
-# -- General configuration -----------------------------------------------------
-# Add any Sphinx extension module names here, as strings. They can be extensions
-# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
-extensions = []
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# The suffix of source filenames.
-source_suffix = '.rst'
-
-# The master toctree document.
-master_doc = 'index'
-
-# General information about the project.
-project = u'PCL'
-copyright = ''
-
-# The version info for the project you're documenting, acts as replacement for
-# |version| and |release|, also used in various other places throughout the
-# built documents.
-#
-# The short X.Y version.
-version = '0.0'
-# The full version, including alpha/beta/rc tags.
-release = '0.0'
-
-# The language for content autogenerated by Sphinx. Refer to documentation
-# for a list of supported languages.
-#language = None
-
-# There are two options for replacing |today|: either, you set today to some
-# non-false value, then it is used:
-#today = ''
-# Else, today_fmt is used as the format for a strftime call.
-#today_fmt = '%B %d, %Y'
-
-# List of documents that shouldn't be included in the build.
-#unused_docs = []
-
-# List of directories, relative to source directory, that shouldn't be searched
-# for source files.
-exclude_trees = []
-
-# The reST default role (used for this markup: `text`) to use for all documents.
-default_role = None
-
-# If true, '()' will be appended to :func: etc. cross-reference text.
-#add_function_parentheses = True
-
-# If true, the current module name will be prepended to all description
-# unit titles (such as .. function::).
-add_module_names = False
-
-# If true, sectionauthor and moduleauthor directives will be shown in the
-# output. They are ignored by default.
-show_authors = False
-
-# The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'sphinx'
-
-# A list of ignored prefixes for module index sorting.
-#modindex_common_prefix = []
-
-# -- Options for HTML output ---------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages. Major themes that come with
-# Sphinx are currently 'default' and 'sphinxdoc'.
-html_theme = 'sphinxdoc'
-
-# Theme options are theme-specific and customize the look and feel of a theme
-# further. For a list of options available for each theme, see the
-# documentation.
-# html_theme_options = { 'rightsidebar' : 'true' }
-
-# Add any paths that contain custom themes here, relative to this directory.
-html_theme_path = ['.']
-
-# The name for this set of Sphinx documents. If None, it defaults to
-# "<project> v<release> documentation".
-html_title = None
-
-# A shorter title for the navigation bar. Default is the same as html_title.
-html_short_title = 'Home'
-
-# The name of an image file (within the static path) to use as favicon of the
-# docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32
-# pixels large.
-html_favicon = None
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-
-# If true, SmartyPants will be used to convert quotes and dashes to
-# typographically correct entities.
-#html_use_smartypants = True
-
-# If false, no module index is generated.
-html_use_modindex = False
-
-# If false, no index is generated.
-html_use_index = False
-
-# If true, the index is split into individual pages for each letter.
-html_split_index = False
-
-# If true, links to the reST sources are added to the pages.
-html_show_sourcelink = False
-
-# If true, an OpenSearch description file will be output, and all pages will
-# contain a <link> tag referring to it. The value of this option must be the
-# base URL from which the finished HTML is served.
-#html_use_opensearch = ''
-
-# If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
-html_file_suffix = '.html'
-
-html_sidebars = {
- '**': [],
- 'using/windows': [],
-}
-html_show_copyright = False
-html_show_sphinx = False
-html_add_permalinks = None
-needs_sphinx = 1.0
-file_insertion_enabled = True
-raw_enabled = True
-
+++ /dev/null
-.. toctree::
-
-Overview
---------
-
-PCL presents an advanced and extensive approach to the subject of 3D
-perception, and it's meant to provide support for all the common 3D building
-blocks that applications need. Written from a perspective of online sensor data
-processing, PCL deals with point cloud data acquired from real sensing devices
-including laser scanners, stereo cameras, and TOF cameras.
-
-PCL is a fully templated, modern C++ library, with efficient backends for
-modern CPUs (SSE optimized), and GPUs (CUDA). The plethora of state-of-the-art
-algorithms implemented is large, with many new ones added on a weekly to
-monthly basis -- acquisition, filtering, feature estimation, surface
-reconstruction, registration, model fitting, and segmentation, are just a few
-of the many topics covered by PCL.
-
-The project is supported by an international community of robotics and perception
-researchers, and would not exist without the contributions of many people and
-companies. We thank everyone for their support!
-
-Presentation
-------------
-
-The following overview presentation was given at the ROS Fall School at TUM in
-November 2010.
-
-.. raw:: html
-
- <p>
- <iframe src="http://docs.google.com/viewer?url=http://dev.pointclouds.org/attachments/download/16/PCL_November_2010.pdf&embedded=true" style="border: none;" width="600" height="480"></iframe>
- <a href="http://dev.pointclouds.org/attachments/download/16/PCL_November_2010.pdf">(download here)</a>
- </p>
-
+++ /dev/null
-.. _visualization:
-
-PCL Visualization overview
---------------------------
-
-The **pcl_visualization** library was built for the purpose of being able to
-quickly prototype and visualize the results of algorithms operating on 3D point
-cloud data. Similar to OpenCV's **highgui** routines for displaying 2D images
-and for drawing basic 2D shapes on screen, the library offers:
-
- * methods for rendering and setting visual properties (colors, point sizes,
- opacity, etc) for any n-D point cloud datasets in pcl::PointCloud<T> format;
-
- .. image:: images/visualization/bunny.jpg
-
- * methods for drawing basic 3D shapes on screen (e.g., cylinders, spheres,
- lines, polygons, etc) either from sets of points or from parametric
- equations;
-
- .. image:: images/visualization/shapes.jpg
-
- * a histogram visualization module (PCLHistogramVisualizer) for 2D plots;
-
- .. image:: images/visualization/histogram.jpg
-
- * a multitude of Geometry and Color handler for pcl::PointCloud<T> datasets;
-
- .. image:: images/visualization/normals.jpg
- .. image:: images/visualization/pcs.jpg
-
- * a pcl::RangeImage visualization module.
-
- .. image:: images/visualization/range_image.jpg
-
-The package makes use of the VTK library for 3D rendering for
-range image and 2D operations.
-
-For implementing your own visualizers, take a look at the tests and examples
-accompanying the library.
-
-.. note::
-
- Due to historical reasons, PCL 1.x stores RGB data as a packed float (to
- preserve backward compatibility). To learn more about this, please see the
- `PointXYZRGB
- <http://docs.pointclouds.org/trunk/structpcl_1_1_point_x_y_z_r_g_b.html>`_.
-
-Simple Cloud Visualization
---------------------------
-
-If you just want to visualize something in your app with a few lines of code,
-use a snippet like the following one:
-
-.. code-block:: cpp
- :linenos:
-
- #include <pcl_visualization/cloud_viewer.h>
- //...
- void
- foo ()
- {
- pcl::PointCloud<pcl::PointXYZRGB> cloud;
- //... populate cloud
- pcl_visualization::CloudViewer viewer("Simple Cloud Viewer");
- viewer.showCloud(cloud);
- while (!viewer.wasStopped())
- {
- }
- }
-
-PCD Viewer
-----------
-
-A quick way for visualizing PCD (Point Cloud Data) files is by using
-**pcl_viewer**. As of 0.2.7, pcl_viewer's help screen looks like::
-
- Syntax is: pcl_viewer <file_name 1..N>.pcd <options>
- where options are:
- -bc r,g,b = background color
- -fc r,g,b = foreground color
- -ps X = point size (1..64)
- -opaque X = rendered point cloud opacity (0..1)
- -ax n = enable on-screen display of XYZ axes and scale them to n
- -ax_pos X,Y,Z = if axes are enabled, set their X,Y,Z position in space (default 0,0,0)
-
- -cam (*) = use given camera settings as initial view
- (*) [Clipping Range / Focal Point / Position / ViewUp / Distance / Window Size / Window Pos] or use a <filename.cam> that contains the same information.
-
- -multiview 0/1 = enable/disable auto-multi viewport rendering (default disabled)
-
-
- -normals 0/X = disable/enable the display of every Xth point's surface normal as lines (default disabled)
- -normals_scale X = resize the normal unit vector size to X (default 0.02)
-
- -pc 0/X = disable/enable the display of every Xth point's principal curvatures as lines (default disabled)
- -pc_scale X = resize the principal curvatures vectors size to X (default 0.02)
-
-
- (Note: for multiple .pcd files, provide multiple -{fc,ps} parameters; they will be automatically assigned to the right file)
-
-Usage examples
---------------
-
-.. code-block:: bash
-
- $ pcl_viewer -multiview 1 data/partial_cup_model.pcd data/partial_cup_model.pcd data/partial_cup_model.pcd
-
-
-The above will load the ``partial_cup_model.pcd`` file 3 times, and will create a
-multi-viewport rendering (``-multiview 1``).
-
-.. image:: images/visualization/ex1.jpg
-
-Pressing ``h`` while the point clouds are being rendered will output the
-following information on the console::
-
- | Help:
- -------
- p, P : switch to a point-based representation
- w, W : switch to a wireframe-based representation (where available)
- s, S : switch to a surface-based representation (where available)
-
- j, J : take a .PNG snapshot of the current window view
- c, C : display current camera/window parameters
-
- + / - : increment/decrement overall point size
-
- g, G : display scale grid (on/off)
- u, U : display lookup table (on/off)
-
- r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
-
- ALT + s, S : turn stereo mode on/off
- ALT + f, F : switch between maximized window mode and original size
-
- l, L : list all available geometric and color handlers for the current actor map
- ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)
- 0..9 [+ CTRL] : switch between different color handlers (where available)
-
-
-Pressing ``l`` will show the current list of available geometry/color handlers
-for the datasets that we loaded. In this example::
-
- List of available geometry handlers for actor partial_cup_model.pcd-0: xyz(1) normal_xyz(2)
- List of available color handlers for actor partial_cup_model.pcd-0: [random](1) x(2) y(3) z(4) normal_x(5) normal_y(6) normal_z(7) curvature(8) boundary(9) k(10) principal_curvature_x(11) principal_curvature_y(12) principal_curvature_z(13) pc1(14) pc2(15)
-
-Switching to a ``normal_xyz`` geometric handler using ``ALT+1`` and then
-pressing ``8`` to switch to a curvature color handler, should result in the
-following::
-
- $ pcl_viewer -normals 100 data/partial_cup_model.pcd
-
-.. image:: images/visualization/ex2.jpg
-
-
-The above will load the ``partial_cup_model.pcd`` file and render its every
-``100`` th surface normal on screen.
-
-.. code-block:: bash
-
- $ pcl_viewer -pc 100 data/partial_cup_model.pcd
-
-.. image:: images/visualization/ex3.jpg
-
-The above will load the ``partial_cup_model.pcd`` file and render its every
-``100`` th principal curvature (+surface normal) on screen.
-
-.. image:: images/visualization/ex4.jpg
-
-.. code-block:: bash
-
- $ pcl_viewer data/bun000.pcd data/bun045.pcd -ax 0.5 -ps 3 -ps 1
-
-The above assumes that the ``bun000.pcd`` and ``bun045.pcd`` datasets have been
-downloaded and are available. The results shown in the following picture were
-obtained after pressing ``u`` and ``g`` to enable the lookup table and on-grid
-display.
-
-.. image:: images/visualization/ex5.jpg
-
-
-Range Image Visualizer
-----------------------
-
-A quick way for visualizing range images is by using the binary of the tutorial
-for range_image_visualization::
-
- $ tutorial_range_image_visualization data/office_scene.pcd
-
-The above will load the ``office_scene.pcd`` point cloud file, create a range
-image from it and visualize both, the point cloud and the range image.
-
-find_package(Sphinx)
if(SPHINX_FOUND)
- file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/html")
- if(WIN32)
- set(TMPDIR "$ENV{TEMP}")
- else()
- set(TMPDIR "/tmp")
- endif()
- file(TO_CMAKE_PATH "${TMPDIR}" TMPDIR)
- add_custom_target(Tutorials
- COMMAND ${CMAKE_COMMAND} -E remove_directory "${TMPDIR}/doctrees"
- COMMAND ${SPHINX_EXECUTABLE} -b html -a -d "${TMPDIR}/doctrees" "${CMAKE_CURRENT_SOURCE_DIR}/content" html
- )
+ add_custom_target(tutorials ALL
+ COMMAND "${SPHINX_EXECUTABLE}" -b html -a -d "${SPHINX_CACHE_DIR}" -D html_file_suffix=".${SPHINX_HTML_FILE_SUFFIX}" "${CMAKE_CURRENT_SOURCE_DIR}/content" html)
+ add_dependencies(tutorials doc)
if(USE_PROJECT_FOLDERS)
- set_target_properties(Tutorials PROPERTIES FOLDER "Documentation")
+ set_target_properties(tutorials PROPERTIES FOLDER "Documentation (Tutorials)")
endif(USE_PROJECT_FOLDERS)
install(DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/html"
DESTINATION "${DOC_INSTALL_DIR}/tutorials"
COMPONENT doc)
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/content/sources"
DESTINATION "${DOC_INSTALL_DIR}/tutorials"
- COMPONENT doc
- PATTERN ".svn" EXCLUDE)
+ COMPONENT doc)
endif(SPHINX_FOUND)
+++ /dev/null
-.PHONY: html
-
-html:
- -rm -rf html /tmp/doctrees
- sphinx-build -b html -a -d /tmp/doctrees content html
-
--- /dev/null
+/*
+ * basic.css
+ * ~~~~~~~~~
+ *
+ * Sphinx stylesheet -- basic theme.
+ *
+ * :copyright: Copyright 2007-2011 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+/* -- main layout ----------------------------------------------------------- */
+
+div.clearer {
+ clear: both;
+}
+
+/* -- relbar ---------------------------------------------------------------- */
+
+div.related {
+ width: 100%;
+ font-size: 90%;
+}
+
+div.related h3 {
+ display: none;
+}
+
+div.related ul {
+ margin: 0;
+ padding: 0 0 0 10px;
+ list-style: none;
+}
+
+div.related li {
+ display: inline;
+}
+
+div.related li.right {
+ float: right;
+ margin-right: 5px;
+}
+
+/* -- sidebar --------------------------------------------------------------- */
+
+div.sphinxsidebarwrapper {
+ padding: 10px 5px 0 10px;
+}
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+div.sphinxsidebar {
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+ font-size: 90%;
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+ul.search li {
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+ background-image: url(file.png);
+ background-repeat: no-repeat;
+ background-position: 0 7px;
+}
+
+ul.search li a {
+ font-weight: bold;
+}
+
+ul.search li div.context {
+ color: #888;
+ margin: 2px 0 0 30px;
+ text-align: left;
+}
+
+ul.keywordmatches li.goodmatch a {
+ font-weight: bold;
+}
+
+/* -- index page ------------------------------------------------------------ */
+
+table.contentstable {
+ width: 90%;
+}
+
+table.contentstable p.biglink {
+ line-height: 150%;
+}
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+a.biglink {
+ font-size: 1.3em;
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+
+span.linkdescr {
+ font-style: italic;
+ padding-top: 5px;
+ font-size: 90%;
+}
+
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+table.indextable {
+ width: 100%;
+}
+
+table.indextable td {
+ text-align: left;
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+}
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+table.indextable dl, table.indextable dd {
+ margin-top: 0;
+ margin-bottom: 0;
+}
+
+table.indextable tr.pcap {
+ height: 10px;
+}
+
+table.indextable tr.cap {
+ margin-top: 10px;
+ background-color: #f2f2f2;
+}
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+img.toggler {
+ margin-right: 3px;
+ margin-top: 3px;
+ cursor: pointer;
+}
+
+div.modindex-jumpbox {
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+ margin: 1em 0 1em 0;
+ padding: 0.4em;
+}
+
+div.genindex-jumpbox {
+ border-top: 1px solid #ddd;
+ border-bottom: 1px solid #ddd;
+ margin: 1em 0 1em 0;
+ padding: 0.4em;
+}
+
+/* -- general body styles --------------------------------------------------- */
+
+a.headerlink {
+ visibility: hidden;
+}
+
+h1:hover > a.headerlink,
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+h4:hover > a.headerlink,
+h5:hover > a.headerlink,
+h6:hover > a.headerlink,
+dt:hover > a.headerlink {
+ visibility: visible;
+}
+
+div.body p.caption {
+ text-align: inherit;
+}
+
+div.body td {
+ text-align: left;
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+
+.field-list ul {
+ padding-left: 1em;
+}
+
+.first {
+font-family: "Droid Serif", "DejaVu Serif", "Garamond", serif;
+font-size: 1.3em;
+color: #64794c;
+margin-bottom: 0;
+ margin-top: 0 !important;
+}
+
+.first img {
+max-width: none !important;
+}
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+p.rubric {
+ margin-top: 30px;
+ font-weight: bold;
+}
+
+img.align-left, .figure.align-left, object.align-left {
+ clear: left;
+ float: left;
+ margin-right: 1em;
+}
+
+img.align-right, .figure.align-right, object.align-right {
+ clear: right;
+ float: right;
+ margin-left: 1em;
+}
+
+img.align-center, .figure.align-center, object.align-center {
+ display: block;
+ margin-left: auto;
+ margin-right: auto;
+}
+
+.align-left {
+ text-align: left;
+}
+
+.align-center {
+ clear: both;
+ text-align: center;
+}
+
+.align-right {
+ text-align: right;
+}
+
+/* -- sidebars -------------------------------------------------------------- */
+
+div.sidebar {
+ margin: 0 0 0.5em 1em;
+ border: 1px solid #ddb;
+ padding: 7px 7px 0 7px;
+ background-color: #ffe;
+ width: 40%;
+ float: right;
+}
+
+p.sidebar-title {
+ font-weight: bold;
+}
+
+/* -- topics ---------------------------------------------------------------- */
+
+div.topic {
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+}
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+ font-weight: bold;
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+/* -- admonitions ----------------------------------------------------------- */
+
+div.admonition {
+ margin-top: 10px;
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+ padding: 7px;
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+ font-weight: bold;
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+ font-weight: bold;
+}
+
+div.body p.centered {
+ text-align: center;
+ margin-top: 25px;
+}
+
+/* -- tables ---------------------------------------------------------------- */
+
+table.docutils {
+ border: 0;
+ border-collapse: collapse;
+}
+
+table.docutils td, table.docutils th {
+ padding: 1px 8px 1px 5px;
+ border-top: 0;
+ border-left: 0;
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+
+th {
+ text-align: left;
+ padding-right: 5px;
+}
+
+table.citation {
+ border-left: solid 1px gray;
+ margin-left: 1px;
+}
+
+table.citation td {
+ border-bottom: none;
+}
+
+/* -- other body styles ----------------------------------------------------- */
+
+ol.arabic {
+ list-style: decimal;
+}
+
+ol.loweralpha {
+ list-style: lower-alpha;
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+
+ol.upperalpha {
+ list-style: upper-alpha;
+}
+
+ol.lowerroman {
+ list-style: lower-roman;
+}
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+ list-style: upper-roman;
+}
+
+dl {
+ margin-bottom: 15px;
+}
+
+dd p {
+ margin-top: 0px;
+}
+
+dd ul, dd table {
+ margin-bottom: 10px;
+}
+
+dd {
+ margin-top: 3px;
+ margin-bottom: 10px;
+ margin-left: 30px;
+}
+
+dt:target, .highlighted {
+ background-color: #fbe54e;
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+
+dl.glossary dt {
+ font-weight: bold;
+ font-size: 1.1em;
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+
+.field-list ul {
+ margin: 0;
+ padding-left: 1em;
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+ font-style: italic;
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+
+.system-message {
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+ padding: 5px;
+ border: 3px solid red;
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+.footnote:target {
+ background-color: #ffa;
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+.line-block {
+ display: block;
+ margin-top: 1em;
+ margin-bottom: 1em;
+}
+
+.line-block .line-block {
+ margin-top: 0;
+ margin-bottom: 0;
+ margin-left: 1.5em;
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+
+.guilabel, .menuselection {
+ font-family: sans-serif;
+}
+
+.accelerator {
+ text-decoration: underline;
+}
+
+.classifier {
+ font-style: oblique;
+}
+
+/* -- code displays --------------------------------------------------------- */
+
+pre {
+ overflow: auto;
+ overflow-y: hidden; /* fixes display issues on Chrome browsers */
+white-space : pre-wrap; /*for Mozilla*/
+word-wrap: break-word; /*for IE*/
+}
+
+td.linenos pre {
+ padding: 5px 0px;
+ border: 0;
+ background-color: transparent;
+ color: #aaa;
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+
+h1 tt, h2 tt, h3 tt, h4 tt, h5 tt, h6 tt {
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+}
+
+.viewcode-link {
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+
+.viewcode-back {
+ float: right;
+ font-family: sans-serif;
+}
+
+div.viewcode-block:target {
+ margin: -1px -10px;
+ padding: 0 10px;
+}
+
+/* -- math display ---------------------------------------------------------- */
+
+img.math {
+ vertical-align: middle;
+}
+
+div.math p {
+ text-align: center;
+}
+
+span.eqno {
+ float: right;
+}
+
+/* -- printout stylesheet --------------------------------------------------- */
+
+@media print {
+ div.document,
+ div.documentwrapper,
+ div.bodywrapper {
+ margin: 0 !important;
+ width: 100%;
+ }
+
+ div.sphinxsidebar,
+ div.related,
+ div.footer,
+ #top-link {
+ display: none;
+ }
+}
--- /dev/null
+/*
+ * sphinxdoc.css_t
+ * ~~~~~~~~~~~~~~~
+ *
+ * Sphinx stylesheet -- sphinxdoc theme. Originally created by
+ * Armin Ronacher for Werkzeug.
+ *
+ * :copyright: Copyright 2007-2011 by the Sphinx team, see AUTHORS.
+ * :license: BSD, see LICENSE for details.
+ *
+ */
+
+@import url("basic.css");
+
+/* -- page layout ----------------------------------------------------------- */
+
+body {
+ color: black;
+ padding: 0;
+ margin: 0px 80px 0px 80px;
+ min-width: 740px;
+}
+
+div.document {
+
+ text-align: left;
+
+
+}
+
+div.bodywrapper {
+ margin: 0 240px 0 0;
+ border-right: 1px solid #ccc;
+}
+
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+ background-color: #CF0000;
+ border-bottom-color: #940000;
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+div.warning ul, div.warning ol {
+ margin: 0.1em 0.5em 0.5em 3em;
+ padding: 0;
+}
+
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+ margin: 1em 0 0 0;
+ border: 1px solid #ccc;
+ background-color: #DDEAF0;
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+ font-family: 'Lucida Grande', 'Lucida Sans Unicode', 'Geneva',
+ 'Verdana', sans-serif;
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+
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+ background-color: #f4debf;
+ border-top: 1px solid #ac9;
+ border-bottom: 1px solid #ac9;
+}
+<!DOCTYPE html>
+<html lang="en">
+<head>
+<title>Documentation - Point Cloud Library (PCL)</title>
+</head>
{% extends "!layout.html" %}
{% block extrahead %}
+<?php
+define('MODX_CORE_PATH', '/var/www/pointclouds.org/core/');
+define('MODX_CONFIG_KEY', 'config');
+
+require_once MODX_CORE_PATH.'config/'.MODX_CONFIG_KEY.'.inc.php';
+require_once MODX_CORE_PATH.'model/modx/modx.class.php';
+$modx = new modX();
+$modx->initialize('web');
+
+$snip = $modx->runSnippet("getSiteNavigation", array('id'=>5, 'phLevels'=>'sitenav.level0,sitenav.level1', 'showPageNav'=>'n'));
+$chunkOutput = $modx->getChunk("site-header", array('sitenav'=>$snip));
+$bodytag = str_replace("[[+showSubmenus:notempty=`", "", $chunkOutput);
+$bodytag = str_replace("`]]", "", $bodytag);
+echo $bodytag;
+echo "\n";
+?>
+<div id="pagetitle">
+<h1>Documentation</h1>
+<a id="donate" href="http://www.openperception.org/support/"><img src="/assets/images/donate-button.png" alt="Donate to the Open Perception foundation"/></a>
+</div>
+<div id="page-content">
{% endblock %}
+{% block relbar1 %}{% endblock %}
+{% block relbar2 %}{% endblock %}
{% block rootrellink %}{% endblock %}
{% block sidebarsearch %}{% endblock %}
+
+{% block footer %}
+</div> <!-- #page-content -->
+
+<?php
+$chunkOutput = $modx->getChunk("site-footer");
+echo $chunkOutput;
+?>
+{% endblock %}
+</html>
+
To cover all possible cases that we could think of, we defined a plethora of
point types in PCL. The following might be only a snippet, please see
-`point_types.hpp <http://docs.pointclouds.org/point__types_8hpp_source.html>`_
+`point_types.hpp <https://github.com/PointCloudLibrary/pcl/blob/master/common/include/pcl/impl/point_types.hpp>`_
for the complete list.
This list is important, because before defining your own custom type, you need
for any classes that you expose (from PCL our outside PCL).
.. note::
-Starting with PCL-1.7 you need to define PCL_NO_PRECOMPILE before you include
-any PCL headers to include the templated algorithms as well.
+ Starting with PCL-1.7 you need to define PCL_NO_PRECOMPILE before you include
+ any PCL headers to include the templated algorithms as well.
Example
-------
The code
--------
-First, download the datasets from :download:`here <./sources/alignment_prerejective/data/alignment_prerejective.tar.gz>` and extract the files.
+First, download the test models: :download:`object <./sources/alignment_prerejective/chef.pcd>` and :download:`scene <./sources/alignment_prerejective/rs1.pcd>`.
Next, copy and paste the following code into your editor and save it as ``alignment_prerejective.cpp`` (or download the source file :download:`here <./sources/alignment_prerejective/alignment_prerejective.cpp>`).
.. literalinclude:: sources/alignment_prerejective/alignment_prerejective.cpp
:language: cpp
- :lines: 79-90
+ :lines: 79-91
.. note:: Apart from the usual input point clouds and features, this class takes some additional runtime parameters which have great influence on the performance of the alignment algorithm. The first two have the same meaning as in the alignment class :pcl:`SampleConsensusInitialAlignment <pcl::SampleConsensusInitialAlignment>`:
- Number of samples - *setNumberOfSamples ()*: The number of point correspondences to sample between the object and the scene. At minimum, 3 points are required to calculate a pose.
- Correspondence randomness - *setCorrespondenceRandomness ()*: Instead of matching each object FPFH descriptor to its nearest matching feature in the scene, we can choose between the *N* best matches at random. This increases the iterations necessary, but also makes the algorithm robust towards outlier matches.
- - Polygonal similarity threshold - *setSimlarityThreshold ()*: The alignment class uses the :pcl:`CorrespondenceRejectorPoly <pcl::registration::CorrespondenceRejectorPoly>` class for early elimination of bad poses based on pose-invariant geometric consistencies of the inter-distances between sampled points on the object and the scene. The closer this value is set to 1, the more greedy and thereby fast the algorithm becomes. However, this also increases the risk of eliminating good poses when noise is present.
+ - Polygonal similarity threshold - *setSim
ilarityThreshold ()*: The alignment class uses the :pcl:`CorrespondenceRejectorPoly <pcl::registration::CorrespondenceRejectorPoly>` class for early elimination of bad poses based on pose-invariant geometric consistencies of the inter-distances between sampled points on the object and the scene. The closer this value is set to 1, the more greedy and thereby fast the algorithm becomes. However, this also increases the risk of eliminating good poses when noise is present.
- Inlier threshold - *setMaxCorrespondenceDistance ()*: This is the Euclidean distance threshold used for determining whether a transformed object point is correctly aligned to the nearest scene point or not. In this example, we have used a heuristic value of 1.5 times the point cloud resolution.
- - Inlier fraction - *setInlierFraction ()*: In many practical scenarios, large parts of the observed object in the scene are not visible, either due to clutter, occlusions or both. In such cases, we need to allow for pose hypotheses that do not align all object points to the scene. The absolute number of correctly aligned points is determined using the inlier threshold, and if the ratio of this number to the total number of points in the object is higher than the specified inlier fraction, we accept a pose hypothesis as valid. Furthermore, if a pose generates the highest number of inliers so far, the pose is stored as the current output. In other words, this class tries to maximize the inliers instead of minimizing the fit error during the alignment process.
+ - Inlier fraction - *setInlierFraction ()*: In many practical scenarios, large parts of the observed object in the scene are not visible, either due to clutter, occlusions or both. In such cases, we need to allow for pose hypotheses that do not align all object points to the scene. The absolute number of correctly aligned points is determined using the inlier threshold, and if the ratio of this number to the total number of points in the object is higher than the specified inlier fraction, we accept a pose hypothesis as valid.
Finally, we are ready to execute the alignment process.
.. literalinclude:: sources/alignment_prerejective/alignment_prerejective.cpp
:language: cpp
- :lines: 91
+ :lines: 92-95
The aligned object is stored in the point cloud *object_aligned*. If a pose with enough inliers was found (more than 25 % of the total number of object points), the algorithm is said to converge, and we can print and visualize the results.
.. literalinclude:: sources/alignment_prerejective/alignment_prerejective.cpp
:language: cpp
- :lines: 95-109
+ :lines: 99-114
Compiling and running the program
$ ./alignment_prerejective chef.pcd rs1.pcd
After a few seconds, you will see a visualization and a terminal output similar to::
-
- | -0.003 -0.972 0.235 |
- R = | -0.993 -0.026 -0.119 |
- | 0.122 -0.233 -0.965 |
- t = < 0.095, -0.022, 0.069 >
+ Alignment took 352ms.
- Inliers: 890/3432
+ | 0.040 -0.929 -0.369 |
+ R = | -0.999 -0.035 -0.020 |
+ | 0.006 0.369 -0.929 |
+
+ t = < -0.287, 0.045, 0.126 >
+
+ Inliers: 987/3432
The visualization window should look something like the below figures. The scene is shown with green color, and the aligned object model is shown with blue color. Note the high number of non-visible object points.
--- /dev/null
+.. _bspline_fitting:
+
+Fitting trimmed B-splines to unordered point clouds
+---------------------------------------------------
+
+This tutorial explains how to run a B-spline fitting algorithm on a
+point-cloud, to obtain a smooth, parametric surface representation.
+The algorithm consists of the following steps:
+
+* Initialization of the B-spline surface by using the Principal Component Analysis (PCA). This
+ assumes that the point-cloud has two main orientations, i.e. that it is roughly planar.
+
+* Refinement and fitting of the B-spline surface.
+
+* Circular initialization of the B-spline curve. Here we assume that the point-cloud is
+ compact, i.e. no separated clusters.
+
+* Fitting of the B-spline curve.
+
+* Triangulation of the trimmed B-spline surface.
+
+In this video, the algorithm is applied to the frontal scan of the stanford bunny (204800 points):
+
+.. raw:: html
+
+ <iframe title="Trimmed B-spline surface fitting" width="480" height="390" src="http://www.youtube.com/embed/trH2kWELvyw?rel=0" frameborder="0" allowfullscreen></iframe>
+
+
+Theoretical background
+----------------------
+
+Theoretical information on the algorithm can be found in this `report
+<http://pointclouds.org/blog/trcs/moerwald/index.php>`_ and in my `PhD thesis
+<http://users.acin.tuwien.ac.at/tmoerwald/?site=3>`_.
+
+
+PCL installation settings
+-------------------------
+
+Please note that the modules for NURBS and B-splines are not enabled by default.
+Make sure you enable "BUILD_surface_on_nurbs" in your ccmake configuration, by setting it to ON.
+
+If your license permits, also enable "USE_UMFPACK" for sparse linear solving.
+This requires SuiteSparse (libsuitesparse-dev in Ubuntu) which is faster,
+allows more degrees of freedom (i.e. control points) and more data points.
+
+The program created during this tutorial is available in
+*pcl/examples/surface/example_nurbs_fitting_surface.cpp* and is built when
+"BUILD_examples" is set to ON. This will create the binary called *pcl_example_nurbs_fitting_surface*
+in your *bin* folder.
+
+
+The code
+--------
+
+The cpp file used in this tutorial can be found in *pcl/doc/tutorials/content/sources/bspline_fitting/bspline_fitting.cpp*.
+You can find the input file at *pcl/test/bunny.pcd*.
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :linenos:
+ :lines: 1-220
+
+
+The explanation
+---------------
+Now, let's break down the code piece by piece.
+Lets start with the choice of the parameters for B-spline surface fitting:
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :linenos:
+ :lines: 56-66
+
+* *order* is the polynomial order of the B-spline surface.
+
+* *refinement* is the number of refinement iterations, where for each iteration control-points
+ are inserted, approximately doubling the control points in each parametric direction
+ of the B-spline surface.
+
+* *iterations* is the number of iterations that are performed after refinement is completed.
+
+* *mesh_resolution* the number of vertices in each parametric direction,
+ used for triangulation of the B-spline surface.
+
+Fitting:
+
+* *interior_smoothness* is the smoothness of the surface interior.
+
+* *interior_weight* is the weight for optimization for the surface interior.
+
+* *boundary_smoothness* is the smoothness of the surface boundary.
+
+* *boundary_weight* is the weight for optimization for the surface boundary.
+
+Note, that the boundary in this case is not the trimming curve used later on.
+The boundary can be used when a point-set exists that defines the boundary. Those points
+can be declared in *pcl::on_nurbs::NurbsDataSurface::boundary*. In that case, when the
+*boundary_weight* is greater than 0.0, the algorithm tries to align the domain boundaries
+to these points. In our example we are trimming the surface anyway, so there is no need
+for aligning the boundary.
+
+Initialization of the B-spline surface
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 68-72
+
+The command *initNurbsPCABoundingBox* uses PCA to create a coordinate systems, where the principal
+eigenvectors point into the direction of the maximum, middle and minimum extension of the point-cloud.
+The center of the coordinate system is located at the mean of the points.
+To estimate the extension of the B-spline surface domain, a bounding box is computed in the plane formed
+by the maximum and middle eigenvectors. That bounding box is used to initialize the B-spline surface with
+its minimum number of control points, according to the polynomial degree chosen.
+
+The surface fitting class *pcl::on_nurbs::FittingSurface* is initialized with the point data and the initial
+B-spline.
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 74-80
+
+The *on_nurbs::Triangulation* class allows easy conversion between the *ON_NurbsSurface* and the *PolygonMesh* class,
+for visualization of the B-spline surfaces. Note that NURBS are a generalization of B-splines,
+and are therefore a valid container for B-splines, with all control-point weights = 1.
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 82-92
+
+Refinement and fitting of the B-spline surface
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+At this point of the code we have a B-spline surface with minimal number of control points.
+Typically they are not enough to represent finer details of the underlying geometry
+of the point-cloud. However, if we increase the control-points to our desired level of detail and
+subsequently fit the refined B-spline, we run into problems. For robust fitting B-spline surfaces
+the rule is:
+"The higher the degree of freedom of the B-spline surface, the closer we have to be to the points to be approximated".
+
+This is the reason why we iteratively increase the degree of freedom by refinement in both directions (line 85-86),
+and fit the B-spline surface to the point-cloud, getting closer to the final solution.
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 94-102
+
+After we reached the final level of refinement, the surface is further fitted to the point-cloud
+for a pleasing end result.
+
+Initialization of the B-spline curve
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Now that we have the surface fitted to the point-cloud, we want to cut off the overlapping regions of the surface.
+To achieve this we project the point-cloud into the parametric domain using the closest points to the B-spline surface.
+In this domain of R^2 we perform the weighted B-spline curve fitting, that creates a closed trimming curve that approximately
+contains all the points.
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 107-120
+
+The topic of curve fitting goes a bit deeper into the thematics of B-splines. Here we assume that you are
+familiar with the concept of B-splines, knot vectors, control-points, and so forth.
+Please consider the curve being split into supporting regions which is bound by consecutive knots.
+Also note that points that are inside and outside the curve are distinguished.
+
+* *addCPsAccuracy* the distance of the supporting region of the curve to the closest data points has to be below
+ this value, otherwise a control point is inserted.
+
+* *addCPsIteration* inner iterations without inserting control points.
+
+* *maxCPs* the maximum total number of control-points.
+
+* *accuracy* the average fitting accuracy of the curve, w.r.t. the supporting regions.
+
+* *iterations* maximum number of iterations performed.
+
+* *closest_point_resolution* number of control points that must lie within each supporting region. (0 turns this constraint off)
+
+* *closest_point_weight* weight for fitting the curve to its closest points.
+
+* *closest_point_sigma2* threshold for closest points (disregard points that are further away from the curve).
+
+* *interior_sigma2* threshold for interior points (disregard points that are further away from and lie within the curve).
+
+* *smooth_concavity* value that leads to inward bending of the curve (0 = no bending; <0 inward bending; >0 outward bending).
+
+* *smoothness* weight of smoothness term.
+
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 122-127
+
+The curve is initialized using a minimum number of control points to represent a circle, with the center located
+at the mean of the point-cloud and the radius of the maximum distance of a point to the center.
+Please note that interior weighting is enabled for all points with the command *curve_data.interior_weight_function.push_back (true)*.
+
+Fitting of the B-spline curve
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 129-133
+
+Similar to the surface fitting approach, the curve is iteratively fitted and refined, as shown in the video.
+Note how the curve tends to bend inwards at regions where it is not supported by any points.
+
+Triangulation of the trimmed B-spline surface
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 136-142
+
+After the curve fitting terminated, our geometric representation consists of a B-spline surface and a closed
+B-spline curved, defined within the parametric domain of the B-spline surface. This is called trimmed B-spline surface.
+In line 140 we can use the trimmed B-spline to create a triangular mesh. The triangulation algorithm first triangulates
+the whole domain and afterwards removes triangles that lie outside of the trimming curve. Vertices of triangles
+that intersect the trimming curve are clamped to the curve.
+
+When running this example and switch to wire-frame mode (w), you will notice that the triangles are ordered in
+a rectangular way, which is a result of the rectangular domain of the surface.
+
+Some hints
+----------
+Please bear in mind that the robustness of this algorithm heavily depends on the underlying data.
+The parameters for B-spline fitting are designed to model the characteristics of this data.
+
+* If you have holes or steps in your data, you might want to work with lower refinement levels and lower accuracy to
+ prevent the B-spline from folding and twisting. Moderately increasing of the smoothness might also work.
+
+* Try to introduce as much pre-conditioning and constraints to the parameters. E.g. if you know, that
+ the trimming curve is rather simple, then limit the number of maximum control points.
+
+* Start simple! Before giving up on gaining control over twisting and bending B-splines, I highly recommend
+ to start your fitting trials with a small number of control points (low refinement),
+ low accuracy but also low smoothness (B-splines have implicit smoothing property).
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/bspline_fitting/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+After you have made the executable, you can run it. Simply do:
+
+ $ ./bspline_fitting ${PCL_ROOT}/test/bunny.pcd
+
+
+Saving and viewing the result
+-----------------------------
+
+* Saving as OpenNURBS (3dm) file
+
+You can save the B-spline surface by using the commands provided by OpenNurbs:
+
+.. literalinclude:: sources/bspline_fitting/bspline_fitting.cpp
+ :language: cpp
+ :lines: 145-163
+
+The files generated can be viewed with the pcl/examples/surface/example_nurbs_viewer_surface.cpp.
+
+* Saving as triangle mesh into a vtk file
+
+You can save the triangle mesh for example by saving into a VTK file by:
+
+ #include <pcl/io/vtk_io.h>
+ ...
+ pcl::io::saveVTKFile ("mesh.vtk", mesh);
+
+PCL also provides vtk conversion into other formats (PLY, OBJ).
+
You should see something like the following on screen::
- BUILD_TESTS ON
BUILD_common ON
BUILD_features ON
BUILD_filters ON
The explanation
---------------
-* `BUILD_TESTS`: option to enable/disable building of tests
-
* `BUILD_common`: option to enable/disable building of common library
* `BUILD_features`: option to enable/disable building of features library
Depending on your project/system, you might want to enable/disable certain
options. For example, you can prevent the building of:
-* tests: setting BUILD_TESTS and BUILD_global_tests to OFF
+* tests: setting `BUILD_global_tests` to `OFF`
-* a library: setting BUILD_LIBRARY_NAME to OFF
+* a library: setting `BUILD_LIBRARY_NAME` to `OFF`
Note that if you disable a XXX library that is required for building
YYY then XXX will be built but won't appear in the cache.
discuss each dependency entry so that you can configure/build or
update/build PCL according to your system.
-General remarks
-^^^^^^^^^^^^^^^^
+Building unit tests
+^^^^^^^^^^^^^^^^^^^
+
+If you want to contribute to PCL, or are modifying the code, you need
+to turn on building of unit tests. This is accomplished by setting the `BUILD_global_tests`
+option to `ON`, with a few caveats. If you're using `ccmake` and you find that `BUILD_global_tests`
+is reverting to `OFF` when you configure, you can move the cursor up to the `BUILD_global_tests` line to see the
+error message.
+
+Two options which will need to be turned ON before `BUILD_global_tests` are `BUILD_outofcore` and
+`BUILD_people`. Your mileage may vary.
+
+Also required for unit tests is the source code for the Google C++ Testing Framework. That is
+usually as simple as downloading the source, extracting it, and pointing the `GTEST_SRC_DIR` and `GTEST_INCLUDE_DIR`
+options to the applicable source locations. On Ubuntu, you can simply run `apt-get install libgtest-dev`.
+
+These steps enable the `tests` make target, so you can use `make tests` to run tests.
+
+General remarks
+^^^^^^^^^^^^^^^
Under ${PCL_ROOT}/cmake/Modules there is a list of FindXXX.cmake files
used to locate dependencies and set their related variables. They have
a list of default searchable paths where to look for them. In addition,
The CloudViewer class is **NOT** meant to be used in multi-threaded
applications! Please check the documentation on
- :pcl:`PCLVisualizer<pcl::PCLVisualizer>` or read the :ref:`pcl_visualizer` tutorial
+ :pcl:`PCLVisualizer<pcl::visualization::PCLVisualizer>` or read the :ref:`pcl_visualizer` tutorial
for thread safe visualization.
Simple Cloud Visualization
used as the matrix backend for SSE optimized math. **mandatory**
- - **FLANN** version >= 1.6.8 (http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN)
+ - **FLANN** version >= 1.6.8 (http://www.cs.ubc.ca/research/flann/)
used in `kdtree` for fast approximate nearest neighbors search. **mandatory**
used to grab point clouds from OpenNI compliant devices. **optional**
- - **Qt** version >= 4.6 (http://qt.nokia.com/)
+ - **Qt** version >= 4.6 (http://qt.digia.com/)
used for developing applications with a graphical user interface (GUI) **optional**
- - **MPI** version >= 1.4 (http://www.mcs.anl.gov/research/projects/mpich2/)
-
- **optional**
-
.. note::
Though not a dependency per se, don't forget that you also need the CMake
- build system (http://www.cmake.org/), at least version **2.8.3**. A Subversion client for Windows, i.e. TortoiseSVN
- (http://tortoisesvn.tigris.org/), is also required to download the PCL source code.
+ build system (http://www.cmake.org/), at least version **2.8.3**. A Git
+ client for Windows is also required to download the PCL source code.
Building dependencies
---------------------
Let's start with `Boost`. We will be using the `CMake-able Boost` project which provide a CMake based build system
for Boost.
- As a dependency of MPI Boost module (optional), you need first to download and install MPI from the link above. Choose "Win IA32 binary"
- if you are building 32 bit PCL libraries, or "Win X86_64 binary" if you are building 64 bit binaries.
- If you do not need it, you can skip this, and remove "mpi" from the modules list later.
To build Boost, open the CMake-gui and fill in the fields::
then fill the **BUILD_PROJECTS** CMake entry (which is set to `ALL` by default) with a semicolon-seperated
list of boost modules::
- BUILD_PROJECTS : system;filesystem;date_time;thread;iostreams;tr1;serialization;mpi
+ BUILD_PROJECTS : system;filesystem;date_time;thread;iostreams;tr1;serialization
Also, uncheck the **ENABLE_STATIC_RUNTIME** checkbox. Then, click "Configure" again. If you get some
errors related to Python, then uncheck **WITH_PYTHON** checkbox, and click "Configure" again.
Now, in the CMake log, you should see something like::
Reading boost project directories (per BUILD_PROJECTS)
-
+
+ date_time
+ thread
+ serialization
+ system
+ filesystem
- + mpi
+-- optional python bindings disabled since PYTHON_FOUND is false.
+ tr1
in the solution file, and then will install the build libraries along with the header files to the default
installation folder (e.g. C:/Program Files (x86)/Boost).
- .. note::
-
- If you are building the mpi boost module, and you are using CMake <= 2.8.7, you may run into the following error::
-
- LINK : fatal error LNK1104: cannot open file 'C:\Program Files\MPICH2\lib\mpi.lib C:\Program Files\MPICH2\lib\cxx.lib'
-
- As a workaround (until CMake 2.8.8 is out), go back to CMake gui, check the "Advanced" checkbox at the top right of
- CMake window, and edit these entries as follows (please adjust the paths according to your system)::
-
- MPI_CXX_LIBRARIES : C:/Program Files/MPICH2/lib/cxx.lib;C:/Program Files/MPICH2/lib/mpi.lib
- MPI_LIBRARY : C:/Program Files/MPICH2/lib/mpi.lib
-
- Then, click "Generate". Visual Studio will ask you to reload the solution, then re build the **INSTALL** project.
-
.. note::
If you get some errors during the installation process, it could be caused by the UAC of MS Windows
If you don't have a Python interpreter installed CMake would probably not allow you
to generate the project files. To solve this problem you can install the Python interpreter
- (http://www.python.org/download/windows/) or comment the `add_subdirectory( test )` line
+ (https://www.python.org/download/windows/) or comment the `add_subdirectory( test )` line
from C:/PCL_dependencies/flann-1.7.1-src/CMakeLists.txt .
- **QHull** :
Before getting started download and install the following prerequisites for
Mac OS X:
-- **XCode** (http://developer.apple.com/xcode)
+- **XCode** (https://developer.apple.com/xcode/)
Apple’s powerful integrated development environment
Unified matrix library. Used as the matrix backend for SSE optimized math.
- **FLANN** version >= 1.6.8
- (http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN)
+ (http://www.cs.ubc.ca/research/flann/)
Library for performing fast approximate nearest neighbor searches in high
dimensional spaces. Used in `kdtree` for fast approximate nearest neighbors
search.
A documentation system for C++, C, Java, Objective-C, Python, IDL (Corba and
Microsoft flavors), Fortran, VHDL, PHP, C#, and to some extent D.
-- **Sphinx** (http://sphinx.pocoo.org/)
+- **Sphinx** (http://sphinx-doc.org/)
A tool that makes it easy to create intelligent and beautiful
documentation.
At this point you should have everything needed installed to build PCL with
almost no additional configuration.
-Checkout the PCL source from the trunk::
+Checkout the PCL source from the Github:
- $ svn co http://svn.pointclouds.org/pcl/trunk pcl
+ $ git clone https://github.com/PointCloudLibrary/pcl
$ cd pcl
Create the build directories, configure CMake, build and install::
$ easy_install -U Sphinx
The Sphinx documentation also requires the third party contrib extension
-`sphinxcontrib-doxylink` (http://pypi.python.org/pypi/sphinxcontrib-doxylink)
+`sphinxcontrib-doxylink` (https://pypi.python.org/pypi/sphinxcontrib-doxylink)
to reference the Doxygen built documentation.
To install from source you'll also need Mercurial::
.. note::
Though not a dependency per se, don't forget that you also need the CMake
- build system (http://www.cmake.org/), at least version **2.8.7**. A Subversion client
- for Windows, i.e. TortoiseSVN (http://tortoisesvn.tigris.org/), is also required
- to download the PCL source code.
+ build system (http://www.cmake.org/), at least version **2.8.7**. A Git client
+ for Windows is also required to download the PCL source code.
Downloading PCL source code
---------------------------
cd wherever/you/want/to/put/the/repo/
git clone https://github.com/PointCloudLibrary/pcl.git
-You could also use Github for Windows( http://windows.github.com/ ), but that is potentially more
+You could also use Github for Windows (https://windows.github.com/), but that is potentially more
troublesome than setting up git on windows.
-Alternatively you could use the old subversion repository:
-
-For this,
-you will need Tortoise SVN to download sources from PCL svn server.
-
-Subversion is a version control system similar to CVS which allows developers to simultaneously work on PCL.
-The download operation of the most recent source from the main development line, known as trunk, is called `checkout`.
-
-.. note::
- In this tutorial, we will build the svn trunk of PCL. If you want, you can build a PCL branch instead.
- You can also build an official release using the source archive from http://pointclouds.org/downloads/.
- You can grab PCL branches using Tortoise SVN from :
-
- - pcl-1.x branch from http://svn.pointclouds.org/pcl/branches/pcl-1.x
-
- - pcl-1.5.x branch from http://svn.pointclouds.org/pcl/branches/pcl-1.5.x
-
-First create a folder that will holds PCL source code and binaries. In the remaining of this tutorial we will be using C:\\PCL.
-To checkout PCL source code, navigate to the C:\\PCL folder using Windows file manager. Then right click and choose
-`SVN Checkout...` from the contextual menu. Set "URL of repository" to http://svn.pointclouds.org/pcl/trunk and
-"Checkout directory" to C:\\PCL\\trunk.
-
-.. image:: images/windows/SVNCheckout_pcl_trunk.png
- :alt: SVN Checkout dialog
- :align: center
-
-Click "OK" and the download should start. At the end of this process, you will have PCL source code in C:\\PCL\\trunk.
-
Configuring PCL
---------------
Run the CMake-gui application and fill in the fields::
- Where is the source code : C:/PCL/trunk
+ Where is the source code : C:/PCL/pcl
Where to build the binaries: C:/PCL
Now hit the "Configure" button. You will be asked for a `generator`. A generator is simply a compiler.
Then, you need to enable the `documentation` project in Visual Studio by checking the **BUILD_DOCUMENTATION** checkbox in CMake.
You can also build one single CHM file that will gather all the generated html files into one file. You need the `Microsoft
- HTML HELP Workshop <http://www.microsoft.com/downloads/en/details.aspx?familyid=00535334-c8a6-452f-9aa0-d597d16580cc&displaylang=en>`_.
+ HTML HELP Workshop <http://www.microsoft.com/en-us/download/details.aspx?id=21138>`_.
After you install the `Microsoft HTML HELP Workshop`, hit `Configure`. If CMake is not able to find **HTML_HEL_COMPILER**, then fill
it manually with the path to `hhc.exe` (e.g. C:/Program Files (x86)/HTML Help Workshop/hhc.exe), then click `Configure` and `Generate`.
The code
--------
-Before you begin, you should download the dataset used in this tutorial from `github.com/PointCloudLibrary/data/tree/master/tutorials/correspondence_grouping <https://raw.github.com/PointCloudLibrary/data/master/tutorials/correspondence_grouping>`_
-and extract the files in a folder of your convenience.
+Before you begin, you should download the PCD dataset used in this tutorial from GitHub (`milk.pcd <https://github.com/PointCloudLibrary/pcl/blob/master/test/milk.pcd?raw=true>`_ and
+`milk_cartoon_all_small_clorox.pcd <https://github.com/PointCloudLibrary/pcl/blob/master/test/milk_cartoon_all_small_clorox.pcd?raw=true>`_) and put the files in a folder of your convenience.
Also, copy and paste the following code into your editor and save it as ``correspondence_grouping.cpp`` (or download the source file :download:`here <./sources/correspondence_grouping/correspondence_grouping.cpp>`).
:lines: 327-339
.. note::
- The ``recognize`` method returns a vector of ``Eigen::Matrix4f`` representing a transformation (rotation + translation) for each instance of the model found in the scene (obtained via Absolute Orientation) and a **vector** of :pcl:`Correspondences <pcl::Correspondences>` (a vector of vectors of :pcl:`Correspondence <pcl::Correspondence>`) representing the output of the clustering i.e. each element of this vector is in turn a set of correspondences, representing the correspondences associated to a specific model instance in the scene.
+ The ``recognize`` method returns a vector of ``Eigen::Matrix4f`` representing a transformation (rotation + translation) for each instance of the model found in the scene (obtained via Absolute Orientation) and a **vector** of :pcl:`Correspondences <pcl::Correspondences>` (a vector of vectors of :pcl:`Correspondence <pcl::Correspondences>`) representing the output of the clustering i.e. each element of this vector is in turn a set of correspondences, representing the correspondences associated to a specific model instance in the scene.
If you **only** need the clustered correspondences because you are planning to use them in a different way, you can use the ``cluster`` method.
:language: cpp
:lines: 344-360
-The program then shows in a :pcl:`PCLVisualizer <pcl::PCLVisualizer>` window the scene cloud with a red overlay where an instance of the model has been found.
+The program then shows in a :pcl:`PCLVisualizer <pcl::visualization::PCLVisualizer>` window the scene cloud with a red overlay where an instance of the model has been found.
If the command line switches ``-k`` and ``-c`` have been used, the program also shows a "stand-alone" rendering of the model cloud. If keypoint visualization is enabled, keypoints are displayed as blue dots and if correspondence visualization has been enabled they are shown as a green line for each correspondence which *survived* the clustering process.
.. literalinclude:: sources/correspondence_grouping/correspondence_grouping.cpp
This algorithm performs a scale based segmentation of the given input point cloud, finding points that belong within the scale parameters given.
-.. donpipeline::
.. figure:: images/donpipelinesmall.jpg
:align: center
where :math:`$r_s, r_l \in \mathbb{R}$`, :math:`$r_s<r_l$`, and :math:`$\mathbf{\hat{n}}(p, r)$` is the surface normal estimate at point :math:`$p$`, given the support radius :math:`$r$`. Notice, the response of the operator is a normalized vector field, and is thus orientable (the resulting direction is a key feature), however the operator's norm often provides an easier quantity to work with, and is always in the range :math:`(0,1)`.
-.. scalenormals_figure::
.. figure:: images/don_scalenormals.svg
:width: 60%
:align: center
The above diagram illustrates this effect in 1D. Normals, :math:`$\mathbf{\hat{n}}$`, and tangents, :math:`$T$`, estimated with a small support radius :math:`$r_s$` are affected by small-scale surface structure (and similarly by noise). On the other hand, normals and tangent planes estimated with a large support radius $r_l$ are less affected by small-scale structure, and represent the geometry of larger scale surface structures. In fact a similair set of features is seen in the DoN feature vectors for real-world street curbs in a LiDAR image shown below.
-.. doncurbcloseup::
.. figure:: images/don_curb_closeup_small.jpg
:align: center
------------------------
Fast Point Feature Histograms are implemented in PCL as part of the
-`pcl_features <http://docs.pointclouds.org/trunk/group__features.html>`_
+`pcl_features <http://docs.pointclouds.org/trunk/a02944.html>`_
library.
The default FPFH implementation uses 11 binning subdivisions (e.g., each of the
--- /dev/null
+.. _generate_local_doc:
+
+======================================
+Generate a local documentation for PCL
+======================================
+
+For practical reasons you might want to have a local documentation which corresponds to your
+PCL version. In this tutorial you will learn how to generate it and how to set up Apache so that
+the search bar works.
+
+This tutorial was written for Ubuntu 12.04 and 14.04, feel free to edit it on GitHub to add your platform.
+
+Dependencies
+============
+
+You need to install a few dependencies in order to be able to generate the documentation::
+
+ $ sudo apt-get install doxygen graphviz sphinx3 python-pip
+ $ sudo pip install sphinxcontrib-doxylink
+
+Generate the documentation
+==========================
+
+Go into the build folder of PCL where you've configured it (`see tutorial <http://www.pointclouds.org/downloads/source.html>`_) and enter::
+
+ $ make doc
+
+Then you can open the documentation with your browser, for example::
+
+ $ firefox doc/doxygen/html/index.html
+
+The documentation has been generated in your PCL build directory but it is not installed; if you wish to install it just do::
+
+ $ sudo make install
+
+The default PCL ``CMAKE_INSTALL_PREFIX`` is ``/usr/local``, this means the documentation will be located in ``/usr/local/share/doc/pcl-1.7/html/index.html``
+
+.. note::
+ You will quickly notice that the search bar doesn't work! (searching opens "search.php" instead of searching)
+
+Installing and configuring Apache
+=================================
+
+Apache (`The Apache HTTP Server <https://en.wikipedia.org/wiki/Apache_HTTP_Server>`_) is a web server application, in this section you will
+learn how to configure Apache in order to be able to use the search feature within your offline documentation.
+
+First you need to install Apache and php::
+
+ $ sudo apt-get install apache2 php5 libapache2-mod-php5
+
+Then you need to edit the default website location::
+
+ $ sudo gedit /etc/apache2/sites-available/000-default.conf
+
+Change ``DocumentRoot`` (default = ``/var/www/html``) to ``/usr/local/share/doc/pcl-1.7/html/`` (or your local PCL doc build path)
+
+After that change the Apache directory options::
+
+ $ sudo gedit +153 /etc/apache2/apache2.conf
+
+Replace the paragraph at line 153 with::
+
+ <Directory />
+ #Options FollowSymLinks
+ Options Indexes FollowSymLinks Includes ExecCGI
+ AllowOverride All
+ Order deny,allow
+ Allow from all
+ </Directory>
+
+Restart Apache and the search bar will now work if you open ``localhost``::
+
+ $ sudo /etc/init.d/apache2 restart
+ $ firefox localhost
--------------------
In this tutorial we will learn how to use the implicit shape model algorithm implemented in the ``pcl::ism::ImplicitShapeModel`` class.
-This algorithm was described in the article `"Hough Transforms and 3D SURF for robust three dimensional classification" <http://homes.esat.kuleuven.be/~rtimofte/publications/Knopp-ECCV-2010.pdf>`_ by Jan Knopp, Mukta Prasad, Geert Willems, Radu Timofte, and Luc Van Gool.
+This algorithm was described in the article `"Hough Transforms and 3D SURF for robust three dimensional classification" <http://homes.esat.kuleuven.be/~jknopp/papers/2010eccv_3d_paper.pdf>`_ by Jan Knopp, Mukta Prasad, Geert Willems, Radu Timofte, and Luc Van Gool.
This algorithm is a combination of generalized Hough transform and the Bag of Features approach and its purpose is as follows. Having some training set - point clouds of different objects of the known class - the algorithm computes a certain model which will be later used to predict an object center in the given cloud that wasn't a part of the training set.
Theoretical Primer
#. Previous step gives us a set of directions to the expected center and the power for each vote. In order to get single point that corresponds to center these votes need to be analysed. For this purpose algorithm uses the non maxima suppression approach. User just needs to pass the radius of the object of interest and the rest will be done by the ``ISMVoteList::findStrongestPeaks ()`` method.
For more comprehensive information please refer to the article
-`"Hough Transforms and 3D SURF for robust three dimensional classification" <http://homes.esat.kuleuven.be/~rtimofte/publications/Knopp-ECCV-2010.pdf>`_.
+`"Hough Transforms and 3D SURF for robust three dimensional classification" <http://homes.esat.kuleuven.be/~jknopp/papers/2010eccv_3d_paper.pdf>`_.
The code
--------
Below is the list of clouds that are well suited for this tutorial (they were borrowed from the Ohio dataset).
Clouds for training:
- * `Cat <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_cat.pcd>`_
- * `Horse <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_horse.pcd>`_
- * `Lioness <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_lioness.pcd>`_
- * `Michael <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_michael.pcd>`_
- * `Wolf <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_wolf.pcd>`_
+ * `Cat (train) <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_cat.pcd>`_
+ * `Horse (train) <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_horse.pcd>`_
+ * `Lioness (train) <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_lioness.pcd>`_
+ * `Michael (train) <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_michael.pcd>`_
+ * `Wolf (train) <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_train_wolf.pcd>`_
Clouds for testing:
* `Cat <https://raw.github.com/PointCloudLibrary/data/master/tutorials/ism_test_cat.pcd>`_
In the following section I will go through the steps to scan in a model of the 'lion' object which is about 15 cm high.
-.. image:: images/ihs_lion_photo.JPG
+.. image:: images/ihs_lion_photo.jpg
:alt: Lion object.
:width: 500px
:height: 782px
The following links describe a set of basic PCL tutorials. Please note that
their source codes may already be provided as part of the PCL regular releases,
so check there before you start copy & pasting the code. The list of tutorials
-below is automatically generated from reST files located in our SVN repository.
+below is automatically generated from reST files located in our git repository.
.. note::
* :ref:`basic_structures`
====== ======
- |mi_0| Title: **Getting Started / Basic Structures**
+ |mi_1| Title: **Getting Started / Basic Structures**
Author: *Radu B. Rusu*
Presents the basic data structures in PCL and discusses their usage with a simple code example.
====== ======
- .. |mi_0| image:: images/pcl_logo.png
+ .. |mi_1| image:: images/pcl_logo.png
:height: 75px
* :ref:`using_pcl_pcl_config`
====== ======
- |mi_1| Title: **Using PCL in your own project**
+ |mi_2| Title: **Using PCL in your own project**
Author: *Nizar Sallem*
In this tutorial, we will learn how to link your own project to PCL using cmake.
====== ======
- .. |mi_1| image:: images/pcl_logo.png
+ .. |mi_2| image:: images/pcl_logo.png
:height: 75px
* :ref:`building_pcl`
====== ======
- |mi_2| Title: **Explaining PCL's cmake options**
+ |mi_3| Title: **Explaining PCL's cmake options**
Author: *Nizar Sallem*
In this tutorial, we will explain the basic PCL cmake options, and ways to tweak them to fit your project.
====== ======
- .. |mi_2| image:: images/pcl_ccmake.png
+ .. |mi_3| image:: images/pcl_ccmake.png
:height: 100px
* :ref:`compiling_pcl_dependencies_windows`
====== ======
- |mi_3| Title: **Compiling PCL's dependencies from source on Windows**
+ |mi_4| Title: **Compiling PCL's dependencies from source on Windows**
Authors: *Alessio Placitelli* and *Mourad Boufarguine*
In this tutorial, we will explain how to compile PCL's 3rd party dependencies from source on Microsoft Windows.
====== ======
- .. |mi_3| image:: images/windows_logo.png
+ .. |mi_4| image:: images/windows_logo.png
:height: 100px
* :ref:`compiling_pcl_windows`
====== ======
- |mi_4| Title: **Compiling PCL on Windows**
+ |mi_5| Title: **Compiling PCL on Windows**
Author: *Mourad Boufarguine*
In this tutorial, we will explain how to compile PCL on Microsoft Windows.
====== ======
- .. |mi_4| image:: images/windows_logo.png
+ .. |mi_5| image:: images/windows_logo.png
:height: 100px
* :ref:`compiling_pcl_macosx`
====== ======
- |mi_5| Title: **Compiling PCL and its dependencies from MacPorts and source on Mac OS X**
+ |mi_6| Title: **Compiling PCL and its dependencies from MacPorts and source on Mac OS X**
Author: *Justin Rosen*
This tutorial explains how to build the Point Cloud Library **from MacPorts and source** on Mac OS X platforms.
====== ======
- .. |mi_5| image:: images/macosx_logo.png
+ .. |mi_6| image:: images/macosx_logo.png
:height: 100px
* :ref:`installing_homebrew`
====== ======
- |mi_6| Title: **Installing on Mac OS X using Homebrew**
+ |mi_7| Title: **Installing on Mac OS X using Homebrew**
Author: *Geoffrey Biggs*
This tutorial explains how to install the Point Cloud Library on Mac OS X using Homebrew. Both direct installation and compiling PCL from source are explained.
====== ======
- .. |mi_6| image:: images/macosx_logo.png
+ .. |mi_7| image:: images/macosx_logo.png
:height: 100px
* :ref:`using_pcl_with_eclipse`
====== ======
- |mi_7| Title: **Using Eclipse as your PCL trunk editor**
+ |mi_8| Title: **Using Eclipse as your PCL editor**
Author: *Koen Buys*
- Compatibility: > PCL 1.7
+ Compatibility: PCL git master
- This tutorial shows you how to get your PCL trunk as a project in Eclipse.
+ This tutorial shows you how to get your PCL as a project in Eclipse.
====== ======
- .. |mi_7| image:: images/pcl_logo.png
+ .. |mi_8| image:: images/pcl_with_eclipse/eclipse.png
+ :height: 100px
+
+ * :ref:`generate_local_doc`
+
+ ======= ======
+ |mi_11| Title: **Generate a local documentation for PCL**
+
+ Author: *Victor Lamoine*
+
+ Compatibility: PCL > 1.0
+
+ This tutorial shows you how to generate and use a local documentation for PCL.
+ ======= ======
+
+ .. |mi_11| image:: images/pcl_logo.png
:height: 75px
+ * :ref:`qt_visualizer`
+
+ ====== ======
+ |mi_9| Title: **Create a PCL visualizer in Qt with cmake**
+
+ Author: *Victor Lamoine*
+
+ Compatibility: > PCL 1.5
+
+ This tutorial shows you how to create a PCL visualizer within a Qt application.
+ ====== ======
+
+ .. |mi_9| image:: images/qt_visualizer/qt.png
+ :height: 128px
+
+ * :ref:`matrix_transform`
+
+ ======= ======
+ |mi_10| Title: **Using matrixes to transform a point cloud**
+
+ Author: *Victor Lamoine*
+
+ Compatibility: > PCL 1.5
+
+ This tutorial shows you how to transform a point cloud using a matrix.
+ ======= ======
+
+ .. |mi_10| image:: images/matrix_transform/cube.png
+ :height: 120px
+
.. _advanced_usage:
Advanced Usage
.. |fe_7| image:: images/narf_keypoint_extraction.png
:height: 100px
+ * :ref:`moment_of_inertia`
+
+ ====== ======
+ |fe_8| Title: **Moment of inertia and eccentricity based descriptors**
+
+ Author: *Sergey Ushakov*
+
+ Compatibility: > PCL 1.7
+
+ In this tutorial we will learn how to compute moment of inertia and eccentricity of the cloud. In addition to this we will learn how to extract AABB and OBB.
+ ====== ======
+
+ .. |fe_8| image:: images/moment_of_inertia.png
+ :height: 100px
+
+ * :ref:`rops_feature`
+
+ ====== ======
+ |fe_9| Title: **RoPs (Rotational Projection Statistics) feature**
+
+ Author: *Sergey Ushakov*
+
+ Compatibility: > PCL 1.7
+
+ In this tutorial we will learn how to compute RoPS feature.
+ ====== ======
+
+ .. |fe_9| image:: images/rops_feature.png
+ :height: 100px
+
.. _filtering_tutorial:
Filtering
.. |re_3| image:: images/iterative_closest_point.gif
:height: 100px
+ * :ref:`interactive_icp`
+
+ ====== ======
+ |re_7| Title: **Interactive ICP**
+
+ Author: *Victor Lamoine*
+
+ Compatibility: > PCL 1.5
+
+ This tutorial will teach you how to build an interactive ICP program
+ ====== ======
+
+ .. |re_7| image:: images/interactive_icp/monkey.png
+ :height: 120px
+
* :ref:`normal_distributions_transform`
====== ======
Author: *Martin Saelzle*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
This document shows how to use the In-hand scanner applications to obtain colored models of small objects with RGB-D cameras.
====== ======
Author: *Sergey Ushakov*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
In this tutorial we will learn how to use region growing segmentation algorithm.
====== ======
Author: *Sergey Ushakov*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
In this tutorial we will learn how to use color-based region growing segmentation algorithm.
====== ======
Author: *Sergey Ushakov*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
In this tutorial we will learn how to use min-cut based segmentation algorithm.
====== ======
Author: *Frits Florentinus*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
This tutorial describes how to use the Conditional Euclidean Clustering class in PCL:
A segmentation algorithm that clusters points based on Euclidean distance and a user-customizable condition that needs to hold.
Author: *Yani Ioannou*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
In this tutorial we will learn how to use the difference of normals feature for segmentation.
====== ======
Author: *Jeremie Papon*
- Compatibility: > PCL 1.7
+ Compatibility: >= PCL 1.7
In this tutorial, we show to break a pointcloud into the mid-level supervoxel representation.
====== ======
.. |se_9| image:: images/supervoxel_clustering_small.png
:height: 100px
+
+ * :ref:`progressive_morphological_filtering`
+
+ ======= ======
+ |se_10| Title: **Progressive Morphological Filtering**
+
+ Author: *Brad Chambers*
+
+ Compatibility: >= PCL 1.8
+
+ In this tutorial, we show how to segment a point cloud into ground and non-ground returns.
+ ======= ======
+
+ .. |se_10| image:: images/progressive_morphological_filter.png
+ :height: 100px
+
+ * :ref:`model_outlier_removal`
+
+ ======= ======
+ |se_11| Title: **Model outlier removal**
+
+ Author: *Timo Häckel*
+
+ Compatibility: >= PCL 1.7.2
+
+ This tutorial describes how to extract points from a point cloud using SAC models
+ ======= ======
+
+ .. |se_11| image:: images/pcl_logo.png
+ :height: 75px
.. _surface_tutorial:
.. |su_3| image:: images/greedy_triangulation.png
:height: 100px
+ * :ref:`bspline_fitting`
+
+ ====== ======
+ |su_4| Title: **Fitting trimmed B-splines to unordered point clouds**
+
+ Author: *Thomas Mörwald*
+
+ Compatibility: > PCL 1.7
+
+ In this tutorial we will learn how to reconstruct a smooth surface from an unordered point-cloud by fitting trimmed B-splines.
+ ====== ======
+
+ .. |su_4| image:: images/bspline_bunny.png
+ :height: 100px
+
+
.. _visualization_tutorial:
Visualization
.. |vi_4| image:: images/pcl_plotter_comprational.png
:height: 100px
+ * :ref:`visualization`
+
+ ====== ======
+ |vi_5| Title: **PCL Visualization overview**
+
+ Author: *Radu B. Rusu*
+
+ Compatibility: >= PCL 1.0
+
+ This tutorial will give an overview on the usage of the PCL visualization tools.
+ ====== ======
+
+ .. |vi_5| image:: images/visualization_small.png
+ :height: 120px
+
.. _applications_tutorial:
Applications
.. |ap_3| image:: images/mobile_streaming_1.jpg
:height: 100px
- * :ref:`using_kinfu_large_scale`
-
- ====== ======
- |ap_4| Title: **Using Kinfu Large Scale to generate a textured mesh**
-
- Author: *Francisco Heredia and Raphael Favier*
-
- Compatibility: > PCL 1.5
-
- This tutorial demonstrates how to use KinFu Large Scale to produce a mesh from a room, and apply texture information in post-processing for a more appealing visual result.
- ====== ======
-
- .. |ap_4| image:: images/using_kinfu_large_scale.jpg
- :height: 100px
-
* :ref:`ground_based_rgbd_people_detection`
====== ======
Author: *Matteo Munaro*
- Compatibility: > PCL 1.7 trunk
+ Compatibility: >= PCL 1.7
This tutorial presents a method for detecting people on a ground plane with RGB-D data.
====== ======
=====================================
This tutorial explains how to install the Point Cloud Library on Mac OS
-X using Homebrew. Two approaches are described: using the existing PCL
-formula to automatically install, and using Homebrew only for the
-dependencies with PCL compiled and installed from source.
+X using Homebrew.
.. image:: images/macosx_logo.png
:alt: Mac OS X logo
Prerequisites
=============
-No matter which method you choose, you will need to have Homebrew
-installed. If you do not already have a Homebrew installation, see the
+You will need to have Homebrew installed. If you do not already have a Homebrew installation, see the
`Homebrew homepage`_ for installation instructions.
.. _`Homebrew homepage`:
- http://mxcl.github.com/homebrew/
+ http://brew.sh/
.. _homebrew_all:
Using the formula
=================
-Homebrew includes a formula for installing PCL. This will automatically
-install all necessary dependencies and provides options for controlling
+The PCL formula is not in Homebrew official repositories yet, but it will be after 1.7.2.
+For now it resides at `Fran6co's repository <https://github.com/fran6co/homebrew-cv>`_ and can be tapped from there.
+This will automatically install all necessary dependencies and provides options for controlling
which parts of PCL are installed.
.. note::
- The PCL formula is currently in development. It will be submitted to
- Homebrew shortly. Until then, you can download it from
- `PCL.RB <http://dev.pointclouds.org/attachments/download/1052/pcl.rb>`_. To prepare it,
- follow these steps:
+ To prepare it, follow these steps:
#. Install Homebrew. See the Homebrew website for instructions.
#. Execute ``brew update``.
- #. Download the formula and place it in
- ``/usr/local/Library/Formula`` (or an appropriate location if you
- installed Homebrew somewhere else).
+ #. Execute ``brew tap homebrew/versions``.
+ #. Execute ``brew tap homebrew/science``.
+ #. Execute ``brew tap fran6co/cv``.
-To install using the formula, execute the following command::
+To install the latest version using the formula, execute the following command::
- $ brew install pcl
+ $ brew install pcl --HEAD
You can specify options to control which parts of PCL are installed. For
-example, to disable the Python bindings and visualisation, and enable the
-documentation, execute the following command::
+example, to build just the libraries without extra dependencies, execute the following command::
- $ brew install pcl --nopython --novis --doc
+ $ brew install pcl --HEAD --without-apps --without-tools --without-vtk --without-qvtk --without-qt
For a full list of the available options, see the formula's help::
$ brew options pcl
-You can test the installation by executing the tests included with PCL::
-
- $ brew test pcl
-
Once PCL is installed, you may wish to periodically upgrade it. Update
Homebrew and, if a PCL update is available, upgrade::
$ brew update
$ brew upgrade pcl
-
-.. _homebrew_deps:
-
-Installing from source
-======================
-
-In order to compile every component of PCL, several dependencies must be
-installed. Homebrew includes formulae for all PCL dependencies except
-OpenNI, so this step is relatively easy.
-
-Dependency information
-----------------------
-
-Required
-''''''''
-
-The following libraries are **Required** to build PCL.
-
-- **CMake** version >= 2.8.3 (http://www.cmake.org)
- Cross-platform, open-source build system.
-
- .. note::
-
- Though not a dependency per se, the PCL community relies heavily on CMake
- for the libraries build process.
-
-- **Boost** version >= 1.46.1 (http://www.boost.org/)
- Provides free peer-reviewed portable C++ source libraries. Used for shared
- pointers, and threading.
-
-- **Eigen** version >= 3.0.0 (http://eigen.tuxfamily.org/)
- Unified matrix library. Used as the matrix backend for SSE optimized math.
-
-- **FLANN** version >= 1.6.8
- (http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN)
- Library for performing fast approximate nearest neighbor searches in high
- dimensional spaces. Used in `kdtree` for fast approximate nearest neighbors
- search.
-
-- **Visualization ToolKit (VTK)** version >= 5.6.1 (http://www.vtk.org/)
- Software system for 3D computer graphics, image processing and visualization.
- Used in `visualization` for 3D point cloud rendering and visualization.
-
- .. note::
-
- The current release of PCL (1.2) does not support visualisation on
- Mac OS X. PCL 1.3 is expected to correct this.
-
-Optional
-''''''''
-
-The following libraries are *optional* and provide extended functionality
-within PCL, such as Kinect support.
-
-- **Qhull** version >= 2011.1 (http://www.qhull.org/)
- computes the convex hull, Delaunay triangulation, Voronoi diagram, halfspace
- intersection about a point, furthest-site Delaunay triangulation, and
- furthest-site Voronoi diagram. Used for convex/concave hull decompositions
- in `surface`.
-
-- **libusb** (http://www.libusb.org/)
- A library that gives user level applications uniform access to USB devices
- across many different operating systems.
-
-- **PCL Patched OpenNI/Sensor** (http://www.openni.org/)
- The OpenNI Framework provides the interface for physical devices and for
- middleware components. Used to grab point clouds from OpenNI compliant
- devices.
-
-- **Doxygen** (http://www.doxygen.org)
- A documentation system for C++, C, Java, Objective-C, Python, IDL (Corba and
- Microsoft flavors), Fortran, VHDL, PHP, C#, and to some extent D.
-
-- **Sphinx** (http://sphinx.pocoo.org/)
- A tool that makes it easy to create intelligent and beautiful
- documentation. PCL uses this and Doxygen to compile the
- documentation.
-
-Advanced (Developers)
-'''''''''''''''''''''
-
-The following libraries are *advanced* and provide additional functionality
-for PCL developers:
-
-- **googletest** version >= 1.6.0 (http://code.google.com/p/googletest/)
- Google's framework for writing C++ tests on a variety of platforms. Used
- to build test units.
-
-Installing dependencies
------------------------
-
-Most of the dependencies will be installed via Homebrew. The remainder,
-we will compile from source.
-
-Install CMake
-'''''''''''''
-::
-
- $ brew install cmake
-
-Install Boost
-'''''''''''''
-::
-
- $ brew install boost
-
-Install Eigen
-'''''''''''''
-::
-
- $ brew install eigen
-
-Install FLANN
-'''''''''''''
-::
-
- $ brew install flann
-
-Install VTK
-'''''''''''
-
-To install VTK, you need a modified Homebrew formula for VTK. Please
-download it from `VTK.RB <http://dev.pointclouds.org/attachments/600/vtk.rb>`_.
-
-::
-
- $ brew install vtk --qt OR --qt-extern [if you have your own Qt installation already]
-
-.. note::
-
- If you are installing PCL 1.2, you may skip this dependency.
-
-Install Qhull (optional)
-''''''''''''''''''''''''
-::
-
- $ brew install qhull
-
-Install libusb (optional)
-'''''''''''''''''''''''''
-::
-
- $ brew install libusb
-
-Install Doxygen (optional)
-''''''''''''''''''''''''''
-::
-
- $ brew install doxygen
-
-Install Sphinx (optional)
-'''''''''''''''''''''''''
-::
-
- $ brew install sphinx
-
-Install patched OpenNI and Sensor
-'''''''''''''''''''''''''''''''''
-
-Download the patched versions of OpenNI and Sensor: `openni_osx.zip
-<http://dev.pointclouds.org/attachments/download/191/openni_osx.zip>`_ and
-`ps_engine_osx.zip
-<http://dev.pointclouds.org/attachments/download/192/ps_engine_osx.zip>`_.
-
-Extract, build, fix permissions and install OpenNI::
-
- $ unzip openni_osx.zip -d openni_osx
- $ cd openni_osx/Redist
- $ chmod -R a+r Bin Include Lib
- $ chmod -R a+x Bin Lib
- $ chmod a+x Include/MacOSX Include/Linux-*
- $ sudo ./install.sh
-
-In addition the PrimeSense XML configuration file found within the
-patched OpenNI download needs its permissions fixed and to be copied to
-the correct location to for the Kinect to work on Mac OS X::
-
- $ chmod a+r openni_osx/Redist/Samples/Config/SamplesConfig.xml
- $ sudo cp openni_osx/Redist/Samples/Config/SamplesConfig.xml /etc/primesense/
-
-Extract, build, fix permissions and install Sensor::
-
- $ unzip ps_engine_osx.zip -d ps_engine_osx
- $ cd ps_engine_osx/Redist
- $ chmod -R a+r Bin Lib Config Install
- $ chmod -R a+x Bin Lib
- $ sudo ./install.sh
-
-Compiling PCL
--------------
-
-At this point you should have everything needed installed to build PCL
-with almost no additional configuration.
-
-Check out the PCL source from the trunk::
-
- $ svn co http://svn.pointclouds.org/pcl/trunk pcl
- $ cd pcl
-
-Create the build directories, configure CMake, build and install::
-
- $ mkdir build
- $ cd build
- $ cmake ..
- $ make
- $ sudo make install
-
-.. note::
-
- If you are installing PCL 1.2, disable the visualisation module, or
- compilation will fail::
-
- $ cmake .. -DBUILD_visualization:BOOL=OFF
-
-The customization of the build process is out of the scope of this tutorial and
-is covered in greater detail in the :ref:`building_pcl` tutorial.
-
-Compiling the documentation (optional)
---------------------------------------
-
-If you installed the Doxygen and Sphinx dependencies, you can compile
-the documentation after compiling PCL. To do so, use this command::
-
- $ make doc
-
-The tutorials can be built using this command::
-
- $ make Tutorials
-
-.. note::
-
- The Homebrew formula for Sphinx may not install the extension
- necessary to link to the Doxygen-generated documentation. In this
- case, you will need to install Sphinx and the extension manually.
- Start by installing Sphinx using easy_install::
-
- $ easy_install -U Sphinx
-
- Next, install Mercurial (see the Mercurial documentation) and the
- extension::
-
- $ hg clone http://bitbucket.org/birkenfeld/sphinx-contrib
- $ cd sphinx-contrib/doxylink
- $ python setup.py install
-
Using PCL
---------
Now that PCL in installed, you can start using the library in your own
projects by following the :ref:`using_pcl_pcl_config` tutorial.
-
--- /dev/null
+.. _interactive_icp:
+
+===================================
+Interactive Iterative Closest Point
+===================================
+
+This tutorial will teach you how to write an interactive ICP viewer. The program will
+load a point cloud and apply a rigid transformation on it. After that the ICP algorithm will
+align the transformed point cloud with the original. Each time the user presses "space"
+an ICP iteration is done and the viewer is refreshed.
+
+.. contents::
+
+Creating a mesh with Blender
+============================
+You can easily create a sample point cloud with Blender.
+Install and open Blender then delete the cube in the scene by pressing "Del" key :
+
+.. image:: images/interactive_icp/del_cube.png
+ :height: 285
+
+Add a monkey mesh in the scene :
+
+.. image:: images/interactive_icp/add_monkey.png
+ :height: 328
+
+Subdivide the original mesh to make it more dense :
+
+.. image:: images/interactive_icp/add_sub.png
+ :height: 500
+
+Configure the subdivision to 2 or 3 for example : dont forget to apply the modifier
+
+.. image:: images/interactive_icp/sub2.png
+ :height: 203
+
+Export the mesh into a PLY file :
+
+.. image:: images/interactive_icp/export.png
+ :height: 481
+
+The code
+========
+
+First, create a file, let's say, ``interactive_icp.cpp`` in your favorite
+editor, and place the following code inside it:
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :linenos:
+
+The explanations
+================
+
+Now, let's break down the code piece by piece.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 1-8
+
+We include all the headers we will make use of.
+**#include <pcl/registration/ia_ransac.h>** allows us to use **pcl::transformPointCloud** function.
+**#include <pcl/console/parse.h>>** allows us to use parse the arguments given to the program.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 9-12
+
+Two typedefs to simplify declarations and code reading.
+The bool will help us know when the user asks for the next iteration of ICP
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 14-24
+
+This functions takes the reference of a 4x4 matrix and prints the rigid transformation in an human
+readable way.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 25-32
+
+This function is the callback for the viewer. This function will be called whenever a key is pressed
+when the viewer window is on top. If "space" is hit; set the bool to true.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 38-41
+
+The 3 point clouds we will use to store the data.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 42-71
+
+We check the arguments of the program, set the number of initial ICP iterations
+and try to load the PLY file.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 72-91
+
+We transform the original point cloud using a rigid matrix transformation.
+See the related tutorial in PCL documentation for more information.
+**cloud_in** contains the original point cloud.
+**cloud_tr** and **cloud_icp** contains the translated/rotated point cloud.
+**cloud_tr** is a backup we will use for display (green point cloud).
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 93-101
+
+This is the creation of the ICP object. We set the parameters of the ICP algorithm.
+**setMaximumIterations(iterations)** sets the number of initial iterations to do (1
+is the default value). We then transform the point cloud into **cloud_icp**.
+After the first alignment we set ICP max iterations to 1 for all the next times this
+ICP object will be used (when the user presses "space").
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 103-115
+
+Check if the ICP algorithm converged; otherwise exit the program.
+In case of success we store the transformation matrix in a 4x4 matrix and
+then print the rigid matrix transformation. The reason why we store this
+matrix is explained later.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 117-127
+
+For the visualization we create two viewports in the visualizer vertically
+separated. **bckgr_gray_level** and **txt_gray_lvl** are variables to easily
+switch from white background & black text/point cloud to black background &
+white text/point cloud.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 129-141
+
+We add the original point cloud in the 2 viewports and display it the same color
+as **txt_gray_lvl**. We add the point cloud we transformed using the matrix in the left
+viewport in green and the point cloud aligned with ICP in red (right viewport).
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 143-150
+
+We add descriptions for the point clouds in each viewport so the user knows what is what.
+The string stream ss is needed to transform the integer **iterations** into a string.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 152-161
+
+We set the two viewports background color according to **bckgr_gray_level**.
+To get the camera parameters I simply pressed "C" in the viewer. Then I copied the
+parameters into this function to save the camera position / orientation / focal point.
+The function **registerKeyboardCallback** allows us to call a function whenever the
+users pressed a keyboard key when viewer windows is on top.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 163-166
+
+This is the normal behaviour if no key is pressed. The viewer waits to exit.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 169-172
+
+If the user press any key of the keyboard, the function **keyboardEventOccurred** is called;
+this function checks if the key is "space" or not. If yes the global bool **next_iteration**
+is set to true, allowing the viewer loop to enter the next part of the code: the ICP object
+is called to align the meshes. Remember we already configured this object input/output clouds
+and we set max iterations to 1 in lines 90-93.
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 167-194
+
+As before we check if ICP as converged, if not we exit the program.
+**printf("\033[11A");** is a little trick to go up 11 lines in the terminal to write
+over the last matrix displayed. In short it allows to replace text instead of writing
+new lines; making the ouptut more readable.
+We increment **iterations** to update the text value in the visualizer.
+
+Now we want to display the rigid transformation from the original transformed point cloud to
+the current alignment made by ICP. The function **getFinalTransformation()** returns the rigid
+matrix transformation done during the iterations (here: 1 iteration). This means that if you have already
+done 10 iterations this function returns the matrix to transform the point cloud from the iteration 10 to 11.
+
+This is not what we want. If we multiply the last matrix with the new one the result is the transformation matrix from
+the start to the current iteration. This is basically how it works ::
+
+ matrix[ICP 0->1]*matrix[ICP 1->2]*matrix[ICP 2->3] = matrix[ICP 0->3]
+
+While this is mathematically true, you will easilly notice that this is not true in this program due to roundings.
+This is why I introduced the initial ICP iteration parameters. Try to launch the program with 20 initial iterations
+and save the matrix in a text file. Launch the same program with 1 initial iteration and press space till you go to 20
+iterations. You will a notice a slight difference. The matrix with 20 initial iterations is much more accurate than the
+one multiplied 19 times.
+
+
+.. literalinclude:: sources/interactive_icp/interactive_icp.cpp
+ :language: cpp
+ :lines: 195-199
+
+We set the bool to false and the rest is the ending of the program.
+
+Compiling and running the program
+=================================
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/interactive_icp/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+After you have made the executable, you can run it. Simply do::
+
+ $ ./interactive_icp monkey.ply 1
+
+Remember that the matrix displayed is not very accurate if you do a lot of iterations
+by pressing "space".
+
+You will see something similar to this::
+
+ $ ./interactive_icp ../monkey.ply 5
+ [pcl::PLYReader] ../monkey.ply:12: property 'list uint8 uint32 vertex_indices' of element 'face' is not handled
+
+ Loaded file ../monkey.ply (125952 points) in 578 ms
+
+ Applying this rigid transformation to: cloud_in -> cloud_icp
+ Rotation matrix :
+ | 0.924 -0.383 0.000 |
+ R = | 0.383 0.924 0.000 |
+ | 0.000 0.000 1.000 |
+ Translation vector :
+ t = < 0.000, 0.000, 0.400 >
+
+ Applied 1 ICP iteration(s) in 2109 ms
+
+ ICP has converged, score is 0.0182442
+
+ ICP transformation 1 : cloud_icp -> cloud_in
+ Rotation matrix :
+ | 0.998 0.066 -0.003 |
+ R = | -0.066 0.997 0.033 |
+ | 0.005 -0.033 0.999 |
+ Translation vector :
+ t = < 0.022, -0.017, -0.097 >
+
+If ICP did a perfect job the two matrices should have exactly the same values and
+the matrix found by ICP should have inverted signs outside the diagonal. For example ::
+
+ | 0.924 -0.383 0.000 |
+ R = | 0.383 0.924 0.000 |
+ | 0.000 0.000 1.000 |
+ Translation vector :
+ t = < 0.000, 0.000, 0.400 >
+
+ | 0.924 0.383 0.000 |
+ R = | -0.383 0.924 0.000 |
+ | 0.000 0.000 1.000 |
+ Translation vector :
+ t = < 0.000, 0.000, -0.400 >
+
+.. DANGER::
+ If you iterate several times manually using "space"; the results will become more and more erroned because
+ of the matrix multiplication (see line 181 of the original code)
+ If you seek precision, provide an initial number of iterations to the program
+
+.. image:: images/interactive_icp/icp-1.png
+ :height: 605
+
+After 25 iterations the models fits perfectly the original cloud. Remember that this is an easy job for ICP because
+you are asking to align two identical point clouds !
+
+.. image:: images/interactive_icp/animation.gif
+ :height: 630
+
--- /dev/null
+.. _matrix_transform:
+
+Using a matrix to transform a point cloud
+-----------------------------------------
+
+In this tutorial we will learn how to transform a point cloud using a 4x4 matrix.
+We will apply a rotation and a translation to a loaded point cloud and display then
+result.
+
+This program is able to load one PCD or PLY file; apply a matrix transformation on it
+and display the original and transformed point cloud.
+
+The code
+--------
+
+First, create a file, let's say, ``matrix_transform.cpp`` in your favorite
+editor, and place the following code inside it:
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :linenos:
+
+The explanation
+---------------
+
+Now, let's break down the code piece by piece.
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 1-8
+
+We include all the headers we will make use of.
+**#include <pcl/common/transforms.h>** allows us to use **pcl::transformPointCloud** function.
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 10-17
+
+This function display the help in case the user didn't provide expected arguments.
+
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 24-28
+
+We parse the arguments on the command line, either using **-h** or **--help** will
+display the help. This terminates the program
+
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 30-45
+
+We look for .ply or .pcd filenames in the arguments. If not found; terminate the program.
+The bool **file_is_pcd** will help us choose between loading PCD or PLY file.
+
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 47-62
+
+We now load the PCD/PLY file and check if the file was loaded successfuly. Otherwise terminate
+the program.
+
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 64-75
+
+This is a first approach to create a transformation. This will help you understand how transformation matrices work.
+We initialize a 4x4 matrix to identity; ::
+
+ | 1 0 0 0 |
+ i = | 0 1 0 0 |
+ | 0 0 1 0 |
+ | 0 0 0 1 |
+
+.. note::
+
+ The identity matrix is the equivalent of "1" when multiplying numbers; it changes nothing.
+ It is a square matrix with ones on the main diagonal and zeros elsewhere.
+
+This means no transformation (no rotation and no translation). We do not use the
+last row of the matrix.
+
+The first 3 rows and colums (top left) components are the rotation
+matrix. The first 3 rows of the last column is the translation.
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 77-90
+
+Here we defined a 45° (PI/4) rotation around the Z axis and a translation on the X axis.
+This is the transformation we just defined ::
+
+ | cos(θ) -sin(θ) 0.0 |
+ R = | sin(θ) cos(θ) 0.0 |
+ | 0.0 0.0 1.0 |
+
+ t = < 2.5, 0.0, 0.0 >
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 92-105
+
+This second approach is easier to understand and is less error prone.
+Be carefull if you want to apply several rotations; rotations are not commutative ! This means than in most cases:
+rotA * rotB != rotB * rotA.
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 107-110
+
+Now we apply this matrix on the point cloud **source_cloud** and we save the result in the
+newly created **transformed_cloud**.
+
+.. literalinclude:: sources/matrix_transform/matrix_transform.cpp
+ :language: cpp
+ :lines: 112-135
+
+We then visualize the result using the **PCLVisualizer**. The original point cloud will be
+displayed white and the transformed one in red. The coordoniates axis will be displayed.
+We also set the background color of the visualizer and the point display size.
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/matrix_transform/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+After you have made the executable, you can run it. Simply do::
+
+ $ ./matrix_transform cube.ply
+
+You will see something similar to this::
+
+ ./matrix_transform cube.ply
+ [pcl::PLYReader] /home/victor/cube.ply:12: property 'list uint8 uint32 vertex_indices' of element 'face' is not handled
+ Method #1: using a Matrix4f
+ 0.707107 -0.707107 0 2.5
+ 0.707107 0.707107 0 0
+ 0 0 1 0
+ 0 0 0 1
+
+ Method #2: using an Affine3f
+ 0.707107 -0.707107 0 2.5
+ 0.707107 0.707107 0 0
+ 0 0 1 0
+ 0 0 0 1
+
+ Point cloud colors : white = original point cloud
+ red = transformed point cloud
+
+.. image:: images/matrix_transform/cube_big.png
+ :height: 614
+
+More about transformations
+--------------------------
+
+| So now you successfully transformed a point cloud using a transformation matrix.
+| What if you want to transform a single point ? A vector ?
+
+| A point is defined in 3D space with its three coordinates; x,y,z (in a cartesian coordinate system).
+| How can you multiply a vector (with 3 coordinates) with a 4x4 matrix ? You simply can't ! If you don't know why please refer to `matrix multiplications on wikipedia <https://en.wikipedia.org/wiki/Matrix_multiplication>`_.
+
+We need a vector with 4 components. What do you put in the last component ? It depends on what you want to do:
+
+* If you want to transform a point: put 1 at the end of the vector so that the translation is taken in account.
+* If you want to transform the direction of a vector: put 0 at the end of the vector to ignore the translation.
+
+Here's a quick example, we want to transform the following vector: ::
+
+ [10, 5, 0, 3, 0, -1]
+
+| Where the first 3 components defines the origin coordinates and the last 3 components the direction.
+| This vector starts at point 10, 5, 0 and ends at 13, 5, -1.
+
+This is what you need to do to transform the vector: ::
+
+ [10, 5, 0, 1] * 4x4_transformation_matrix
+ [3, 0, -1, 0] * 4x4_transformation_matrix
+
is implemented using the Android `NativeActivity <https://developer.android.com/reference/android/app/NativeActivity.html>`_.
Using *NativeActivity*, an Android app can be implemented in pure
C++ code without writing components in Java. The app uses APIs provided by the `Android
-NDK <http://developer.android.com/sdk/ndk/overview.html>`_ to handle touch events
+NDK <http://developer.android.com/tools/sdk/ndk/index.html>`_ to handle touch events
and app life cycle events. While this is suitable for an example app, apps that
demand extra features and user interface elements will require implementations that mix
native code and Java components and APIs.
--- /dev/null
+.. _model_outlier_removal:
+
+Filtering a PointCloud using ModelOutlierRemoval
+------------------------------------------------
+
+This tutorial demonstrates how to extract parametric models for example for planes or spheres
+out of a PointCloud by using SAC_Models with known coefficients.
+If you don't know the models coefficients take a look at the :ref:`random_sample_consensus` tutorial.
+
+The code
+--------
+
+First, create a file, let's call it ``model_outlier_removal.cpp``, in your favorite
+editor, and place the following inside it:
+
+.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp
+ :language: cpp
+ :linenos:
+
+The explanation
+---------------
+
+Now, let's break down the code piece by piece.
+
+In the following lines, we define the PointClouds structures, fill in noise, random points
+on a plane as well as random points on a sphere and display its content to screen.
+
+.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp
+ :language: cpp
+ :lines: 7-45
+
+Finally we extract the sphere using ModelOutlierRemoval.
+
+.. literalinclude:: sources/model_outlier_removal/model_outlier_removal.cpp
+ :language: cpp
+ :lines: 50-61
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/model_outlier_removal/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+
+After you have made the executable, you can run it. Simply do::
+
+ $ ./model_outlier_removal
+
+You will see something similar to::
+
+ Cloud before filtering:
+ 0.352222 -0.151883 -0.106395
+ -0.397406 -0.473106 0.292602
+ -0.731898 0.667105 0.441304
+ -0.734766 0.854581 -0.0361733
+ -0.4607 -0.277468 -0.916762
+ -0.82 -0.341666 0.4592
+ -0.728589 0.667873 0.152
+ -0.3134 -0.873043 -0.3736
+ 0.62553 0.590779 0.5096
+ -0.54048 0.823588 -0.172
+ -0.707627 0.424576 0.5648
+ -0.83153 0.523556 0.1856
+ -0.513903 -0.719464 0.4672
+ 0.291534 0.692393 0.66
+ 0.258758 0.654505 -0.7104
+ Sphere after filtering:
+ -0.82 -0.341666 0.4592
+ -0.728589 0.667873 0.152
+ -0.3134 -0.873043 -0.3736
+ 0.62553 0.590779 0.5096
+ -0.54048 0.823588 -0.172
+ -0.707627 0.424576 0.5648
+ -0.83153 0.523556 0.1856
+ -0.513903 -0.719464 0.4672
+ 0.291534 0.692393 0.66
+ 0.258758 0.654505 -0.7104
+
--- /dev/null
+.. _moment_of_inertia:
+
+Moment of inertia and eccentricity based descriptors
+----------------------------------------------------
+
+In this tutorial we will learn how to use the `pcl::MomentOfInertiaEstimation` class in order to obtain descriptors based on
+eccentricity and moment of inertia. This class also allows to extract axis aligned and oriented bounding boxes of the cloud.
+But keep in mind that extracted OBB is not the minimal possible bounding box.
+
+Theoretical Primer
+------------------
+
+The idea of the feature extraction method is as follows.
+First of all the covariance matrix of the point cloud is calculated and its eigen values and vectors are extracted.
+You can consider that the resultant eigen vectors are normalized and always form the right-handed coordinate system
+(major eigen vector represents X-axis and the minor vector represents Z-axis). On the next step the iteration process takes place.
+On each iteration major eigen vector is rotated. Rotation order is always the same and is performed around the other
+eigen vectors, this provides the invariance to rotation of the point cloud. Henceforth, we will refer to this rotated major vector as current axis.
+
+.. image:: images/eigen_vectors.png
+ :height: 360px
+
+For every current axis moment of inertia is calculated. Moreover, current axis is also used for eccentricity calculation.
+For this reason current vector is treated as normal vector of the plane and the input cloud is projected onto it.
+After that eccentricity is calculated for the obtained projection.
+
+.. image:: images/projected_cloud.png
+ :height: 360px
+
+Implemented class also provides methods for getting AABB and OBB. Oriented bounding box is computed as AABB along eigen vectors.
+
+The code
+--------
+
+First of all you will need the point cloud for this tutorial.
+`This <https://github.com/PointCloudLibrary/data/blob/master/tutorials/min_cut_segmentation_tutorial.pcd>`_ is the one presented on the screenshots.
+Next what you need to do is to create a file ``moment_of_inertia.cpp`` in any editor you prefer and copy the following code inside of it:
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :linenos:
+
+The explanation
+---------------
+
+Now let's study out what is the purpose of this code. First few lines will be omitted, as they are obvious.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 13-15
+
+These lines are simply loading the cloud from the .pcd file.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 17-19
+
+Here is the line where the instantiation of the ``pcl::MomentOfInertiaEstimation`` class takes place.
+Immediately after that we set the input cloud and start the computational process, that easy.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 21-31
+
+This is were we declare all necessary variables needed to store descriptors and bounding boxes.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 33-39
+
+These lines show how to access computed descriptors and other features.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 41-46
+
+These lines simply create the instance of ``PCLVisualizer`` class for result visualization.
+Here we also add the cloud and the AABB for visualization.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 48-50
+
+Visualization of the OBB is little more complex. So here we create a quaternion from the rotational matrix, set OBBs position
+and pass it to the visualizer.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 52-58
+
+This lines are responsible for eigen vectors visualization.
+
+.. literalinclude:: sources/moment_of_inertia/moment_of_inertia.cpp
+ :language: cpp
+ :lines: 60-98
+
+This huge amount of code shows how to work with the oriented bounding box. Note that you need to rotate each of the vertices of the OBB.
+This code does the same thing as ``PCLVisualizer::addCube ()`` method. Its only purpose is to show how to work with OBB
+if you don't have such usable method as ``PCLVisualizer::addCube ()``.
+
+Few lines that left simply launch the visualization process.
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/moment_of_inertia/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+After you have made the executable, you can run it. Simply do::
+
+ $ ./moment_of_inertia lamppost.pcd
+
+You should see something similar to this image. Here AABB is yellow, OBB is red. You can also see the eigen vectors.
+
+.. image:: images/moment_of_inertia.png
+ :height: 360px
presents how to set up and use the grabber, and since it's so simple, we can
keep it short :).
-The cameras that we have tested so far are the `Primesense Reference Design <http://www.primesense.com/?p=514>`_, `Microsoft Kinect <http://www.xbox.com/kinect/>`_ and `Asus Xtion Pro <http://event.asus.com/wavi/product/WAVI_Pro.aspx>`_ cameras:
+The cameras that we have tested so far are the `Primesense Reference Design <http://www.primesense.com/>`_, `Microsoft Kinect <http://www.xbox.com/kinect/>`_ and `Asus Xtion Pro <http://event.asus.com/wavi/product/WAVI_Pro.aspx>`_ cameras:
.. image:: images/openni_cams.jpg
| This is done by finding the best transform between each consecutive cloud, and accumulating these transforms over the whole set of clouds.
| Your data set should consist of clouds that have been roughly pre-aligned in a common frame (e.g. in a robot's odometry or map frame) and overlap with one another.
-| We provide a set of clouds at `github.com/PointCloudLibrary/data/tree/master/tutorials/pairwise/ <https://raw.github.com/PointCloudLibrary/data/master/tutorials/pairwise/>`_.
+| We provide a set of clouds at `github.com/PointCloudLibrary/data/tree/master/tutorials/pairwise/ <https://github.com/PointCloudLibrary/data/tree/master/tutorials/pairwise>`_.
The code
:language: cmake
:linenos:
-Note that the line
-
-.. code-block:: cmake
-
- add_definitions(-Wno-deprecated -DEIGEN_DONT_VECTORIZE -DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
-
-is usefull only on 32-bit systems, that would (sometimes) trigger the following Eigen exception::
-
- Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float, int Size = 16, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.``
-
-
Copy the files from `github.com/PointCloudLibrary/data/tree/master/tutorials/pairwise
<https://raw.github.com/PointCloudLibrary/data/master/tutorials/pairwise/>`_ in your working folder.
PCLPlotter provides a very straightforward and easy interface for plotting graphs. One can visualize all sort of important plots -
from polynomial functions to histograms - inside the library without going to any other softwares (like MATLAB).
-Please go through the `documentation <http://docs.pointclouds.org/trunk/classpcl_1_1visualization_1_1_p_c_l_plotter.html>`_ when some specific concepts are introduced in this tutorial to know the exact method signatures.
+Please go through the `documentation <http://docs.pointclouds.org/trunk/a01175.html>`_ when some specific concepts are introduced in this tutorial to know the exact method signatures.
The code for the visualization of a plot are usually as simple as the following snippet.
'Plotting' Histogram
--------------------
-PCLPlotter provides a very convenient MATLAB like histogram plotting function (`hist() <http://www.mathworks.com/help/techdoc/ref/hist.html>`_ in MATLAB). It takes raw data and bins them according to their frequency and plot them as bar chart.
+PCLPlotter provides a very convenient MATLAB like histogram plotting function (`hist() <http://www.mathworks.fr/fr/help/matlab/ref/hist.html>`_ in MATLAB). It takes raw data and bins them according to their frequency and plot them as bar chart.
.. code-block:: cpp
<iframe width="480" height="270" src="http://www.youtube.com/embed/2Xgd67nkwzs" frameborder="0" allowfullscreen></iframe>
-
\ No newline at end of file
+
-----------------------
Point Feature Histograms are implemented in PCL as part of the `pcl_features
-<http://docs.pointclouds.org/trunk/group__features.html>`_ library.
+<http://docs.pointclouds.org/trunk/a02944.html>`_ library.
The default PFH implementation uses 5 binning subdivisions (e.g., each of the
four feature values will use this many bins from its value interval), and does
not include the distances (as explained above -- although the
**computePairFeatures** method can be called by the user to obtain the
-distances too, if desired) which results in a 125-byte array (:math:`3^5`) of
+distances too, if desired) which results in a 125-byte array (:math:`5^3`) of
float values. These are stored in a **pcl::PFHSignature125** point type.
The following code snippet will estimate a set of PFH features for all the
.. important::
- Please visit http://docs.pointclouds.org/trunk/group__sample__consensus.html
+ Please visit http://docs.pointclouds.org/trunk/a02954.html
for more information on various other implemented Sample Consensus models and
robust estimators.
--- /dev/null
+.. _progressive_morphological_filtering:
+
+Identifying ground returns using ProgressiveMorphologicalFilter segmentation
+----------------------------------------------------------------------------
+
+Implements the Progressive Morphological Filter for segmentation of ground
+points.
+
+Background
+----------
+
+A complete description of the algorithm can be found in the article `"A
+Progressive Morphological Filter for Removing Nonground Measurements from
+Airborne LIDAR Data" <http://users.cis.fiu.edu/~chens/PDF/TGRS.pdf>`_ by K.
+Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang.
+
+The code
+--------
+
+First, download the dataset `samp11-utm.pcd
+<https://raw.github.com/PointCloudLibrary/data/master/terrain/samp11-utm.pcd>`_
+and save it somewhere to disk.
+
+Then, create a file, let's say, ``bare_earth.cpp`` in your favorite editor, and
+place the following inside it:
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :linenos:
+
+The explanation
+---------------
+
+Now, let's break down the code piece by piece.
+
+The following lines of code will read the point cloud data from disk.
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :lines: 14-17
+
+
+Then, a *pcl::ProgressiveMorphologicalFilter* filter is created. The output
+(the indices of ground returns) is computed and stored in *ground*.
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :lines: 22-29
+
+
+To extract the ground points, the ground indices are passed into a
+*pcl::ExtractIndices* filter.
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :lines: 31-35
+
+
+The ground returns are written to disk for later inspection.
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :lines: 40-41
+
+
+Then, the filter is called with the same parameters, but with the output
+negated, to obtain the non-ground (object) returns.
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :lines: 43-45
+
+
+And the data is written back to disk.
+
+.. literalinclude:: sources/bare_earth/bare_earth.cpp
+ :language: cpp
+ :lines: 50
+
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/bare_earth/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+After you have made the executable, you can run it. Simply do::
+
+ $ ./bare_earth
+
+You will see something similar to::
+
+ Cloud before filtering:
+ points[]: 38010
+ width: 38010
+ height: 1
+ is_dense: 1
+ sensor origin (xyz): [0, 0, 0] / orientation (xyzw): [0, 0, 0, 1]
+
+ Ground cloud after filtering:
+ points[]: 18667
+ width: 18667
+ height: 1
+ is_dense: 1
+ sensor origin (xyz): [0, 0, 0] / orientation (xyzw): [0, 0, 0, 1]
+
+ Object cloud after filtering:
+ points[]: 19343
+ width: 19343
+ height: 1
+ is_dense: 1
+ sensor origin (xyz): [0, 0, 0] / orientation (xyzw): [0, 0, 0, 1]
+
+
+You can also look at your outputs samp11-utm_inliers.pcd and
+samp11-utm_outliers.pcd::
+
+ $ ./pcl_viewer samp11-utm_ground.pcd samp11-utm_object.pcd
+
+You are now able to see both the ground and object returns in one viewer. You
+should see something similar to this:
+
+.. image:: images/progressive_morphological_filter.png
+ :alt: Output Progressive Morphological Filter
+ :align: center
+ :width: 600px
--- /dev/null
+.. _qt_visualizer:
+
+========================================
+Create a PCL visualizer in Qt with cmake
+========================================
+
+In this tutorial we will learn how to create a PCL + Qt project, we will use Cmake rather than Qmake.The program we are going to
+write is a simple PCL visualizer which allow to change a randomly generated point cloud color.
+
+| The tutorial was tested on Linux Ubuntu 12.04 and 14.04. It also seems to be working fine on Windows 8.1 x64.
+| Feel free to push modifications into the git repo to make this code/tutorial compatible with your platform !
+
+.. contents::
+
+The project
+===========
+
+For this project Qt is of course mandatory, make sure it is installed and PCL deals with it.
+`qmake <http://qt-project.org/doc/qt-4.8/qmake-manual.html>`_ is a tool that helps simplify the build process for development project across different platforms,
+we will use `cmake <https://en.wikipedia.org/wiki/CMake>`_ instead because most projects in PCL uses cmake and it is simpler in my opinion.
+
+This is how I organized the project: the build folder contains all built files and the src folder holds all sources files ::
+
+ .
+ ├── build
+ └── src
+ ├── CMakeLists.txt
+ ├── main.cpp
+ ├── pclviewer.cpp
+ ├── pclviewer.h
+ ├── pclviewer.ui
+ ├── pcl_visualizer.pro
+ └── pcl_visualizer.pro.user
+
+If you want to change this layout you will have to do minor modifications in the code, especially line 2 of ``pclviewer.cpp``
+Create the folder tree and download the sources files from `github <https://github.com/PointCloudLibrary/pcl/tree/master/doc/tutorials/content/sources/qt_visualizer>`_.
+
+.. note::
+ File paths should not contain any special caracter or the compilation might fail with a ``moc: Cannot open options file specified with @`` error message.
+
+Qt configuration
+================
+
+First we will take a look at how Qt is configured to build this project. Simply open ``pcl_visualizer.pro`` with Qt (or double click on the file)
+ and go to the **Projects** tab
+
+.. image:: images/qt_visualizer/qt_config.png
+ :height: 757
+
+In this example note that I deleted the **Debug** configuration and only kept the **Release** config.
+Use relative paths like this is better than absolute paths; this project should work wherever it has been put.
+
+We specify in the general section that we want to build in the folder ``../build`` (this is a relative path from the ``.pro`` file).
+
+The first step of the building is to call ``cmake`` (from the ``build`` folder) with argument ``../src``; this is gonna create all files in the
+``build`` folder without modifying anything in the ``src`` foler; thus keeping it clean.
+
+Then we just have to compile our program; the argument ``-j2`` allow to specify how many thread of your CPU you want to use for compilation. The more thread you use
+the faster the compilation will be (especially on big projects); but if you take all threads from the CPU your OS will likely be unresponsive during
+the compilation process.
+See `compiler optimizations <http://www.pointclouds.org/documentation/advanced/compiler_optimizations.php#compiler-optimizations>`_ for more information.
+
+If you don't want to use Qt Creator but Eclipse instead; see `using PCL with Eclipse <http://www.pointclouds.org/documentation/tutorials/using_pcl_with_eclipse.php#using-pcl-with-eclipse>`_.
+
+User interface (UI)
+===================
+
+The point of using Qt for your projects is that you can easily build cross-platform UIs. The UI is held in the ``.ui`` file
+You can open it with a text editor or with Qt Creator, in this example the UI is very simple and it consists of :
+
+ * `QMainWindow <http://qt-project.org/doc/qt-4.8/qmainwindow.html>`_, QWidget: the window (frame) of your application
+ * qvtkWidget: The VTK widget which holds the PCLVisualizer
+ * `QLabel <http://qt-project.org/doc/qt-4.8/qlabel.html>`_: Display text on the user interface
+ * `QSlider <http://qt-project.org/doc/qt-4.8/qslider.html>`_: A slider to choose a value (here; an integer value)
+ * `QLCDNumber <http://qt-project.org/doc/qt-4.8/qlcdnumber.html>`_: A digital display, 8 segment styled
+
+.. image:: images/qt_visualizer/ui.png
+ :height: 518
+
+If you click on Edit `Signals/Slots <http://qt-project.org/doc/qt-4.8/signalsandslots.html>`_ at the top of the Qt window you will see the relationships
+between some of the UI objects. In our example the sliderMoved(int) signal is connected to the display(int) slot; this means that everytime we move the slider
+the digital display is updated accordingly to the slider value.
+
+The code
+========
+
+Now, let's break down the code piece by piece.
+
+main.cpp
+--------
+
+.. literalinclude:: sources/qt_visualizer/main.cpp
+ :language: cpp
+
+| Here we include the headers for the class PCLViewer and the headers for QApplication and QMainWindow.
+| Then the main functions consists of instanciating a QApplication `a` which manages the GUI application's control flow and main settings.
+| A ``PCLViewer`` object called `w` is instanciated and it's method ``show()`` is called.
+| Finally we return the state of our program exit through the QApplication `a`.
+
+pclviewer.h
+-----------
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.h
+ :language: cpp
+ :lines: 1-18
+
+This file is the header for the class PCLViewer; we include ``QMainWindow`` because this class contains UI elements, we include the PCL headers we will
+be using and the VTK header for the ``qvtkWidget``. We also define typedefs of the point types and point clouds, this improves readabily.
+
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.h
+ :language: cpp
+ :lines: 20-23
+
+We declare the namespace ``Ui`` and the class PCLViewer inside it.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.h
+ :language: cpp
+ :lines: 25-27
+
+This is the definition of the PCLViewer class; the macro ``Q_OBJECT`` tells the compiler that this object contains UI elements;
+this imply that this file will be processed through `the Meta-Object Compiler (moc) <http://qt-project.org/doc/qt-4.8/moc.html>`_.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.h
+ :language: cpp
+ :lines: 29-31
+
+The constructor and destructor of the PCLViewer class.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.h
+ :language: cpp
+ :lines: 33-50
+
+These are the public slots; these functions will be linked with UI elements actions.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.h
+ :language: cpp
+ :lines: 52-58
+
+| A boost shared pointer to a PCLVisualier and a pointer to a point cloud are defined here.
+| The integers ``red``, ``green``, ``blue`` will help us store the value of the sliders.
+
+pclviewer.cpp
+-------------
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 1-14
+
+We include the class header and the header for the UI object; note that this file is generated by the moc and it's path depend on
+where you call cmake !
+
+After that is the constructor implementation; we setup the ui and the window title name.
+| Then we initialize the cloud pointer member of the class at a newly allocated point cloud pointer.
+| The cloud is resized to be able to hold 200 points.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 16-31
+
+| ``red`` ``green`` and ``blue`` protected members are initialized to their default values.
+| The cloud is filled with random points (in a cube) and accordingly to ``red`` ``green`` and ``blue`` colors.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 33-37
+
+| Here we create a PCL Visualizer name ``viewer`` and we also specify that we don't want an interactor to be created.
+| We don't want an interactor to be created because our ``qvtkWidget`` is already an interactor and it's the one we want to use.
+| So the next step is to configure our newly created PCL Visualiser interactor to use the ``qvtkWidget``.
+
+The ``update()`` method of the ``qvtkWidget`` should be called each time you modify the PCL visualizer; if you don't call it you don't know if the
+visualizer will be updated before the user try to pan/spin/zoom.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 39-51
+
+Here we connect slots and signals, this links UI actions to functions. Here is a summary of what we have linked :
+ * ``pushButton_random``:
+ | if button is pressed call ``randomButtonPressed ()``
+ * ``horizontalSlider_R``:
+ | if slider value is changed call ``redSliderValueChanged(int)`` with the new value as argument
+ | if slider is released call ``RGBsliderReleased()``
+ * ``horizontalSlider_G``:
+ | if slider value is changed call ``redSliderValueChanged(int)`` with the new value as argument
+ | if slider is released call ``RGBsliderReleased()``
+ * ``horizontalSlider_B``:
+ | if slider value is changed call ``redSliderValueChanged(int)`` with the new value as argument
+ | if slider is released call ``RGBsliderReleased()``
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 53-57
+
+| This is the last part of our constructor; we add the point cloud to the visualizer, call the method ``pSliderValueChanged`` to change the point size to 2.
+
+We finaly reset the camera within the PCL Visualizer not avoid the user having to zoom out and update the qvtkwidget to be
+sure the modifications will be displayed.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 59-74
+
+| This is the public slot function member called when the push button "Random" is pressed.
+| The ``for`` loop iterates through the point cloud and changes point cloud color to a random number (between 0 and 255).
+| The point cloud is then updated and so the ``qtvtkwidget`` is.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 76-88
+
+| This is the public slot function member called whenever the red, green or blue slider is released
+| The ``for`` loop iterates through the point cloud and changes point cloud color to ``red``, ``green`` and ``blue`` member values.
+| The point cloud is then updated and so the ``qtvtkwidget`` is.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 97-116
+
+| These are the public slot function member called whenever the red, green or blue slider value is changed
+| These functions just changes the member value accordingly to the slider value.
+| Here the point cloud is not updated; so until you release the slider you won't see any change in the visualizer.
+
+.. literalinclude:: sources/qt_visualizer/pclviewer.cpp
+ :language: cpp
+ :lines: 118-121
+
+The destructor.
+
+Compiling and running
+=====================
+
+There are two options here :
+ * You have configured the Qt project and you can compile/run just by clicking on the bottom left "Play" button.
+ * You didn't configure the Qt project; just go to the build folder an run ``cmake ../src && make -j2 && ./pcl_visualizer``
+
+| Notice that when changing the slider color, the cloud is not updated until you release the slider (``sliderReleased ()`` slot).
+
+If you wanted to update the point cloud when the slider value is changed you could just call the ``RGBsliderReleased ()`` function inside the
+``*sliderValueChanged (int)`` functions. The connect between ``sliderReleased ()`` / ``RGBsliderReleased ()`` would become useless then.
+
+| When using the slider for the point size; the size of the point is updated without having to release the slider.
+
+.. image:: images/qt_visualizer/pcl_visualizer.gif
+ :height: 527
+
+More on Qt and PCL
+==================
+
+If you want to know more about Qt and PCL go take a look at `PCL apps <https://github.com/PointCloudLibrary/pcl/tree/master/apps>`_ like
+`PCD video player <https://github.com/PointCloudLibrary/pcl/tree/master/apps/src/pcd_video_player>`_
+or `manual registration <https://github.com/PointCloudLibrary/pcl/tree/master/apps/src/manual_registration>`_.
+
+Re-use the :download:`CMakeLists.txt <./sources/qt_visualizer/CMakeLists.txt>` from this tutorial if you want to compile the application outside of PCL.
.. literalinclude:: sources/region_growing_segmentation/region_growing_segmentation.cpp
:language: cpp
- :lines: 51-60
+ :lines: 51-63
These lines are simple enough, so they won't be commented. They are intended for those who are not familiar with how to work with ``pcl::PointIndices``
and how to access its elements.
.. literalinclude:: sources/region_growing_segmentation/region_growing_segmentation.cpp
:language: cpp
- :lines: 62-67
+ :lines: 65-73
The ``pcl::RegionGrowing`` class provides a method that returns the colored cloud where each cluster has its own color.
So in this part of code the ``pcl::visualization::CloudViewer`` is instanciated for viewing the result of the segmentation - the same colored cloud.
--- /dev/null
+.. _rops_feature:
+
+RoPs (Rotational Projection Statistics) feature
+-----------------------------------------------
+
+In this tutorial we will learn how to use the `pcl::ROPSEstimation` class in order to extract points features.
+The feature extraction method implemented in this class was proposed by Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu and
+Jianwei Wanalso in their article "Rotational Projection Statistics for 3D Local Surface Description and Object Recognition"
+
+Theoretical Primer
+------------------
+
+The idea of the feature extraction method is as follows.
+Having a mesh and a set of points for which feature must be computed we perform some simple steps. First of all for a given point of interest
+the local surface is cropped. Local surface consists of the points and triangles that are within the given support radius.
+For the given local surface LRF (Local Reference Frame) is computed. LRF is simply a triplet of vectors,
+the comprehensive information about how these vectors are computed you can find in the article.
+What is really important is that using these vectors we can provide the invariance to the rotation of the cloud. To do that, we simply
+translate points of the local surface in such way that point of interest became the origin, after that we rotate local surface so that the
+LRF vectors were aligned with the Ox, Oy and Oz axes. Having this done, we then start the feature extraction.
+For every axis Ox, Oy and Oz the following steps are performed, we will refer to these axes as current axis:
+
+ * local surface is rotated around the current axis by a given angle;
+ * points of the rotated local surface are projected onto three planes XY, XZ and YZ;
+ * for each projection distribution matrix is built, this matrix simply shows how much points fall onto each bin. Number of bins represents the matrix dimension and is the parameter of the algorithm, as well as the support radius;
+ * for each distribution matrix central moments are calculated: M11, M12, M21, M22, E. Here E is the Shannon entropy;
+ * calculated values are then concatenated to form the sub-feature.
+
+We iterate through these steps several times. Number of iterations depends on the given number of rotations.
+Sub-features for different axes are concatenated to form the final RoPS descriptor.
+
+The code
+--------
+
+For this tutorial we will use the model from the Queen's Dataset. You can choose any other point cloud, but in order to make the
+code work you will need to use the triangulation algorithm in order to obtain polygons. You can find the proposed model here:
+
+ * `points <https://github.com/PointCloudLibrary/data/blob/master/tutorials/min_cut_segmentation_tutorial.pcd>`_ - contains the point cloud
+ * `indices - contains indices of the points for which RoPs must be computed
+ * `triangles - contains the polygons
+
+Next what you need to do is to create a file ``rops_feature.cpp`` in any editor you prefer and copy the following code inside of it:
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :linenos:
+
+The explanation
+---------------
+
+Now let's study out what is the purpose of this code.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 9-11
+
+These lines are simply loading the cloud from the .pcd file.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 13-23
+
+Here the indices of points for which RoPS feature must be computed are loaded. You can comment it and compute features for every single point in the cloud.
+if you want.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 25-40
+
+These lines are loading the information about the polygons. You can replace them with the code for the triangulation if you have only the point cloud
+instead of the mesh.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 42-44
+
+These code defines important algorithm parameters: support radius for local surface cropping, number of partition bins
+used to form the distribution matrix and the number of rotations. The last parameter affects the length of the descriptor.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 46-47
+
+These lines set up the search method that will be used by the algorithm.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 49-58
+
+Here is the place where the instantiation of the ``pcl::ROPSEstimation`` class takes place. It has two parameters:
+
+ * PointInT - type of the input points;
+ * PointOutT - type of the output points.
+
+Immediately after that we set the input all the necessary data neede for the feature computation.
+
+.. literalinclude:: sources/rops_feature/rops_feature.cpp
+ :language: cpp
+ :lines: 60-61
+
+Here is the place where the computational process is launched.
+
+Compiling and running the program
+---------------------------------
+
+Add the following lines to your CMakeLists.txt file:
+
+.. literalinclude:: sources/rops_feature/CMakeLists.txt
+ :language: cmake
+ :linenos:
+
+After you have made the executable, you can run it. Simply do::
+
+ $ ./rops_feature points.pcd indices.txt triangles.txt
iterative_closest_point
kdtree_search
min_cut_segmentation
+ moment_of_inertia
#narf_descriptor_visualization
narf_feature_extraction
narf_keypoint_extraction
registration_api
remove_outliers
resampling
+ rops_feature
statistical_removal
stick_segmentation
supervoxel_clustering
project(alignment_prerejective)
-find_package(PCL 1.7 REQUIRED)
+find_package(PCL 1.7 REQUIRED REQUIRED COMPONENTS io registration segmentation visualization)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
align.setSourceFeatures (object_features);
align.setInputTarget (scene);
align.setTargetFeatures (scene_features);
+ align.setMaximumIterations (10000); // Number of RANSAC iterations
align.setNumberOfSamples (3); // Number of points to sample for generating/prerejecting a pose
align.setCorrespondenceRandomness (2); // Number of nearest features to use
- align.setSimilarityThreshold (0.6f); // Polygonal edge length similarity threshold
- align.setMaxCorrespondenceDistance (1.5f * leaf); // Set inlier threshold
- align.setInlierFraction (0.25f); // Set required inlier fraction
- align.align (*object_aligned);
+ align.setSimilarityThreshold (0.9f); // Polygonal edge length similarity threshold
+ align.setMaxCorrespondenceDistance (1.5f * leaf); // Inlier threshold
+ align.setInlierFraction (0.25f); // Required inlier fraction for accepting a pose hypothesis
+ {
+ pcl::ScopeTime t("Alignment");
+ align.align (*object_aligned);
+ }
if (align.hasConverged ())
{
// Print results
+ printf ("\n");
Eigen::Matrix4f transformation = align.getFinalTransformation ();
pcl::console::print_info (" | %6.3f %6.3f %6.3f | \n", transformation (0,0), transformation (0,1), transformation (0,2));
pcl::console::print_info ("R = | %6.3f %6.3f %6.3f | \n", transformation (1,0), transformation (1,1), transformation (1,2));
--- /dev/null
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(bare_earth)
+
+find_package(PCL 1.7.2 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (bare_earth bare_earth.cpp)
+target_link_libraries (bare_earth ${PCL_LIBRARIES})
--- /dev/null
+#include <iostream>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/segmentation/progressive_morphological_filter.h>
+
+int
+main (int argc, char** argv)
+{
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
+ pcl::PointIndicesPtr ground (new pcl::PointIndices);
+
+ // Fill in the cloud data
+ pcl::PCDReader reader;
+ // Replace the path below with the path where you saved your file
+ reader.read<pcl::PointXYZ> ("samp11-utm.pcd", *cloud);
+
+ std::cerr << "Cloud before filtering: " << std::endl;
+ std::cerr << *cloud << std::endl;
+
+ // Create the filtering object
+ pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
+ pmf.setInputCloud (cloud);
+ pmf.setMaxWindowSize (20);
+ pmf.setSlope (1.0f);
+ pmf.setInitialDistance (0.5f);
+ pmf.setMaxDistance (3.0f);
+ pmf.extract (ground->indices);
+
+ // Create the filtering object
+ pcl::ExtractIndices<pcl::PointXYZ> extract;
+ extract.setInputCloud (cloud);
+ extract.setIndices (ground);
+ extract.filter (*cloud_filtered);
+
+ std::cerr << "Ground cloud after filtering: " << std::endl;
+ std::cerr << *cloud_filtered << std::endl;
+
+ pcl::PCDWriter writer;
+ writer.write<pcl::PointXYZ> ("samp11-utm_ground.pcd", *cloud_filtered, false);
+
+ // Extract non-ground returns
+ extract.setNegative (true);
+ extract.filter (*cloud_filtered);
+
+ std::cerr << "Object cloud after filtering: " << std::endl;
+ std::cerr << *cloud_filtered << std::endl;
+
+ writer.write<pcl::PointXYZ> ("samp11-utm_object.pcd", *cloud_filtered, false);
+
+ return (0);
+}
+
--- /dev/null
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(bspline_fitting)
+
+find_package(PCL 1.7 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (bspline_fitting bspline_fitting.cpp)
+target_link_libraries (bspline_fitting ${PCL_LIBRARIES})
+
--- /dev/null
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
+#include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
+#include <pcl/surface/on_nurbs/triangulation.h>
+
+typedef pcl::PointXYZ Point;
+
+void
+PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data);
+
+void
+visualizeCurve (ON_NurbsCurve &curve,
+ ON_NurbsSurface &surface,
+ pcl::visualization::PCLVisualizer &viewer);
+
+int
+main (int argc, char *argv[])
+{
+ std::string pcd_file, file_3dm;
+
+ if (argc < 3)
+ {
+ printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd<PointXYZ>-in-file 3dm-out-file\n\n");
+ exit (0);
+ }
+ pcd_file = argv[1];
+ file_3dm = argv[2];
+
+ pcl::visualization::PCLVisualizer viewer ("B-spline surface fitting");
+ viewer.setSize (800, 600);
+
+ // ############################################################################
+ // load point cloud
+
+ printf (" loading %s\n", pcd_file.c_str ());
+ pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
+ pcl::PCLPointCloud2 cloud2;
+ pcl::on_nurbs::NurbsDataSurface data;
+
+ if (pcl::io::loadPCDFile (pcd_file, cloud2) == -1)
+ throw std::runtime_error (" PCD file not found.");
+
+ fromPCLPointCloud2 (cloud2, *cloud);
+ PointCloud2Vector3d (cloud, data.interior);
+ pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 0, 255, 0);
+ viewer.addPointCloud<Point> (cloud, handler, "cloud_cylinder");
+ printf (" %lu points in data set\n", cloud->size ());
+
+ // ############################################################################
+ // fit B-spline surface
+
+ // parameters
+ unsigned order (3);
+ unsigned refinement (5);
+ unsigned iterations (10);
+ unsigned mesh_resolution (256);
+
+ pcl::on_nurbs::FittingSurface::Parameter params;
+ params.interior_smoothness = 0.2;
+ params.interior_weight = 1.0;
+ params.boundary_smoothness = 0.2;
+ params.boundary_weight = 0.0;
+
+ // initialize
+ printf (" surface fitting ...\n");
+ ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox (order, &data);
+ pcl::on_nurbs::FittingSurface fit (&data, nurbs);
+ // fit.setQuiet (false); // enable/disable debug output
+
+ // mesh for visualization
+ pcl::PolygonMesh mesh;
+ pcl::PointCloud<pcl::PointXYZ>::Ptr mesh_cloud (new pcl::PointCloud<pcl::PointXYZ>);
+ std::vector<pcl::Vertices> mesh_vertices;
+ std::string mesh_id = "mesh_nurbs";
+ pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (fit.m_nurbs, mesh, mesh_resolution);
+ viewer.addPolygonMesh (mesh, mesh_id);
+
+ // surface refinement
+ for (unsigned i = 0; i < refinement; i++)
+ {
+ fit.refine (0);
+ fit.refine (1);
+ fit.assemble (params);
+ fit.solve ();
+ pcl::on_nurbs::Triangulation::convertSurface2Vertices (fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
+ viewer.updatePolygonMesh<pcl::PointXYZ> (mesh_cloud, mesh_vertices, mesh_id);
+ viewer.spinOnce ();
+ }
+
+ // surface fitting with final refinement level
+ for (unsigned i = 0; i < iterations; i++)
+ {
+ fit.assemble (params);
+ fit.solve ();
+ pcl::on_nurbs::Triangulation::convertSurface2Vertices (fit.m_nurbs, mesh_cloud, mesh_vertices, mesh_resolution);
+ viewer.updatePolygonMesh<pcl::PointXYZ> (mesh_cloud, mesh_vertices, mesh_id);
+ viewer.spinOnce ();
+ }
+
+ // ############################################################################
+ // fit B-spline curve
+
+ // parameters
+ pcl::on_nurbs::FittingCurve2dAPDM::FitParameter curve_params;
+ curve_params.addCPsAccuracy = 5e-2;
+ curve_params.addCPsIteration = 3;
+ curve_params.maxCPs = 200;
+ curve_params.accuracy = 1e-3;
+ curve_params.iterations = 100;
+
+ curve_params.param.closest_point_resolution = 0;
+ curve_params.param.closest_point_weight = 1.0;
+ curve_params.param.closest_point_sigma2 = 0.1;
+ curve_params.param.interior_sigma2 = 0.00001;
+ curve_params.param.smooth_concavity = 1.0;
+ curve_params.param.smoothness = 1.0;
+
+ // initialisation (circular)
+ printf (" curve fitting ...\n");
+ pcl::on_nurbs::NurbsDataCurve2d curve_data;
+ curve_data.interior = data.interior_param;
+ curve_data.interior_weight_function.push_back (true);
+ ON_NurbsCurve curve_nurbs = pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D (order, curve_data.interior);
+
+ // curve fitting
+ pcl::on_nurbs::FittingCurve2dASDM curve_fit (&curve_data, curve_nurbs);
+ // curve_fit.setQuiet (false); // enable/disable debug output
+ curve_fit.fitting (curve_params);
+ visualizeCurve (curve_fit.m_nurbs, fit.m_nurbs, viewer);
+
+ // ############################################################################
+ // triangulation of trimmed surface
+
+ printf (" triangulate trimmed surface ...\n");
+ viewer.removePolygonMesh (mesh_id);
+ pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh (fit.m_nurbs, curve_fit.m_nurbs, mesh,
+ mesh_resolution);
+ viewer.addPolygonMesh (mesh, mesh_id);
+
+
+ // save trimmed B-spline surface
+ if ( fit.m_nurbs.IsValid() )
+ {
+ ONX_Model model;
+ ONX_Model_Object& surf = model.m_object_table.AppendNew();
+ surf.m_object = new ON_NurbsSurface(fit.m_nurbs);
+ surf.m_bDeleteObject = true;
+ surf.m_attributes.m_layer_index = 1;
+ surf.m_attributes.m_name = "surface";
+
+ ONX_Model_Object& curv = model.m_object_table.AppendNew();
+ curv.m_object = new ON_NurbsCurve(curve_fit.m_nurbs);
+ curv.m_bDeleteObject = true;
+ curv.m_attributes.m_layer_index = 2;
+ curv.m_attributes.m_name = "trimming curve";
+
+ model.Write(file_3dm.c_str());
+ printf(" model saved: %s\n", file_3dm.c_str());
+ }
+
+ printf (" ... done.\n");
+
+ viewer.spin ();
+ return 0;
+}
+
+void
+PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
+{
+ for (unsigned i = 0; i < cloud->size (); i++)
+ {
+ Point &p = cloud->at (i);
+ if (!pcl_isnan (p.x) && !pcl_isnan (p.y) && !pcl_isnan (p.z))
+ data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
+ }
+}
+
+void
+visualizeCurve (ON_NurbsCurve &curve, ON_NurbsSurface &surface, pcl::visualization::PCLVisualizer &viewer)
+{
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
+
+ pcl::on_nurbs::Triangulation::convertCurve2PointCloud (curve, surface, curve_cloud, 4);
+ for (std::size_t i = 0; i < curve_cloud->size () - 1; i++)
+ {
+ pcl::PointXYZRGB &p1 = curve_cloud->at (i);
+ pcl::PointXYZRGB &p2 = curve_cloud->at (i + 1);
+ std::ostringstream os;
+ os << "line" << i;
+ viewer.removeShape (os.str ());
+ viewer.addLine<pcl::PointXYZRGB> (p1, p2, 1.0, 0.0, 0.0, os.str ());
+ }
+
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cps (new pcl::PointCloud<pcl::PointXYZRGB>);
+ for (int i = 0; i < curve.CVCount (); i++)
+ {
+ ON_3dPoint p1;
+ curve.GetCV (i, p1);
+
+ double pnt[3];
+ surface.Evaluate (p1.x, p1.y, 0, 3, pnt);
+ pcl::PointXYZRGB p2;
+ p2.x = float (pnt[0]);
+ p2.y = float (pnt[1]);
+ p2.z = float (pnt[2]);
+
+ p2.r = 255;
+ p2.g = 0;
+ p2.b = 0;
+
+ curve_cps->push_back (p2);
+ }
+ viewer.removePointCloud ("cloud_cps");
+ viewer.addPointCloud (curve_cps, "cloud_cps");
+}
boost::shared_ptr<pcl::PointCloud<PointT> > output (new pcl::PointCloud<PointT>);
filename.append (suffix);
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
PointCloudPtr output (new PointCloud);
filename.append ("_points.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
SurfaceNormalsPtr output (new SurfaceNormals);
filename.append ("_normals.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
PointCloudPtr output (new PointCloud);
filename.append ("_keypoints.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
LocalDescriptorsPtr output (new LocalDescriptors);
filename.append ("_localdesc.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
GlobalDescriptorsPtr output (new GlobalDescriptors);
filename.append ("_globaldesc.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
filename.append(files[i]);
PointCloudPtr input (new PointCloud);
pcl::io::loadPCDFile (filename, *input);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str(), input->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str(), input->size ());
std::cout << files[i] << std::endl;
// Construct the object model
// Load input file
PointCloudPtr input (new PointCloud);
pcl::io::loadPCDFile (argv[1], *input);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], input->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], input->size ());
ObjectRecognitionParameters params;
ifstream params_stream;
PointCloudPtr output (new PointCloud);
filename.append (".pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
PointCloudPtr output (new PointCloud);
filename.append ("_keypoints.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
LocalDescriptorsPtr output (new LocalDescriptors);
filename.append ("_localdesc.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Estimate surface normals
SurfaceNormalsPtr normals;
int nr_scales = atoi(tokens[2].c_str ());
float min_contrast = atof(tokens[3].c_str ());
keypoints = detectKeypoints (cloud, normals, min_scale, nr_octaves, nr_scales, min_contrast);
- pcl::console::print_info ("Detected %zu keypoints\n", keypoints->size ());
+ pcl::console::print_info ("Detected %lu keypoints\n", keypoints->size ());
}
// Compute local descriptors
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Threshold depth
double min_depth, max_depth;
{
size_t n = cloud->size ();
cloud = thresholdDepth (cloud, min_depth, max_depth);
- pcl::console::print_info ("Eliminated %zu points outside depth limits\n", n - cloud->size ());
+ pcl::console::print_info ("Eliminated %lu points outside depth limits\n", n - cloud->size ());
}
// Downsample and threshold depth
{
size_t n = cloud->size ();
cloud = downsample (cloud, leaf_size);
- pcl::console::print_info ("Downsampled from %zu to %zu points\n", n, cloud->size ());
+ pcl::console::print_info ("Downsampled from %lu to %lu points\n", n, cloud->size ());
}
// Remove outliers
{
size_t n = cloud->size ();
cloud = removeOutliers (cloud, radius, (int)min_neighbors);
- pcl::console::print_info ("Removed %zu outliers\n", n - cloud->size ());
+ pcl::console::print_info ("Removed %lu outliers\n", n - cloud->size ());
}
// Save output
// Load input file
PointCloudPtr query (new PointCloud);
pcl::io::loadPCDFile (argv[1], *query);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], query->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], query->size ());
ifstream input_stream;
ObjectRecognitionParameters params;
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Subtract the dominant plane
double dist_threshold, max_iters;
{
size_t n = cloud->size ();
cloud = findAndSubtractPlane (cloud, dist_threshold, (int)max_iters);
- pcl::console::print_info ("Subtracted %zu points along the detected plane\n", n - cloud->size ());
+ pcl::console::print_info ("Subtracted %lu points along the detected plane\n", n - cloud->size ());
}
// Cluster points
if (cluster_points)
{
clusterObjects (cloud, tolerance, (int)min_size, (int)max_size, cluster_indices);
- pcl::console::print_info ("Found %zu clusters\n", cluster_indices.size ());
+ pcl::console::print_info ("Found %lu clusters\n", cluster_indices.size ());
}
// Save output
// Load the points
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Compute surface elements
SurfaceElementsPtr surfels (new SurfaceElements);
--- /dev/null
+cmake_minimum_required(VERSION 2.6 FATAL_ERROR)\r
+\r
+project(pcl-interactive_icp)\r
+\r
+find_package(PCL 1.5 REQUIRED)\r
+\r
+include_directories(${PCL_INCLUDE_DIRS})\r
+link_directories(${PCL_LIBRARY_DIRS})\r
+add_definitions(${PCL_DEFINITIONS})\r
+\r
+add_executable (interactive_icp interactive_icp.cpp)\r
+target_link_libraries (interactive_icp ${PCL_LIBRARIES})\r
--- /dev/null
+#include <iostream>
+#include <string>
+
+#include <pcl/io/ply_io.h>
+#include <pcl/point_types.h>
+#include <pcl/registration/icp.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/console/time.h> // TicToc
+
+typedef pcl::PointXYZ PointT;
+typedef pcl::PointCloud<PointT> PointCloudT;
+
+bool next_iteration = false;
+
+void
+print4x4Matrix (const Eigen::Matrix4d & matrix)
+{
+ printf ("Rotation matrix :\n");
+ printf (" | %6.3f %6.3f %6.3f | \n", matrix (0, 0), matrix (0, 1), matrix (0, 2));
+ printf ("R = | %6.3f %6.3f %6.3f | \n", matrix (1, 0), matrix (1, 1), matrix (1, 2));
+ printf (" | %6.3f %6.3f %6.3f | \n", matrix (2, 0), matrix (2, 1), matrix (2, 2));
+ printf ("Translation vector :\n");
+ printf ("t = < %6.3f, %6.3f, %6.3f >\n\n", matrix (0, 3), matrix (1, 3), matrix (2, 3));
+}
+
+void
+keyboardEventOccurred (const pcl::visualization::KeyboardEvent& event,
+ void* nothing)
+{
+ if (event.getKeySym () == "space" && event.keyDown ())
+ next_iteration = true;
+}
+
+int
+main (int argc,
+ char* argv[])
+{
+ // The point clouds we will be using
+ PointCloudT::Ptr cloud_in (new PointCloudT); // Original point cloud
+ PointCloudT::Ptr cloud_tr (new PointCloudT); // Transformed point cloud
+ PointCloudT::Ptr cloud_icp (new PointCloudT); // ICP output point cloud
+
+ // Checking program arguments
+ if (argc < 2)
+ {
+ printf ("Usage :\n");
+ printf ("\t\t%s file.ply number_of_ICP_iterations\n", argv[0]);
+ PCL_ERROR ("Provide one ply file.\n");
+ return (-1);
+ }
+
+ int iterations = 1; // Default number of ICP iterations
+ if (argc > 2)
+ {
+ // If the user passed the number of iteration as an argument
+ iterations = atoi (argv[2]);
+ if (iterations < 1)
+ {
+ PCL_ERROR ("Number of initial iterations must be >= 1\n");
+ return (-1);
+ }
+ }
+
+ pcl::console::TicToc time;
+ time.tic ();
+ if (pcl::io::loadPLYFile (argv[1], *cloud_in) < 0)
+ {
+ PCL_ERROR ("Error loading cloud %s.\n", argv[1]);
+ return (-1);
+ }
+ std::cout << "\nLoaded file " << argv[1] << " (" << cloud_in->size () << " points) in " << time.toc () << " ms\n" << std::endl;
+
+ // Defining a rotation matrix and translation vector
+ Eigen::Matrix4d transformation_matrix = Eigen::Matrix4d::Identity ();
+
+ // A rotation matrix (see https://en.wikipedia.org/wiki/Rotation_matrix)
+ double theta = M_PI / 8; // The angle of rotation in radians
+ transformation_matrix (0, 0) = cos (theta);
+ transformation_matrix (0, 1) = -sin (theta);
+ transformation_matrix (1, 0) = sin (theta);
+ transformation_matrix (1, 1) = cos (theta);
+
+ // A translation on Z axis (0.4 meters)
+ transformation_matrix (2, 3) = 0.4;
+
+ // Display in terminal the transformation matrix
+ std::cout << "Applying this rigid transformation to: cloud_in -> cloud_icp" << std::endl;
+ print4x4Matrix (transformation_matrix);
+
+ // Executing the transformation
+ pcl::transformPointCloud (*cloud_in, *cloud_icp, transformation_matrix);
+ *cloud_tr = *cloud_icp; // We backup cloud_icp into cloud_tr for later use
+
+ // The Iterative Closest Point algorithm
+ time.tic ();
+ pcl::IterativeClosestPoint<PointT, PointT> icp;
+ icp.setMaximumIterations (iterations);
+ icp.setInputSource (cloud_icp);
+ icp.setInputTarget (cloud_in);
+ icp.align (*cloud_icp);
+ icp.setMaximumIterations (1); // We set this variable to 1 for the next time we will call .align () function
+ std::cout << "Applied " << iterations << " ICP iteration(s) in " << time.toc () << " ms" << std::endl;
+
+ if (icp.hasConverged ())
+ {
+ std::cout << "\nICP has converged, score is " << icp.getFitnessScore () << std::endl;
+ std::cout << "\nICP transformation " << iterations << " : cloud_icp -> cloud_in" << std::endl;
+ transformation_matrix = icp.getFinalTransformation ().cast<double>();
+ print4x4Matrix (transformation_matrix);
+ }
+ else
+ {
+ PCL_ERROR ("\nICP has not converged.\n");
+ return (-1);
+ }
+
+ // Visualization
+ pcl::visualization::PCLVisualizer viewer ("ICP demo");
+ // Create two verticaly separated viewports
+ int v1 (0);
+ int v2 (1);
+ viewer.createViewPort (0.0, 0.0, 0.5, 1.0, v1);
+ viewer.createViewPort (0.5, 0.0, 1.0, 1.0, v2);
+
+ // The color we will be using
+ float bckgr_gray_level = 0.0; // Black
+ float txt_gray_lvl = 1.0 - bckgr_gray_level;
+
+ // Original point cloud is white
+ pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_in_color_h (cloud_in, (int) 255 * txt_gray_lvl, (int) 255 * txt_gray_lvl,
+ (int) 255 * txt_gray_lvl);
+ viewer.addPointCloud (cloud_in, cloud_in_color_h, "cloud_in_v1", v1);
+ viewer.addPointCloud (cloud_in, cloud_in_color_h, "cloud_in_v2", v2);
+
+ // Transformed point cloud is green
+ pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_tr_color_h (cloud_tr, 20, 180, 20);
+ viewer.addPointCloud (cloud_tr, cloud_tr_color_h, "cloud_tr_v1", v1);
+
+ // ICP aligned point cloud is red
+ pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_icp_color_h (cloud_icp, 180, 20, 20);
+ viewer.addPointCloud (cloud_icp, cloud_icp_color_h, "cloud_icp_v2", v2);
+
+ // Adding text descriptions in each viewport
+ viewer.addText ("White: Original point cloud\nGreen: Matrix transformed point cloud", 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_1", v1);
+ viewer.addText ("White: Original point cloud\nRed: ICP aligned point cloud", 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_2", v2);
+
+ std::stringstream ss;
+ ss << iterations;
+ std::string iterations_cnt = "ICP iterations = " + ss.str ();
+ viewer.addText (iterations_cnt, 10, 60, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "iterations_cnt", v2);
+
+ // Set background color
+ viewer.setBackgroundColor (bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v1);
+ viewer.setBackgroundColor (bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v2);
+
+ // Set camera position and orientation
+ viewer.setCameraPosition (-3.68332, 2.94092, 5.71266, 0.289847, 0.921947, -0.256907, 0);
+ viewer.setSize (1280, 1024); // Visualiser window size
+
+ // Register keyboard callback :
+ viewer.registerKeyboardCallback (&keyboardEventOccurred, (void*) NULL);
+
+ // Display the visualiser
+ while (!viewer.wasStopped ())
+ {
+ viewer.spinOnce ();
+
+ // The user pressed "space" :
+ if (next_iteration)
+ {
+ // The Iterative Closest Point algorithm
+ time.tic ();
+ icp.align (*cloud_icp);
+ std::cout << "Applied 1 ICP iteration in " << time.toc () << " ms" << std::endl;
+
+ if (icp.hasConverged ())
+ {
+ printf ("\033[11A"); // Go up 11 lines in terminal output.
+ printf ("\nICP has converged, score is %+.0e\n", icp.getFitnessScore ());
+ std::cout << "\nICP transformation " << ++iterations << " : cloud_icp -> cloud_in" << std::endl;
+ transformation_matrix *= icp.getFinalTransformation ().cast<double>(); // WARNING /!\ This is not accurate! For "educational" purpose only!
+ print4x4Matrix (transformation_matrix); // Print the transformation between original pose and current pose
+
+ ss.str ("");
+ ss << iterations;
+ std::string iterations_cnt = "ICP iterations = " + ss.str ();
+ viewer.updateText (iterations_cnt, 10, 60, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "iterations_cnt");
+ viewer.updatePointCloud (cloud_icp, cloud_icp_color_h, "cloud_icp_v2");
+ }
+ else
+ {
+ PCL_ERROR ("\nICP has not converged.\n");
+ return (-1);
+ }
+ }
+ next_iteration = false;
+ }
+ return (0);
+}
+
boost::shared_ptr<pcl::PointCloud<PointT> > output (new pcl::PointCloud<PointT>);
filename.append (suffix);
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
PointCloudPtr output (new PointCloud);
filename.append ("_points.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
SurfaceNormalsPtr output (new SurfaceNormals);
filename.append ("_normals.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
PointCloudPtr output (new PointCloud);
filename.append ("_keypoints.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
LocalDescriptorsPtr output (new LocalDescriptors);
filename.append ("_localdesc.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
GlobalDescriptorsPtr output (new GlobalDescriptors);
filename.append ("_globaldesc.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
filename.append(files[i]);
PointCloudPtr input (new PointCloud);
pcl::io::loadPCDFile (filename, *input);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str(), input->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str(), input->size ());
std::cout << files[i] << std::endl;
// Construct the object model
// Load input file
PointCloudPtr input (new PointCloud);
pcl::io::loadPCDFile (argv[1], *input);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], input->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], input->size ());
ObjectRecognitionParameters params;
ifstream params_stream;
PointCloudPtr output (new PointCloud);
filename.append (".pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
PointCloudPtr output (new PointCloud);
filename.append ("_keypoints.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
LocalDescriptorsPtr output (new LocalDescriptors);
filename.append ("_localdesc.pcd");
pcl::io::loadPCDFile (filename, *output);
- pcl::console::print_info ("Loaded %s (%zu points)\n", filename.c_str (), output->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", filename.c_str (), output->size ());
return (output);
}
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Estimate surface normals
SurfaceNormalsPtr normals;
int nr_scales = atoi(tokens[2].c_str ());
float min_contrast = atof(tokens[3].c_str ());
keypoints = detectKeypoints (cloud, normals, min_scale, nr_octaves, nr_scales, min_contrast);
- pcl::console::print_info ("Detected %zu keypoints\n", keypoints->size ());
+ pcl::console::print_info ("Detected %lu keypoints\n", keypoints->size ());
}
// Compute local descriptors
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Threshold depth
double min_depth, max_depth;
{
size_t n = cloud->size ();
cloud = thresholdDepth (cloud, min_depth, max_depth);
- pcl::console::print_info ("Eliminated %zu points outside depth limits\n", n - cloud->size ());
+ pcl::console::print_info ("Eliminated %lu points outside depth limits\n", n - cloud->size ());
}
// Downsample and threshold depth
{
size_t n = cloud->size ();
cloud = downsample (cloud, leaf_size);
- pcl::console::print_info ("Downsampled from %zu to %zu points\n", n, cloud->size ());
+ pcl::console::print_info ("Downsampled from %lu to %lu points\n", n, cloud->size ());
}
// Remove outliers
{
size_t n = cloud->size ();
cloud = removeOutliers (cloud, radius, (int)min_neighbors);
- pcl::console::print_info ("Removed %zu outliers\n", n - cloud->size ());
+ pcl::console::print_info ("Removed %lu outliers\n", n - cloud->size ());
}
// Save output
// Load input file
PointCloudPtr query (new PointCloud);
pcl::io::loadPCDFile (argv[1], *query);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], query->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], query->size ());
ifstream input_stream;
ObjectRecognitionParameters params;
// Load the input file
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Subtract the dominant plane
double dist_threshold, max_iters;
{
size_t n = cloud->size ();
cloud = findAndSubtractPlane (cloud, dist_threshold, (int)max_iters);
- pcl::console::print_info ("Subtracted %zu points along the detected plane\n", n - cloud->size ());
+ pcl::console::print_info ("Subtracted %lu points along the detected plane\n", n - cloud->size ());
}
// Cluster points
if (cluster_points)
{
clusterObjects (cloud, tolerance, (int)min_size, (int)max_size, cluster_indices);
- pcl::console::print_info ("Found %zu clusters\n", cluster_indices.size ());
+ pcl::console::print_info ("Found %lu clusters\n", cluster_indices.size ());
}
// Save output
// Load the points
PointCloudPtr cloud (new PointCloud);
pcl::io::loadPCDFile (argv[1], *cloud);
- pcl::console::print_info ("Loaded %s (%zu points)\n", argv[1], cloud->size ());
+ pcl::console::print_info ("Loaded %s (%lu points)\n", argv[1], cloud->size ());
// Compute surface elements
SurfaceElementsPtr surfels (new SurfaceElements);
--- /dev/null
+cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
+
+project(pcl-matrix_transform)
+
+find_package(PCL 1.7 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (matrix_transform matrix_transform.cpp)
+target_link_libraries (matrix_transform ${PCL_LIBRARIES})
--- /dev/null
+#include <iostream>
+
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+#include <pcl/point_cloud.h>
+#include <pcl/console/parse.h>
+#include <pcl/common/transforms.h>
+#include <pcl/visualization/pcl_visualizer.h>
+
+// This function displays the help
+void
+showHelp(char * program_name)
+{
+ std::cout << std::endl;
+ std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
+ std::cout << "-h: Show this help." << std::endl;
+}
+
+// This is the main function
+int
+main (int argc, char** argv)
+{
+
+ // Show help
+ if (pcl::console::find_switch (argc, argv, "-h") || pcl::console::find_switch (argc, argv, "--help")) {
+ showHelp (argv[0]);
+ return 0;
+ }
+
+ // Fetch point cloud filename in arguments | Works with PCD and PLY files
+ std::vector<int> filenames;
+ bool file_is_pcd = false;
+
+ filenames = pcl::console::parse_file_extension_argument (argc, argv, ".ply");
+
+ if (filenames.size () != 1) {
+ filenames = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
+
+ if (filenames.size () != 1) {
+ showHelp (argv[0]);
+ return -1;
+ } else {
+ file_is_pcd = true;
+ }
+ }
+
+ // Load file | Works with PCD and PLY files
+ pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
+
+ if (file_is_pcd) {
+ if (pcl::io::loadPCDFile (argv[filenames[0]], *source_cloud) < 0) {
+ std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
+ showHelp (argv[0]);
+ return -1;
+ }
+ } else {
+ if (pcl::io::loadPLYFile (argv[filenames[0]], *source_cloud) < 0) {
+ std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
+ showHelp (argv[0]);
+ return -1;
+ }
+ }
+
+ /* Reminder: how transformation matrices work :
+
+ |-------> This column is the translation
+ | 1 0 0 x | \
+ | 0 1 0 y | }-> The identity 3x3 matrix (no rotation) on the left
+ | 0 0 1 z | /
+ | 0 0 0 1 | -> We do not use this line (and it has to stay 0,0,0,1)
+
+ METHOD #1: Using a Matrix4f
+ This is the "manual" method, perfect to understand but error prone !
+ */
+ Eigen::Matrix4f transform_1 = Eigen::Matrix4f::Identity();
+
+ // Define a rotation matrix (see https://en.wikipedia.org/wiki/Rotation_matrix)
+ float theta = M_PI/4; // The angle of rotation in radians
+ transform_1 (0,0) = cos (theta);
+ transform_1 (0,1) = -sin(theta);
+ transform_1 (1,0) = sin (theta);
+ transform_1 (1,1) = cos (theta);
+ // (row, column)
+
+ // Define a translation of 2.5 meters on the x axis.
+ transform_1 (0,3) = 2.5;
+
+ // Print the transformation
+ printf ("Method #1: using a Matrix4f\n");
+ std::cout << transform_1 << std::endl;
+
+ /* METHOD #2: Using a Affine3f
+ This method is easier and less error prone
+ */
+ Eigen::Affine3f transform_2 = Eigen::Affine3f::Identity();
+
+ // Define a translation of 2.5 meters on the x axis.
+ transform_2.translation() << 2.5, 0.0, 0.0;
+
+ // The same rotation matrix as before; tetha radians arround Z axis
+ transform_2.rotate (Eigen::AngleAxisf (theta, Eigen::Vector3f::UnitZ()));
+
+ // Print the transformation
+ printf ("\nMethod #2: using an Affine3f\n");
+ std::cout << transform_2.matrix() << std::endl;
+
+ // Executing the transformation
+ pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud (new pcl::PointCloud<pcl::PointXYZ> ());
+ // You can either apply transform_1 or transform_2; they are the same
+ pcl::transformPointCloud (*source_cloud, *transformed_cloud, transform_2);
+
+ // Visualization
+ printf( "\nPoint cloud colors : white = original point cloud\n"
+ " red = transformed point cloud\n");
+ pcl::visualization::PCLVisualizer viewer ("Matrix transformation example");
+
+ // Define R,G,B colors for the point cloud
+ pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color_handler (source_cloud, 255, 255, 255);
+ // We add the point cloud to the viewer and pass the color handler
+ viewer.addPointCloud (source_cloud, source_cloud_color_handler, "original_cloud");
+
+ pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> transformed_cloud_color_handler (transformed_cloud, 230, 20, 20); // Red
+ viewer.addPointCloud (transformed_cloud, transformed_cloud_color_handler, "transformed_cloud");
+
+ viewer.addCoordinateSystem (1.0, "cloud", 0);
+ viewer.setBackgroundColor(0.05, 0.05, 0.05, 0); // Setting background to a dark grey
+ viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "original_cloud");
+ viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "transformed_cloud");
+ //viewer.setPosition(800, 400); // Setting visualiser window position
+
+ while (!viewer.wasStopped ()) { // Display the visualiser until 'q' key is pressed
+ viewer.spinOnce ();
+ }
+
+ return 0;
+}
+
--- /dev/null
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(model_outlier_removal)
+
+find_package(PCL 1.7 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (model_outlier_removal model_outlier_removal.cpp)
+target_link_libraries (model_outlier_removal ${PCL_LIBRARIES})
--- /dev/null
+#include <iostream>
+#include <pcl/point_types.h>
+#include <pcl/filters/model_outlier_removal.h>
+
+int
+main ()
+{
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sphere_filtered (new pcl::PointCloud<pcl::PointXYZ>);
+
+ // 1. Generate cloud data
+ int noise_size = 5;
+ int sphere_data_size = 10;
+ cloud->width = noise_size + sphere_data_size;
+ cloud->height = 1;
+ cloud->points.resize (cloud->width * cloud->height);
+ // 1.1 Add noise
+ for (size_t i = 0; i < noise_size; ++i)
+ {
+ cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
+ cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
+ cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
+ }
+ // 1.2 Add sphere:
+ double rand_x1 = 1;
+ double rand_x2 = 1;
+ for (size_t i = noise_size; i < noise_size + sphere_data_size; ++i)
+ {
+ // See: http://mathworld.wolfram.com/SpherePointPicking.html
+ while (pow (rand_x1, 2) + pow (rand_x2, 2) >= 1)
+ {
+ rand_x1 = (rand () % 100) / (50.0f) - 1;
+ rand_x2 = (rand () % 100) / (50.0f) - 1;
+ }
+ double pre_calc = sqrt (1 - pow (rand_x1, 2) - pow (rand_x2, 2));
+ cloud->points[i].x = 2 * rand_x1 * pre_calc;
+ cloud->points[i].y = 2 * rand_x2 * pre_calc;
+ cloud->points[i].z = 1 - 2 * (pow (rand_x1, 2) + pow (rand_x2, 2));
+ rand_x1 = 1;
+ rand_x2 = 1;
+ }
+
+ std::cerr << "Cloud before filtering: " << std::endl;
+ for (size_t i = 0; i < cloud->points.size (); ++i)
+ std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << std::endl;
+
+ // 2. filter sphere:
+ // 2.1 generate model:
+ // modelparameter for this sphere:
+ // position.x: 0, position.y: 0, position.z:0, radius: 1
+ pcl::ModelCoefficients sphere_coeff;
+ sphere_coeff.values.resize (4);
+ sphere_coeff.values[0] = 0;
+ sphere_coeff.values[1] = 0;
+ sphere_coeff.values[2] = 0;
+ sphere_coeff.values[3] = 1;
+
+ pcl::ModelOutlierRemoval<pcl::PointXYZ> sphere_filter;
+ sphere_filter.setModelCoefficients (sphere_coeff);
+ sphere_filter.setThreshold (0.05);
+ sphere_filter.setModelType (pcl::SACMODEL_SPHERE);
+ sphere_filter.setInputCloud (cloud);
+ sphere_filter.filter (*cloud_sphere_filtered);
+
+ std::cerr << "Sphere after filtering: " << std::endl;
+ for (size_t i = 0; i < cloud_sphere_filtered->points.size (); ++i)
+ std::cout << " " << cloud_sphere_filtered->points[i].x << " " << cloud_sphere_filtered->points[i].y << " " << cloud_sphere_filtered->points[i].z
+ << std::endl;
+
+ return (0);
+}
--- /dev/null
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(moment_of_inertia)
+
+find_package(PCL 1.8 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (moment_of_inertia moment_of_inertia.cpp)
+target_link_libraries (moment_of_inertia ${PCL_LIBRARIES})
+
+
--- /dev/null
+#include <pcl/features/moment_of_inertia_estimation.h>
+#include <vector>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+#include <pcl/visualization/cloud_viewer.h>
+#include <boost/thread/thread.hpp>
+
+int main (int argc, char** argv)
+{
+ if (argc != 2)
+ return (0);
+
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
+ if (pcl::io::loadPCDFile (argv[1], *cloud) == -1)
+ return (-1);
+
+ pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
+ feature_extractor.setInputCloud (cloud);
+ feature_extractor.compute ();
+
+ std::vector <float> moment_of_inertia;
+ std::vector <float> eccentricity;
+ pcl::PointXYZ min_point_AABB;
+ pcl::PointXYZ max_point_AABB;
+ pcl::PointXYZ min_point_OBB;
+ pcl::PointXYZ max_point_OBB;
+ pcl::PointXYZ position_OBB;
+ Eigen::Matrix3f rotational_matrix_OBB;
+ float major_value, middle_value, minor_value;
+ Eigen::Vector3f major_vector, middle_vector, minor_vector;
+ Eigen::Vector3f mass_center;
+
+ feature_extractor.getMomentOfInertia (moment_of_inertia);
+ feature_extractor.getEccentricity (eccentricity);
+ feature_extractor.getAABB (min_point_AABB, max_point_AABB);
+ feature_extractor.getOBB (min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB);
+ feature_extractor.getEigenValues (major_value, middle_value, minor_value);
+ feature_extractor.getEigenVectors (major_vector, middle_vector, minor_vector);
+ feature_extractor.getMassCenter (mass_center);
+
+ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
+ viewer->setBackgroundColor (0, 0, 0);
+ viewer->addCoordinateSystem (1.0);
+ viewer->initCameraParameters ();
+ viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
+ viewer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB");
+
+ Eigen::Vector3f position (position_OBB.x, position_OBB.y, position_OBB.z);
+ Eigen::Quaternionf quat (rotational_matrix_OBB);
+ viewer->addCube (position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB");
+
+ pcl::PointXYZ center (mass_center (0), mass_center (1), mass_center (2));
+ pcl::PointXYZ x_axis (major_vector (0) + mass_center (0), major_vector (1) + mass_center (1), major_vector (2) + mass_center (2));
+ pcl::PointXYZ y_axis (middle_vector (0) + mass_center (0), middle_vector (1) + mass_center (1), middle_vector (2) + mass_center (2));
+ pcl::PointXYZ z_axis (minor_vector (0) + mass_center (0), minor_vector (1) + mass_center (1), minor_vector (2) + mass_center (2));
+ viewer->addLine (center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");
+ viewer->addLine (center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");
+ viewer->addLine (center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");
+
+ //Eigen::Vector3f p1 (min_point_OBB.x, min_point_OBB.y, min_point_OBB.z);
+ //Eigen::Vector3f p2 (min_point_OBB.x, min_point_OBB.y, max_point_OBB.z);
+ //Eigen::Vector3f p3 (max_point_OBB.x, min_point_OBB.y, max_point_OBB.z);
+ //Eigen::Vector3f p4 (max_point_OBB.x, min_point_OBB.y, min_point_OBB.z);
+ //Eigen::Vector3f p5 (min_point_OBB.x, max_point_OBB.y, min_point_OBB.z);
+ //Eigen::Vector3f p6 (min_point_OBB.x, max_point_OBB.y, max_point_OBB.z);
+ //Eigen::Vector3f p7 (max_point_OBB.x, max_point_OBB.y, max_point_OBB.z);
+ //Eigen::Vector3f p8 (max_point_OBB.x, max_point_OBB.y, min_point_OBB.z);
+
+ //p1 = rotational_matrix_OBB * p1 + position;
+ //p2 = rotational_matrix_OBB * p2 + position;
+ //p3 = rotational_matrix_OBB * p3 + position;
+ //p4 = rotational_matrix_OBB * p4 + position;
+ //p5 = rotational_matrix_OBB * p5 + position;
+ //p6 = rotational_matrix_OBB * p6 + position;
+ //p7 = rotational_matrix_OBB * p7 + position;
+ //p8 = rotational_matrix_OBB * p8 + position;
+
+ //pcl::PointXYZ pt1 (p1 (0), p1 (1), p1 (2));
+ //pcl::PointXYZ pt2 (p2 (0), p2 (1), p2 (2));
+ //pcl::PointXYZ pt3 (p3 (0), p3 (1), p3 (2));
+ //pcl::PointXYZ pt4 (p4 (0), p4 (1), p4 (2));
+ //pcl::PointXYZ pt5 (p5 (0), p5 (1), p5 (2));
+ //pcl::PointXYZ pt6 (p6 (0), p6 (1), p6 (2));
+ //pcl::PointXYZ pt7 (p7 (0), p7 (1), p7 (2));
+ //pcl::PointXYZ pt8 (p8 (0), p8 (1), p8 (2));
+
+ //viewer->addLine (pt1, pt2, 1.0, 0.0, 0.0, "1 edge");
+ //viewer->addLine (pt1, pt4, 1.0, 0.0, 0.0, "2 edge");
+ //viewer->addLine (pt1, pt5, 1.0, 0.0, 0.0, "3 edge");
+ //viewer->addLine (pt5, pt6, 1.0, 0.0, 0.0, "4 edge");
+ //viewer->addLine (pt5, pt8, 1.0, 0.0, 0.0, "5 edge");
+ //viewer->addLine (pt2, pt6, 1.0, 0.0, 0.0, "6 edge");
+ //viewer->addLine (pt6, pt7, 1.0, 0.0, 0.0, "7 edge");
+ //viewer->addLine (pt7, pt8, 1.0, 0.0, 0.0, "8 edge");
+ //viewer->addLine (pt2, pt3, 1.0, 0.0, 0.0, "9 edge");
+ //viewer->addLine (pt4, pt8, 1.0, 0.0, 0.0, "10 edge");
+ //viewer->addLine (pt3, pt4, 1.0, 0.0, 0.0, "11 edge");
+ //viewer->addLine (pt3, pt7, 1.0, 0.0, 0.0, "12 edge");
+
+ while(!viewer->wasStopped())
+ {
+ viewer->spinOnce (100);
+ boost::this_thread::sleep (boost::posix_time::microseconds (100000));
+ }
+
+ return (0);
+}
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
- //viewer.addCoordinateSystem (1.0f);
+ //viewer.addCoordinateSystem (1.0f, "global");
//PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
viewer.initCameraParameters ();
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
- //viewer.addCoordinateSystem (1.0f);
+ //viewer.addCoordinateSystem (1.0f, "global");
//PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
viewer.initCameraParameters ();
1, "output cloud");
// Starting visualizer
- viewer_final->addCoordinateSystem (1.0);
+ viewer_final->addCoordinateSystem (1.0, "global");
viewer_final->initCameraParameters ();
// Wait until visualizer window is closed.
pcl::visualization::RangeImageVisualizer range_image_widget ("Range Image");
pcl::visualization::PCLVisualizer viewer ("3D Viewer");
- viewer.addCoordinateSystem (1.0f);
+ viewer.addCoordinateSystem (1.0f, "global");
viewer.setBackgroundColor (1, 1, 1);
viewer.initCameraParameters ();
pcl::visualization::RangeImageVisualizer range_image_widget ("Range Image");
pcl::visualization::PCLVisualizer viewer ("3D Viewer");
- viewer.addCoordinateSystem (1.0f);
+ viewer.addCoordinateSystem (1.0f, "global");
viewer.setBackgroundColor (1, 1, 1);
// Set the viewing pose so that the openni cloud is visible
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
-add_definitions(-Wno-deprecated -DEIGEN_DONT_VECTORIZE -DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
add_executable (pairwise_incremental_registration pairwise_incremental_registration.cpp)
target_link_libraries (pairwise_incremental_registration ${PCL_LIBRARIES})
pcl::transformPointCloud (*temp, *result, GlobalTransform);
//update the global transform
- GlobalTransform = pairTransform * GlobalTransform;
+ GlobalTransform = GlobalTransform * pairTransform;
//save aligned pair, transformed into the first cloud's frame
std::stringstream ss;
int
main (int argc, char** argv)
{
- pcl::PointCloud<pcl::PointXYZ> cloud;
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
- cloud.width = 15;
- cloud.height = 1;
- cloud.points.resize (cloud.width * cloud.height);
+ cloud->width = 15;
+ cloud->height = 1;
+ cloud->points.resize (cloud->width * cloud->height);
// Generate the data
- for (size_t i = 0; i < cloud.points.size (); ++i)
+ for (size_t i = 0; i < cloud->points.size (); ++i)
{
- cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
- cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
- cloud.points[i].z = 1.0;
+ cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
+ cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
+ cloud->points[i].z = 1.0;
}
// Set a few outliers
- cloud.points[0].z = 2.0;
- cloud.points[3].z = -2.0;
- cloud.points[6].z = 4.0;
+ cloud->points[0].z = 2.0;
+ cloud->points[3].z = -2.0;
+ cloud->points[6].z = 4.0;
- std::cerr << "Point cloud data: " << cloud.points.size () << " points" << std::endl;
- for (size_t i = 0; i < cloud.points.size (); ++i)
- std::cerr << " " << cloud.points[i].x << " "
- << cloud.points[i].y << " "
- << cloud.points[i].z << std::endl;
+ std::cerr << "Point cloud data: " << cloud->points.size () << " points" << std::endl;
+ for (size_t i = 0; i < cloud->points.size (); ++i)
+ std::cerr << " " << cloud->points[i].x << " "
+ << cloud->points[i].y << " "
+ << cloud->points[i].z << std::endl;
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setDistanceThreshold (0.01);
- seg.setInputCloud (cloud.makeShared ());
+ seg.setInputCloud (cloud);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
std::cerr << "Model inliers: " << inliers->indices.size () << std::endl;
for (size_t i = 0; i < inliers->indices.size (); ++i)
- std::cerr << inliers->indices[i] << " " << cloud.points[inliers->indices[i]].x << " "
- << cloud.points[inliers->indices[i]].y << " "
- << cloud.points[inliers->indices[i]].z << std::endl;
+ std::cerr << inliers->indices[i] << " " << cloud->points[inliers->indices[i]].x << " "
+ << cloud->points[inliers->indices[i]].y << " "
+ << cloud->points[inliers->indices[i]].z << std::endl;
return (0);
}
--- /dev/null
+cmake_minimum_required (VERSION 2.6 FATAL_ERROR)
+
+project (pcl-visualizer)
+find_package (Qt4 REQUIRED)
+find_package (VTK REQUIRED)
+find_package (PCL 1.7.1 REQUIRED)
+
+include_directories (${PCL_INCLUDE_DIRS})
+link_directories (${PCL_LIBRARY_DIRS})
+add_definitions (${PCL_DEFINITIONS})
+
+set (project_SOURCES main.cpp pclviewer.cpp)
+set (project_HEADERS pclviewer.h)
+set (project_FORMS pclviewer.ui)
+set (VTK_LIBRARIES vtkRendering vtkGraphics vtkHybrid QVTK)
+
+QT4_WRAP_CPP (project_HEADERS_MOC ${project_HEADERS})
+QT4_WRAP_UI (project_FORMS_HEADERS ${project_FORMS})
+
+INCLUDE (${QT_USE_FILE})
+ADD_DEFINITIONS (${QT_DEFINITIONS})
+
+ADD_EXECUTABLE (pcl_visualizer ${project_SOURCES}
+ ${project_FORMS_HEADERS}
+ ${project_HEADERS_MOC})
+
+TARGET_LINK_LIBRARIES (pcl_visualizer ${QT_LIBRARIES} ${PCL_LIBRARIES} ${VTK_LIBRARIES})
+
--- /dev/null
+#include "pclviewer.h"
+#include <QApplication>
+#include <QMainWindow>
+
+int main (int argc, char *argv[])
+{
+ QApplication a (argc, argv);
+ PCLViewer w;
+ w.show ();
+
+ return a.exec ();
+}
--- /dev/null
+#-------------------------------------------------
+#
+# Project created by QtCreator 2014-05-01T14:24:33
+#
+#-------------------------------------------------
+
+QT += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = pcl_visualizer
+TEMPLATE = app
+
+
+SOURCES += main.cpp\
+ pclviewer.cpp
+
+HEADERS += pclviewer.h
+
+FORMS += pclviewer.ui
--- /dev/null
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--- /dev/null
+#include "pclviewer.h"
+#include "../build/ui_pclviewer.h"
+
+PCLViewer::PCLViewer (QWidget *parent) :
+ QMainWindow (parent),
+ ui (new Ui::PCLViewer)
+{
+ ui->setupUi (this);
+ this->setWindowTitle ("PCL viewer");
+
+ // Setup the cloud pointer
+ cloud.reset (new PointCloudT);
+ // The number of points in the cloud
+ cloud->points.resize (200);
+
+ // The default color
+ red = 128;
+ green = 128;
+ blue = 128;
+
+ // Fill the cloud with some points
+ for (size_t i = 0; i < cloud->points.size (); ++i)
+ {
+ cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
+ cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
+ cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
+
+ cloud->points[i].r = red;
+ cloud->points[i].g = green;
+ cloud->points[i].b = blue;
+ }
+
+ // Set up the QVTK window
+ viewer.reset (new pcl::visualization::PCLVisualizer ("viewer", false));
+ ui->qvtkWidget->SetRenderWindow (viewer->getRenderWindow ());
+ viewer->setupInteractor (ui->qvtkWidget->GetInteractor (), ui->qvtkWidget->GetRenderWindow ());
+ ui->qvtkWidget->update ();
+
+ // Connect "random" button and the function
+ connect (ui->pushButton_random, SIGNAL (clicked ()), this, SLOT (randomButtonPressed ()));
+
+ // Connect R,G,B sliders and their functions
+ connect (ui->horizontalSlider_R, SIGNAL (valueChanged (int)), this, SLOT (redSliderValueChanged (int)));
+ connect (ui->horizontalSlider_G, SIGNAL (valueChanged (int)), this, SLOT (greenSliderValueChanged (int)));
+ connect (ui->horizontalSlider_B, SIGNAL (valueChanged (int)), this, SLOT (blueSliderValueChanged (int)));
+ connect (ui->horizontalSlider_R, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
+ connect (ui->horizontalSlider_G, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
+ connect (ui->horizontalSlider_B, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
+
+ // Connect point size slider
+ connect (ui->horizontalSlider_p, SIGNAL (valueChanged (int)), this, SLOT (pSliderValueChanged (int)));
+
+ viewer->addPointCloud (cloud, "cloud");
+ pSliderValueChanged (2);
+ viewer->resetCamera ();
+ ui->qvtkWidget->update ();
+}
+
+void
+PCLViewer::randomButtonPressed ()
+{
+ printf ("Random button was pressed\n");
+
+ // Set the new color
+ for (size_t i = 0; i < cloud->size(); i++)
+ {
+ cloud->points[i].r = 255 *(1024 * rand () / (RAND_MAX + 1.0f));
+ cloud->points[i].g = 255 *(1024 * rand () / (RAND_MAX + 1.0f));
+ cloud->points[i].b = 255 *(1024 * rand () / (RAND_MAX + 1.0f));
+ }
+
+ viewer->updatePointCloud (cloud, "cloud");
+ ui->qvtkWidget->update ();
+}
+
+void
+PCLViewer::RGBsliderReleased ()
+{
+ // Set the new color
+ for (size_t i = 0; i < cloud->size (); i++)
+ {
+ cloud->points[i].r = red;
+ cloud->points[i].g = green;
+ cloud->points[i].b = blue;
+ }
+ viewer->updatePointCloud (cloud, "cloud");
+ ui->qvtkWidget->update ();
+}
+
+void
+PCLViewer::pSliderValueChanged (int value)
+{
+ viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, value, "cloud");
+ ui->qvtkWidget->update ();
+}
+
+void
+PCLViewer::redSliderValueChanged (int value)
+{
+ red = value;
+ printf ("redSliderValueChanged: [%d|%d|%d]\n", red, green, blue);
+}
+
+void
+PCLViewer::greenSliderValueChanged (int value)
+{
+ green = value;
+ printf ("greenSliderValueChanged: [%d|%d|%d]\n", red, green, blue);
+}
+
+void
+PCLViewer::blueSliderValueChanged (int value)
+{
+ blue = value;
+ printf("blueSliderValueChanged: [%d|%d|%d]\n", red, green, blue);
+}
+
+PCLViewer::~PCLViewer ()
+{
+ delete ui;
+}
--- /dev/null
+#ifndef PCLVIEWER_H
+#define PCLVIEWER_H
+
+#include <iostream>
+
+// Qt
+#include <QMainWindow>
+
+// Point Cloud Library
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/visualization/pcl_visualizer.h>
+
+// Visualization Toolkit (VTK)
+#include <vtkRenderWindow.h>
+
+typedef pcl::PointXYZRGBA PointT;
+typedef pcl::PointCloud<PointT> PointCloudT;
+
+namespace Ui
+{
+ class PCLViewer;
+}
+
+class PCLViewer : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit PCLViewer (QWidget *parent = 0);
+ ~PCLViewer ();
+
+public slots:
+ void
+ randomButtonPressed ();
+
+ void
+ RGBsliderReleased ();
+
+ void
+ pSliderValueChanged (int value);
+
+ void
+ redSliderValueChanged (int value);
+
+ void
+ greenSliderValueChanged (int value);
+
+ void
+ blueSliderValueChanged (int value);
+
+protected:
+ boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
+ PointCloudT::Ptr cloud;
+
+ unsigned int red;
+ unsigned int green;
+ unsigned int blue;
+
+private:
+ Ui::PCLViewer *ui;
+
+};
+
+#endif // PCLVIEWER_H
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>PCLViewer</class>
+ <widget class="QMainWindow" name="PCLViewer">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>966</width>
+ <height>499</height>
+ </rect>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>5000</width>
+ <height>5000</height>
+ </size>
+ </property>
+ <property name="windowTitle">
+ <string>PCLViewer</string>
+ </property>
+ <widget class="QWidget" name="centralwidget">
+ <widget class="QVTKWidget" name="qvtkWidget" native="true">
+ <property name="geometry">
+ <rect>
+ <x>300</x>
+ <y>10</y>
+ <width>640</width>
+ <height>480</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSlider_R">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>60</y>
+ <width>160</width>
+ <height>29</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="value">
+ <number>128</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSlider_G">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>140</y>
+ <width>160</width>
+ <height>29</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="value">
+ <number>128</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSlider_B">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>220</y>
+ <width>160</width>
+ <height>29</height>
+ </rect>
+ </property>
+ <property name="maximum">
+ <number>255</number>
+ </property>
+ <property name="value">
+ <number>128</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumber_R">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>50</y>
+ <width>81</width>
+ <height>41</height>
+ </rect>
+ </property>
+ <property name="digitCount">
+ <number>3</number>
+ </property>
+ <property name="segmentStyle">
+ <enum>QLCDNumber::Flat</enum>
+ </property>
+ <property name="intValue" stdset="0">
+ <number>128</number>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumber_G">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>130</y>
+ <width>81</width>
+ <height>41</height>
+ </rect>
+ </property>
+ <property name="digitCount">
+ <number>3</number>
+ </property>
+ <property name="segmentStyle">
+ <enum>QLCDNumber::Flat</enum>
+ </property>
+ <property name="intValue" stdset="0">
+ <number>128</number>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumber_B">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>210</y>
+ <width>81</width>
+ <height>41</height>
+ </rect>
+ </property>
+ <property name="digitCount">
+ <number>3</number>
+ </property>
+ <property name="segmentStyle">
+ <enum>QLCDNumber::Flat</enum>
+ </property>
+ <property name="intValue" stdset="0">
+ <number>128</number>
+ </property>
+ </widget>
+ <widget class="QSlider" name="horizontalSlider_p">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>320</y>
+ <width>160</width>
+ <height>29</height>
+ </rect>
+ </property>
+ <property name="minimum">
+ <number>1</number>
+ </property>
+ <property name="maximum">
+ <number>6</number>
+ </property>
+ <property name="value">
+ <number>2</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QLCDNumber" name="lcdNumber_p">
+ <property name="geometry">
+ <rect>
+ <x>200</x>
+ <y>310</y>
+ <width>81</width>
+ <height>41</height>
+ </rect>
+ </property>
+ <property name="digitCount">
+ <number>1</number>
+ </property>
+ <property name="segmentStyle">
+ <enum>QLCDNumber::Flat</enum>
+ </property>
+ <property name="intValue" stdset="0">
+ <number>2</number>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>20</y>
+ <width>191</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>50</weight>
+ <italic>false</italic>
+ <bold>false</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Red component</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_2">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>100</y>
+ <width>191</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>50</weight>
+ <italic>false</italic>
+ <bold>false</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Green component</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_3">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>190</y>
+ <width>191</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>50</weight>
+ <italic>false</italic>
+ <bold>false</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Blue component</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_4">
+ <property name="geometry">
+ <rect>
+ <x>30</x>
+ <y>280</y>
+ <width>141</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>50</weight>
+ <italic>false</italic>
+ <bold>false</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Point size</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_random">
+ <property name="geometry">
+ <rect>
+ <x>40</x>
+ <y>370</y>
+ <width>201</width>
+ <height>81</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Random colors</string>
+ </property>
+ </widget>
+ </widget>
+ </widget>
+ <customwidgets>
+ <customwidget>
+ <class>QVTKWidget</class>
+ <extends>QWidget</extends>
+ <header>QVTKWidget.h</header>
+ </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections>
+ <connection>
+ <sender>horizontalSlider_R</sender>
+ <signal>sliderMoved(int)</signal>
+ <receiver>lcdNumber_R</receiver>
+ <slot>display(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>136</x>
+ <y>111</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>222</x>
+ <y>115</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>horizontalSlider_G</sender>
+ <signal>sliderMoved(int)</signal>
+ <receiver>lcdNumber_G</receiver>
+ <slot>display(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>166</x>
+ <y>193</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>235</x>
+ <y>195</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>horizontalSlider_B</sender>
+ <signal>sliderMoved(int)</signal>
+ <receiver>lcdNumber_B</receiver>
+ <slot>display(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>185</x>
+ <y>273</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>224</x>
+ <y>275</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>horizontalSlider_p</sender>
+ <signal>sliderMoved(int)</signal>
+ <receiver>lcdNumber_p</receiver>
+ <slot>display(int)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>136</x>
+ <y>352</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>253</x>
+ <y>342</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
+</ui>
viewer->setBackgroundColor (0, 0, 0);
viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
- //viewer->addCoordinateSystem (1.0);
+ //viewer->addCoordinateSystem (1.0, "global");
viewer->initCameraParameters ();
return (viewer);
}
// --------------------------------------------
pcl::visualization::PCLVisualizer viewer ("3D Viewer");
viewer.setBackgroundColor (1, 1, 1);
- viewer.addCoordinateSystem (1.0f);
+ viewer.addCoordinateSystem (1.0f, "global");
pcl::visualization::PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 0, 0, 0);
viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
//PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 150, 150, 150);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointWithRange> range_image_color_handler (range_image_ptr, 0, 0, 0);
viewer.addPointCloud (range_image_ptr, range_image_color_handler, "range image");
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "range image");
- //viewer.addCoordinateSystem (1.0f);
+ //viewer.addCoordinateSystem (1.0f, "global");
//PointCloudColorHandlerCustom<PointType> point_cloud_color_handler (point_cloud_ptr, 150, 150, 150);
//viewer.addPointCloud (point_cloud_ptr, point_cloud_color_handler, "original point cloud");
viewer.initCameraParameters ();
pass.filter (*indices);
pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
- reg.setMinClusterSize (100);
- reg.setMaxClusterSize (10000);
+ reg.setMinClusterSize (50);
+ reg.setMaxClusterSize (1000000);
reg.setSearchMethod (tree);
reg.setNumberOfNeighbours (30);
reg.setInputCloud (cloud);
//reg.setIndices (indices);
reg.setInputNormals (normals);
- reg.setSmoothnessThreshold (7.0 / 180.0 * M_PI);
+ reg.setSmoothnessThreshold (3.0 / 180.0 * M_PI);
reg.setCurvatureThreshold (1.0);
std::vector <pcl::PointIndices> clusters;
std::cout << "These are the indices of the points of the initial" <<
std::endl << "cloud that belong to the first cluster:" << std::endl;
int counter = 0;
- while (counter < 5 || counter > clusters[0].indices.size ())
+ while (counter < clusters[0].indices.size ())
{
- std::cout << clusters[0].indices[counter] << std::endl;
+ std::cout << clusters[0].indices[counter] << ", ";
counter++;
+ if (counter % 10 == 0)
+ std::cout << std::endl;
}
+ std::cout << std::endl;
pcl::PointCloud <pcl::PointXYZRGB>::Ptr colored_cloud = reg.getColoredCloud ();
pcl::visualization::CloudViewer viewer ("Cluster viewer");
return (0);
}
+
keypoints_tgt (new PointCloud<PointXYZ>);
estimateKeypoints (src, tgt, *keypoints_src, *keypoints_tgt);
- print_info ("Found %zu and %zu keypoints for the source and target datasets.\n", keypoints_src->points.size (), keypoints_tgt->points.size ());
+ print_info ("Found %lu and %lu keypoints for the source and target datasets.\n", keypoints_src->points.size (), keypoints_tgt->points.size ());
// Compute normals for all points keypoint
PointCloud<Normal>::Ptr normals_src (new PointCloud<Normal>),
normals_tgt (new PointCloud<Normal>);
estimateNormals (src, tgt, *normals_src, *normals_tgt);
- print_info ("Estimated %zu and %zu normals for the source and target datasets.\n", normals_src->points.size (), normals_tgt->points.size ());
+ print_info ("Estimated %lu and %lu normals for the source and target datasets.\n", normals_src->points.size (), normals_tgt->points.size ());
// Compute FPFH features at each keypoint
PointCloud<FPFHSignature33>::Ptr fpfhs_src (new PointCloud<FPFHSignature33>),
--- /dev/null
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+project(rops_feature)
+
+find_package(PCL 1.8 REQUIRED)
+
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+
+add_executable (rops_feature rops_feature.cpp)
+target_link_libraries (rops_feature ${PCL_LIBRARIES})
+
+
--- /dev/null
+#include <pcl/features/rops_estimation.h>
+#include <pcl/io/pcd_io.h>
+
+int main (int argc, char** argv)
+{
+ if (argc != 4)
+ return (-1);
+
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
+ if (pcl::io::loadPCDFile (argv[1], *cloud) == -1)
+ return (-1);
+
+ pcl::PointIndicesPtr indices = boost::shared_ptr <pcl::PointIndices> (new pcl::PointIndices ());
+ std::ifstream indices_file;
+ indices_file.open (argv[2], std::ifstream::in);
+ for (std::string line; std::getline (indices_file, line);)
+ {
+ std::istringstream in (line);
+ unsigned int index = 0;
+ in >> index;
+ indices->indices.push_back (index - 1);
+ }
+ indices_file.close ();
+
+ std::vector <pcl::Vertices> triangles;
+ std::ifstream triangles_file;
+ triangles_file.open (argv[3], std::ifstream::in);
+ for (std::string line; std::getline (triangles_file, line);)
+ {
+ pcl::Vertices triangle;
+ std::istringstream in (line);
+ unsigned int vertex = 0;
+ in >> vertex;
+ triangle.vertices.push_back (vertex - 1);
+ in >> vertex;
+ triangle.vertices.push_back (vertex - 1);
+ in >> vertex;
+ triangle.vertices.push_back (vertex - 1);
+ triangles.push_back (triangle);
+ }
+
+ float support_radius = 0.0285f;
+ unsigned int number_of_partition_bins = 5;
+ unsigned int number_of_rotations = 3;
+
+ pcl::search::KdTree<pcl::PointXYZ>::Ptr search_method (new pcl::search::KdTree<pcl::PointXYZ>);
+ search_method->setInputCloud (cloud);
+
+ pcl::ROPSEstimation <pcl::PointXYZ, pcl::Histogram <135> > feature_estimator;
+ feature_estimator.setSearchMethod (search_method);
+ feature_estimator.setSearchSurface (cloud);
+ feature_estimator.setInputCloud (cloud);
+ feature_estimator.setIndices (indices);
+ feature_estimator.setTriangles (triangles);
+ feature_estimator.setRadiusSearch (support_radius);
+ feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
+ feature_estimator.setNumberOfRotations (number_of_rotations);
+ feature_estimator.setSupportRadius (support_radius);
+
+ pcl::PointCloud<pcl::Histogram <135> >::Ptr histograms (new pcl::PointCloud <pcl::Histogram <135> > ());
+ feature_estimator.compute (*histograms);
+
+ return (0);
+}
}
// Display
- PCL_INFO ("Found %zu inliers.\n", inliers.indices.size ());
+ PCL_INFO ("Found %lu inliers.\n", inliers.indices.size ());
pcl::PointCloud<pcl::PointXYZ>::Ptr line (new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud (*cloud_f, inliers, *line);
p.addText (cloud_name, 20, 10, cloud_name, viewport);
}
// Add coordianate systems to all viewports
- p.addCoordinateSystem (0.1, 0);
+ p.addCoordinateSystem (0.1, "global", 0);
p.spin ();
return (0);
The code
--------
-First, grab a pcd file made from a kinect or similar device - here we shall use ``milk_cartoon_all_small_clorox.pcd`` which is available in the pcl trunk :download:`here <http://github.com/PointCloudLibrary/pcl/blob/master/test/milk_cartoon_all_small_clorox.pcd?raw=true>`).
-
+First, grab a pcd file made from a kinect or similar device - here we shall use ``milk_cartoon_all_small_clorox.pcd`` which is available in the pcl git
+`here <https://github.com/PointCloudLibrary/data/blob/master/tutorials/correspondence_grouping/milk_cartoon_all_small_clorox.pcd?raw=true>`_).
Next, copy and paste the following code into your editor and save it as ``supervoxel_clustering.cpp`` (or download the source file :download:`here <./sources/supervoxel_clustering/supervoxel_clustering.cpp>`).
.. literalinclude:: sources/supervoxel_clustering/supervoxel_clustering.cpp
We are now ready to setup the supervoxel clustering. We use the class :pcl:`SupervoxelClustering <pcl::SupervoxelClustering>`, which implements the clustering process and give it the parameters.
+.. important::
+
+ You MUST set use_transform to false if you are using a cloud which doesn't have the camera at (0,0,0). The transform is specifically designed to help improve Kinect data by increasing voxel bin size as distance from the camera increases. If your data is artificial, made from combining multiple clouds from cameras at different viewpoints, or doesn't have the camera at (0,0,0), the transform MUST be set to false.
+
.. literalinclude:: sources/supervoxel_clustering/supervoxel_clustering.cpp
:language: cpp
:lines: 73-77
The code
--------
-First, download the datasets from `github.com/PointCloudLibrary/data/tree/master/tutorials/template_alignment/ <https://raw.github.com/PointCloudLibrary/data/master/tutorials/template_alignment/>`_
+First, download the datasets from `github.com/PointCloudLibrary/data/tree/master/tutorials/template_alignment/ <https://github.com/PointCloudLibrary/data/tree/master/tutorials/template_alignment>`_
and extract the files.
Next, copy and paste the following code into your editor and save it as ``template_alignment.cpp`` (or download the source file :download:`here <./sources/template_alignment/template_alignment.cpp>`).
.. note::
- Because we are including an Eigen::Matrix4f in this struct, we need to include the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro, which will overload the struct's "operator new" so that it will generate 16-bytes-aligned pointers. If you're curious, you can find more information about this issue `here <http://eigen.tuxfamily.org/api/TopicStructHavingEigenMembers.html>`_.
+ Because we are including an Eigen::Matrix4f in this struct, we need to include the EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro, which will overload the struct's "operator new" so that it will generate 16-bytes-aligned pointers. If you're curious, you can find more information about this issue `here <http://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html>`_.
.. literalinclude:: sources/template_alignment/template_alignment.cpp
:language: cpp
*Running pcl_kinfu_largeScale*
-Finally, we are ready to start KinFu Large Scale. After building the trunk, we will call the application::
+Finally, we are ready to start KinFu Large Scale. After building the git master, we will call the application::
$ ./bin/pcl_kinfu_largeScale -r -et
Conclusion
----------
-In this tutorial we have shown the pipeline from scanning to final texturing using KinFu Large Scale. The - *experimental* - code is available in PCL trunk.
+In this tutorial we have shown the pipeline from scanning to final texturing using KinFu Large Scale. The - *experimental* - code is available in the master branch of PCL.
.. _using_pcl_with_eclipse:
-Using PCL from trunk with Eclipse
----------------------------------
+======================
+Using PCL with Eclipse
+======================
-This tutorial explains how to use Eclipse as a PCL editor
+This tutorial explains how to use Eclipse as an IDE to manage your PCL projects. It was tested under Ubuntu 14.04 with Eclipse Luna;
+do not hesitate to modify this tutorial by submitting a pull request on GitHub to add other configurations etc.
+
+.. contents::
Prerequisites
--------------
+=============
-We assume you have downloaded, compiled and installed PCL from trunk (see Downloads, experimental) on your machine.
+We assume you have downloaded and extracted a PCL version (either PCL trunk or a stable version) on your machine.
+For the example, we will use the `pcl visualizer <http://www.pointclouds.org/documentation/tutorials/pcl_visualizer.php>`_ code.
Creating the eclipse project files
-----------------------------------
-
-Open a terminal window and do::
-
- $ cd /PATH/TO/MY/TRUNK/ROOT
- $ cmake -G"Eclipse CDT4 - Unix Makefiles" .
-
-You will see something similar to::
-
--- The C compiler identification is GNU
--- The CXX compiler identification is GNU
--- Could not determine Eclipse version, assuming at least 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
--- Check for working C compiler: /home/u0062536/bin/gcc
--- Check for working C compiler: /home/u0062536/bin/gcc -- works
--- Detecting C compiler ABI info
--- Detecting C compiler ABI info - done
--- Check for working CXX compiler: /home/u0062536/bin/c++
--- Check for working CXX compiler: /home/u0062536/bin/c++ -- works
--- Detecting CXX compiler ABI info
--- Detecting CXX compiler ABI info - done
--- -- GCC > 4.3 found, enabling -Wabi
--- Using CPU native flags for SSE optimization: -march=native
--- Performing Test HAVE_MM_MALLOC
--- Performing Test HAVE_MM_MALLOC - Success
--- Performing Test HAVE_POSIX_MEMALIGN
--- Performing Test HAVE_POSIX_MEMALIGN - Success
--- Performing Test HAVE_SSE4_2_EXTENSIONS
--- Performing Test HAVE_SSE4_2_EXTENSIONS - Success
--- Performing Test HAVE_SSE4_1_EXTENSIONS
--- Performing Test HAVE_SSE4_1_EXTENSIONS - Success
--- Performing Test HAVE_SSE3_EXTENSIONS
--- Performing Test HAVE_SSE3_EXTENSIONS - Success
--- Performing Test HAVE_SSE2_EXTENSIONS
--- Performing Test HAVE_SSE2_EXTENSIONS - Success
--- Performing Test HAVE_SSE_EXTENSIONS
--- Performing Test HAVE_SSE_EXTENSIONS - Success
--- Found SSE4.2 extensions, using flags: -march=native -msse4.2 -mfpmath=sse
--- Try OpenMP C flag = [-fopenmp]
--- Performing Test OpenMP_FLAG_DETECTED
--- Performing Test OpenMP_FLAG_DETECTED - Success
--- Try OpenMP CXX flag = [-fopenmp]
--- Performing Test OpenMP_FLAG_DETECTED
--- Performing Test OpenMP_FLAG_DETECTED - Success
--- Found OpenMP: -fopenmp
--- Found OpenMP
--- Boost version: 1.46.1
--- The following subsystems will be built:
--- common
--- kdtree
--- octree
--- io
--- search
--- sample_consensus
--- filters
--- 2d
--- features
--- keypoints
--- geometry
--- ml
--- segmentation
--- visualization
--- outofcore
--- stereo
--- surface
--- tracking
--- registration
--- people
--- recognition
--- global_tests
--- tools
--- The following subsystems will not be built:
--- examples: Code examples are disabled by default.
--- simulation: Disabled by default.
--- apps: Disabled by default.
--- Configuring done
--- Generating done
--- Build files have been written to: /data/git/pcl
+==================================
+
+The files are organized like the following tree::
+
+ .
+ ├── build
+ └── src
+ ├── CMakeLists.txt
+ └── pcl_visualizer_demo.cpp
+
+Open a terminal, navigate to your project root folder and configure the project::
+
+ $ cd /path_to_my_project/build
+ $ cmake -G "Eclipse CDT4 - Unix Makefiles" ../src
+
+You will see something that should look like::
+
+ -- The C compiler identification is GNU 4.8.2
+ -- The CXX compiler identification is GNU 4.8.2
+ -- Could not determine Eclipse version, assuming at least 3.6 (Helios). Adjust CMAKE_ECLIPSE_VERSION if this is wrong.
+ -- Check for working C compiler: /usr/lib/ccache/cc
+ -- Check for working C compiler: /usr/lib/ccache/cc -- works
+ -- Detecting C compiler ABI info
+ -- Detecting C compiler ABI info - done
+ -- Check for working CXX compiler: /usr/lib/ccache/c++
+ -- Check for working CXX compiler: /usr/lib/ccache/c++ -- works
+ -- Detecting CXX compiler ABI info
+ -- Detecting CXX compiler ABI info - done
+ -- checking for module 'eigen3'
+ -- found eigen3, version 3.2.0
+ -- Found eigen: /usr/include/eigen3
+ -- Boost version: 1.54.0
+ -- Found the following Boost libraries:
+ -- system
+ -- filesystem
+ -- thread
+ -- date_time
+ -- iostreams
+ -- mpi
+ -- serialization
+ -- chrono
+ -- checking for module 'openni-dev'
+ -- package 'openni-dev' not found
+ -- Found openni: /usr/lib/libOpenNI.so
+ -- checking for module 'openni2-dev'
+ -- package 'openni2-dev' not found
+ -- Found OpenNI2: /usr/lib/libOpenNI2.so
+ ** WARNING ** io features related to pcap will be disabled
+ ** WARNING ** io features related to png will be disabled
+ -- Found libusb-1.0: /usr/include
+ -- checking for module 'flann'
+ -- found flann, version 1.8.4
+ -- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
+ -- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
+ -- checking for module 'openni-dev'
+ -- package 'openni-dev' not found
+ -- checking for module 'openni2-dev'
+ -- package 'openni2-dev' not found
+ -- looking for PCL_COMMON
+ -- Found PCL_COMMON: /usr/local/lib/libpcl_common.so
+ -- looking for PCL_OCTREE
+ -- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so
+ -- looking for PCL_IO
+ -- Found PCL_IO: /usr/local/lib/libpcl_io.so
+ -- looking for PCL_KDTREE
+ -- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so
+ -- looking for PCL_SEARCH
+ -- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so
+ -- looking for PCL_SAMPLE_CONSENSUS
+ -- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so
+ -- looking for PCL_FILTERS
+ -- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so
+ -- looking for PCL_2D
+ -- Found PCL_2D: /usr/local/include/pcl-1.7
+ -- looking for PCL_FEATURES
+ -- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so
+ -- looking for PCL_GEOMETRY
+ -- Found PCL_GEOMETRY: /usr/local/include/pcl-1.7
+ -- looking for PCL_KEYPOINTS
+ -- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so
+ -- looking for PCL_SURFACE
+ -- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so
+ -- looking for PCL_REGISTRATION
+ -- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so
+ -- looking for PCL_ML
+ -- Found PCL_ML: /usr/local/lib/libpcl_ml.so
+ -- looking for PCL_SEGMENTATION
+ -- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so
+ -- looking for PCL_RECOGNITION
+ -- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so
+ -- looking for PCL_VISUALIZATION
+ -- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so
+ -- looking for PCL_PEOPLE
+ -- Found PCL_PEOPLE: /usr/local/lib/libpcl_people.so
+ -- looking for PCL_OUTOFCORE
+ -- Found PCL_OUTOFCORE: /usr/local/lib/libpcl_outofcore.so
+ -- looking for PCL_TRACKING
+ -- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so
+ -- looking for PCL_STEREO
+ -- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so
+ -- looking for PCL_GPU_CONTAINERS
+ -- Found PCL_GPU_CONTAINERS: /usr/local/lib/libpcl_gpu_containers.so
+ -- looking for PCL_GPU_UTILS
+ -- Found PCL_GPU_UTILS: /usr/local/lib/libpcl_gpu_utils.so
+ -- looking for PCL_GPU_OCTREE
+ -- Found PCL_GPU_OCTREE: /usr/local/lib/libpcl_gpu_octree.so
+ -- looking for PCL_GPU_FEATURES
+ -- Found PCL_GPU_FEATURES: /usr/local/lib/libpcl_gpu_features.so
+ -- looking for PCL_GPU_KINFU
+ -- Found PCL_GPU_KINFU: /usr/local/lib/libpcl_gpu_kinfu.so
+ -- looking for PCL_GPU_KINFU_LARGE_SCALE
+ -- Found PCL_GPU_KINFU_LARGE_SCALE: /usr/local/lib/libpcl_gpu_kinfu_large_scale.so
+ -- looking for PCL_GPU_SEGMENTATION
+ -- Found PCL_GPU_SEGMENTATION: /usr/local/lib/libpcl_gpu_segmentation.so
+ -- looking for PCL_CUDA_COMMON
+ -- Found PCL_CUDA_COMMON: /usr/local/include/pcl-1.7
+ -- looking for PCL_CUDA_FEATURES
+ -- Found PCL_CUDA_FEATURES: /usr/local/lib/libpcl_cuda_features.so
+ -- looking for PCL_CUDA_SEGMENTATION
+ -- Found PCL_CUDA_SEGMENTATION: /usr/local/lib/libpcl_cuda_segmentation.so
+ -- looking for PCL_CUDA_SAMPLE_CONSENSUS
+ -- Found PCL_CUDA_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_cuda_sample_consensus.so
+ -- Found PCL: /usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_mpi.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/local/lib/libpcl_common.so;debug;/usr/local/lib/libpcl_common.so;optimized;/usr/local/lib/libpcl_octree.so;debug;/usr/local/lib/libpcl_octree.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkCommon;vtkFiltering;vtkImaging;vtkGraphics;vtkGenericFiltering;vtkIO;vtkRendering;vtkVolumeRendering;vtkHybrid;vtkWidgets;vtkParallel;vtkInfovis;vtkGeovis;vtkViews;vtkCharts;optimized;/usr/local/lib/libpcl_io.so;debug;/usr/local/lib/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/local/lib/libpcl_kdtree.so;debug;/usr/local/lib/libpcl_kdtree.so;optimized;/usr/local/lib/libpcl_search.so;debug;/usr/local/lib/libpcl_search.so;optimized;/usr/local/lib/libpcl_sample_consensus.so;debug;/usr/local/lib/libpcl_sample_consensus.so;optimized;/usr/local/lib/libpcl_filters.so;debug;/usr/local/lib/libpcl_filters.so;optimized;/usr/local/lib/libpcl_features.so;debug;/usr/local/lib/libpcl_features.so;optimized;/usr/local/lib/libpcl_keypoints.so;debug;/usr/local/lib/libpcl_keypoints.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/local/lib/libpcl_surface.so;debug;/usr/local/lib/libpcl_surface.so;optimized;/usr/local/lib/libpcl_registration.so;debug;/usr/local/lib/libpcl_registration.so;optimized;/usr/local/lib/libpcl_ml.so;debug;/usr/local/lib/libpcl_ml.so;optimized;/usr/local/lib/libpcl_segmentation.so;debug;/usr/local/lib/libpcl_segmentation.so;optimized;/usr/local/lib/libpcl_recognition.so;debug;/usr/local/lib/libpcl_recognition.so;optimized;/usr/local/lib/libpcl_visualization.so;debug;/usr/local/lib/libpcl_visualization.so;optimized;/usr/local/lib/libpcl_people.so;debug;/usr/local/lib/libpcl_people.so;optimized;/usr/local/lib/libpcl_outofcore.so;debug;/usr/local/lib/libpcl_outofcore.so;optimized;/usr/local/lib/libpcl_tracking.so;debug;/usr/local/lib/libpcl_tracking.so;optimized;/usr/local/lib/libpcl_stereo.so;debug;/usr/local/lib/libpcl_stereo.so;optimized;/usr/local/lib/libpcl_gpu_containers.so;debug;/usr/local/lib/libpcl_gpu_containers.so;optimized;/usr/local/lib/libpcl_gpu_utils.so;debug;/usr/local/lib/libpcl_gpu_utils.so;optimized;/usr/local/lib/libpcl_gpu_octree.so;debug;/usr/local/lib/libpcl_gpu_octree.so;optimized;/usr/local/lib/libpcl_gpu_features.so;debug;/usr/local/lib/libpcl_gpu_features.so;optimized;/usr/local/lib/libpcl_gpu_kinfu.so;debug;/usr/local/lib/libpcl_gpu_kinfu.so;optimized;/usr/local/lib/libpcl_gpu_kinfu_large_scale.so;debug;/usr/local/lib/libpcl_gpu_kinfu_large_scale.so;optimized;/usr/local/lib/libpcl_gpu_segmentation.so;debug;/usr/local/lib/libpcl_gpu_segmentation.so;optimized;/usr/local/lib/libpcl_cuda_features.so;debug;/usr/local/lib/libpcl_cuda_features.so;optimized;/usr/local/lib/libpcl_cuda_segmentation.so;debug;/usr/local/lib/libpcl_cuda_segmentation.so;optimized;/usr/local/lib/libpcl_cuda_sample_consensus.so;debug;/usr/local/lib/libpcl_cuda_sample_consensus.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_mpi.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkCommon;vtkFiltering;vtkImaging;vtkGraphics;vtkGenericFiltering;vtkIO;vtkRendering;vtkVolumeRendering;vtkHybrid;vtkWidgets;vtkParallel;vtkInfovis;vtkGeovis;vtkViews;vtkCharts (Required is at least version "1.7")
+ -- Configuring done
+ -- Generating done
+ -- Build files have been written to: /home/dell/visualizer/build
Importing into Eclipse
-----------------------
+======================
+
+- Launch `Eclipse CDT <http://eclipse.org/cdt/>`_ and select ``File > Import``.
+- In the list select ``General > Existing Projects into Workspace`` and then next.
+- Browse (``Select root directory``) to the root folder of the project and select the ``build`` folder (in the example case, ``/home/dell/visualizer/build``).
+- Click ``Finish``.
+
+.. WARNING::
+ The Eclipse indexer is going to parse the files in the project (and all the includes), this can take a lot of time and might crash Eclipse if it's not configured for big projects.
+ Take a look at the bottom right of Eclipse's window to see the indexer status; it is advised not to do anything until the indexer has finished it's job.
+
+Configuring Eclipse
+-------------------
+
+If Eclipse fails to open your PCL project you might need to change Eclipse configuration; here are some values that should solve all problems
+(but might not work on light hardware configurations)::
+
+ $ sudo gedit /usr/lib/eclipse/eclipse.ini
-Now you launch your Eclipse editor and you select File->Import...
-Out of the list you select General->Existing Projects into Workspace and then next.
-At the top you select Select root directory to be the root of your pcl trunk installation and press Finish.
+Change the values in the last lines::
+
+ org.eclipse.platform
+ --launcher.XXMaxPermSize
+ 1024m
+ --launcher.defaultAction
+ openFile
+ --launcher.appendVmargs
+ -vmargs
+ -Dosgi.requiredJavaVersion=1.7
+ -XX:MaxPermSize=512m
+ -Xms1024m
+ -Xmx1024m
+
+Restart Eclipse and go to ``Windows > Preferences``, then ``C/C++ > Indexer > Cache Limits``. Set the limits to [50% | 512 | 512].
Setting the PCL code style in Eclipse
--------------------------------------
+=====================================
+
+You can find a PCL code style file for Eclipse in `PCL GitHub trunk <https://github.com/PointCloudLibrary/pcl/blob/master/doc/advanced/content/files/PCL_eclipse_profile.xml>`_
+
+Global
+------
+If you want to apply the PCL style guide to all projects:
+``Windows > Preferences > C/C++ > Code Style > Formatter``
+
+Project specific
+----------------
+If you want to apply the style guide only to one project:
+Go to ``Project > Properties``, then select ``Code Style`` in the left field and Enable ``project specific settings``, then ``Import`` and select where you profile file (.xml) is.
+
+How to format the code
+----------------------
+If you want to format the whole project use ``Source > Format``. If you want to format only your selection use the shortcut ``Ctrl + Shift + F``
+
+Launching the program
+=====================
+
+To build the project, click on the build icon
+
+.. image:: images/pcl_with_eclipse/build_tab.gif
+ :height: 16
+
+- Create a launch configuration, select the project on the left panel (left click on the project name); ``Run > Run Configurations..``.
+- Create a new ``C/C++ Application`` click on ``Search Project`` and choose the executable to be launched.
+- Go the second tab (``Arguments``) and enter your arguments; remember this is not a terminal and ``~`` won't work to get to your home folder for example !
+
+Run the program by clicking on the run icon
-You can find a PCL code style file for Eclipse in trunk/doc/advanced/content/files/.
-In Eclipse go to Project->Properties, then select Code Style in the left field and Enable project specific settings, then Import and select where your trunk/doc/advanced/content/files/PCL_eclipse_profile.xml file is.
+.. image:: images/pcl_with_eclipse/lrun_obj.gif
+ :height: 16
Where to get more information
------------------------------
+=============================
-You can get more information here: http://www.vtk.org/Wiki/Eclipse_CDT4_Generator
+You can get more information about the Eclipse CDT4 Generator `here <http://www.vtk.org/Wiki/Eclipse_CDT4_Generator>`_.
-----------------------
The Viewpoint Feature Histogram is implemented in PCL as part of the
-`pcl_features <http://docs.pointclouds.org/trunk/group__features.html>`_
+`pcl_features <http://docs.pointclouds.org/trunk/a02944.html>`_
library.
The default VFH implementation uses 45 binning subdivisions for each of the
Our Kd-Tree implementation of choice for the purpose of this tutorial is of
-course, `FLANN <http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN>`_.
+course, `FLANN <http://www.cs.ubc.ca/research/flann/>`_.
Training
.. note::
- If you are running this tutorial on Windows, you have to install (`HDF5 1.8.7 Shared Library <http://www.hdfgroup.org/ftp/HDF5/hdf5-1.8.7/bin/windows/>`_). If CMake is not able to find HDF5,
+ If you are running this tutorial on Windows, you have to install (`HDF5 1.8.7 Shared Library <http://www.hdfgroup.org/ftp/HDF5/current/bin/windows/>`_). If CMake is not able to find HDF5,
you can manually supply the include directory in HDF5_INCLUDE_DIR variable and the full path of **hdf5dll.lib** in HDF5_hdf5_LIBRARY variable.
Make sure that the needed dlls are in the same folder as the executables.
--- /dev/null
+.. _visualization:
+
+PCL Visualization overview
+--------------------------
+
+The **pcl_visualization** library was built for the purpose of being able to
+quickly prototype and visualize the results of algorithms operating on 3D point
+cloud data. Similar to OpenCV's **highgui** routines for displaying 2D images
+and for drawing basic 2D shapes on screen, the library offers:
+
+ * methods for rendering and setting visual properties (colors, point sizes,
+ opacity, etc) for any n-D point cloud datasets in pcl::PointCloud<T> format;
+
+ .. image:: images/visualization/bunny.jpg
+
+ * methods for drawing basic 3D shapes on screen (e.g., cylinders, spheres,
+ lines, polygons, etc) either from sets of points or from parametric
+ equations;
+
+ .. image:: images/visualization/shapes.jpg
+
+ * a histogram visualization module (PCLHistogramVisualizer) for 2D plots;
+
+ .. image:: images/visualization/histogram.jpg
+
+ * a multitude of Geometry and Color handler for pcl::PointCloud<T> datasets;
+
+ .. image:: images/visualization/normals.jpg
+ .. image:: images/visualization/pcs.jpg
+
+ * a pcl::RangeImage visualization module.
+
+ .. image:: images/visualization/range_image.jpg
+
+The package makes use of the VTK library for 3D rendering for
+range image and 2D operations.
+
+For implementing your own visualizers, take a look at the tests and examples
+accompanying the library.
+
+.. note::
+
+ Due to historical reasons, PCL 1.x stores RGB data as a packed float (to
+ preserve backward compatibility). To learn more about this, please see the
+ `PointXYZRGB
+ <http://docs.pointclouds.org/trunk/structpcl_1_1_point_x_y_z_r_g_b.html>`_.
+
+Simple Cloud Visualization
+--------------------------
+
+If you just want to visualize something in your app with a few lines of code,
+use a snippet like the following one:
+
+.. code-block:: cpp
+ :linenos:
+
+ #include <pcl_visualization/cloud_viewer.h>
+ //...
+ void
+ foo ()
+ {
+ pcl::PointCloud<pcl::PointXYZRGB> cloud;
+ //... populate cloud
+ pcl_visualization::CloudViewer viewer("Simple Cloud Viewer");
+ viewer.showCloud(cloud);
+ while (!viewer.wasStopped())
+ {
+ }
+ }
+
+PCD Viewer
+----------
+
+A quick way for visualizing PCD (Point Cloud Data) files is by using
+**pcl_viewer**. As of 0.2.7, pcl_viewer's help screen looks like::
+
+ Syntax is: pcl_viewer <file_name 1..N>.pcd <options>
+ where options are:
+ -bc r,g,b = background color
+ -fc r,g,b = foreground color
+ -ps X = point size (1..64)
+ -opaque X = rendered point cloud opacity (0..1)
+ -ax n = enable on-screen display of XYZ axes and scale them to n
+ -ax_pos X,Y,Z = if axes are enabled, set their X,Y,Z position in space (default 0,0,0)
+
+ -cam (*) = use given camera settings as initial view
+ (*) [Clipping Range / Focal Point / Position / ViewUp / Distance / Window Size / Window Pos] or use a <filename.cam> that contains the same information.
+
+ -multiview 0/1 = enable/disable auto-multi viewport rendering (default disabled)
+
+
+ -normals 0/X = disable/enable the display of every Xth point's surface normal as lines (default disabled)
+ -normals_scale X = resize the normal unit vector size to X (default 0.02)
+
+ -pc 0/X = disable/enable the display of every Xth point's principal curvatures as lines (default disabled)
+ -pc_scale X = resize the principal curvatures vectors size to X (default 0.02)
+
+
+ (Note: for multiple .pcd files, provide multiple -{fc,ps} parameters; they will be automatically assigned to the right file)
+
+Usage examples
+--------------
+
+.. code-block:: bash
+
+ $ pcl_viewer -multiview 1 data/partial_cup_model.pcd data/partial_cup_model.pcd data/partial_cup_model.pcd
+
+
+The above will load the ``partial_cup_model.pcd`` file 3 times, and will create a
+multi-viewport rendering (``-multiview 1``).
+
+.. image:: images/visualization/ex1.jpg
+
+Pressing ``h`` while the point clouds are being rendered will output the
+following information on the console::
+
+ | Help:
+ -------
+ p, P : switch to a point-based representation
+ w, W : switch to a wireframe-based representation (where available)
+ s, S : switch to a surface-based representation (where available)
+
+ j, J : take a .PNG snapshot of the current window view
+ c, C : display current camera/window parameters
+
+ + / - : increment/decrement overall point size
+
+ g, G : display scale grid (on/off)
+ u, U : display lookup table (on/off)
+
+ r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
+
+ ALT + s, S : turn stereo mode on/off
+ ALT + f, F : switch between maximized window mode and original size
+
+ l, L : list all available geometric and color handlers for the current actor map
+ ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)
+ 0..9 [+ CTRL] : switch between different color handlers (where available)
+
+
+Pressing ``l`` will show the current list of available geometry/color handlers
+for the datasets that we loaded. In this example::
+
+ List of available geometry handlers for actor partial_cup_model.pcd-0: xyz(1) normal_xyz(2)
+ List of available color handlers for actor partial_cup_model.pcd-0: [random](1) x(2) y(3) z(4) normal_x(5) normal_y(6) normal_z(7) curvature(8) boundary(9) k(10) principal_curvature_x(11) principal_curvature_y(12) principal_curvature_z(13) pc1(14) pc2(15)
+
+Switching to a ``normal_xyz`` geometric handler using ``ALT+1`` and then
+pressing ``8`` to switch to a curvature color handler, should result in the
+following::
+
+ $ pcl_viewer -normals 100 data/partial_cup_model.pcd
+
+.. image:: images/visualization/ex2.jpg
+
+
+The above will load the ``partial_cup_model.pcd`` file and render its every
+``100`` th surface normal on screen.
+
+.. code-block:: bash
+
+ $ pcl_viewer -pc 100 data/partial_cup_model.pcd
+
+.. image:: images/visualization/ex3.jpg
+
+The above will load the ``partial_cup_model.pcd`` file and render its every
+``100`` th principal curvature (+surface normal) on screen.
+
+.. image:: images/visualization/ex4.jpg
+
+.. code-block:: bash
+
+ $ pcl_viewer data/bun000.pcd data/bun045.pcd -ax 0.5 -ps 3 -ps 1
+
+The above assumes that the ``bun000.pcd`` and ``bun045.pcd`` datasets have been
+downloaded and are available. The results shown in the following picture were
+obtained after pressing ``u`` and ``g`` to enable the lookup table and on-grid
+display.
+
+.. image:: images/visualization/ex5.jpg
+
+
+Range Image Visualizer
+----------------------
+
+A quick way for visualizing range images is by using the binary of the tutorial
+for range_image_visualization::
+
+ $ tutorial_range_image_visualization data/office_scene.pcd
+
+The above will load the ``office_scene.pcd`` point cloud file, create a range
+image from it and visualize both, the point cloud and the range image.
+
.. image:: images/statistical_removal_2.jpg
-**Documentation:** http://docs.pointclouds.org/trunk/group__filters.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02945.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#filtering-tutorial
**Background**
A theoretical primer explaining how features work in PCL can be found in the `3D Features tutorial
- <http:/pointclouds.org/documentation/tutorials/how_features_work.php#how-3d-features-work>`_.
+ <http://pointclouds.org/documentation/tutorials/how_features_work.php>`_.
The *features* library contains data structures and mechanisms for 3D feature estimation from point cloud data. 3D features are representations at certain 3D points, or positions, in space, which describe geometrical patterns based on the information available around the point. The data space selected around the query point is usually referred to as the *k-neighborhood*.
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__features.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02944.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#features-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__keypoints.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02949.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#keypoints-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__registration.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02953.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#registration-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__kdtree.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02948.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#kdtree-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__octree.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02950.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#octree-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__segmentation.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02956.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#segmentation-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__sample__consensus.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02954.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#sample-consensus
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__surface.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02957.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#surface-tutorial
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__range__image.html
+**Documentation:** http://docs.pointclouds.org/trunk/a01344.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#range-images
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__io.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02947.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#i-o
|
-**Documentation:** http://docs.pointclouds.org/trunk/group__visualization.html
+**Documentation:** http://docs.pointclouds.org/trunk/a02958.html
**Tutorials:** http://pointclouds.org/documentation/tutorials/#visualization-tutorial
PCL_ADD_EXAMPLE(pcl_example_sift_z_keypoint_estimation FILES example_sift_z_keypoint_estimation.cpp
LINK_WITH pcl_common pcl_visualization pcl_keypoints pcl_io)
+ PCL_ADD_EXAMPLE(pcl_example_get_keypoints_indices FILES example_get_keypoints_indices.cpp
+ LINK_WITH pcl_common pcl_keypoints pcl_io)
+
endif(BUILD_visualization)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception, 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.
+ *
+ */
+
+#include <iostream>
+
+#include <pcl/console/parse.h>
+#include <pcl/console/print.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/keypoints/harris_3d.h>
+
+int
+main(int argc, char** argv)
+{
+ if (argc < 2)
+ {
+ pcl::console::print_info ("Keypoints indices example application.\n");
+ pcl::console::print_info ("Syntax is: %s <source-pcd-file>\n", argv[0]);
+ return (1);
+ }
+
+ pcl::console::print_info ("Reading %s\n", argv[1]);
+
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
+ if(pcl::io::loadPCDFile<pcl::PointXYZRGB> (argv[1], *cloud) == -1) // load the file
+ {
+ pcl::console::print_error ("Couldn't read file %s!\n", argv[1]);
+ return (-1);
+ }
+
+ pcl::HarrisKeypoint3D <pcl::PointXYZRGB, pcl::PointXYZI> detector;
+ pcl::PointCloud<pcl::PointXYZI>::Ptr keypoints (new pcl::PointCloud<pcl::PointXYZI>);
+ detector.setNonMaxSupression (true);
+ detector.setInputCloud (cloud);
+ detector.setThreshold (1e-6);
+ pcl::StopWatch watch;
+ detector.compute (*keypoints);
+ pcl::console::print_highlight ("Detected %zd points in %lfs\n", keypoints->size (), watch.getTimeSeconds ());
+ pcl::PointIndicesConstPtr keypoints_indices = detector.getKeypointsIndices ();
+ if (!keypoints_indices->indices.empty ())
+ {
+ pcl::io::savePCDFile ("keypoints.pcd", *cloud, keypoints_indices->indices, true);
+ pcl::console::print_info ("Saved keypoints to keypoints.pcd\n");
+ }
+ else
+ pcl::console::print_warn ("Keypoints indices are empty!\n");
+}
return -1;
}
- pcl::console::print_highlight ("Loaded cloud %s of size %zu\n", av[1], cloud_ptr->points.size ());
+ pcl::console::print_highlight ("Loaded cloud %s of size %lu\n", av[1], cloud_ptr->points.size ());
// Remove the nans
cloud_ptr->is_dense = false;
cloud_no_nans->is_dense = false;
std::vector<int> indices;
pcl::removeNaNFromPointCloud (*cloud_ptr, *cloud_no_nans, indices);
- pcl::console::print_highlight ("Removed nans from %zu to %zu\n", cloud_ptr->points.size (), cloud_no_nans->points.size ());
+ pcl::console::print_highlight ("Removed nans from %lu to %lu\n", cloud_ptr->points.size (), cloud_no_nans->points.size ());
// Estimate the normals
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
ne.setSearchMethod (tree_n);
ne.setRadiusSearch (0.03);
ne.compute (*cloud_normals);
- pcl::console::print_highlight ("Normals are computed and size is %zu\n", cloud_normals->points.size ());
+ pcl::console::print_highlight ("Normals are computed and size is %lu\n", cloud_normals->points.size ());
// Region growing
pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> rg;
cloud_segmented = rg.getColoredCloud ();
// Writing the resulting cloud into a pcd file
- pcl::console::print_highlight ("Number of segments done is %zu\n", clusters.size ());
+ pcl::console::print_highlight ("Number of segments done is %lu\n", clusters.size ());
writer.write<pcl::PointXYZRGB> ("segment_result.pcd", *cloud_segmented, false);
if (pcl::console::find_switch (argc, av, "-dump"))
depth_pixel = static_cast<unsigned short*>(depth_image->GetScalarPointer (depth_dims[0]-1,depth_dims[1]-1,0));
color_pixel = static_cast<unsigned char*> (rgb_image->GetScalarPointer (depth_dims[0]-1,depth_dims[1]-1,0));
- for (int y=0; y<cloud->height; ++y)
+ for (size_t y=0; y<cloud->height; ++y)
{
- for (int x=0; x<cloud->width; ++x, --depth_pixel, color_pixel-=3)
+ for (size_t x=0; x<cloud->width; ++x, --depth_pixel, color_pixel-=3)
{
PointT new_point;
// uint8_t* p_i = &(cloud_blob->data[y * cloud_blob->row_step + x * cloud_blob->point_step]);
}
else
{
- new_point.x = (static_cast<float>(x - centerX)) * depth * fl_const;
- new_point.y = (static_cast<float>(centerY - y)) * depth * fl_const; // vtk seems to start at the bottom left image corner
+ new_point.x = (static_cast<float> (x) - centerX) * depth * fl_const;
+ new_point.y = (static_cast<float> (centerY) - y) * depth * fl_const; // vtk seems to start at the bottom left image corner
new_point.z = depth;
}
PointNCloudT::Ptr sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);
PointLCloudT::Ptr full_labeled_cloud = super.getLabeledCloud ();
+ std::cout << "Getting supervoxel adjacency\n";
+ std::multimap<uint32_t, uint32_t> label_adjacency;
+ super.getSupervoxelAdjacency (label_adjacency);
+
std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr > refined_supervoxel_clusters;
std::cout << "Refining supervoxels \n";
super.refineSupervoxels (3, refined_supervoxel_clusters);
PointLCloudT::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();
PointCloudT::Ptr refined_full_colored_cloud = super.getColoredCloud ();
- std::cout << "Getting supervoxel adjacency\n";
- std::multimap<uint32_t, uint32_t> label_adjacency;
- super.getSupervoxelAdjacency (label_adjacency);
-
// THESE ONLY MAKE SENSE FOR ORGANIZED CLOUDS
pcl::io::savePNGFile (out_path, *full_colored_cloud, "rgb");
pcl::io::savePNGFile (refined_out_path, *refined_full_colored_cloud, "rgb");
PCL_ADD_EXAMPLE(pcl_example_nurbs_fitting_surface
FILES example_nurbs_fitting_surface.cpp
LINK_WITH pcl_common pcl_io pcl_surface pcl_visualization)
+
+ PCL_ADD_EXAMPLE(pcl_example_nurbs_viewer_surface
+ FILES example_nurbs_viewer_surface.cpp
+ LINK_WITH pcl_common pcl_io pcl_surface pcl_visualization)
PCL_ADD_EXAMPLE(pcl_example_nurbs_fitting_closed_curve
FILES example_nurbs_fitting_closed_curve.cpp
typedef pcl::PointXYZ Point;
void
-PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
-{
- for (unsigned i = 0; i < cloud->size (); i++)
- {
- Point &p = cloud->at (i);
- if (!pcl_isnan (p.x) && !pcl_isnan (p.y) && !pcl_isnan (p.z))
- data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
- }
-}
+PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data);
void
-visualizeCurve (ON_NurbsCurve &curve, ON_NurbsSurface &surface, pcl::visualization::PCLVisualizer &viewer)
-{
- pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
-
- pcl::on_nurbs::Triangulation::convertCurve2PointCloud (curve, surface, curve_cloud, 4);
- for (std::size_t i = 0; i < curve_cloud->size () - 1; i++)
- {
- pcl::PointXYZRGB &p1 = curve_cloud->at (i);
- pcl::PointXYZRGB &p2 = curve_cloud->at (i + 1);
- std::ostringstream os;
- os << "line" << i;
- viewer.removeShape (os.str ());
- viewer.addLine<pcl::PointXYZRGB> (p1, p2, 1.0, 0.0, 0.0, os.str ());
- }
-
- pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cps (new pcl::PointCloud<pcl::PointXYZRGB>);
- for (int i = 0; i < curve.CVCount (); i++)
- {
- ON_3dPoint p1;
- curve.GetCV (i, p1);
-
- double pnt[3];
- surface.Evaluate (p1.x, p1.y, 0, 3, pnt);
- pcl::PointXYZRGB p2;
- p2.x = float (pnt[0]);
- p2.y = float (pnt[1]);
- p2.z = float (pnt[2]);
-
- p2.r = 255;
- p2.g = 0;
- p2.b = 0;
-
- curve_cps->push_back (p2);
- }
- viewer.removePointCloud ("cloud_cps");
- viewer.addPointCloud (curve_cps, "cloud_cps");
-}
+visualizeCurve (ON_NurbsCurve &curve,
+ ON_NurbsSurface &surface,
+ pcl::visualization::PCLVisualizer &viewer);
int
main (int argc, char *argv[])
{
- std::string pcd_file;
+ std::string pcd_file, file_3dm;
- if (argc < 2)
+ if (argc < 3)
{
- printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd<PointXYZ>-file\n\n");
+ printf ("\nUsage: pcl_example_nurbs_fitting_surface pcd<PointXYZ>-in-file 3dm-out-file\n\n");
exit (0);
}
-
pcd_file = argv[1];
+ file_3dm = argv[2];
- unsigned order (3);
- unsigned refinement (6);
- unsigned iterations (10);
- unsigned mesh_resolution (256);
-
- pcl::visualization::PCLVisualizer viewer ("Test: NURBS surface fitting");
+ pcl::visualization::PCLVisualizer viewer ("B-spline surface fitting");
viewer.setSize (800, 600);
// ############################################################################
// load point cloud
+
printf (" loading %s\n", pcd_file.c_str ());
pcl::PointCloud<Point>::Ptr cloud (new pcl::PointCloud<Point>);
pcl::PCLPointCloud2 cloud2;
PointCloud2Vector3d (cloud, data.interior);
pcl::visualization::PointCloudColorHandlerCustom<Point> handler (cloud, 0, 255, 0);
viewer.addPointCloud<Point> (cloud, handler, "cloud_cylinder");
- printf (" %zu points in data set\n", cloud->size ());
+ printf (" %lu points in data set\n", cloud->size ());
// ############################################################################
- // fit NURBS surface
+ // fit B-spline surface
+
+ // parameters
+ unsigned order (3);
+ unsigned refinement (5);
+ unsigned iterations (10);
+ unsigned mesh_resolution (256);
+
+ pcl::on_nurbs::FittingSurface::Parameter params;
+ params.interior_smoothness = 0.2;
+ params.interior_weight = 1.0;
+ params.boundary_smoothness = 0.2;
+ params.boundary_weight = 0.0;
+
+ // initialize
printf (" surface fitting ...\n");
ON_NurbsSurface nurbs = pcl::on_nurbs::FittingSurface::initNurbsPCABoundingBox (order, &data);
pcl::on_nurbs::FittingSurface fit (&data, nurbs);
- // fit.setQuiet (false);
+ // fit.setQuiet (false); // enable/disable debug output
+ // mesh for visualization
pcl::PolygonMesh mesh;
pcl::PointCloud<pcl::PointXYZ>::Ptr mesh_cloud (new pcl::PointCloud<pcl::PointXYZ>);
std::vector<pcl::Vertices> mesh_vertices;
-
std::string mesh_id = "mesh_nurbs";
pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (fit.m_nurbs, mesh, mesh_resolution);
viewer.addPolygonMesh (mesh, mesh_id);
- pcl::on_nurbs::FittingSurface::Parameter params;
- params.interior_smoothness = 0.15;
- params.interior_weight = 1.0;
- params.boundary_smoothness = 0.15;
- params.boundary_weight = 0.0;
-
- // NURBS refinement
+ // surface refinement
for (unsigned i = 0; i < refinement; i++)
{
fit.refine (0);
viewer.spinOnce ();
}
- // fitting iterations
+ // surface fitting with final refinement level
for (unsigned i = 0; i < iterations; i++)
{
fit.assemble (params);
}
// ############################################################################
- // fit NURBS curve
+ // fit B-spline curve
+
+ // parameters
pcl::on_nurbs::FittingCurve2dAPDM::FitParameter curve_params;
- curve_params.addCPsAccuracy = 3e-2;
+ curve_params.addCPsAccuracy = 5e-2;
curve_params.addCPsIteration = 3;
curve_params.maxCPs = 200;
curve_params.accuracy = 1e-3;
- curve_params.iterations = 10000;
+ curve_params.iterations = 100;
curve_params.param.closest_point_resolution = 0;
curve_params.param.closest_point_weight = 1.0;
curve_params.param.closest_point_sigma2 = 0.1;
- curve_params.param.interior_sigma2 = 0.0001;
+ curve_params.param.interior_sigma2 = 0.00001;
curve_params.param.smooth_concavity = 1.0;
curve_params.param.smoothness = 1.0;
+ // initialisation (circular)
+ printf (" curve fitting ...\n");
pcl::on_nurbs::NurbsDataCurve2d curve_data;
curve_data.interior = data.interior_param;
curve_data.interior_weight_function.push_back (true);
-
ON_NurbsCurve curve_nurbs = pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D (order, curve_data.interior);
+ // curve fitting
pcl::on_nurbs::FittingCurve2dASDM curve_fit (&curve_data, curve_nurbs);
-// curve_fit.setQuiet (false);
-
- // ############################### FITTING ###############################
+ // curve_fit.setQuiet (false); // enable/disable debug output
curve_fit.fitting (curve_params);
visualizeCurve (curve_fit.m_nurbs, fit.m_nurbs, viewer);
// ############################################################################
// triangulation of trimmed surface
+
printf (" triangulate trimmed surface ...\n");
viewer.removePolygonMesh (mesh_id);
pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh (fit.m_nurbs, curve_fit.m_nurbs, mesh,
mesh_resolution);
viewer.addPolygonMesh (mesh, mesh_id);
+
+ // save trimmed B-spline surface
+ if ( fit.m_nurbs.IsValid() )
+ {
+ ONX_Model model;
+ ONX_Model_Object& surf = model.m_object_table.AppendNew();
+ surf.m_object = new ON_NurbsSurface(fit.m_nurbs);
+ surf.m_bDeleteObject = true;
+ surf.m_attributes.m_layer_index = 1;
+ surf.m_attributes.m_name = "surface";
+
+ ONX_Model_Object& curv = model.m_object_table.AppendNew();
+ curv.m_object = new ON_NurbsCurve(curve_fit.m_nurbs);
+ curv.m_bDeleteObject = true;
+ curv.m_attributes.m_layer_index = 2;
+ curv.m_attributes.m_name = "trimming curve";
+
+ model.Write(file_3dm.c_str());
+ printf(" model saved: %s\n", file_3dm.c_str());
+ }
+
printf (" ... done.\n");
viewer.spin ();
return 0;
}
+
+void
+PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
+{
+ for (unsigned i = 0; i < cloud->size (); i++)
+ {
+ Point &p = cloud->at (i);
+ if (!pcl_isnan (p.x) && !pcl_isnan (p.y) && !pcl_isnan (p.z))
+ data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
+ }
+}
+
+void
+visualizeCurve (ON_NurbsCurve &curve, ON_NurbsSurface &surface, pcl::visualization::PCLVisualizer &viewer)
+{
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
+
+ pcl::on_nurbs::Triangulation::convertCurve2PointCloud (curve, surface, curve_cloud, 4);
+ for (std::size_t i = 0; i < curve_cloud->size () - 1; i++)
+ {
+ pcl::PointXYZRGB &p1 = curve_cloud->at (i);
+ pcl::PointXYZRGB &p2 = curve_cloud->at (i + 1);
+ std::ostringstream os;
+ os << "line" << i;
+ viewer.removeShape (os.str ());
+ viewer.addLine<pcl::PointXYZRGB> (p1, p2, 1.0, 0.0, 0.0, os.str ());
+ }
+
+ pcl::PointCloud<pcl::PointXYZRGB>::Ptr curve_cps (new pcl::PointCloud<pcl::PointXYZRGB>);
+ for (int i = 0; i < curve.CVCount (); i++)
+ {
+ ON_3dPoint p1;
+ curve.GetCV (i, p1);
+
+ double pnt[3];
+ surface.Evaluate (p1.x, p1.y, 0, 3, pnt);
+ pcl::PointXYZRGB p2;
+ p2.x = float (pnt[0]);
+ p2.y = float (pnt[1]);
+ p2.z = float (pnt[2]);
+
+ p2.r = 255;
+ p2.g = 0;
+ p2.b = 0;
+
+ curve_cps->push_back (p2);
+ }
+ viewer.removePointCloud ("cloud_cps");
+ viewer.addPointCloud (curve_cps, "cloud_cps");
+}
--- /dev/null
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/surface/on_nurbs/fitting_surface_tdm.h>
+#include <pcl/surface/on_nurbs/fitting_curve_2d_asdm.h>
+#include <pcl/surface/on_nurbs/triangulation.h>
+
+typedef pcl::PointXYZ Point;
+
+int
+main (int argc, char *argv[])
+{
+ std::string file_3dm;
+
+ if (argc < 2)
+ {
+ printf ("\nUsage: pcl_example_nurbs_viewer_surface 3dm-out-file\n\n");
+ exit (0);
+ }
+ file_3dm = argv[1];
+
+ pcl::visualization::PCLVisualizer viewer ("B-spline surface viewer");
+ viewer.setSize (800, 600);
+
+ int mesh_resolution = 128;
+
+ ON::Begin();
+
+ // load surface
+ ONX_Model on_model;
+ bool rc = on_model.Read(file_3dm.c_str());
+
+ // print diagnostic
+ if ( rc )
+ std::cout << "Successfully read: " << file_3dm << std::endl;
+ else
+ std::cout << "Errors during reading: " << file_3dm << std::endl;
+
+// ON_TextLog out;
+// on_model.Dump(out);
+
+ if(on_model.m_object_table.Count()==0)
+ {
+ std::cout << "3dm file does not contain any objects: " << file_3dm << std::endl;
+ return -1;
+ }
+
+ const ON_Object* on_object = on_model.m_object_table[0].m_object;
+ if(on_object==NULL)
+ {
+ std::cout << "object[0] not valid." << std::endl;
+ return -1;
+ }
+
+ const ON_NurbsSurface& on_surf = *(ON_NurbsSurface*)on_object;
+
+ pcl::PolygonMesh mesh;
+ std::string mesh_id = "mesh_nurbs";
+ if(on_model.m_object_table.Count()==1)
+ {
+ std::cout << "3dm file does not contain a trimming curve: " << file_3dm << std::endl;
+
+
+ pcl::on_nurbs::Triangulation::convertSurface2PolygonMesh (on_surf, mesh, mesh_resolution);
+ }
+ else
+ {
+ on_object = on_model.m_object_table[1].m_object;
+ if(on_object==NULL)
+ {
+ std::cout << "object[1] not valid." << std::endl;
+ return -1;
+ }
+
+ const ON_NurbsCurve& on_curv = *(ON_NurbsCurve*)on_object;
+
+ pcl::on_nurbs::Triangulation::convertTrimmedSurface2PolygonMesh (on_surf, on_curv, mesh,
+ mesh_resolution);
+ }
+
+ viewer.addPolygonMesh (mesh, mesh_id);
+
+ viewer.spin ();
+ return 0;
+}
+
set(SUBSYS_DEPS common search kdtree octree filters)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/board.h
- include/pcl/${SUBSYS_NAME}/cvfh.h
- include/pcl/${SUBSYS_NAME}/our_cvfh.h
- include/pcl/${SUBSYS_NAME}/crh.h
- include/pcl/${SUBSYS_NAME}/don.h
- include/pcl/${SUBSYS_NAME}/feature.h
- include/pcl/${SUBSYS_NAME}/fpfh.h
- include/pcl/${SUBSYS_NAME}/fpfh_omp.h
- include/pcl/${SUBSYS_NAME}/gfpfh.h
- include/pcl/${SUBSYS_NAME}/integral_image2D.h
- include/pcl/${SUBSYS_NAME}/integral_image_normal.h
- include/pcl/${SUBSYS_NAME}/intensity_gradient.h
- include/pcl/${SUBSYS_NAME}/intensity_spin.h
- include/pcl/${SUBSYS_NAME}/linear_least_squares_normal.h
- include/pcl/${SUBSYS_NAME}/moment_invariants.h
- include/pcl/${SUBSYS_NAME}/multiscale_feature_persistence.h
- include/pcl/${SUBSYS_NAME}/narf.h
- include/pcl/${SUBSYS_NAME}/narf_descriptor.h
- include/pcl/${SUBSYS_NAME}/normal_3d.h
- include/pcl/${SUBSYS_NAME}/normal_3d_omp.h
- include/pcl/${SUBSYS_NAME}/normal_based_signature.h
- include/pcl/${SUBSYS_NAME}/pfh.h
- include/pcl/${SUBSYS_NAME}/pfh_tools.h
- include/pcl/${SUBSYS_NAME}/pfhrgb.h
- include/pcl/${SUBSYS_NAME}/ppf.h
- include/pcl/${SUBSYS_NAME}/ppfrgb.h
- include/pcl/${SUBSYS_NAME}/shot.h
- include/pcl/${SUBSYS_NAME}/shot_lrf.h
- include/pcl/${SUBSYS_NAME}/shot_lrf_omp.h
- include/pcl/${SUBSYS_NAME}/shot_omp.h
- include/pcl/${SUBSYS_NAME}/spin_image.h
- include/pcl/${SUBSYS_NAME}/principal_curvatures.h
- include/pcl/${SUBSYS_NAME}/rift.h
- #include/pcl/${SUBSYS_NAME}/rsd.h
- include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h
- include/pcl/${SUBSYS_NAME}/vfh.h
- include/pcl/${SUBSYS_NAME}/esf.h
- include/pcl/${SUBSYS_NAME}/3dsc.h
- include/pcl/${SUBSYS_NAME}/usc.h
- include/pcl/${SUBSYS_NAME}/boundary.h
- include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/board.h"
+ "include/pcl/${SUBSYS_NAME}/cppf.h"
+ "include/pcl/${SUBSYS_NAME}/cvfh.h"
+ "include/pcl/${SUBSYS_NAME}/our_cvfh.h"
+ "include/pcl/${SUBSYS_NAME}/crh.h"
+ "include/pcl/${SUBSYS_NAME}/don.h"
+ "include/pcl/${SUBSYS_NAME}/feature.h"
+ "include/pcl/${SUBSYS_NAME}/fpfh.h"
+ "include/pcl/${SUBSYS_NAME}/fpfh_omp.h"
+ "include/pcl/${SUBSYS_NAME}/gfpfh.h"
+ "include/pcl/${SUBSYS_NAME}/integral_image2D.h"
+ "include/pcl/${SUBSYS_NAME}/integral_image_normal.h"
+ "include/pcl/${SUBSYS_NAME}/intensity_gradient.h"
+ "include/pcl/${SUBSYS_NAME}/intensity_spin.h"
+ "include/pcl/${SUBSYS_NAME}/linear_least_squares_normal.h"
+ "include/pcl/${SUBSYS_NAME}/moment_invariants.h"
+ "include/pcl/${SUBSYS_NAME}/moment_of_inertia_estimation.h"
+ "include/pcl/${SUBSYS_NAME}/multiscale_feature_persistence.h"
+ "include/pcl/${SUBSYS_NAME}/narf.h"
+ "include/pcl/${SUBSYS_NAME}/narf_descriptor.h"
+ "include/pcl/${SUBSYS_NAME}/normal_3d.h"
+ "include/pcl/${SUBSYS_NAME}/normal_3d_omp.h"
+ "include/pcl/${SUBSYS_NAME}/normal_based_signature.h"
+ "include/pcl/${SUBSYS_NAME}/pfh.h"
+ "include/pcl/${SUBSYS_NAME}/pfh_tools.h"
+ "include/pcl/${SUBSYS_NAME}/pfhrgb.h"
+ "include/pcl/${SUBSYS_NAME}/ppf.h"
+ "include/pcl/${SUBSYS_NAME}/ppfrgb.h"
+ "include/pcl/${SUBSYS_NAME}/shot.h"
+ "include/pcl/${SUBSYS_NAME}/shot_lrf.h"
+ "include/pcl/${SUBSYS_NAME}/shot_lrf_omp.h"
+ "include/pcl/${SUBSYS_NAME}/shot_omp.h"
+ "include/pcl/${SUBSYS_NAME}/spin_image.h"
+ "include/pcl/${SUBSYS_NAME}/principal_curvatures.h"
+ "include/pcl/${SUBSYS_NAME}/rift.h"
+ "include/pcl/${SUBSYS_NAME}/rops_estimation.h"
+ #"include/pcl/${SUBSYS_NAME}/rsd.h"
+ "include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h"
+ "include/pcl/${SUBSYS_NAME}/vfh.h"
+ "include/pcl/${SUBSYS_NAME}/esf.h"
+ "include/pcl/${SUBSYS_NAME}/3dsc.h"
+ "include/pcl/${SUBSYS_NAME}/usc.h"
+ "include/pcl/${SUBSYS_NAME}/boundary.h"
+ "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/board.hpp
- include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp
- include/pcl/${SUBSYS_NAME}/impl/our_cvfh.hpp
- include/pcl/${SUBSYS_NAME}/impl/crh.hpp
- include/pcl/${SUBSYS_NAME}/impl/don.hpp
- include/pcl/${SUBSYS_NAME}/impl/feature.hpp
- include/pcl/${SUBSYS_NAME}/impl/fpfh.hpp
- include/pcl/${SUBSYS_NAME}/impl/fpfh_omp.hpp
- include/pcl/${SUBSYS_NAME}/impl/gfpfh.hpp
- include/pcl/${SUBSYS_NAME}/impl/integral_image2D.hpp
- include/pcl/${SUBSYS_NAME}/impl/integral_image_normal.hpp
- include/pcl/${SUBSYS_NAME}/impl/intensity_gradient.hpp
- include/pcl/${SUBSYS_NAME}/impl/intensity_spin.hpp
- include/pcl/${SUBSYS_NAME}/impl/linear_least_squares_normal.hpp
- include/pcl/${SUBSYS_NAME}/impl/moment_invariants.hpp
- include/pcl/${SUBSYS_NAME}/impl/multiscale_feature_persistence.hpp
- include/pcl/${SUBSYS_NAME}/impl/narf.hpp
- include/pcl/${SUBSYS_NAME}/impl/normal_3d.hpp
- include/pcl/${SUBSYS_NAME}/impl/normal_3d_omp.hpp
- include/pcl/${SUBSYS_NAME}/impl/normal_based_signature.hpp
- include/pcl/${SUBSYS_NAME}/impl/pfh.hpp
- include/pcl/${SUBSYS_NAME}/impl/pfhrgb.hpp
- include/pcl/${SUBSYS_NAME}/impl/ppf.hpp
- include/pcl/${SUBSYS_NAME}/impl/ppfrgb.hpp
- include/pcl/${SUBSYS_NAME}/impl/shot.hpp
- include/pcl/${SUBSYS_NAME}/impl/shot_lrf.hpp
- include/pcl/${SUBSYS_NAME}/impl/shot_lrf_omp.hpp
- include/pcl/${SUBSYS_NAME}/impl/shot_omp.hpp
- include/pcl/${SUBSYS_NAME}/impl/spin_image.hpp
- include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp
- include/pcl/${SUBSYS_NAME}/impl/rift.hpp
- #include/pcl/${SUBSYS_NAME}/impl/rsd.hpp
- include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp
- include/pcl/${SUBSYS_NAME}/impl/vfh.hpp
- include/pcl/${SUBSYS_NAME}/impl/esf.hpp
- include/pcl/${SUBSYS_NAME}/impl/3dsc.hpp
- include/pcl/${SUBSYS_NAME}/impl/usc.hpp
- include/pcl/${SUBSYS_NAME}/impl/boundary.hpp
- include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/board.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/cppf.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/our_cvfh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/crh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/don.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/feature.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/fpfh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/fpfh_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/gfpfh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/integral_image2D.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/integral_image_normal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/intensity_gradient.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/intensity_spin.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/linear_least_squares_normal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/moment_invariants.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/moment_of_inertia_estimation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/multiscale_feature_persistence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/narf.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/normal_3d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/normal_3d_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/normal_based_signature.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/pfh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/pfhrgb.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ppf.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ppfrgb.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/shot.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/shot_lrf.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/shot_lrf_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/shot_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/spin_image.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/rift.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/rops_estimation.hpp"
+ #"include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/vfh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/esf.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/3dsc.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/usc.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/boundary.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/range_image_border_extractor.hpp"
)
set(srcs
src/board.cpp
src/boundary.cpp
+ src/cppf.cpp
src/cvfh.cpp
src/our_cvfh.cpp
src/crh.cpp
src/intensity_spin.cpp
src/linear_least_squares_normal.cpp
src/moment_invariants.cpp
+ src/moment_of_inertia_estimation.cpp
src/multiscale_feature_persistence.cpp
src/narf.cpp
src/normal_3d.cpp
src/spin_image.cpp
src/principal_curvatures.cpp
src/rift.cpp
+ src/rops_estimation.cpp
#src/rsd.cpp
src/statistical_multiscale_interest_region_extraction.cpp
src/vfh.cpp
src/usc.cpp
src/range_image_border_extractor.cpp
)
-
- set(LIB_NAME pcl_${SUBSYS_NAME})
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+
+ if(MSVC)
+ # Workaround to aviod hitting the MSVC 4GB linker memory limit when building pcl_features.
+ # Disable whole program optimization (/GL) and link-time code generation (/LTCG).
+ string(REPLACE "/GL" "" CMAKE_CXX_FLAGS_RELEASE ${CMAKE_CXX_FLAGS_RELEASE})
+ string(REPLACE "/LTCG" "" CMAKE_SHARED_LINKER_FLAGS_RELEASE ${CMAKE_SHARED_LINKER_FLAGS_RELEASE})
+ endif(MSVC)
+
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree pcl_filters)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install headers
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
underlying surface's estimated curvature and normal at a query point <b>p</b>.
Both of them are considered local features, as they characterize a point using
the information provided by its k closest point neighbors. For determining
-these neighbors efficienctly, the input dataset is usually split into smaller
+these neighbors efficiently, the input dataset is usually split into smaller
chunks using spatial decomposition techniques such as octrees or kD-trees (see
the figure below - left: kD-tree, right: octree), and then closest point
searches are performed in that space. Depending on the application one can opt
-for either determining a fixed number of k points in the vecinity of p, or all
+for either determining a fixed number of k points in the vicinity of p, or all
points which are found inside of a sphere of radius r centered at p.
Unarguably, one the easiest methods for estimating the surface normals and
curvature changes at a point p is to perform an eigendecomposition (i.e.
- \ref search "search"
- \ref kdtree "kdtree"
- \ref octree "octree"
- - \ref range_image "range_image"
+ - \ref pcl::RangeImage "range_image"
*/
/** \brief Boost-based random number generator distribution. */
boost::shared_ptr<boost::uniform_01<boost::mt19937> > rng_;
- /** \brief Shift computed descriptor "L" times along the azimuthal direction
- * \param[in] block_size the size of each azimuthal block
- * \param[in] desc at input desc == original descriptor and on output it contains
- * shifted descriptor resized descriptor_length_ * azimuth_bins_
- */
+ /* \brief Shift computed descriptor "L" times along the azimuthal direction
+ * \param[in] block_size the size of each azimuthal block
+ * \param[in] desc at input desc == original descriptor and on output it contains
+ * shifted descriptor resized descriptor_length_ * azimuth_bins_
+ */
//void
//shiftAlongAzimuth (size_t block_size, std::vector<float>& desc);
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2011, Alexandru-Eugen Ichim
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2013, Martin Szarski
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_CPPF_H_
+#define PCL_CPPF_H_
+
+#include <pcl/features/feature.h>
+#include <pcl/features/boost.h>
+
+namespace pcl
+{
+ /** \brief
+ * \param[in] p1
+ * \param[in] n1
+ * \param[in] p2
+ * \param[in] n2
+ * \param[in] c1
+ * \param[in] c2
+ * \param[out] f1
+ * \param[out] f2
+ * \param[out] f3
+ * \param[out] f4
+ * \param[out] f5
+ * \param[out] f6
+ * \param[out] f7
+ * \param[out] f8
+ * \param[out] f9
+ * \param[out] f10
+ */
+ PCL_EXPORTS bool
+ computeCPPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &c1,
+ const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &c2,
+ float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7, float &f8, float &f9, float &f10);
+
+
+
+ /** \brief Class that calculates the "surflet" features for each pair in the given
+ * pointcloud. Please refer to the following publication for more details:
+ * C. Choi, Henrik Christensen
+ * 3D Pose Estimation of Daily Objects Using an RGB-D Camera
+ * Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
+ * 2012
+ *
+ * PointOutT is meant to be pcl::CPPFSignature - contains the 10 values of the Surflet
+ * feature and in addition, alpha_m for the respective pair - optimization proposed by
+ * the authors (see above)
+ *
+ * \author Martin Szarski, Alexandru-Eugen Ichim
+ */
+
+ template <typename PointInT, typename PointNT, typename PointOutT>
+ class CPPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
+ {
+ public:
+ typedef boost::shared_ptr<CPPFEstimation<PointInT, PointNT, PointOutT> > Ptr;
+ typedef boost::shared_ptr<const CPPFEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
+ using PCLBase<PointInT>::indices_;
+ using Feature<PointInT, PointOutT>::input_;
+ using Feature<PointInT, PointOutT>::feature_name_;
+ using Feature<PointInT, PointOutT>::getClassName;
+ using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
+
+ typedef pcl::PointCloud<PointOutT> PointCloudOut;
+
+ /** \brief Empty Constructor. */
+ CPPFEstimation ();
+
+
+ private:
+ /** \brief The method called for actually doing the computations
+ * \param[out] output the resulting point cloud (which should be of type pcl::CPPFSignature);
+ * its size is the size of the input cloud, squared (i.e., one point for each pair in
+ * the input cloud);
+ */
+ void
+ computeFeature (PointCloudOut &output);
+ };
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/features/impl/cppf.hpp>
+#endif
+
+#endif // PCL_CPPF_H_
/** \brief Removes normals with high curvature caused by real edges or noisy data
* \param[in] cloud pointcloud to be filtered
+ * \param[in] indices_to_use the indices to use
* \param[out] indices_out the indices of the points with higher curvature than threshold
* \param[out] indices_in the indices of the remaining points after filtering
* \param[in] threshold threshold value for curvature
protected:
/** \brief Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud
- * \param[out] spfh_hist_lookup a lookup table for all the SPF feature indices
+ * \param[out] spf_hist_lookup a lookup table for all the SPF feature indices
* \param[out] hist_f1 the resultant SPFH histogram for feature f1
* \param[out] hist_f2 the resultant SPFH histogram for feature f2
* \param[out] hist_f3 the resultant SPFH histogram for feature f3
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2011, Alexandru-Eugen Ichim
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2013, Martin Szarski
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#ifndef PCL_FEATURES_IMPL_CPPF_H_
+#define PCL_FEATURES_IMPL_CPPF_H_
+
+#include <pcl/features/cppf.h>
+#include <pcl/features/pfh.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointNT, typename PointOutT>
+pcl::CPPFEstimation<PointInT, PointNT, PointOutT>::CPPFEstimation ()
+ : FeatureFromNormals <PointInT, PointNT, PointOutT> ()
+{
+ feature_name_ = "CPPFEstimation";
+ // Slight hack in order to pass the check for the presence of a search method in Feature::initCompute ()
+ Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
+ Feature<PointInT, PointOutT>::search_radius_ = 1.0f;
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointNT, typename PointOutT> void
+pcl::CPPFEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
+{
+ // Initialize output container - overwrite the sizes done by Feature::initCompute ()
+ output.points.resize (indices_->size () * input_->points.size ());
+ output.height = 1;
+ output.width = static_cast<uint32_t> (output.points.size ());
+ output.is_dense = true;
+
+ // Compute point pair features for every pair of points in the cloud
+ for (size_t index_i = 0; index_i < indices_->size (); ++index_i)
+ {
+ size_t i = (*indices_)[index_i];
+ for (size_t j = 0 ; j < input_->points.size (); ++j)
+ {
+ PointOutT p;
+ if (i != j)
+ {
+ if (
+ pcl::computeCPPFPairFeature (input_->points[i].getVector4fMap (),
+ normals_->points[i].getNormalVector4fMap (),
+ input_->points[i].getRGBVector4i (),
+ input_->points[j].getVector4fMap (),
+ normals_->points[j].getNormalVector4fMap (),
+ input_->points[j].getRGBVector4i (),
+ p.f1, p.f2, p.f3, p.f4, p.f5, p.f6, p.f7, p.f8, p.f9, p.f10))
+ {
+ // Calculate alpha_m angle
+ Eigen::Vector3f model_reference_point = input_->points[i].getVector3fMap (),
+ model_reference_normal = normals_->points[i].getNormalVector3fMap (),
+ model_point = input_->points[j].getVector3fMap ();
+ Eigen::AngleAxisf rotation_mg (acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ())),
+ model_reference_normal.cross (Eigen::Vector3f::UnitX ()).normalized ());
+ Eigen::Affine3f transform_mg = Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg;
+
+ Eigen::Vector3f model_point_transformed = transform_mg * model_point;
+ float angle = atan2f ( -model_point_transformed(2), model_point_transformed(1));
+ if (sin (angle) * model_point_transformed(2) < 0.0f)
+ angle *= (-1);
+ p.alpha_m = -angle;
+ }
+ else
+ {
+ PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %lu and %lu went wrong.\n", getClassName ().c_str (), i, j);
+ p.f1 = p.f2 = p.f3 = p.f4 = p.f5 = p.f6 = p.f7 = p.f8 = p.f9 = p.f10 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
+ output.is_dense = false;
+ }
+ }
+ // Do not calculate the feature for identity pairs (i, i) as they are not used
+ // in the following computations
+ else
+ {
+ p.f1 = p.f2 = p.f3 = p.f4 = p.f5 = p.f6 = p.f7 = p.f8 = p.f9 = p.f10 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
+ output.is_dense = false;
+ }
+
+ output.points[index_i*input_->points.size () + j] = p;
+ }
+ }
+}
+
+#define PCL_INSTANTIATE_CPPFEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::CPPFEstimation<T,NT,OutT>;
+
+
+#endif // PCL_FEATURES_IMPL_CPPF_H_
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
if (cloud.points.size () != normals.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%zu) different than normals (%zu)!\n", cloud.points.size (), normals.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%lu) different than normals (%lu)!\n", cloud.points.size (), normals.points.size ());
return;
}
float h_a3_in[binsize] = {0};
float h_a3_out[binsize] = {0};
float h_a3_mix[binsize] = {0};
- float h_d1[binsize] = {0};
float h_d3_in[binsize] = {0};
float h_d3_out[binsize] = {0};
// Resize the output dataset
if (output.points.size () != indices_->size ())
output.points.resize (indices_->size ());
+
// Check if the output will be computed for all points or only a subset
- if (indices_->size () != input_->points.size ())
+ // If the input width or height are not set, set output width as size
+ if (indices_->size () != input_->points.size () || input_->width * input_->height == 0)
{
- output.width = static_cast<int> (indices_->size ());
+ output.width = static_cast<uint32_t> (indices_->size ());
output.height = 1;
}
else
current_row -= input_->width;
}
+ if (indices_->size () < input_->size ())
+ computeFeaturePart (distanceMap, bad_point, output);
+ else
+ computeFeatureFull (distanceMap, bad_point, output);
+
+ delete[] depthChangeMap;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::computeFeatureFull (const float *distanceMap,
+ const float &bad_point,
+ PointCloudOut &output)
+{
+ unsigned index = 0;
+
if (border_policy_ == BORDER_POLICY_IGNORE)
{
// Set all normals that we do not touch to NaN
}
}
}
+}
- delete[] depthChangeMap;
- //delete[] distanceMap;
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::IntegralImageNormalEstimation<PointInT, PointOutT>::computeFeaturePart (const float *distanceMap,
+ const float &bad_point,
+ PointCloudOut &output)
+{
+ if (border_policy_ == BORDER_POLICY_IGNORE)
+ {
+ output.is_dense = false;
+ unsigned border = int(normal_smoothing_size_);
+ unsigned bottom = input_->height > border ? input_->height - border : 0;
+ unsigned right = input_->width > border ? input_->width - border : 0;
+ if (use_depth_dependent_smoothing_)
+ {
+ // Iterating over the entire index vector
+ for (std::size_t idx = 0; idx < indices_->size (); ++idx)
+ {
+ unsigned pt_index = (*indices_)[idx];
+ unsigned u = pt_index % input_->width;
+ unsigned v = pt_index / input_->width;
+ if (v < border || v > bottom)
+ {
+ output.points[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output.points[idx].curvature = bad_point;
+ continue;
+ }
+
+ if (u < border || v > right)
+ {
+ output.points[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output.points[idx].curvature = bad_point;
+ continue;
+ }
+
+ const float depth = input_->points[pt_index].z;
+ if (!pcl_isfinite (depth))
+ {
+ output.points[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output.points[idx].curvature = bad_point;
+ continue;
+ }
+
+ float smoothing = (std::min)(distanceMap[pt_index], normal_smoothing_size_ + static_cast<float>(depth)/10.0f);
+ if (smoothing > 2.0f)
+ {
+ setRectSize (static_cast<int> (smoothing), static_cast<int> (smoothing));
+ computePointNormal (u, v, pt_index, output [idx]);
+ }
+ else
+ {
+ output[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output[idx].curvature = bad_point;
+ }
+ }
+ }
+ else
+ {
+ float smoothing_constant = normal_smoothing_size_;
+ // Iterating over the entire index vector
+ for (std::size_t idx = 0; idx < indices_->size (); ++idx)
+ {
+ unsigned pt_index = (*indices_)[idx];
+ unsigned u = pt_index % input_->width;
+ unsigned v = pt_index / input_->width;
+ if (v < border || v > bottom)
+ {
+ output.points[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output.points[idx].curvature = bad_point;
+ continue;
+ }
+
+ if (u < border || v > right)
+ {
+ output.points[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output.points[idx].curvature = bad_point;
+ continue;
+ }
+
+ if (!pcl_isfinite (input_->points[pt_index].z))
+ {
+ output [idx].getNormalVector3fMap ().setConstant (bad_point);
+ output [idx].curvature = bad_point;
+ continue;
+ }
+
+ float smoothing = (std::min)(distanceMap[pt_index], smoothing_constant);
+
+ if (smoothing > 2.0f)
+ {
+ setRectSize (static_cast<int> (smoothing), static_cast<int> (smoothing));
+ computePointNormal (u, v, pt_index, output [idx]);
+ }
+ else
+ {
+ output [pt_index].getNormalVector3fMap ().setConstant (bad_point);
+ output [pt_index].curvature = bad_point;
+ }
+ }
+ }
+ }// border_policy_ == BORDER_POLICY_IGNORE
+ else if (border_policy_ == BORDER_POLICY_MIRROR)
+ {
+ output.is_dense = false;
+
+ if (use_depth_dependent_smoothing_)
+ {
+ for (std::size_t idx = 0; idx < indices_->size (); ++idx)
+ {
+ unsigned pt_index = (*indices_)[idx];
+ unsigned u = pt_index % input_->width;
+ unsigned v = pt_index / input_->width;
+
+ const float depth = input_->points[pt_index].z;
+ if (!pcl_isfinite (depth))
+ {
+ output[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output[idx].curvature = bad_point;
+ continue;
+ }
+
+ float smoothing = (std::min)(distanceMap[pt_index], normal_smoothing_size_ + static_cast<float>(depth)/10.0f);
+
+ if (smoothing > 2.0f)
+ {
+ setRectSize (static_cast<int> (smoothing), static_cast<int> (smoothing));
+ computePointNormalMirror (u, v, pt_index, output [idx]);
+ }
+ else
+ {
+ output[idx].getNormalVector3fMap ().setConstant (bad_point);
+ output[idx].curvature = bad_point;
+ }
+ }
+ }
+ else
+ {
+ float smoothing_constant = normal_smoothing_size_;
+ for (size_t idx = 0; idx < indices_->size (); ++idx)
+ {
+ unsigned pt_index = (*indices_)[idx];
+ unsigned u = pt_index % input_->width;
+ unsigned v = pt_index / input_->width;
+
+ if (!pcl_isfinite (input_->points[pt_index].z))
+ {
+ output [idx].getNormalVector3fMap ().setConstant (bad_point);
+ output [idx].curvature = bad_point;
+ continue;
+ }
+
+ float smoothing = (std::min)(distanceMap[pt_index], smoothing_constant);
+
+ if (smoothing > 2.0f)
+ {
+ setRectSize (static_cast<int> (smoothing), static_cast<int> (smoothing));
+ computePointNormalMirror (u, v, pt_index, output [idx]);
+ }
+ else
+ {
+ output [idx].getNormalVector3fMap ().setConstant (bad_point);
+ output [idx].curvature = bad_point;
+ }
+ }
+ }
+ } // border_policy_ == BORDER_POLICY_MIRROR
}
//////////////////////////////////////////////////////////////////////////////////////////
// Find the min and max intensity values in the given neighborhood
float min_intensity = std::numeric_limits<float>::max ();
- float max_intensity = std::numeric_limits<float>::min ();
+ float max_intensity = -std::numeric_limits<float>::max ();
for (int idx = 0; idx < k; ++idx)
{
min_intensity = (std::min) (min_intensity, cloud.points[indices[idx]].intensity);
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ *
+ * 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.
+ *
+ * Author : Sergey Ushakov
+ * Email : sergey.s.ushakov@mail.ru
+ *
+ */
+
+#ifndef PCL_MOMENT_OF_INERTIA_ESTIMATION_HPP_
+#define PCL_MOMENT_OF_INERTIA_ESTIMATION_HPP_
+
+#include <pcl/features/moment_of_inertia_estimation.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT>
+pcl::MomentOfInertiaEstimation<PointT>::MomentOfInertiaEstimation () :
+ is_valid_ (false),
+ step_ (10.0f),
+ point_mass_ (0.0001f),
+ normalize_ (true),
+ mean_value_ (0.0f, 0.0f, 0.0f),
+ major_axis_ (0.0f, 0.0f, 0.0f),
+ middle_axis_ (0.0f, 0.0f, 0.0f),
+ minor_axis_ (0.0f, 0.0f, 0.0f),
+ major_value_ (0.0f),
+ middle_value_ (0.0f),
+ minor_value_ (0.0f),
+ moment_of_inertia_ (),
+ eccentricity_ (),
+ aabb_min_point_ (),
+ aabb_max_point_ (),
+ obb_min_point_ (),
+ obb_max_point_ (),
+ obb_position_ (0.0f, 0.0f, 0.0f),
+ obb_rotational_matrix_ ()
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT>
+pcl::MomentOfInertiaEstimation<PointT>::~MomentOfInertiaEstimation ()
+{
+ moment_of_inertia_.clear ();
+ eccentricity_.clear ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setAngleStep (const float step)
+{
+ if (step <= 0.0f)
+ return;
+
+ step_ = step;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> float
+pcl::MomentOfInertiaEstimation<PointT>::getAngleStep () const
+{
+ return (step_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setNormalizePointMassFlag (bool need_to_normalize)
+{
+ normalize_ = need_to_normalize;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getNormalizePointMassFlag () const
+{
+ return (normalize_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setPointMass (const float point_mass)
+{
+ if (point_mass <= 0.0f)
+ return;
+
+ point_mass_ = point_mass;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> float
+pcl::MomentOfInertiaEstimation<PointT>::getPointMass () const
+{
+ return (point_mass_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::compute ()
+{
+ moment_of_inertia_.clear ();
+ eccentricity_.clear ();
+
+ if (!initCompute ())
+ {
+ deinitCompute ();
+ return;
+ }
+
+ if (normalize_)
+ {
+ if (indices_->size () > 0)
+ point_mass_ = 1.0f / static_cast <float> (indices_->size () * indices_->size ());
+ else
+ point_mass_ = 1.0f;
+ }
+
+ computeMeanValue ();
+
+ Eigen::Matrix <float, 3, 3> covariance_matrix;
+ covariance_matrix.setZero ();
+ computeCovarianceMatrix (covariance_matrix);
+
+ computeEigenVectors (covariance_matrix, major_axis_, middle_axis_, minor_axis_, major_value_, middle_value_, minor_value_);
+
+ float theta = 0.0f;
+ while (theta <= 90.0f)
+ {
+ float phi = 0.0f;
+ Eigen::Vector3f rotated_vector;
+ rotateVector (major_axis_, middle_axis_, theta, rotated_vector);
+ while (phi <= 360.0f)
+ {
+ Eigen::Vector3f current_axis;
+ rotateVector (rotated_vector, minor_axis_, phi, current_axis);
+ current_axis.normalize ();
+
+ //compute moment of inertia for the current axis
+ float current_moment_of_inertia = calculateMomentOfInertia (current_axis, mean_value_);
+ moment_of_inertia_.push_back (current_moment_of_inertia);
+
+ //compute eccentricity for the current plane
+ typename pcl::PointCloud<PointT>::Ptr projected_cloud (new pcl::PointCloud<PointT> ());
+ getProjectedCloud (current_axis, mean_value_, projected_cloud);
+ Eigen::Matrix <float, 3, 3> covariance_matrix;
+ covariance_matrix.setZero ();
+ computeCovarianceMatrix (projected_cloud, covariance_matrix);
+ projected_cloud.reset ();
+ float current_eccentricity = computeEccentricity (covariance_matrix, current_axis);
+ eccentricity_.push_back (current_eccentricity);
+
+ phi += step_;
+ }
+ theta += step_;
+ }
+
+ computeOBB ();
+
+ is_valid_ = true;
+
+ deinitCompute ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getAABB (PointT& min_point, PointT& max_point) const
+{
+ min_point = aabb_min_point_;
+ max_point = aabb_max_point_;
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getOBB (PointT& min_point, PointT& max_point, PointT& position, Eigen::Matrix3f& rotational_matrix) const
+{
+ min_point = obb_min_point_;
+ max_point = obb_max_point_;
+ position.x = obb_position_ (0);
+ position.y = obb_position_ (1);
+ position.z = obb_position_ (2);
+ rotational_matrix = obb_rotational_matrix_;
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::computeOBB ()
+{
+ obb_min_point_.x = std::numeric_limits <float>::max ();
+ obb_min_point_.y = std::numeric_limits <float>::max ();
+ obb_min_point_.z = std::numeric_limits <float>::max ();
+
+ obb_max_point_.x = std::numeric_limits <float>::min ();
+ obb_max_point_.y = std::numeric_limits <float>::min ();
+ obb_max_point_.z = std::numeric_limits <float>::min ();
+
+ unsigned int number_of_points = static_cast <unsigned int> (indices_->size ());
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ float x = (input_->points[(*indices_)[i_point]].x - mean_value_ (0)) * major_axis_ (0) +
+ (input_->points[(*indices_)[i_point]].y - mean_value_ (1)) * major_axis_ (1) +
+ (input_->points[(*indices_)[i_point]].z - mean_value_ (2)) * major_axis_ (2);
+ float y = (input_->points[(*indices_)[i_point]].x - mean_value_ (0)) * middle_axis_ (0) +
+ (input_->points[(*indices_)[i_point]].y - mean_value_ (1)) * middle_axis_ (1) +
+ (input_->points[(*indices_)[i_point]].z - mean_value_ (2)) * middle_axis_ (2);
+ float z = (input_->points[(*indices_)[i_point]].x - mean_value_ (0)) * minor_axis_ (0) +
+ (input_->points[(*indices_)[i_point]].y - mean_value_ (1)) * minor_axis_ (1) +
+ (input_->points[(*indices_)[i_point]].z - mean_value_ (2)) * minor_axis_ (2);
+
+ if (x <= obb_min_point_.x) obb_min_point_.x = x;
+ if (y <= obb_min_point_.y) obb_min_point_.y = y;
+ if (z <= obb_min_point_.z) obb_min_point_.z = z;
+
+ if (x >= obb_max_point_.x) obb_max_point_.x = x;
+ if (y >= obb_max_point_.y) obb_max_point_.y = y;
+ if (z >= obb_max_point_.z) obb_max_point_.z = z;
+ }
+
+ obb_rotational_matrix_ << major_axis_ (0), middle_axis_ (0), minor_axis_ (0),
+ major_axis_ (1), middle_axis_ (1), minor_axis_ (1),
+ major_axis_ (2), middle_axis_ (2), minor_axis_ (2);
+
+ Eigen::Vector3f shift (
+ (obb_max_point_.x + obb_min_point_.x) / 2.0f,
+ (obb_max_point_.y + obb_min_point_.y) / 2.0f,
+ (obb_max_point_.z + obb_min_point_.z) / 2.0f);
+
+ obb_min_point_.x -= shift (0);
+ obb_min_point_.y -= shift (1);
+ obb_min_point_.z -= shift (2);
+
+ obb_max_point_.x -= shift (0);
+ obb_max_point_.y -= shift (1);
+ obb_max_point_.z -= shift (2);
+
+ obb_position_ = mean_value_ + obb_rotational_matrix_ * shift;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getEigenValues (float& major, float& middle, float& minor) const
+{
+ major = major_value_;
+ middle = middle_value_;
+ minor = minor_value_;
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getEigenVectors (Eigen::Vector3f& major, Eigen::Vector3f& middle, Eigen::Vector3f& minor) const
+{
+ major = major_axis_;
+ middle = middle_axis_;
+ minor = minor_axis_;
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getMomentOfInertia (std::vector <float>& moment_of_inertia) const
+{
+ moment_of_inertia.resize (moment_of_inertia_.size (), 0.0f);
+ std::copy (moment_of_inertia_.begin (), moment_of_inertia_.end (), moment_of_inertia.begin ());
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getEccentricity (std::vector <float>& eccentricity) const
+{
+ eccentricity.resize (eccentricity_.size (), 0.0f);
+ std::copy (eccentricity_.begin (), eccentricity_.end (), eccentricity.begin ());
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::computeMeanValue ()
+{
+ mean_value_ (0) = 0.0f;
+ mean_value_ (1) = 0.0f;
+ mean_value_ (2) = 0.0f;
+
+ aabb_min_point_.x = std::numeric_limits <float>::max ();
+ aabb_min_point_.y = std::numeric_limits <float>::max ();
+ aabb_min_point_.z = std::numeric_limits <float>::max ();
+
+ aabb_max_point_.x = -std::numeric_limits <float>::max ();
+ aabb_max_point_.y = -std::numeric_limits <float>::max ();
+ aabb_max_point_.z = -std::numeric_limits <float>::max ();
+
+ unsigned int number_of_points = static_cast <unsigned int> (indices_->size ());
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ mean_value_ (0) += input_->points[(*indices_)[i_point]].x;
+ mean_value_ (1) += input_->points[(*indices_)[i_point]].y;
+ mean_value_ (2) += input_->points[(*indices_)[i_point]].z;
+
+ if (input_->points[(*indices_)[i_point]].x <= aabb_min_point_.x) aabb_min_point_.x = input_->points[(*indices_)[i_point]].x;
+ if (input_->points[(*indices_)[i_point]].y <= aabb_min_point_.y) aabb_min_point_.y = input_->points[(*indices_)[i_point]].y;
+ if (input_->points[(*indices_)[i_point]].z <= aabb_min_point_.z) aabb_min_point_.z = input_->points[(*indices_)[i_point]].z;
+
+ if (input_->points[(*indices_)[i_point]].x >= aabb_max_point_.x) aabb_max_point_.x = input_->points[(*indices_)[i_point]].x;
+ if (input_->points[(*indices_)[i_point]].y >= aabb_max_point_.y) aabb_max_point_.y = input_->points[(*indices_)[i_point]].y;
+ if (input_->points[(*indices_)[i_point]].z >= aabb_max_point_.z) aabb_max_point_.z = input_->points[(*indices_)[i_point]].z;
+ }
+
+ if (number_of_points == 0)
+ number_of_points = 1;
+
+ mean_value_ (0) /= number_of_points;
+ mean_value_ (1) /= number_of_points;
+ mean_value_ (2) /= number_of_points;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::computeCovarianceMatrix (Eigen::Matrix <float, 3, 3>& covariance_matrix) const
+{
+ covariance_matrix.setZero ();
+
+ unsigned int number_of_points = static_cast <unsigned int> (indices_->size ());
+ float factor = 1.0f / static_cast <float> ((number_of_points - 1 > 0)?(number_of_points - 1):1);
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ Eigen::Vector3f current_point (0.0f, 0.0f, 0.0f);
+ current_point (0) = input_->points[(*indices_)[i_point]].x - mean_value_ (0);
+ current_point (1) = input_->points[(*indices_)[i_point]].y - mean_value_ (1);
+ current_point (2) = input_->points[(*indices_)[i_point]].z - mean_value_ (2);
+
+ covariance_matrix += current_point * current_point.transpose ();
+ }
+
+ covariance_matrix *= factor;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::computeCovarianceMatrix (PointCloudConstPtr cloud, Eigen::Matrix <float, 3, 3>& covariance_matrix) const
+{
+ covariance_matrix.setZero ();
+
+ unsigned int number_of_points = static_cast <unsigned int> (cloud->points.size ());
+ float factor = 1.0f / static_cast <float> ((number_of_points - 1 > 0)?(number_of_points - 1):1);
+ Eigen::Vector3f current_point;
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ current_point (0) = cloud->points[i_point].x - mean_value_ (0);
+ current_point (1) = cloud->points[i_point].y - mean_value_ (1);
+ current_point (2) = cloud->points[i_point].z - mean_value_ (2);
+
+ covariance_matrix += current_point * current_point.transpose ();
+ }
+
+ covariance_matrix *= factor;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::computeEigenVectors (const Eigen::Matrix <float, 3, 3>& covariance_matrix,
+ Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis, Eigen::Vector3f& minor_axis, float& major_value,
+ float& middle_value, float& minor_value)
+{
+ Eigen::EigenSolver <Eigen::Matrix <float, 3, 3> > eigen_solver;
+ eigen_solver.compute (covariance_matrix);
+
+ Eigen::EigenSolver <Eigen::Matrix <float, 3, 3> >::EigenvectorsType eigen_vectors;
+ Eigen::EigenSolver <Eigen::Matrix <float, 3, 3> >::EigenvalueType eigen_values;
+ eigen_vectors = eigen_solver.eigenvectors ();
+ eigen_values = eigen_solver.eigenvalues ();
+
+ unsigned int temp = 0;
+ unsigned int major_index = 0;
+ unsigned int middle_index = 1;
+ unsigned int minor_index = 2;
+
+ if (eigen_values.real () (major_index) < eigen_values.real () (middle_index))
+ {
+ temp = major_index;
+ major_index = middle_index;
+ middle_index = temp;
+ }
+
+ if (eigen_values.real () (major_index) < eigen_values.real () (minor_index))
+ {
+ temp = major_index;
+ major_index = minor_index;
+ minor_index = temp;
+ }
+
+ if (eigen_values.real () (middle_index) < eigen_values.real () (minor_index))
+ {
+ temp = minor_index;
+ minor_index = middle_index;
+ middle_index = temp;
+ }
+
+ major_value = eigen_values.real () (major_index);
+ middle_value = eigen_values.real () (middle_index);
+ minor_value = eigen_values.real () (minor_index);
+
+ major_axis = eigen_vectors.col (major_index).real ();
+ middle_axis = eigen_vectors.col (middle_index).real ();
+ minor_axis = eigen_vectors.col (minor_index).real ();
+
+ major_axis.normalize ();
+ middle_axis.normalize ();
+ minor_axis.normalize ();
+
+ float det = major_axis.dot (middle_axis.cross (minor_axis));
+ if (det <= 0.0f)
+ {
+ major_axis (0) = -major_axis (0);
+ major_axis (1) = -major_axis (1);
+ major_axis (2) = -major_axis (2);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::rotateVector (const Eigen::Vector3f& vector, const Eigen::Vector3f& axis, const float angle, Eigen::Vector3f& rotated_vector) const
+{
+ Eigen::Matrix <float, 3, 3> rotation_matrix;
+ const float x = axis (0);
+ const float y = axis (1);
+ const float z = axis (2);
+ const float rad = M_PI / 180.0f;
+ const float cosine = cos (angle * rad);
+ const float sine = sin (angle * rad);
+ rotation_matrix << cosine + (1 - cosine) * x * x, (1 - cosine) * x * y - sine * z, (1 - cosine) * x * z + sine * y,
+ (1 - cosine) * y * x + sine * z, cosine + (1 - cosine) * y * y, (1 - cosine) * y * z - sine * x,
+ (1 - cosine) * z * x - sine * y, (1 - cosine) * z * y + sine * x, cosine + (1 - cosine) * z * z;
+
+ rotated_vector = rotation_matrix * vector;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> float
+pcl::MomentOfInertiaEstimation<PointT>::calculateMomentOfInertia (const Eigen::Vector3f& current_axis, const Eigen::Vector3f& mean_value) const
+{
+ float moment_of_inertia = 0.0f;
+ unsigned int number_of_points = static_cast <unsigned int> (indices_->size ());
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ Eigen::Vector3f vector;
+ vector (0) = mean_value (0) - input_->points[(*indices_)[i_point]].x;
+ vector (1) = mean_value (1) - input_->points[(*indices_)[i_point]].y;
+ vector (2) = mean_value (2) - input_->points[(*indices_)[i_point]].z;
+
+ Eigen::Vector3f product = vector.cross (current_axis);
+
+ float distance = product (0) * product (0) + product (1) * product (1) + product (2) * product (2);
+
+ moment_of_inertia += distance;
+ }
+
+ return (point_mass_ * moment_of_inertia);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::getProjectedCloud (const Eigen::Vector3f& normal_vector, const Eigen::Vector3f& point, typename pcl::PointCloud <PointT>::Ptr projected_cloud) const
+{
+ const float D = - normal_vector.dot (point);
+
+ unsigned int number_of_points = static_cast <unsigned int> (indices_->size ());
+ projected_cloud->points.resize (number_of_points, PointT ());
+
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ const unsigned int index = (*indices_)[i_point];
+ float K = - (D + normal_vector (0) * input_->points[index].x + normal_vector (1) * input_->points[index].y + normal_vector (2) * input_->points[index].z);
+ PointT projected_point;
+ projected_point.x = input_->points[index].x + K * normal_vector (0);
+ projected_point.y = input_->points[index].y + K * normal_vector (1);
+ projected_point.z = input_->points[index].z + K * normal_vector (2);
+ projected_cloud->points[i_point] = projected_point;
+ }
+ projected_cloud->width = number_of_points;
+ projected_cloud->height = 1;
+ projected_cloud->header = input_->header;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> float
+pcl::MomentOfInertiaEstimation<PointT>::computeEccentricity (const Eigen::Matrix <float, 3, 3>& covariance_matrix, const Eigen::Vector3f& normal_vector)
+{
+ Eigen::Vector3f major_axis (0.0f, 0.0f, 0.0f);
+ Eigen::Vector3f middle_axis (0.0f, 0.0f, 0.0f);
+ Eigen::Vector3f minor_axis (0.0f, 0.0f, 0.0f);
+ float major_value = 0.0f;
+ float middle_value = 0.0f;
+ float minor_value = 0.0f;
+ computeEigenVectors (covariance_matrix, major_axis, middle_axis, minor_axis, major_value, middle_value, minor_value);
+
+ float major = abs (major_axis.dot (normal_vector));
+ float middle = abs (middle_axis.dot (normal_vector));
+ float minor = abs (minor_axis.dot (normal_vector));
+
+ float eccentricity = 0.0f;
+
+ if (major >= middle && major >= minor && middle_value != 0.0f)
+ eccentricity = pow (1.0f - (minor_value * minor_value) / (middle_value * middle_value), 0.5f);
+
+ if (middle >= major && middle >= minor && major_value != 0.0f)
+ eccentricity = pow (1.0f - (minor_value * minor_value) / (major_value * major_value), 0.5f);
+
+ if (minor >= major && minor >= middle && major_value != 0.0f)
+ eccentricity = pow (1.0f - (middle_value * middle_value) / (major_value * major_value), 0.5f);
+
+ return (eccentricity);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::MomentOfInertiaEstimation<PointT>::getMassCenter (Eigen::Vector3f& mass_center) const
+{
+ mass_center = mean_value_;
+
+ return (is_valid_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setInputCloud (const PointCloudConstPtr& cloud)
+{
+ input_ = cloud;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setIndices (const IndicesPtr& indices)
+{
+ indices_ = indices;
+ fake_indices_ = false;
+ use_indices_ = true;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setIndices (const IndicesConstPtr& indices)
+{
+ indices_.reset (new std::vector<int> (*indices));
+ fake_indices_ = false;
+ use_indices_ = true;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setIndices (const PointIndicesConstPtr& indices)
+{
+ indices_.reset (new std::vector<int> (indices->indices));
+ fake_indices_ = false;
+ use_indices_ = true;
+
+ is_valid_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::MomentOfInertiaEstimation<PointT>::setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
+{
+ if ((nb_rows > input_->height) || (row_start > input_->height))
+ {
+ PCL_ERROR ("[PCLBase::setIndices] cloud is only %d height", input_->height);
+ return;
+ }
+
+ if ((nb_cols > input_->width) || (col_start > input_->width))
+ {
+ PCL_ERROR ("[PCLBase::setIndices] cloud is only %d width", input_->width);
+ return;
+ }
+
+ size_t row_end = row_start + nb_rows;
+ if (row_end > input_->height)
+ {
+ PCL_ERROR ("[PCLBase::setIndices] %d is out of rows range %d", row_end, input_->height);
+ return;
+ }
+
+ size_t col_end = col_start + nb_cols;
+ if (col_end > input_->width)
+ {
+ PCL_ERROR ("[PCLBase::setIndices] %d is out of columns range %d", col_end, input_->width);
+ return;
+ }
+
+ indices_.reset (new std::vector<int>);
+ indices_->reserve (nb_cols * nb_rows);
+ for(size_t i = row_start; i < row_end; i++)
+ for(size_t j = col_start; j < col_end; j++)
+ indices_->push_back (static_cast<int> ((i * input_->width) + j));
+ fake_indices_ = false;
+ use_indices_ = true;
+
+ is_valid_ = false;
+}
+
+#endif // PCL_MOMENT_OF_INERTIA_ESTIMATION_HPP_
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
if (cloud.points.size () != normals.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%zu) different than normals (%zu)!\n", cloud.points.size (), normals.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%lu) different than normals (%lu)!\n", cloud.points.size (), normals.points.size ());
return;
}
if ((min_axis / max_axis) > axis_ratio_)
{
- PCL_WARN("Both axis are equally easy/difficult to disambiguate\n");
+ PCL_WARN ("Both axes are equally easy/difficult to disambiguate\n");
Eigen::Vector3f evy_copy = evy;
Eigen::Vector3f evxminus = evx * -1;
std::vector<pcl::PointIndices> & cluster_indices)
{
PointCloudOut ourcvfh_output;
+
+ cluster_axes_.clear ();
+ cluster_axes_.resize (centroids_dominant_orientations_.size ());
+
for (size_t i = 0; i < centroids_dominant_orientations_.size (); i++)
{
PointInTPtr grid (new pcl::PointCloud<PointInT>);
sgurf (centroids_dominant_orientations_[i], dominant_normals_[i], processed, transformations, grid, cluster_indices[i]);
+ // Make a note of how many transformations correspond to each cluster
+ cluster_axes_[i] = transformations.size ();
+
for (size_t t = 0; t < transformations.size (); t++)
{
weights[ii] *= 0.5f - wz * 0.5f;
}
- int h_index = static_cast<int> (std::floor (size_hists * (d / distance_normalization_factor)));
+ int h_index = (d <= 0) ? 0 : std::ceil (size_hists * (d / distance_normalization_factor)) - 1;
for (int j = 0; j < num_hists; j++)
quadrants[j][h_index] += hist_incr * weights[j];
}
ourcvfh_output.points.push_back (vfh_signature.points[0]);
-
+ ourcvfh_output.width = ourcvfh_output.points.size ();
delete[] weights;
}
}
+ if (ourcvfh_output.points.size ())
+ {
+ ourcvfh_output.height = 1;
+ }
output = ourcvfh_output;
}
//remove last cluster if no points found...
if (clusters_[cluster_filtered_idx].indices.size () == 0)
{
- clusters_.erase (clusters_.end ());
- clusters_filtered.erase (clusters_filtered.end ());
+ clusters_.pop_back ();
+ clusters_filtered.pop_back ();
}
else
cluster_filtered_idx++;
Eigen::Vector3f model_reference_point = input_->points[i].getVector3fMap (),
model_reference_normal = normals_->points[i].getNormalVector3fMap (),
model_point = input_->points[j].getVector3fMap ();
- Eigen::AngleAxisf rotation_mg (acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ())),
- model_reference_normal.cross (Eigen::Vector3f::UnitX ()).normalized ());
- Eigen::Affine3f transform_mg = Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg;
+ float rotation_angle = acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));
+ bool parallel_to_x = (model_reference_normal.y() == 0.0f && model_reference_normal.z() == 0.0f);
+ Eigen::Vector3f rotation_axis = (parallel_to_x)?(Eigen::Vector3f::UnitY ()):(model_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
+ Eigen::AngleAxisf rotation_mg (rotation_angle, rotation_axis);
+ Eigen::Affine3f transform_mg (Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg);
Eigen::Vector3f model_point_transformed = transform_mg * model_point;
float angle = atan2f ( -model_point_transformed(2), model_point_transformed(1));
}
else
{
- PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %zu and %zu went wrong.\n", getClassName ().c_str (), i, j);
+ PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %u and %u went wrong.\n", getClassName ().c_str (), i, j);
p.f1 = p.f2 = p.f3 = p.f4 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
output.is_dense = false;
}
}
else
{
- PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %zu and %zu went wrong.\n", getClassName ().c_str (), i, j);
+ PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %lu and %lu went wrong.\n", getClassName ().c_str (), i, j);
p.f1 = p.f2 = p.f3 = p.f4 = p.alpha_m = p.r_ratio = p.g_ratio = p.b_ratio = 0.f;
}
}
}
else
{
- PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %zu and %zu went wrong.\n", getClassName ().c_str (), i, j);
+ PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %lu and %lu went wrong.\n", getClassName ().c_str (), i, j);
}
}
}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ *
+ * 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.
+ *
+ * Author : Sergey Ushakov
+ * Email : sergey.s.ushakov@mail.ru
+ *
+ */
+
+#ifndef PCL_ROPS_ESTIMATION_HPP_
+#define PCL_ROPS_ESTIMATION_HPP_
+
+#include <pcl/features/rops_estimation.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT>
+pcl::ROPSEstimation <PointInT, PointOutT>::ROPSEstimation () :
+ number_of_bins_ (5),
+ number_of_rotations_ (3),
+ support_radius_ (1.0f),
+ sqr_support_radius_ (1.0f),
+ step_ (30.0f),
+ triangles_ (0),
+ triangles_of_the_point_ (0)
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT>
+pcl::ROPSEstimation <PointInT, PointOutT>::~ROPSEstimation ()
+{
+ triangles_.clear ();
+ triangles_of_the_point_.clear ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::setNumberOfPartitionBins (unsigned int number_of_bins)
+{
+ if (number_of_bins != 0)
+ number_of_bins_ = number_of_bins;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> unsigned int
+pcl::ROPSEstimation <PointInT, PointOutT>::getNumberOfPartitionBins () const
+{
+ return (number_of_bins_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::setNumberOfRotations (unsigned int number_of_rotations)
+{
+ if (number_of_rotations != 0)
+ {
+ number_of_rotations_ = number_of_rotations;
+ step_ = 90.0f / static_cast <float> (number_of_rotations_ + 1);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> unsigned int
+pcl::ROPSEstimation <PointInT, PointOutT>::getNumberOfRotations () const
+{
+ return (number_of_rotations_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::setSupportRadius (float support_radius)
+{
+ if (support_radius > 0.0f)
+ {
+ support_radius_ = support_radius;
+ sqr_support_radius_ = support_radius * support_radius;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> float
+pcl::ROPSEstimation <PointInT, PointOutT>::getSupportRadius () const
+{
+ return (support_radius_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::setTriangles (const std::vector <pcl::Vertices>& triangles)
+{
+ triangles_ = triangles;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::getTriangles (std::vector <pcl::Vertices>& triangles) const
+{
+ triangles = triangles_;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::computeFeature (PointCloudOut &output)
+{
+ if (triangles_.size () == 0)
+ {
+ output.points.clear ();
+ return;
+ }
+
+ buildListOfPointsTriangles ();
+
+ //feature size = number_of_rotations * number_of_axis_to_rotate_around * number_of_projections * number_of_central_moments
+ unsigned int feature_size = number_of_rotations_ * 3 * 3 * 5;
+ unsigned int number_of_points = static_cast <unsigned int> (indices_->size ());
+ output.points.resize (number_of_points, PointOutT ());
+
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ std::set <unsigned int> local_triangles;
+ std::vector <int> local_points;
+ getLocalSurface (input_->points[(*indices_)[i_point]], local_triangles, local_points);
+
+ Eigen::Matrix3f lrf_matrix;
+ computeLRF (input_->points[(*indices_)[i_point]], local_triangles, lrf_matrix);
+
+ PointCloudIn transformed_cloud;
+ transformCloud (input_->points[(*indices_)[i_point]], lrf_matrix, local_points, transformed_cloud);
+
+ PointInT axis[3];
+ axis[0].x = 1.0f; axis[0].y = 0.0f; axis[0].z = 0.0f;
+ axis[1].x = 0.0f; axis[1].y = 1.0f; axis[1].z = 0.0f;
+ axis[2].x = 0.0f; axis[2].y = 0.0f; axis[2].z = 1.0f;
+ std::vector <float> feature;
+ for (unsigned int i_axis = 0; i_axis < 3; i_axis++)
+ {
+ float theta = step_;
+ do
+ {
+ //rotate local surface and get bounding box
+ PointCloudIn rotated_cloud;
+ Eigen::Vector3f min, max;
+ rotateCloud (axis[i_axis], theta, transformed_cloud, rotated_cloud, min, max);
+
+ //for each projection (XY, XZ and YZ) compute distribution matrix and central moments
+ for (unsigned int i_proj = 0; i_proj < 3; i_proj++)
+ {
+ Eigen::MatrixXf distribution_matrix;
+ distribution_matrix.resize (number_of_bins_, number_of_bins_);
+ getDistributionMatrix (i_proj, min, max, rotated_cloud, distribution_matrix);
+
+ std::vector <float> moments;
+ computeCentralMoments (distribution_matrix, moments);
+
+ feature.insert (feature.end (), moments.begin (), moments.end ());
+ }
+
+ theta += step_;
+ } while (theta < 90.0f);
+ }
+
+ float norm = 0.0f;
+ for (unsigned int i_dim = 0; i_dim < feature_size; i_dim++)
+ norm += feature[i_dim];
+ if (abs (norm) < std::numeric_limits <float>::epsilon ())
+ norm = 1.0f / norm;
+ else
+ norm = 1.0f;
+
+ for (unsigned int i_dim = 0; i_dim < feature_size; i_dim++)
+ output.points[i_point].histogram[i_dim] = feature[i_dim] * norm;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::buildListOfPointsTriangles ()
+{
+ triangles_of_the_point_.clear ();
+
+ const unsigned int number_of_triangles = static_cast <unsigned int> (triangles_.size ());
+
+ std::vector <unsigned int> dummy;
+ dummy.reserve (100);
+ triangles_of_the_point_.resize (surface_->points. size (), dummy);
+
+ for (unsigned int i_triangle = 0; i_triangle < number_of_triangles; i_triangle++)
+ for (unsigned int i_vertex = 0; i_vertex < 3; i_vertex++)
+ triangles_of_the_point_[triangles_[i_triangle].vertices[i_vertex]].push_back (i_triangle);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::getLocalSurface (const PointInT& point, std::set <unsigned int>& local_triangles, std::vector <int>& local_points) const
+{
+ std::vector <float> distances;
+ tree_->radiusSearch (point, support_radius_, local_points, distances);
+
+ const unsigned int number_of_indices = static_cast <unsigned int> (local_points.size ());
+ for (unsigned int i = 0; i < number_of_indices; i++)
+ local_triangles.insert (triangles_of_the_point_[local_points[i]].begin (), triangles_of_the_point_[local_points[i]].end ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::computeLRF (const PointInT& point, const std::set <unsigned int>& local_triangles, Eigen::Matrix3f& lrf_matrix) const
+{
+ const unsigned int number_of_triangles = static_cast <unsigned int> (local_triangles.size ());
+
+ std::vector <Eigen::Matrix3f> scatter_matrices (number_of_triangles);
+ std::vector <float> triangle_area (number_of_triangles);
+ std::vector <float> distance_weight (number_of_triangles);
+
+ float total_area = 0.0f;
+ const float coeff = 1.0f / 12.0f;
+ const float coeff_1_div_3 = 1.0f / 3.0f;
+
+ Eigen::Vector3f feature_point (point.x, point.y, point.z);
+
+ std::set <unsigned int>::const_iterator it;
+ unsigned int i_triangle = 0;
+ for (it = local_triangles.begin (), i_triangle = 0; it != local_triangles.end (); it++, i_triangle++)
+ {
+ Eigen::Vector3f pt[3];
+ for (unsigned int i_vertex = 0; i_vertex < 3; i_vertex++)
+ {
+ const unsigned int index = triangles_[*it].vertices[i_vertex];
+ pt[i_vertex] (0) = surface_->points[index].x;
+ pt[i_vertex] (1) = surface_->points[index].y;
+ pt[i_vertex] (2) = surface_->points[index].z;
+ }
+
+ const float curr_area = ((pt[1] - pt[0]).cross (pt[2] - pt[0])).norm ();
+ triangle_area[i_triangle] = curr_area;
+ total_area += curr_area;
+
+ distance_weight[i_triangle] = pow (support_radius_ - (feature_point - (pt[0] + pt[1] + pt[2]) * coeff_1_div_3).norm (), 2.0f);
+
+ Eigen::Matrix3f curr_scatter_matrix;
+ curr_scatter_matrix.setZero ();
+ for (unsigned int i_pt = 0; i_pt < 3; i_pt++)
+ {
+ Eigen::Vector3f vec = pt[i_pt] - feature_point;
+ curr_scatter_matrix += vec * (vec.transpose ());
+ for (unsigned int j_pt = 0; j_pt < 3; j_pt++)
+ curr_scatter_matrix += vec * ((pt[j_pt] - feature_point).transpose ());
+ }
+ scatter_matrices[i_triangle] = coeff * curr_scatter_matrix;
+ }
+
+ if (abs (total_area) < std::numeric_limits <float>::epsilon ())
+ total_area = 1.0f / total_area;
+ else
+ total_area = 1.0f;
+
+ Eigen::Matrix3f overall_scatter_matrix;
+ overall_scatter_matrix.setZero ();
+ std::vector<float> total_weight (number_of_triangles);
+ const float denominator = 1.0f / 6.0f;
+ for (unsigned int i_triangle = 0; i_triangle < number_of_triangles; i_triangle++)
+ {
+ float factor = distance_weight[i_triangle] * triangle_area[i_triangle] * total_area;
+ overall_scatter_matrix += factor * scatter_matrices[i_triangle];
+ total_weight[i_triangle] = factor * denominator;
+ }
+
+ Eigen::Vector3f v1, v2, v3;
+ computeEigenVectors (overall_scatter_matrix, v1, v2, v3);
+
+ float h1 = 0.0f;
+ float h3 = 0.0f;
+ for (it = local_triangles.begin (), i_triangle = 0; it != local_triangles.end (); it++, i_triangle++)
+ {
+ Eigen::Vector3f pt[3];
+ for (unsigned int i_vertex = 0; i_vertex < 3; i_vertex++)
+ {
+ const unsigned int index = triangles_[*it].vertices[i_vertex];
+ pt[i_vertex] (0) = surface_->points[index].x;
+ pt[i_vertex] (1) = surface_->points[index].y;
+ pt[i_vertex] (2) = surface_->points[index].z;
+ }
+
+ float factor1 = 0.0f;
+ float factor3 = 0.0f;
+ for (unsigned int i_pt = 0; i_pt < 3; i_pt++)
+ {
+ Eigen::Vector3f vec = pt[i_pt] - feature_point;
+ factor1 += vec.dot (v1);
+ factor3 += vec.dot (v3);
+ }
+ h1 += total_weight[i_triangle] * factor1;
+ h3 += total_weight[i_triangle] * factor3;
+ }
+
+ if (h1 < 0.0f) v1 = -v1;
+ if (h3 < 0.0f) v3 = -v3;
+
+ v2 = v3.cross (v1);
+
+ lrf_matrix.row (0) = v1;
+ lrf_matrix.row (1) = v2;
+ lrf_matrix.row (2) = v3;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::computeEigenVectors (const Eigen::Matrix3f& matrix,
+ Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis, Eigen::Vector3f& minor_axis) const
+{
+ Eigen::EigenSolver <Eigen::Matrix3f> eigen_solver;
+ eigen_solver.compute (matrix);
+
+ Eigen::EigenSolver <Eigen::Matrix3f>::EigenvectorsType eigen_vectors;
+ Eigen::EigenSolver <Eigen::Matrix3f>::EigenvalueType eigen_values;
+ eigen_vectors = eigen_solver.eigenvectors ();
+ eigen_values = eigen_solver.eigenvalues ();
+
+ unsigned int temp = 0;
+ unsigned int major_index = 0;
+ unsigned int middle_index = 1;
+ unsigned int minor_index = 2;
+
+ if (eigen_values.real () (major_index) < eigen_values.real () (middle_index))
+ {
+ temp = major_index;
+ major_index = middle_index;
+ middle_index = temp;
+ }
+
+ if (eigen_values.real () (major_index) < eigen_values.real () (minor_index))
+ {
+ temp = major_index;
+ major_index = minor_index;
+ minor_index = temp;
+ }
+
+ if (eigen_values.real () (middle_index) < eigen_values.real () (minor_index))
+ {
+ temp = minor_index;
+ minor_index = middle_index;
+ middle_index = temp;
+ }
+
+ major_axis = eigen_vectors.col (major_index).real ();
+ middle_axis = eigen_vectors.col (middle_index).real ();
+ minor_axis = eigen_vectors.col (minor_index).real ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::transformCloud (const PointInT& point, const Eigen::Matrix3f& matrix, const std::vector <int>& local_points, PointCloudIn& transformed_cloud) const
+{
+ const unsigned int number_of_points = static_cast <unsigned int> (local_points.size ());
+ transformed_cloud.points.resize (number_of_points, PointInT ());
+
+ for (unsigned int i = 0; i < number_of_points; i++)
+ {
+ Eigen::Vector3f transformed_point (
+ surface_->points[local_points[i]].x - point.x,
+ surface_->points[local_points[i]].y - point.y,
+ surface_->points[local_points[i]].z - point.z);
+
+ transformed_point = matrix * transformed_point;
+
+ PointInT new_point;
+ new_point.x = transformed_point (0);
+ new_point.y = transformed_point (1);
+ new_point.z = transformed_point (2);
+ transformed_cloud.points[i] = new_point;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::rotateCloud (const PointInT& axis, const float angle, const PointCloudIn& cloud, PointCloudIn& rotated_cloud, Eigen::Vector3f& min, Eigen::Vector3f& max) const
+{
+ Eigen::Matrix3f rotation_matrix;
+ const float x = axis.x;
+ const float y = axis.y;
+ const float z = axis.z;
+ const float rad = M_PI / 180.0f;
+ const float cosine = cos (angle * rad);
+ const float sine = sin (angle * rad);
+ rotation_matrix << cosine + (1 - cosine) * x * x, (1 - cosine) * x * y - sine * z, (1 - cosine) * x * z + sine * y,
+ (1 - cosine) * y * x + sine * z, cosine + (1 - cosine) * y * y, (1 - cosine) * y * z - sine * x,
+ (1 - cosine) * z * x - sine * y, (1 - cosine) * z * y + sine * x, cosine + (1 - cosine) * z * z;
+
+ const unsigned int number_of_points = static_cast <unsigned int> (cloud.points.size ());
+
+ rotated_cloud.header = cloud.header;
+ rotated_cloud.width = number_of_points;
+ rotated_cloud.height = 1;
+ rotated_cloud.points.resize (number_of_points, PointInT ());
+
+ min (0) = std::numeric_limits <float>::max ();
+ min (1) = std::numeric_limits <float>::max ();
+ min (2) = std::numeric_limits <float>::max ();
+ max (0) = -std::numeric_limits <float>::max ();
+ max (1) = -std::numeric_limits <float>::max ();
+ max (2) = -std::numeric_limits <float>::max ();
+
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ Eigen::Vector3f point (
+ cloud.points[i_point].x,
+ cloud.points[i_point].y,
+ cloud.points[i_point].z);
+
+ point = rotation_matrix * point;
+ PointInT rotated_point;
+ rotated_point.x = point (0);
+ rotated_point.y = point (1);
+ rotated_point.z = point (2);
+ rotated_cloud.points[i_point] = rotated_point;
+
+ if (min (0) > rotated_point.x) min (0) = rotated_point.x;
+ if (min (1) > rotated_point.y) min (1) = rotated_point.y;
+ if (min (2) > rotated_point.z) min (2) = rotated_point.z;
+
+ if (max (0) < rotated_point.x) max (0) = rotated_point.x;
+ if (max (1) < rotated_point.y) max (1) = rotated_point.y;
+ if (max (2) < rotated_point.z) max (2) = rotated_point.z;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::getDistributionMatrix (const unsigned int projection, const Eigen::Vector3f& min, const Eigen::Vector3f& max, const PointCloudIn& cloud, Eigen::MatrixXf& matrix) const
+{
+ matrix.setZero ();
+
+ const unsigned int number_of_points = static_cast <unsigned int> (cloud.points.size ());
+
+ const unsigned int coord[3][2] = {
+ {0, 1},
+ {0, 2},
+ {1, 2}};
+
+ const float u_bin_length = (max (coord[projection][0]) - min (coord[projection][0])) / number_of_bins_;
+ const float v_bin_length = (max (coord[projection][1]) - min (coord[projection][1])) / number_of_bins_;
+
+ for (unsigned int i_point = 0; i_point < number_of_points; i_point++)
+ {
+ Eigen::Vector3f point (
+ cloud.points[i_point].x,
+ cloud.points[i_point].y,
+ cloud.points[i_point].z);
+
+ const float u_length = point (coord[projection][0]) - min[coord[projection][0]];
+ const float v_length = point (coord[projection][1]) - min[coord[projection][1]];
+
+ const float u_ratio = u_length / u_bin_length;
+ unsigned int row = static_cast <unsigned int> (u_ratio);
+ if (row == number_of_bins_) row--;
+
+ const float v_ratio = v_length / v_bin_length;
+ unsigned int col = static_cast <unsigned int> (v_ratio);
+ if (col == number_of_bins_) col--;
+
+ matrix (row, col) += 1.0f;
+ }
+
+ matrix /= static_cast <float> (number_of_points);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT> void
+pcl::ROPSEstimation <PointInT, PointOutT>::computeCentralMoments (const Eigen::MatrixXf& matrix, std::vector <float>& moments) const
+{
+ float mean_i = 0.0f;
+ float mean_j = 0.0f;
+
+ for (unsigned int i = 0; i < number_of_bins_; i++)
+ for (unsigned int j = 0; j < number_of_bins_; j++)
+ {
+ const float m = matrix (i, j);
+ mean_i += static_cast <float> (i + 1) * m;
+ mean_j += static_cast <float> (j + 1) * m;
+ }
+
+ const unsigned int number_of_moments_to_compute = 4;
+ const float power[number_of_moments_to_compute][2] = {
+ {1.0f, 1.0f},
+ {2.0f, 1.0f},
+ {1.0f, 2.0f},
+ {2.0f, 2.0f}};
+
+ float entropy = 0.0f;
+ moments.resize (number_of_moments_to_compute + 1, 0.0f);
+ for (unsigned int i = 0; i < number_of_bins_; i++)
+ {
+ const float i_factor = static_cast <float> (i + 1) - mean_i;
+ for (unsigned int j = 0; j < number_of_bins_; j++)
+ {
+ const float j_factor = static_cast <float> (j + 1) - mean_j;
+ const float m = matrix (i, j);
+ if (m > 0.0f)
+ entropy -= m * log (m);
+ for (unsigned int i_moment = 0; i_moment < number_of_moments_to_compute; i_moment++)
+ moments[i_moment] += pow (i_factor, power[i_moment][0]) * pow (j_factor, power[i_moment][1]) * m;
+ }
+ }
+
+ moments[number_of_moments_to_compute] = entropy;
+}
+
+#endif // PCL_ROPS_ESTIMATION_HPP_
}
}
+#define PCL_INSTANTIATE_SHOTEstimationBase(T,NT,OutT,RFT) template class PCL_EXPORTS pcl::SHOTEstimationBase<T,NT,OutT,RFT>;
#define PCL_INSTANTIATE_SHOTEstimation(T,NT,OutT,RFT) template class PCL_EXPORTS pcl::SHOTEstimation<T,NT,OutT,RFT>;
#define PCL_INSTANTIATE_SHOTColorEstimation(T,NT,OutT,RFT) template class PCL_EXPORTS pcl::SHOTColorEstimation<T,NT,OutT,RFT>;
namespace pcl
{
/** \brief Surface normal estimation on organized data using integral images.
+ *
+ * For detailed information about this method see:
+ *
+ * S. Holzer and R. B. Rusu and M. Dixon and S. Gedikli and N. Navab,
+ * Adaptive Neighborhood Selection for Real-Time Surface Normal Estimation
+ * from Organized Point Cloud Data Using Integral Images, IROS 2012.
+ *
+ * D. Holz, S. Holzer, R. B. Rusu, and S. Behnke (2011, July).
+ * Real-Time Plane Segmentation using RGB-D Cameras. In Proceedings of
+ * the 15th RoboCup International Symposium, Istanbul, Turkey.
+ * http://www.ais.uni-bonn.de/~holz/papers/holz_2011_robocup.pdf
+ *
* \author Stefan Holzer
*/
template <typename PointInT, typename PointOutT>
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::tree_;
using Feature<PointInT, PointOutT>::k_;
+ using Feature<PointInT, PointOutT>::indices_;
public:
typedef boost::shared_ptr<IntegralImageNormalEstimation<PointInT, PointOutT> > Ptr;
protected:
- /** \brief Computes the normal for the complete cloud.
+ /** \brief Computes the normal for the complete cloud or only \a indices_ if provided.
* \param[out] output the resultant normals
*/
void
computeFeature (PointCloudOut &output);
+ /** \brief Computes the normal for the complete cloud.
+ * \param[in] distance_map distance map
+ * \param[in] bad_point constant given to invalid normal components
+ * \param[out] output the resultant normals
+ */
+ void
+ computeFeatureFull (const float* distance_map, const float& bad_point, PointCloudOut& output);
+
+ /** \brief Computes the normal for part of the cloud specified by \a indices_
+ * \param[in] distance_map distance map
+ * \param[in] bad_point constant given to invalid normal components
+ * \param[out] output the resultant normals
+ */
+ void
+ computeFeaturePart (const float* distance_map, const float& bad_point, PointCloudOut& output);
+
/** \brief Initialize the data structures, based on the normal estimation method chosen. */
void
initData ();
* \param cloud a point cloud dataset containing XYZI coordinates (Cartesian coordinates + intensity)
* \param indices the indices of the neighoring points in the dataset
* \param point the 3D Cartesian coordinates of the point at which to estimate the gradient
+ * \param mean_intensity
* \param normal the 3D surface normal of the given point
* \param gradient the resultant 3D gradient vector
*/
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ *
+ * 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.
+ *
+ * Author : Sergey Ushakov
+ * Email : sergey.s.ushakov@mail.ru
+ *
+ */
+
+#ifndef PCL_MOMENT_OF_INERTIA_ESIMATION_H_
+#define PCL_MOMENT_OF_INERTIA_ESIMATION_H_
+
+#include <vector>
+#include <math.h>
+#include <pcl/features/feature.h>
+#include <pcl/PointIndices.h>
+
+namespace pcl
+{
+ /** \brief
+ * Implements the method for extracting features based on moment of inertia. It also
+ * calculates AABB, OBB and eccentricity of the projected cloud.
+ */
+ template <typename PointT>
+ class PCL_EXPORTS MomentOfInertiaEstimation : public pcl::PCLBase <PointT>
+ {
+ public:
+
+ using PCLBase <PointT>::input_;
+ using PCLBase <PointT>::indices_;
+ using PCLBase <PointT>::fake_indices_;
+ using PCLBase <PointT>::use_indices_;
+ using PCLBase <PointT>::initCompute;
+ using PCLBase <PointT>::deinitCompute;
+
+ typedef typename pcl::PCLBase <PointT>::PointCloudConstPtr PointCloudConstPtr;
+ typedef typename pcl::PCLBase <PointT>::PointIndicesConstPtr PointIndicesConstPtr;
+
+ public:
+
+ /** \brief Provide a pointer to the input dataset
+ * \param[in] cloud the const boost shared pointer to a PointCloud message
+ */
+ virtual void
+ setInputCloud (const PointCloudConstPtr& cloud);
+
+ /** \brief Provide a pointer to the vector of indices that represents the input data.
+ * \param[in] indices a pointer to the vector of indices that represents the input data.
+ */
+ virtual void
+ setIndices (const IndicesPtr& indices);
+
+ /** \brief Provide a pointer to the vector of indices that represents the input data.
+ * \param[in] indices a pointer to the vector of indices that represents the input data.
+ */
+ virtual void
+ setIndices (const IndicesConstPtr& indices);
+
+ /** \brief Provide a pointer to the vector of indices that represents the input data.
+ * \param[in] indices a pointer to the vector of indices that represents the input data.
+ */
+ virtual void
+ setIndices (const PointIndicesConstPtr& indices);
+
+ /** \brief Set the indices for the points laying within an interest region of
+ * the point cloud.
+ * \note you shouldn't call this method on unorganized point clouds!
+ * \param[in] row_start the offset on rows
+ * \param[in] col_start the offset on columns
+ * \param[in] nb_rows the number of rows to be considered row_start included
+ * \param[in] nb_cols the number of columns to be considered col_start included
+ */
+ virtual void
+ setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols);
+
+ /** \brief Constructor that sets default values for member variables. */
+ MomentOfInertiaEstimation ();
+
+ /** \brief Virtual destructor which frees the memory. */
+ virtual
+ ~MomentOfInertiaEstimation ();
+
+ /** \brief This method allows to set the angle step. It is used for the rotation
+ * of the axis which is used for moment of inertia/eccentricity calculation.
+ * \param[in] step angle step
+ */
+ void
+ setAngleStep (const float step);
+
+ /** \brief Returns the angle step. */
+ float
+ getAngleStep () const;
+
+ /** \brief This method allows to set the normalize_ flag. If set to false, then
+ * point_mass_ will be used to scale the moment of inertia values. Otherwise,
+ * point_mass_ will be set to 1 / number_of_points. Default value is true.
+ * \param[in] need_to_normalize desired value
+ */
+ void
+ setNormalizePointMassFlag (bool need_to_normalize);
+
+ /** \brief Returns the normalize_ flag. */
+ bool
+ getNormalizePointMassFlag () const;
+
+ /** \brief This method allows to set point mass that will be used for
+ * moment of inertia calculation. It is needed to scale moment of inertia values.
+ * default value is 0.0001.
+ * \param[in] point_mass point mass
+ */
+ void
+ setPointMass (const float point_mass);
+
+ /** \brief Returns the mass of point. */
+ float
+ getPointMass () const;
+
+ /** \brief This method launches the computation of all features. After execution
+ * it sets is_valid_ flag to true and each feature can be accessed with the
+ * corresponding get method.
+ */
+ void
+ compute ();
+
+ /** \brief This method gives access to the computed axis aligned bounding box. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * \param[out] min_point min point of the AABB
+ * \param[out] max_point max point of the AABB
+ */
+ bool
+ getAABB (PointT& min_point, PointT& max_point) const;
+
+ /** \brief This method gives access to the computed oriented bounding box. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * Note that in order to get the OBB, each vertex of the given AABB (specified with min_point and max_point)
+ * must be rotated with the given rotational matrix (rotation transform) and then positioned.
+ * Also pay attention to the fact that this is not the minimal possible bounding box. This is the bounding box
+ * which is oriented in accordance with the eigen vectors.
+ * \param[out] min_point min point of the OBB
+ * \param[out] max_point max point of the OBB
+ * \param[out] position position of the OBB
+ * \param[out] rotational_matrix this matrix represents the rotation transform
+ */
+ bool
+ getOBB (PointT& min_point, PointT& max_point, PointT& position, Eigen::Matrix3f& rotational_matrix) const;
+
+ /** \brief This method gives access to the computed eigen values. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * \param[out] major major eigen value
+ * \param[out] middle middle eigen value
+ * \param[out] minor minor eigen value
+ */
+ bool
+ getEigenValues (float& major, float& middle, float& minor) const;
+
+ /** \brief This method gives access to the computed eigen vectors. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * \param[out] major axis which corresponds to the eigen vector with the major eigen value
+ * \param[out] middle axis which corresponds to the eigen vector with the middle eigen value
+ * \param[out] minor axis which corresponds to the eigen vector with the minor eigen value
+ */
+ bool
+ getEigenVectors (Eigen::Vector3f& major, Eigen::Vector3f& middle, Eigen::Vector3f& minor) const;
+
+ /** \brief This method gives access to the computed moments of inertia. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * \param[out] moment_of_inertia computed moments of inertia
+ */
+ bool
+ getMomentOfInertia (std::vector <float>& moment_of_inertia) const;
+
+ /** \brief This method gives access to the computed ecentricities. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * \param[out] eccentricity computed eccentricities
+ */
+ bool
+ getEccentricity (std::vector <float>& eccentricity) const;
+
+ /** \brief This method gives access to the computed mass center. It returns true
+ * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
+ * Note that when mass center of a cloud is computed, mass point is always considered equal 1.
+ * \param[out] mass_center computed mass center
+ */
+ bool
+ getMassCenter (Eigen::Vector3f& mass_center) const;
+
+ private:
+
+ /** \brief This method rotates the given vector around the given axis.
+ * \param[in] vector vector that must be rotated
+ * \param[in] axis axis around which vector must be rotated
+ * \param[in] angle angle in degrees
+ * \param[out] rotated_vector resultant vector
+ */
+ void
+ rotateVector (const Eigen::Vector3f& vector, const Eigen::Vector3f& axis, const float angle, Eigen::Vector3f& rotated_vector) const;
+
+ /** \brief This method computes center of mass and axis aligned bounding box. */
+ void
+ computeMeanValue ();
+
+ /** \brief This method computes the oriented bounding box. */
+ void
+ computeOBB ();
+
+ /** \brief This method computes the covariance matrix for the input_ cloud.
+ * \param[out] covariance_matrix stores the computed covariance matrix
+ */
+ void
+ computeCovarianceMatrix (Eigen::Matrix <float, 3, 3>& covariance_matrix) const;
+
+ /** \brief This method computes the covariance matrix for the given cloud.
+ * It uses all points in the cloud, unlike the previous method that uses indices.
+ * \param[in] cloud cloud for which covariance matrix will be computed
+ * \param[out] covariance_matrix stores the computed covariance matrix
+ */
+ void
+ computeCovarianceMatrix (PointCloudConstPtr cloud, Eigen::Matrix <float, 3, 3>& covariance_matrix) const;
+
+ /** \brief This method calculates the eigen values and eigen vectors
+ * for the given covariance matrix. Note that it returns normalized eigen
+ * vectors that always form the right-handed coordinate system.
+ * \param[in] covariance_matrix covariance matrix
+ * \param[out] major_axis eigen vector which corresponds to a major eigen value
+ * \param[out] middle_axis eigen vector which corresponds to a middle eigen value
+ * \param[out] minor_axis eigen vector which corresponds to a minor eigen value
+ * \param[out] major_value major eigen value
+ * \param[out] middle_value middle eigen value
+ * \param[out] minor_value minor eigen value
+ */
+ void
+ computeEigenVectors (const Eigen::Matrix <float, 3, 3>& covariance_matrix, Eigen::Vector3f& major_axis,
+ Eigen::Vector3f& middle_axis, Eigen::Vector3f& minor_axis, float& major_value, float& middle_value,
+ float& minor_value);
+
+ /** \brief This method returns the moment of inertia of a given input_ cloud.
+ * Note that when moment of inertia is computed it is multiplied by the point mass.
+ * Point mass can be accessed with the corresponding get/set methods.
+ * \param[in] current_axis axis that will be used in moment of inertia computation
+ * \param[in] mean_value mean value(center of mass) of the cloud
+ */
+ float
+ calculateMomentOfInertia (const Eigen::Vector3f& current_axis, const Eigen::Vector3f& mean_value) const;
+
+ /** \brief This method simply projects the given input_ cloud on the plane specified with
+ * the normal vector.
+ * \param[in] normal_vector nrmal vector of the plane
+ * \param[in] point point belonging to the plane
+ * \param[out] projected_cloud projected cloud
+ */
+ void
+ getProjectedCloud (const Eigen::Vector3f& normal_vector, const Eigen::Vector3f& point, typename pcl::PointCloud <PointT>::Ptr projected_cloud) const;
+
+ /** \brief This method returns the eccentricity of the projected cloud.
+ * \param[in] covariance_matrix covariance matrix of the projected cloud
+ * \param[in] normal_vector normal vector of the plane, it is used to discard the
+ * third eigen vector and eigen value*/
+ float
+ computeEccentricity (const Eigen::Matrix <float, 3, 3>& covariance_matrix, const Eigen::Vector3f& normal_vector);
+
+ private:
+
+ /** \brief Indicates if the stored values (eccentricity, moment of inertia, AABB etc.)
+ * are valid when accessed with the get methods. */
+ bool is_valid_;
+
+ /** \brief Stores the angle step */
+ float step_;
+
+ /** \brief Stores the mass of point in the cloud */
+ float point_mass_;
+
+ /** \brief Stores the flag for mass normalization */
+ bool normalize_;
+
+ /** \brief Stores the mean value (center of mass) of the cloud */
+ Eigen::Vector3f mean_value_;
+
+ /** \brief Major eigen vector */
+ Eigen::Vector3f major_axis_;
+
+ /** \brief Middle eigen vector */
+ Eigen::Vector3f middle_axis_;
+
+ /** \brief Minor eigen vector */
+ Eigen::Vector3f minor_axis_;
+
+ /** \brief Major eigen value */
+ float major_value_;
+
+ /** \brief Middle eigen value */
+ float middle_value_;
+
+ /** \brief Minor eigen value */
+ float minor_value_;
+
+ /** \brief Stores calculated moments of inertia */
+ std::vector <float> moment_of_inertia_;
+
+ /** \brief Stores calculated eccentricities */
+ std::vector <float> eccentricity_;
+
+ /** \brief Min point of the axis aligned bounding box */
+ PointT aabb_min_point_;
+
+ /** \brief Max point of the axis aligned bounding box */
+ PointT aabb_max_point_;
+
+ /** \brief Min point of the oriented bounding box */
+ PointT obb_min_point_;
+
+ /** \brief Max point of the oriented bounding box */
+ PointT obb_max_point_;
+
+ /** \brief Stores position of the oriented bounding box */
+ Eigen::Vector3f obb_position_;
+
+ /** \brief Stores the rotational matrix of the oriented bounding box */
+ Eigen::Matrix3f obb_rotational_matrix_;
+
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ };
+}
+
+#define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class pcl::MomentOfInertiaEstimation<T>;
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/features/impl/moment_of_inertia_estimation.hpp>
+#endif
+
+#endif
/** \brief Creates an affine transformation from the RF axes
* \param[in] evx the x-axis
- * \param[in] evy the z-axis
+ * \param[in] evy the y-axis
* \param[in] evz the z-axis
* \param[out] transformPC the resulting transformation
* \param[in] center_mat 4x4 matrix concatenated to the resulting transformation
/** \brief Removes normals with high curvature caused by real edges or noisy data
* \param[in] cloud pointcloud to be filtered
+ * \param[in] indices_to_use
* \param[out] indices_out the indices of the points with higher curvature than threshold
* \param[out] indices_in the indices of the remaining points after filtering
* \param[in] threshold threshold value for curvature
{
indices = clusters_;
}
+
+ /** \brief Gets the number of non-disambiguable axes that correspond to each centroid
+ * \param[out] cluster_axes vector mapping each centroid to the number of signatures
+ */
+ inline void
+ getClusterAxes (std::vector<short> & cluster_axes)
+ {
+ cluster_axes = cluster_axes_;
+ }
/** \brief Sets the refinement factor for the clusters
* \param[in] rc the factor used to decide if a point is used to estimate a stable cluster
std::vector<Eigen::Vector3f> dominant_normals_;
/** \brief Indices to the points representing the stable clusters */
std::vector<pcl::PointIndices> clusters_;
+ /** \brief Mapping from clusters to OUR-CVFH descriptors */
+ std::vector<short> cluster_axes_;
};
}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ *
+ * 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.
+ *
+ * Author : Sergey Ushakov
+ * Email : sergey.s.ushakov@mail.ru
+ *
+ */
+
+#ifndef PCL_ROPS_ESIMATION_H_
+#define PCL_ROPS_ESIMATION_H_
+
+#include <pcl/PolygonMesh.h>
+#include <pcl/features/feature.h>
+#include <set>
+
+namespace pcl
+{
+ /** \brief
+ * This class implements the method for extracting RoPS features presented in the article
+ * "Rotational Projection Statistics for 3D Local Surface Description and Object Recognition" by
+ * Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu and Jianwei Wan.
+ */
+ template <typename PointInT, typename PointOutT>
+ class PCL_EXPORTS ROPSEstimation : public pcl::Feature <PointInT, PointOutT>
+ {
+ public:
+
+ using Feature <PointInT, PointOutT>::input_;
+ using Feature <PointInT, PointOutT>::indices_;
+ using Feature <PointInT, PointOutT>::surface_;
+ using Feature <PointInT, PointOutT>::tree_;
+
+ typedef typename pcl::Feature <PointInT, PointOutT>::PointCloudOut PointCloudOut;
+ typedef typename pcl::Feature <PointInT, PointOutT>::PointCloudIn PointCloudIn;
+
+ public:
+
+ /** \brief Simple constructor. */
+ ROPSEstimation ();
+
+ /** \brief Virtual destructor. */
+ virtual
+ ~ROPSEstimation ();
+
+ /** \brief Allows to set the number of partition bins that is used for distribution matrix calculation.
+ * \param[in] number_of_bins number of partition bins
+ */
+ void
+ setNumberOfPartitionBins (unsigned int number_of_bins);
+
+ /** \brief Returns the nmber of partition bins. */
+ unsigned int
+ getNumberOfPartitionBins () const;
+
+ /** \brief This method sets the number of rotations.
+ * \param[in] number_of_rotations number of rotations
+ */
+ void
+ setNumberOfRotations (unsigned int number_of_rotations);
+
+ /** \brief returns the number of rotations. */
+ unsigned int
+ getNumberOfRotations () const;
+
+ /** \brief Allows to set the support radius that is used to crop the local surface of the point.
+ * \param[in] support_radius support radius
+ */
+ void
+ setSupportRadius (float support_radius);
+
+ /** \brief Returns the support radius. */
+ float
+ getSupportRadius () const;
+
+ /** \brief This method sets the triangles of the mesh.
+ * \param[in] triangles list of triangles of the mesh
+ */
+ void
+ setTriangles (const std::vector <pcl::Vertices>& triangles);
+
+ /** \brief Returns the triangles of the mesh.
+ * \param[out] triangles triangles of tthe mesh
+ */
+ void
+ getTriangles (std::vector <pcl::Vertices>& triangles) const;
+
+ private:
+
+ /** \brief Abstract feature estimation method.
+ * \param[out] output the resultant features
+ */
+ virtual void
+ computeFeature (PointCloudOut& output);
+
+ /** \brief This method simply builds the list of triangles for every point.
+ * The list of triangles for each point consists of indices of triangles it belongs to.
+ * The only purpose of this method is to improve perfomance of the algorithm.
+ */
+ void
+ buildListOfPointsTriangles ();
+
+ /** \brief This method crops all the triangles within the given radius of the given point.
+ * \param[in] point point for which the local surface is computed
+ * \param[out] local_triangles strores the indices of the triangles that belong to the local surface
+ * \param[out] local_points stores the indices of the points that belong to the local surface
+ */
+ void
+ getLocalSurface (const PointInT& point, std::set <unsigned int>& local_triangles, std::vector <int>& local_points) const;
+
+ /** \brief This method computes LRF (Local Reference Frame) matrix for the given point.
+ * \param[in] point point for which the LRF is computed
+ * \param[in] local_triangles list of triangles that represents the local surface of the point
+ * \paran[out] lrf_matrix strores computed LRF matrix for the given point
+ */
+ void
+ computeLRF (const PointInT& point, const std::set <unsigned int>& local_triangles, Eigen::Matrix3f& lrf_matrix) const;
+
+ /** \brief This method calculates the eigen values and eigen vectors
+ * for the given covariance matrix. Note that it returns normalized eigen
+ * vectors that always form the right-handed coordinate system.
+ * \param[in] matrix covariance matrix of the cloud
+ * \param[out] major_axis eigen vector which corresponds to a major eigen value
+ * \param[out] middle_axis eigen vector which corresponds to a middle eigen value
+ * \param[out] minor_axis eigen vector which corresponds to a minor eigen value
+ */
+ void
+ computeEigenVectors (const Eigen::Matrix3f& matrix, Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis,
+ Eigen::Vector3f& minor_axis) const;
+
+ /** \brief This method translates the cloud so that the given point becomes the origin.
+ * After that the cloud is rotated with the help of the given matrix.
+ * \param[in] point point which stores the translation information
+ * \param[in] matrix rotation matrix
+ * \param[in] local_points point to transform
+ * \param[out] transformed_cloud stores the transformed cloud
+ */
+ void
+ transformCloud (const PointInT& point, const Eigen::Matrix3f& matrix, const std::vector <int>& local_points, PointCloudIn& transformed_cloud) const;
+
+ /** \brief This method rotates the cloud around the given axis and computes AABB of the rotated cloud.
+ * \param[in] axis axis around which cloud must be rotated
+ * \param[in] angle angle in degrees
+ * \param[in] cloud cloud to rotate
+ * \param[out] rotated_cloud stores the rotated cloud
+ * \param[out] min stores the min point of the AABB
+ * \param[out] max stores the max point of the AABB
+ */
+ void
+ rotateCloud (const PointInT& axis, const float angle, const PointCloudIn& cloud, PointCloudIn& rotated_cloud,
+ Eigen::Vector3f& min, Eigen::Vector3f& max) const;
+
+ /** \brief This method projects the local surface onto the XY, XZ or YZ plane
+ * and computes the distribution matrix.
+ * \param[in] projection represents the case of projection. 1 - XY, 2 - XZ, 3 - YZ
+ * \param[in] min min point of the AABB
+ * \param[in] max max point of the AABB
+ * \param[in] cloud cloud containing the points of the local surface
+ * \param[out] matrix stores computed distribution matrix
+ */
+ void
+ getDistributionMatrix (const unsigned int projection, const Eigen::Vector3f& min, const Eigen::Vector3f& max, const PointCloudIn& cloud, Eigen::MatrixXf& matrix) const;
+
+ /** \brief This method computes the set ofcentral moments for the given matrix.
+ * \param[in] matrix input matrix
+ * \param[out] moments set of computed moments
+ */
+ void
+ computeCentralMoments (const Eigen::MatrixXf& matrix, std::vector <float>& moments) const;
+
+ private:
+
+ /** \brief Stores the number of partition bins that is used for distribution matrix calculation. */
+ unsigned int number_of_bins_;
+
+ /** \brief Stores number of rotations. Central moments are calculated for every rotation. */
+ unsigned int number_of_rotations_;
+
+ /** \brief Support radius that is used to crop the local surface of the point. */
+ float support_radius_;
+
+ /** \brief Stores the squared support radius. Used to improve performance. */
+ float sqr_support_radius_;
+
+ /** \brief Stores the angle step. Step is calculated with respect to number of rotations. */
+ float step_;
+
+ /** \brief Stores the set of triangles reprsenting the mesh. */
+ std::vector <pcl::Vertices> triangles_;
+
+ /** \brief Stores the set of triangles for each point. Its purpose is to improve perfomance. */
+ std::vector <std::vector <unsigned int> > triangles_of_the_point_;
+
+ public:
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ };
+}
+
+#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class pcl::ROPSEstimation<InT, OutT>;
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/features/impl/rops_estimation.hpp>
+#endif
+
+#endif
/** \brief Create a binned distance shape histogram
* \param[in] index the index of the point in indices_
* \param[in] indices the k-neighborhood point indices in surface_
- * \param[in] sqr_dists the k-neighborhood point distances in surface_
* \param[out] bin_distance_shape the resultant histogram
*/
void
typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
/** \brief Computes disambiguated local RF for a point index
- * \param[in] cloud input point cloud
- * \param[in] search_radius the neighborhood radius
- * \param[in] central_point the point from the input_ cloud at which the local RF is computed
- * \param[in] indices the neighbours indices
- * \param[in] dists the squared distances to the neighbours
+ * \param[in] index the index
* \param[out] rf reference frame to compute
*/
float
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2011, Alexandru-Eugen Ichim
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2013, Martin Szarski
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/features/impl/cppf.hpp>
+
+///////////////////////////////////////////////////////////////////////////////////////////
+
+ inline void
+ RGBtoHSV (const Eigen::Vector4i &in,
+ Eigen::Vector4f &out)
+ {
+ const unsigned char max = std::max (in[0], std::max (in[1], in[2]));
+ const unsigned char min = std::min (in[0], std::min (in[1], in[2]));
+
+ out[2] = static_cast <float> (max) / 255.f;
+
+ if (max == 0) // division by zero
+ {
+ out[1] = 0.f;
+ out[0] = 0.f; // h = -1.f;
+ return;
+ }
+
+ const float diff = static_cast <float> (max - min);
+ out[1] = diff / static_cast <float> (max);
+
+ if (min == max) // diff == 0 -> division by zero
+ {
+ out[0] = 0;
+ return;
+ }
+
+ if (max == in[0]) out[0] = 60.f * ( static_cast <float> (in[1] - in[2]) / diff);
+ else if (max == in[1]) out[0] = 60.f * (2.f + static_cast <float> (in[2] - in[0]) / diff);
+ else out[0] = 60.f * (4.f + static_cast <float> (in[0] - in[1]) / diff); // max == b
+
+ if (out[0] < 0.f) out[0] += 360.f;
+ }
+
+bool
+pcl::computeCPPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &c1,
+ const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &c2,
+ float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7, float &f8, float &f9, float &f10)
+{
+ Eigen::Vector4f delta = p2 - p1;
+ delta[3] = 0.0f;
+ // f4 = ||delta||
+ f4 = delta.norm ();
+
+ delta /= f4;
+
+ // f1 = n1 dot delta
+ f1 = n1[0] * delta[0] + n1[1] * delta[1] + n1[2] * delta[2];
+ // f2 = n2 dot delta
+ f2 = n2[0] * delta[0] + n2[1] * delta[1] + n2[2] * delta[2];
+ // f3 = n1 dot n2
+ f3 = n1[0] * n2[0] + n1[1] * n2[1] + n1[2] * n2[2];
+
+ // f5-f7 is hsv component of p1
+ // f8-f10 is hsv component of p2
+ Eigen::Vector4f hsv1;
+ Eigen::Vector4f hsv2;
+
+ RGBtoHSV (c1,hsv1);
+ RGBtoHSV (c2,hsv2);
+
+ f5 = hsv1[0] / 360.0; //normalise to [0-1]
+ f6 = hsv1[1];
+ f7 = hsv1[2];
+
+ f8 = hsv2[0] / 360.0; //normalise to [0-1]
+ f9 = hsv2[1];
+ f10 = hsv2[2];
+
+ return (true);
+}
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE_PRODUCT(CPPFEstimation, ((pcl::PointXYZRGBA) (pcl::PointXYZRGBNormal))
+ ((pcl::Normal) (pcl::PointNormal) (pcl::PointXYZRGBNormal))
+ ((pcl::CPPFSignature)))
+#else
+ PCL_INSTANTIATE_PRODUCT(CPPFEstimation, ((pcl::PointXYZRGBA) (pcl::PointXYZRGBNormal))
+ ((pcl::Normal) (pcl::PointNormal) (pcl::PointXYZRGBNormal))
+ ((pcl::CPPFSignature)))
+#endif
+#endif // PCL_NO_PRECOMPILE
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ * Author : Sergey Ushakov
+ * Email : sergey.s.ushakov@mail.ru
+ *
+ */
+
+#include <pcl/features/moment_of_inertia_estimation.h>
+#include <pcl/features/impl/moment_of_inertia_estimation.hpp>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE_PRODUCT(MomentOfInertiaEstimation, ((pcl::PointXYZ)))
+ PCL_INSTANTIATE_PRODUCT(MomentOfInertiaEstimation, ((pcl::PointXYZI)))
+ PCL_INSTANTIATE_PRODUCT(MomentOfInertiaEstimation, ((pcl::PointXYZRGBA)))
+ PCL_INSTANTIATE_PRODUCT(MomentOfInertiaEstimation, ((pcl::PointNormal)))
+#else
+ PCL_INSTANTIATE_PRODUCT(MomentOfInertiaEstimation, (PCL_XYZ_POINT_TYPES))
+#endif
+#endif // PCL_NO_PRECOMPILE
// everything before was standard 4D-Darboux frame feature pair
// now, for the experimental color stuff
- f5 = (colors2[0] != 0) ? static_cast<float> (colors1[0] / colors2[0]) : 1.0f;
- f6 = (colors2[1] != 0) ? static_cast<float> (colors1[1] / colors2[1]) : 1.0f;
- f7 = (colors2[2] != 0) ? static_cast<float> (colors1[2] / colors2[2]) : 1.0f;
+ f5 = (colors2[0] != 0) ? static_cast<float> (colors1[0]) / colors2[0] : 1.0f;
+ f6 = (colors2[1] != 0) ? static_cast<float> (colors1[1]) / colors2[1] : 1.0f;
+ f7 = (colors2[2] != 0) ? static_cast<float> (colors1[2]) / colors2[2] : 1.0f;
// make sure the ratios are in the [-1, 1] interval
if (f5 > 1.0f) f5 = - 1.0f / f5;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ * Author : Sergey Ushakov
+ * Email : sergey.s.ushakov@mail.ru
+ *
+ */
+
+#include <pcl/features/rops_estimation.h>
+#include <pcl/features/impl/rops_estimation.hpp>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE_PRODUCT(ROPSEstimation, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointNormal))((pcl::Histogram<135>)))
+#else
+ PCL_INSTANTIATE_PRODUCT(ROPSEstimation, (PCL_XYZ_POINT_TYPES)((pcl::Histogram<135>)))
+#endif
+#endif // PCL_NO_PRECOMPILE
#include <pcl/impl/instantiate.hpp>
// Instantiations of specific point types
#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE_PRODUCT(SHOTEstimationBase, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA))((pcl::Normal))((pcl::SHOT352)(pcl::SHOT1344))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTEstimation, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA))((pcl::Normal))((pcl::SHOT352))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTColorEstimation, ((pcl::PointXYZRGB)(pcl::PointXYZRGBA))((pcl::Normal))((pcl::SHOT1344))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTEstimationOMP, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA))((pcl::Normal))((pcl::SHOT352))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTColorEstimationOMP, ((pcl::PointXYZRGB)(pcl::PointXYZRGBA))((pcl::Normal))((pcl::SHOT1344))((pcl::ReferenceFrame)))
#else
+ PCL_INSTANTIATE_PRODUCT(SHOTEstimationBase, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((pcl::SHOT352)(pcl::SHOT1344))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTEstimation, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((pcl::SHOT352))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTColorEstimation, ((pcl::PointXYZRGBA)(pcl::PointXYZRGB)(pcl::PointXYZRGBL)(pcl::PointXYZRGBNormal))(PCL_NORMAL_POINT_TYPES)((pcl::SHOT1344))((pcl::ReferenceFrame)))
PCL_INSTANTIATE_PRODUCT(SHOTEstimationOMP, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((pcl::SHOT352))((pcl::ReferenceFrame)))
set(SUBSYS_DEPS common sample_consensus search kdtree octree)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
src/median_filter.cpp
src/voxel_grid_occlusion_estimation.cpp
src/normal_refinement.cpp
+ src/grid_minimum.cpp
+ src/morphological_filter.cpp
+ src/local_maximum.cpp
+ src/model_outlier_removal.cpp
)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/conditional_removal.h
- include/pcl/${SUBSYS_NAME}/crop_box.h
- include/pcl/${SUBSYS_NAME}/clipper3D.h
- include/pcl/${SUBSYS_NAME}/plane_clipper3D.h
- include/pcl/${SUBSYS_NAME}/box_clipper3D.h
- include/pcl/${SUBSYS_NAME}/crop_hull.h
- include/pcl/${SUBSYS_NAME}/extract_indices.h
- include/pcl/${SUBSYS_NAME}/filter.h
- include/pcl/${SUBSYS_NAME}/filter_indices.h
- include/pcl/${SUBSYS_NAME}/passthrough.h
- include/pcl/${SUBSYS_NAME}/shadowpoints.h
- include/pcl/${SUBSYS_NAME}/project_inliers.h
- include/pcl/${SUBSYS_NAME}/radius_outlier_removal.h
- include/pcl/${SUBSYS_NAME}/random_sample.h
- include/pcl/${SUBSYS_NAME}/normal_space.h
- include/pcl/${SUBSYS_NAME}/sampling_surface_normal.h
- include/pcl/${SUBSYS_NAME}/statistical_outlier_removal.h
- include/pcl/${SUBSYS_NAME}/voxel_grid.h
- include/pcl/${SUBSYS_NAME}/approximate_voxel_grid.h
- include/pcl/${SUBSYS_NAME}/bilateral.h
- include/pcl/${SUBSYS_NAME}/fast_bilateral.h
- include/pcl/${SUBSYS_NAME}/fast_bilateral_omp.h
- include/pcl/${SUBSYS_NAME}/voxel_grid_covariance.h
- include/pcl/${SUBSYS_NAME}/convolution.h
- include/pcl/${SUBSYS_NAME}/convolution_3d.h
- include/pcl/${SUBSYS_NAME}/voxel_grid_label.h
- include/pcl/${SUBSYS_NAME}/voxel_grid_occlusion_estimation.h
- include/pcl/${SUBSYS_NAME}/frustum_culling.h
- include/pcl/${SUBSYS_NAME}/covariance_sampling.h
- include/pcl/${SUBSYS_NAME}/median_filter.h
- include/pcl/${SUBSYS_NAME}/normal_refinement.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/conditional_removal.h"
+ "include/pcl/${SUBSYS_NAME}/crop_box.h"
+ "include/pcl/${SUBSYS_NAME}/clipper3D.h"
+ "include/pcl/${SUBSYS_NAME}/plane_clipper3D.h"
+ "include/pcl/${SUBSYS_NAME}/box_clipper3D.h"
+ "include/pcl/${SUBSYS_NAME}/crop_hull.h"
+ "include/pcl/${SUBSYS_NAME}/extract_indices.h"
+ "include/pcl/${SUBSYS_NAME}/filter.h"
+ "include/pcl/${SUBSYS_NAME}/filter_indices.h"
+ "include/pcl/${SUBSYS_NAME}/passthrough.h"
+ "include/pcl/${SUBSYS_NAME}/shadowpoints.h"
+ "include/pcl/${SUBSYS_NAME}/project_inliers.h"
+ "include/pcl/${SUBSYS_NAME}/radius_outlier_removal.h"
+ "include/pcl/${SUBSYS_NAME}/random_sample.h"
+ "include/pcl/${SUBSYS_NAME}/normal_space.h"
+ "include/pcl/${SUBSYS_NAME}/sampling_surface_normal.h"
+ "include/pcl/${SUBSYS_NAME}/statistical_outlier_removal.h"
+ "include/pcl/${SUBSYS_NAME}/voxel_grid.h"
+ "include/pcl/${SUBSYS_NAME}/approximate_voxel_grid.h"
+ "include/pcl/${SUBSYS_NAME}/bilateral.h"
+ "include/pcl/${SUBSYS_NAME}/fast_bilateral.h"
+ "include/pcl/${SUBSYS_NAME}/fast_bilateral_omp.h"
+ "include/pcl/${SUBSYS_NAME}/voxel_grid_covariance.h"
+ "include/pcl/${SUBSYS_NAME}/convolution.h"
+ "include/pcl/${SUBSYS_NAME}/convolution_3d.h"
+ "include/pcl/${SUBSYS_NAME}/voxel_grid_label.h"
+ "include/pcl/${SUBSYS_NAME}/voxel_grid_occlusion_estimation.h"
+ "include/pcl/${SUBSYS_NAME}/frustum_culling.h"
+ "include/pcl/${SUBSYS_NAME}/covariance_sampling.h"
+ "include/pcl/${SUBSYS_NAME}/median_filter.h"
+ "include/pcl/${SUBSYS_NAME}/normal_refinement.h"
+ "include/pcl/${SUBSYS_NAME}/grid_minimum.h"
+ "include/pcl/${SUBSYS_NAME}/morphological_filter.h"
+ "include/pcl/${SUBSYS_NAME}/local_maximum.h"
+ "include/pcl/${SUBSYS_NAME}/model_outlier_removal.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/conditional_removal.hpp
- include/pcl/${SUBSYS_NAME}/impl/crop_box.hpp
- include/pcl/${SUBSYS_NAME}/impl/crop_hull.hpp
- include/pcl/${SUBSYS_NAME}/impl/plane_clipper3D.hpp
- include/pcl/${SUBSYS_NAME}/impl/box_clipper3D.hpp
- include/pcl/${SUBSYS_NAME}/impl/extract_indices.hpp
- include/pcl/${SUBSYS_NAME}/impl/filter.hpp
- include/pcl/${SUBSYS_NAME}/impl/filter_indices.hpp
- include/pcl/${SUBSYS_NAME}/impl/passthrough.hpp
- include/pcl/${SUBSYS_NAME}/impl/shadowpoints.hpp
- include/pcl/${SUBSYS_NAME}/impl/project_inliers.hpp
- include/pcl/${SUBSYS_NAME}/impl/radius_outlier_removal.hpp
- include/pcl/${SUBSYS_NAME}/impl/random_sample.hpp
- include/pcl/${SUBSYS_NAME}/impl/normal_space.hpp
- include/pcl/${SUBSYS_NAME}/impl/sampling_surface_normal.hpp
- include/pcl/${SUBSYS_NAME}/impl/statistical_outlier_removal.hpp
- include/pcl/${SUBSYS_NAME}/impl/voxel_grid.hpp
- include/pcl/${SUBSYS_NAME}/impl/approximate_voxel_grid.hpp
- include/pcl/${SUBSYS_NAME}/impl/bilateral.hpp
- include/pcl/${SUBSYS_NAME}/impl/fast_bilateral.hpp
- include/pcl/${SUBSYS_NAME}/impl/fast_bilateral_omp.hpp
- include/pcl/${SUBSYS_NAME}/impl/voxel_grid_covariance.hpp
- include/pcl/${SUBSYS_NAME}/impl/convolution.hpp
- include/pcl/${SUBSYS_NAME}/impl/convolution_3d.hpp
- include/pcl/${SUBSYS_NAME}/impl/voxel_grid_occlusion_estimation.hpp
- include/pcl/${SUBSYS_NAME}/impl/frustum_culling.hpp
- include/pcl/${SUBSYS_NAME}/impl/covariance_sampling.hpp
- include/pcl/${SUBSYS_NAME}/impl/median_filter.hpp
- include/pcl/${SUBSYS_NAME}/impl/normal_refinement.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/conditional_removal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/crop_box.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/crop_hull.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/plane_clipper3D.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/box_clipper3D.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/extract_indices.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/filter.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/filter_indices.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/passthrough.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/shadowpoints.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/project_inliers.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/radius_outlier_removal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/random_sample.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/normal_space.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sampling_surface_normal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/statistical_outlier_removal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/voxel_grid.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/approximate_voxel_grid.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/bilateral.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/fast_bilateral.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/fast_bilateral_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/voxel_grid_covariance.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/convolution.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/convolution_3d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/voxel_grid_occlusion_estimation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/frustum_culling.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/covariance_sampling.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/median_filter.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/normal_refinement.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/grid_minimum.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/morphological_filter.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/local_maximum.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/model_outlier_removal.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_common pcl_sample_consensus pcl_search pcl_kdtree pcl_octree)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_sample_consensus pcl_search pcl_kdtree pcl_octree)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
clipLineSegment3D (PointT& from, PointT& to) const;
virtual void
- clipPlanarPolygon3D (std::vector<PointT>& polygon) const;
+ clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const;
virtual void
- clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const;
+ clipPlanarPolygon3D (const std::vector<PointT
, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT>& clipped_polygon) const;
virtual void
clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const;
};
}
-#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/box_clipper3D.hpp>
-#endif
#endif // PCL_BOX_CLIPPER3D_H_
#define PCL_CLIPPER3D_H_
#include <pcl/point_cloud.h>
#include <vector>
+#include <Eigen/StdVector>
namespace pcl
{
* \param[in,out] polygon the polygon in any direction (ccw or cw) but ordered, thus two neighboring points define an edge of the polygon
*/
virtual void
- clipPlanarPolygon3D (std::vector<PointT>& polygon) const = 0;
+ clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const = 0;
/**
* \brief interface to clip a planar polygon given by an ordered list of points
* \param[out] clipped_polygon the clipped polygon
*/
virtual void
- clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const = 0;
+ clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const = 0;
/**
* \brief interface to clip a point cloud
};
}
-#ifdef PCL_NO_PRECOMPILE
-#include <pcl/filters/impl/clipper3D.hpp>
-#endif
-
#endif // PCL_CLIPPER3D_H_
* being removed by the filter
* \param extract_removed_indices extract filtered indices from indices vector
*/
+ PCL_DEPRECATED ("ConditionalRemoval(ConditionBasePtr condition, bool extract_removed_indices = false) is deprecated, "
+ "please use the setCondition (ConditionBasePtr condition) function instead.")
ConditionalRemoval (ConditionBasePtr condition, bool extract_removed_indices = false) :
Filter<PointT>::Filter (extract_removed_indices), capable_ (false), keep_organized_ (false), condition_ (),
user_filter_value_ (std::numeric_limits<float>::quiet_NaN ())
void
applyFilter (PointCloud &output);
- typedef typename pcl::traits::fieldList<PointT>::type FieldList;
-
/** \brief True if capable. */
bool capable_;
* In 3D the next point in (u,v) coordinate can be really far so a distance
* threshold is used to keep us from ghost points.
* The value you set here is strongly related to the sensor. A good value for
- * kinect data is 0.001 \default is std::numeric<float>::infinity ()
+ * kinect data is 0.001. Default is std::numeric<float>::infinity ()
* \param[in] threshold maximum allowed distance between 2 juxtaposed points
*/
inline void
inline void
setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
/** Convolve a float image rows by a given kernel.
- * \param[in] kernel convolution kernel
* \param[out] output the convolved cloud
* \note if output doesn't fit in input i.e. output.rows () < input.rows () or
* output.cols () < input.cols () then output is resized to input sizes.
inline void
convolveRows (PointCloudOut& output);
/** Convolve a float image columns by a given kernel.
- * \param[in] kernel convolution kernel
* \param[out] output the convolved image
* \note if output doesn't fit in input i.e. output.rows () < input.rows () or
* output.cols () < input.cols () then output is resized to input sizes.
void
convolve_cols_duplicate (PointCloudOut& output);
/** init compute is an internal method called before computation
- * \param[in] kernel convolution kernel to be used
+ * \param[in] output
* \throw pcl::InitFailedException
*/
void
initCompute () { return false; }
/** \brief Utility function that annihilates a point making it fail the \ref pcl::isFinite test
- * \param[in/out] p point to annihilate
+ * \param p point to annihilate
*/
static void
makeInfinite (PointOutT& p)
{ filter_name_ = "CovarianceSampling"; }
/** \brief Set number of indices to be sampled.
- * \param[in] sample the number of sample indices
+ * \param[in] samples the number of sample indices
*/
inline void
setNumberOfSamples (unsigned int samples)
}
protected:
+
using Filter<PointT>::initCompute;
using Filter<PointT>::deinitCompute;
/** \brief Abstract filter method for point cloud indices. */
virtual void
applyFilter (std::vector<int> &indices) = 0;
+
+ /** \brief Abstract filter method for point cloud. */
+ virtual void
+ applyFilter (PointCloud &output) = 0;
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
}
protected:
+
/** \brief False = normal filter behavior (default), true = inverted behavior. */
bool negative_;
/** \brief Abstract filter method for point cloud indices. */
virtual void
applyFilter (std::vector<int> &indices) = 0;
+
+ /** \brief Abstract filter method for point cloud. */
+ virtual void
+ applyFilter (PCLPointCloud2 &output) = 0;
};
}
};
}
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/filters/impl/frustum_culling.hpp>
+#endif
+
#endif
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_FILTERS_VOXEL_GRID_MINIMUM_H_
+#define PCL_FILTERS_VOXEL_GRID_MINIMUM_H_
+
+#include <pcl/filters/boost.h>
+#include <pcl/filters/filter.h>
+#include <pcl/filters/filter_indices.h>
+
+namespace pcl
+{
+ /** \brief GridMinimum assembles a local 2D grid over a given PointCloud, and downsamples the data.
+ *
+ * The GridMinimum class creates a *2D grid* over the input point cloud
+ * data. Then, in each *cell* (i.e., 2D grid element), all the points
+ * present will be *downsampled* with the minimum z value. This grid minimum
+ * can be useful in a number of topographic processing tasks such as crudely
+ * estimating ground returns, especially under foliage.
+ *
+ * \author Bradley J Chambers
+ * \ingroup filters
+ */
+ template <typename PointT>
+ class GridMinimum: public FilterIndices<PointT>
+ {
+ protected:
+ using Filter<PointT>::filter_name_;
+ using Filter<PointT>::getClassName;
+ using Filter<PointT>::input_;
+ using Filter<PointT>::indices_;
+
+ typedef typename FilterIndices<PointT>::PointCloud PointCloud;
+
+ public:
+ /** \brief Empty constructor. */
+ GridMinimum (const float resolution)
+ {
+ setResolution (resolution);
+ filter_name_ = "GridMinimum";
+ }
+
+ /** \brief Destructor. */
+ virtual ~GridMinimum ()
+ {
+ }
+
+ /** \brief Set the grid resolution.
+ * \param[in] resolution the grid resolution
+ */
+ inline void
+ setResolution (const float resolution)
+ {
+ resolution_ = resolution;
+ // Use multiplications instead of divisions
+ inverse_resolution_ = 1.0f / resolution_;
+ }
+
+ /** \brief Get the grid resolution. */
+ inline float
+ getResolution () { return (resolution_); }
+
+ protected:
+ /** \brief The resolution. */
+ float resolution_;
+
+ /** \brief Internal resolution stored as 1/resolution_ for efficiency reasons. */
+ float inverse_resolution_;
+
+ /** \brief Downsample a Point Cloud using a 2D grid approach
+ * \param[out] output the resultant point cloud message
+ */
+ void
+ applyFilter (PointCloud &output);
+
+ /** \brief Filtered results are indexed by an indices array.
+ * \param[out] indices The resultant indices.
+ */
+ void
+ applyFilter (std::vector<int> &indices)
+ {
+ applyFilterIndices (indices);
+ }
+
+ /** \brief Filtered results are indexed by an indices array.
+ * \param[out] indices The resultant indices.
+ */
+ void
+ applyFilterIndices (std::vector<int> &indices);
+
+ };
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/filters/impl/grid_minimum.hpp>
+#endif
+
+#endif //#ifndef PCL_FILTERS_VOXEL_GRID_MINIMUM_H_
+
* @attention untested code
*/
template<typename PointT> void
-pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const
+pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const
{
// not implemented -> clip everything
clipped_polygon.clear ();
* @attention untested code
*/
template<typename PointT> void
-pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (std::vector<PointT>& polygon) const
+pcl::BoxClipper3D<PointT>::clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const
{
// not implemented -> clip everything
polygon.clear ();
#define PCL_FILTER_IMPL_FIELD_VAL_CONDITION_H_
#include <pcl/common/io.h>
+#include <pcl/common/copy_point.h>
#include <pcl/filters/conditional_removal.h>
//////////////////////////////////////////////////////////////////////////
if (condition_->evaluate (input_->points[(*Filter < PointT > ::indices_)[cp]]))
{
- pcl::for_each_type<FieldList> (
- pcl::NdConcatenateFunctor<PointT, PointT> (
- input_->points[(*Filter < PointT > ::indices_)[cp]],
- output.points[nr_p]));
+ copyPoint (input_->points[(*Filter < PointT > ::indices_)[cp]], output.points[nr_p]);
nr_p++;
}
else
}
// copy all the fields
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor<PointT, PointT> (input_->points[cp],
- output.points[cp]));
+ copyPoint (input_->points[cp], output.points[cp]);
+
if (!condition_->evaluate (input_->points[cp]))
{
output.points[cp].getVector4fMap ().setConstant (user_filter_value_);
if (input_->is_dense)
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int j = 0; j < height; ++j)
{
else
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int j = 0; j < height; ++j)
{
if (input_->is_dense)
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int j = 0; j < height; ++j)
{
else
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int j = 0; j < height; ++j)
{
if (input_->is_dense)
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int j = 0; j < height; ++j)
{
else
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int j = 0; j < height; ++j)
{
if (input_->is_dense)
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int i = 0; i < width; ++i)
{
else
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int i = 0; i < width; ++i)
{
if (input_->is_dense)
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int i = 0; i < width; ++i)
{
else
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int i = 0; i < width; ++i)
{
if (input_->is_dense)
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int i = 0; i < width; ++i)
{
else
{
#ifdef _OPENMP
-#pragma omp parallel for shared (output, last) num_threads (threads_)
+#pragma omp parallel for shared (output) num_threads (threads_)
#endif
for(int i = 0; i < width; ++i)
{
if (num_samples_ > indices_->size ())
{
- PCL_ERROR ("[pcl::CovarianceSampling::initCompute] The number of samples you asked for (%d) is larger than the number of input indices (%zu)\n",
+ PCL_ERROR ("[pcl::CovarianceSampling::initCompute] The number of samples you asked for (%d) is larger than the number of input indices (%lu)\n",
num_samples_, indices_->size ());
return false;
}
Eigen::MatrixXcd complex_eigenvalues = eigen_solver.eigenvalues ();
- double max_ev = std::numeric_limits<double>::min (),
+ double max_ev = -std::numeric_limits<double>::max (),
min_ev = std::numeric_limits<double>::max ();
for (size_t i = 0; i < 6; ++i)
{
Eigen::MatrixXcd complex_eigenvalues = eigen_solver.eigenvalues ();
- double max_ev = std::numeric_limits<double>::min (),
+ double max_ev = -std::numeric_limits<double>::max (),
min_ev = std::numeric_limits<double>::max ();
for (size_t i = 0; i < 6; ++i)
{
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_FILTERS_IMPL_VOXEL_GRID_MINIMUM_H_
+#define PCL_FILTERS_IMPL_VOXEL_GRID_MINIMUM_H_
+
+#include <pcl/common/common.h>
+#include <pcl/common/io.h>
+#include <pcl/filters/grid_minimum.h>
+
+struct point_index_idx
+{
+ unsigned int idx;
+ unsigned int cloud_point_index;
+
+ point_index_idx (unsigned int idx_, unsigned int cloud_point_index_) : idx (idx_), cloud_point_index (cloud_point_index_) {}
+ bool operator < (const point_index_idx &p) const { return (idx < p.idx); }
+};
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::GridMinimum<PointT>::applyFilter (PointCloud &output)
+{
+ // Has the input dataset been set already?
+ if (!input_)
+ {
+ PCL_WARN ("[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
+ output.width = output.height = 0;
+ output.points.clear ();
+ return;
+ }
+
+ std::vector<int> indices;
+
+ output.is_dense = true;
+ applyFilterIndices (indices);
+ pcl::copyPointCloud<PointT> (*input_, indices, output);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::GridMinimum<PointT>::applyFilterIndices (std::vector<int> &indices)
+{
+ indices.resize (indices_->size ());
+ int oii = 0;
+
+ // Get the minimum and maximum dimensions
+ Eigen::Vector4f min_p, max_p;
+ getMinMax3D<PointT> (*input_, *indices_, min_p, max_p);
+
+ // Check that the resolution is not too small, given the size of the data
+ int64_t dx = static_cast<int64_t> ((max_p[0] - min_p[0]) * inverse_resolution_)+1;
+ int64_t dy = static_cast<int64_t> ((max_p[1] - min_p[1]) * inverse_resolution_)+1;
+
+ if ((dx*dy) > static_cast<int64_t> (std::numeric_limits<int32_t>::max ()))
+ {
+ PCL_WARN ("[pcl::%s::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.", getClassName ().c_str ());
+ return;
+ }
+
+ Eigen::Vector4i min_b, max_b, div_b, divb_mul;
+
+ // Compute the minimum and maximum bounding box values
+ min_b[0] = static_cast<int> (floor (min_p[0] * inverse_resolution_));
+ max_b[0] = static_cast<int> (floor (max_p[0] * inverse_resolution_));
+ min_b[1] = static_cast<int> (floor (min_p[1] * inverse_resolution_));
+ max_b[1] = static_cast<int> (floor (max_p[1] * inverse_resolution_));
+
+ // Compute the number of divisions needed along all axis
+ div_b = max_b - min_b + Eigen::Vector4i::Ones ();
+ div_b[3] = 0;
+
+ // Set up the division multiplier
+ divb_mul = Eigen::Vector4i (1, div_b[0], 0, 0);
+
+ std::vector<point_index_idx> index_vector;
+ index_vector.reserve (indices_->size ());
+
+ // First pass: go over all points and insert them into the index_vector vector
+ // with calculated idx. Points with the same idx value will contribute to the
+ // same point of resulting CloudPoint
+ for (std::vector<int>::const_iterator it = indices_->begin (); it != indices_->end (); ++it)
+ {
+ if (!input_->is_dense)
+ // Check if the point is invalid
+ if (!pcl_isfinite (input_->points[*it].x) ||
+ !pcl_isfinite (input_->points[*it].y) ||
+ !pcl_isfinite (input_->points[*it].z))
+ continue;
+
+ int ijk0 = static_cast<int> (floor (input_->points[*it].x * inverse_resolution_) - static_cast<float> (min_b[0]));
+ int ijk1 = static_cast<int> (floor (input_->points[*it].y * inverse_resolution_) - static_cast<float> (min_b[1]));
+
+ // Compute the grid cell index
+ int idx = ijk0 * divb_mul[0] + ijk1 * divb_mul[1];
+ index_vector.push_back (point_index_idx (static_cast<unsigned int> (idx), *it));
+ }
+
+ // Second pass: sort the index_vector vector using value representing target cell as index
+ // in effect all points belonging to the same output cell will be next to each other
+ std::sort (index_vector.begin (), index_vector.end (), std::less<point_index_idx> ());
+
+ // Third pass: count output cells
+ // we need to skip all the same, adjacenent idx values
+ unsigned int total = 0;
+ unsigned int index = 0;
+
+ // first_and_last_indices_vector[i] represents the index in index_vector of the first point in
+ // index_vector belonging to the voxel which corresponds to the i-th output point,
+ // and of the first point not belonging to.
+ std::vector<std::pair<unsigned int, unsigned int> > first_and_last_indices_vector;
+
+ // Worst case size
+ first_and_last_indices_vector.reserve (index_vector.size ());
+ while (index < index_vector.size ())
+ {
+ unsigned int i = index + 1;
+ while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx)
+ ++i;
+ ++total;
+ first_and_last_indices_vector.push_back (std::pair<unsigned int, unsigned int> (index, i));
+ index = i;
+ }
+
+ // Fourth pass: locate grid minimums
+ indices.resize (total);
+
+ index = 0;
+
+ for (unsigned int cp = 0; cp < first_and_last_indices_vector.size (); ++cp)
+ {
+ unsigned int first_index = first_and_last_indices_vector[cp].first;
+ unsigned int last_index = first_and_last_indices_vector[cp].second;
+ unsigned int min_index = index_vector[first_index].cloud_point_index;
+ float min_z = input_->points[index_vector[first_index].cloud_point_index].z;
+
+ for (unsigned int i = first_index + 1; i < last_index; ++i)
+ {
+ if (input_->points[index_vector[i].cloud_point_index].z < min_z)
+ {
+ min_z = input_->points[index_vector[i].cloud_point_index].z;
+ min_index = index_vector[i].cloud_point_index;
+ }
+ }
+
+ indices[index] = min_index;
+
+ ++index;
+ }
+
+ oii = indices.size ();
+
+ // Resize the output arrays
+ indices.resize (oii);
+}
+
+#define PCL_INSTANTIATE_GridMinimum(T) template class PCL_EXPORTS pcl::GridMinimum<T>;
+
+#endif // PCL_FILTERS_IMPL_VOXEL_GRID_MINIMUM_H_
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_FILTERS_IMPL_LOCAL_MAXIMUM_H_
+#define PCL_FILTERS_IMPL_LOCAL_MAXIMUM_H_
+
+#include <pcl/common/io.h>
+#include <pcl/filters/local_maximum.h>
+#include <pcl/filters/project_inliers.h>
+#include <pcl/ModelCoefficients.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::LocalMaximum<PointT>::applyFilter (PointCloud &output)
+{
+ // Has the input dataset been set already?
+ if (!input_)
+ {
+ PCL_WARN ("[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
+ output.width = output.height = 0;
+ output.points.clear ();
+ return;
+ }
+
+ std::vector<int> indices;
+
+ output.is_dense = true;
+ applyFilterIndices (indices);
+ pcl::copyPointCloud<PointT> (*input_, indices, output);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::LocalMaximum<PointT>::applyFilterIndices (std::vector<int> &indices)
+{
+ typename PointCloud::Ptr cloud_projected (new PointCloud);
+
+ // Create a set of planar coefficients with X=Y=0,Z=1
+ pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
+ coefficients->values.resize (4);
+ coefficients->values[0] = coefficients->values[1] = 0;
+ coefficients->values[2] = 1.0;
+ coefficients->values[3] = 0;
+
+ // Create the filtering object and project input into xy plane
+ pcl::ProjectInliers<PointT> proj;
+ proj.setModelType (pcl::SACMODEL_PLANE);
+ proj.setInputCloud (input_);
+ proj.setModelCoefficients (coefficients);
+ proj.filter (*cloud_projected);
+
+ // Initialize the search class
+ if (!searcher_)
+ {
+ if (input_->isOrganized ())
+ searcher_.reset (new pcl::search::OrganizedNeighbor<PointT> ());
+ else
+ searcher_.reset (new pcl::search::KdTree<PointT> (false));
+ }
+ searcher_->setInputCloud (cloud_projected);
+
+ // The arrays to be used
+ indices.resize (indices_->size ());
+ removed_indices_->resize (indices_->size ());
+ int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
+
+ std::vector<bool> point_is_max (indices_->size (), false);
+ std::vector<bool> point_is_visited (indices_->size (), false);
+
+ // Find all points within xy radius (i.e., a vertical cylinder) of the query
+ // point, removing those that are locally maximal (i.e., highest z within the
+ // cylinder)
+ for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)
+ {
+ if (!isFinite (input_->points[(*indices_)[iii]]))
+ {
+ continue;
+ }
+
+ // Points in the neighborhood of a previously identified local max, will
+ // not be maximal in their own neighborhood
+ if (point_is_visited[(*indices_)[iii]] && !point_is_max[(*indices_)[iii]])
+ {
+ continue;
+ }
+
+ // Assume the current query point is the maximum, mark as visited
+ point_is_max[(*indices_)[iii]] = true;
+ point_is_visited[(*indices_)[iii]] = true;
+
+ // Perform the radius search in the projected cloud
+ std::vector<int> radius_indices;
+ std::vector<float> radius_dists;
+ PointT p = cloud_projected->points[(*indices_)[iii]];
+ if (searcher_->radiusSearch (p, radius_, radius_indices, radius_dists) == 0)
+ {
+ PCL_WARN ("[pcl::%s::applyFilter] Searching for neighbors within radius %f failed.\n", getClassName ().c_str (), radius_);
+ continue;
+ }
+
+ // If query point is alone, we retain it regardless
+ if (radius_indices.size () == 1)
+ {
+ point_is_max[(*indices_)[iii]] = false;
+ }
+
+ // Check to see if a neighbor is higher than the query point
+ float query_z = input_->points[(*indices_)[iii]].z;
+ for (size_t k = 1; k < radius_indices.size (); ++k) // k = 1 is the first neighbor
+ {
+ if (input_->points[radius_indices[k]].z > query_z)
+ {
+ // Query point is not the local max, no need to check others
+ point_is_max[(*indices_)[iii]] = false;
+ break;
+ }
+ }
+
+ // If the query point was a local max, all neighbors can be marked as
+ // visited, excluding them from future consideration as local maxima
+ if (point_is_max[(*indices_)[iii]])
+ {
+ for (size_t k = 1; k < radius_indices.size (); ++k) // k = 1 is the first neighbor
+ {
+ point_is_visited[radius_indices[k]] = true;
+ }
+ }
+
+ // Points that are local maxima are passed to removed indices
+ // Unless negative was set, then it's the opposite condition
+ if ((!negative_ && point_is_max[(*indices_)[iii]]) || (negative_ && !point_is_max[(*indices_)[iii]]))
+ {
+ if (extract_removed_indices_)
+ {
+ (*removed_indices_)[rii++] = (*indices_)[iii];
+ }
+
+ continue;
+ }
+
+ // Otherwise it was a normal point for output (inlier)
+ indices[oii++] = (*indices_)[iii];
+ }
+
+ // Resize the output arrays
+ indices.resize (oii);
+ removed_indices_->resize (rii);
+}
+
+#define PCL_INSTANTIATE_LocalMaximum(T) template class PCL_EXPORTS pcl::LocalMaximum<T>;
+
+#endif // PCL_FILTERS_IMPL_LOCAL_MAXIMUM_H_
+
// Copy everything from the input cloud to the output cloud (takes care of all the fields)
copyPointCloud (*input_, output);
- for (int y = 0; y < output.height; ++y)
- for (int x = 0; x < output.width; ++x)
+ int height = static_cast<int> (output.height);
+ int width = static_cast<int> (output.width);
+ for (int y = 0; y < height; ++y)
+ for (int x = 0; x < width; ++x)
if (pcl::isFinite ((*input_)(x, y)))
{
std::vector<float> vals;
for (int y_dev = -window_size_/2; y_dev <= window_size_/2; ++y_dev)
for (int x_dev = -window_size_/2; x_dev <= window_size_/2; ++x_dev)
{
- if (x + x_dev >= 0 && x + x_dev < output.width &&
- y + y_dev >= 0 && y + y_dev < output.height &&
+ if (x + x_dev >= 0 && x + x_dev < width &&
+ y + y_dev >= 0 && y + y_dev < height &&
pcl::isFinite ((*input_)(x+x_dev, y+y_dev)))
vals.push_back ((*input_)(x+x_dev, y+y_dev).z);
}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_FILTERS_IMPL_MODEL_OUTLIER_REMOVAL_HPP_
+#define PCL_FILTERS_IMPL_MODEL_OUTLIER_REMOVAL_HPP_
+
+#include <pcl/filters/model_outlier_removal.h>
+#include <pcl/common/io.h>
+#include <pcl/sample_consensus/sac_model_circle.h>
+#include <pcl/sample_consensus/sac_model_cylinder.h>
+#include <pcl/sample_consensus/sac_model_cone.h>
+#include <pcl/sample_consensus/sac_model_line.h>
+#include <pcl/sample_consensus/sac_model_normal_plane.h>
+#include <pcl/sample_consensus/sac_model_normal_sphere.h>
+#include <pcl/sample_consensus/sac_model_parallel_plane.h>
+#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
+#include <pcl/sample_consensus/sac_model_parallel_line.h>
+#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
+#include <pcl/sample_consensus/sac_model_plane.h>
+#include <pcl/sample_consensus/sac_model_sphere.h>
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::ModelOutlierRemoval<PointT>::initSACModel (pcl::SacModel model_type)
+{
+ // Build the model
+ switch (model_type)
+ {
+ case SACMODEL_PLANE:
+ {
+ PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelPLANE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelPlane<PointT> (input_));
+ break;
+ }
+ case SACMODEL_LINE:
+ {
+ PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelLINE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelLine<PointT> (input_));
+ break;
+ }
+ case SACMODEL_CIRCLE2D:
+ {
+ PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelCIRCLE2D\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelCircle2D<PointT> (input_));
+ break;
+ }
+ case SACMODEL_SPHERE:
+ {
+ PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelSPHERE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelSphere<PointT> (input_));
+ break;
+ }
+ case SACMODEL_PARALLEL_LINE:
+ {
+ PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelPARALLEL_LINE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelParallelLine<PointT> (input_));
+ break;
+ }
+ case SACMODEL_PERPENDICULAR_PLANE:
+ {
+ PCL_DEBUG ("[pcl::%s::initSACModel] Using a model of type: modelPERPENDICULAR_PLANE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelPerpendicularPlane<PointT> (input_));
+ break;
+ }
+ case SACMODEL_CYLINDER:
+ {
+ PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelCYLINDER\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelCylinder<PointT, pcl::Normal> (input_));
+ break;
+ }
+ case SACMODEL_NORMAL_PLANE:
+ {
+ PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelNORMAL_PLANE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelNormalPlane<PointT, pcl::Normal> (input_));
+ break;
+ }
+ case SACMODEL_CONE:
+ {
+ PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelCONE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelCone<PointT, pcl::Normal> (input_));
+ break;
+ }
+ case SACMODEL_NORMAL_SPHERE:
+ {
+ PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelNORMAL_SPHERE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelNormalSphere<PointT, pcl::Normal> (input_));
+ break;
+ }
+ case SACMODEL_NORMAL_PARALLEL_PLANE:
+ {
+ PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelNORMAL_PARALLEL_PLANE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelNormalParallelPlane<PointT, pcl::Normal> (input_));
+ break;
+ }
+ case SACMODEL_PARALLEL_PLANE:
+ {
+ PCL_DEBUG ("[pcl::%s::segment] Using a model of type: modelPARALLEL_PLANE\n", getClassName ().c_str ());
+ model_.reset (new SampleConsensusModelParallelPlane<PointT> (input_));
+ break;
+ }
+ default:
+ {
+ PCL_ERROR ("[pcl::%s::initSACModel] No valid model given!\n", getClassName ().c_str ());
+ return (false);
+ }
+ }
+ return (true);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::ModelOutlierRemoval<PointT>::applyFilter (PointCloud &output)
+{
+ std::vector<int> indices;
+ if (keep_organized_)
+ {
+ bool temp = extract_removed_indices_;
+ extract_removed_indices_ = true;
+ applyFilterIndices (indices);
+ extract_removed_indices_ = temp;
+
+ output = *input_;
+ for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii) // rii = removed indices iterator
+ output.points[ (*removed_indices_)[rii]].x = output.points[ (*removed_indices_)[rii]].y = output.points[ (*removed_indices_)[rii]].z = user_filter_value_;
+ if (!pcl_isfinite (user_filter_value_))
+ output.is_dense = false;
+ }
+ else
+ {
+ applyFilterIndices (indices);
+ copyPointCloud (*input_, indices, output);
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::ModelOutlierRemoval<PointT>::applyFilterIndices (std::vector<int> &indices)
+{
+ //The arrays to be used
+ indices.resize (indices_->size ());
+ removed_indices_->resize (indices_->size ());
+ int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
+ //is the filtersetup correct?
+ bool valid_setup = true;
+
+ valid_setup &= initSACModel (model_type_);
+
+ typedef SampleConsensusModelFromNormals<PointT, pcl::Normal> SACModelFromNormals;
+ // Returns NULL if cast isn't possible
+ SACModelFromNormals *model_from_normals = dynamic_cast<SACModelFromNormals *> (& (*model_));
+
+ if (model_from_normals)
+ {
+ if (!cloud_normals_)
+ {
+ valid_setup = false;
+ PCL_ERROR ("[pcl::ModelOutlierRemoval::applyFilterIndices]: no normals cloud set.\n");
+ }
+ else
+ {
+ model_from_normals->setNormalDistanceWeight (normals_distance_weight_);
+ model_from_normals->setInputNormals (cloud_normals_);
+ }
+ }
+
+ //if the filter setup is invalid filter for nan and return;
+ if (!valid_setup)
+ {
+ for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii) // iii = input indices iterator
+ {
+ // Non-finite entries are always passed to removed indices
+ if (!isFinite (input_->points[ (*indices_)[iii]]))
+ {
+ if (extract_removed_indices_)
+ (*removed_indices_)[rii++] = (*indices_)[iii];
+ continue;
+ }
+ indices[oii++] = (*indices_)[iii];
+ }
+ return;
+ }
+ // check distance of pointcloud to model
+ std::vector<double> distances;
+ //TODO: get signed distances !
+ model_->getDistancesToModel (model_coefficients_, distances);
+ bool thresh_result;
+
+ // Filter for non-finite entries and the specified field limits
+ for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii) // iii = input indices iterator
+ {
+ // Non-finite entries are always passed to removed indices
+ if (!isFinite (input_->points[ (*indices_)[iii]]))
+ {
+ if (extract_removed_indices_)
+ (*removed_indices_)[rii++] = (*indices_)[iii];
+ continue;
+ }
+
+ // use threshold function to seperate outliers from inliers:
+ thresh_result = threshold_function_ (distances[iii]);
+
+ // in normal mode: define outliers as false thresh_result
+ if (!negative_ && !thresh_result)
+ {
+ if (extract_removed_indices_)
+ (*removed_indices_)[rii++] = (*indices_)[iii];
+ continue;
+ }
+
+ // in negative_ mode: define outliers as true thresh_result
+ if (negative_ && thresh_result)
+ {
+ if (extract_removed_indices_)
+ (*removed_indices_)[rii++] = (*indices_)[iii];
+ continue;
+ }
+
+ // Otherwise it was a normal point for output (inlier)
+ indices[oii++] = (*indices_)[iii];
+
+ }
+
+ // Resize the output arrays
+ indices.resize (oii);
+ removed_indices_->resize (rii);
+
+}
+
+#define PCL_INSTANTIATE_ModelOutlierRemoval(T) template class PCL_EXPORTS pcl::ModelOutlierRemoval<T>;
+
+#endif // PCL_FILTERS_IMPL_MODEL_OUTLIER_REMOVAL_HPP_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_FILTERS_IMPL_MORPHOLOGICAL_FILTER_H_
+#define PCL_FILTERS_IMPL_MORPHOLOGICAL_FILTER_H_
+
+#include <limits>
+#include <vector>
+
+#include <Eigen/Core>
+
+#include <pcl/common/common.h>
+#include <pcl/common/io.h>
+#include <pcl/filters/morphological_filter.h>
+#include <pcl/octree/octree.h>
+
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::applyMorphologicalOperator (const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
+ float resolution, const int morphological_operator,
+ pcl::PointCloud<PointT> &cloud_out)
+{
+ if (cloud_in->empty ())
+ return;
+
+ pcl::copyPointCloud<PointT, PointT> (*cloud_in, cloud_out);
+
+ pcl::octree::OctreePointCloudSearch<PointT> tree (resolution);
+
+ tree.setInputCloud (cloud_in);
+ tree.addPointsFromInputCloud ();
+
+ float half_res = resolution / 2.0f;
+
+ switch (morphological_operator)
+ {
+ case MORPH_DILATE:
+ case MORPH_ERODE:
+ {
+ for (size_t p_idx = 0; p_idx < cloud_in->points.size (); ++p_idx)
+ {
+ Eigen::Vector3f bbox_min, bbox_max;
+ std::vector<int> pt_indices;
+ float minx = cloud_in->points[p_idx].x - half_res;
+ float miny = cloud_in->points[p_idx].y - half_res;
+ float minz = -std::numeric_limits<float>::max ();
+ float maxx = cloud_in->points[p_idx].x + half_res;
+ float maxy = cloud_in->points[p_idx].y + half_res;
+ float maxz = std::numeric_limits<float>::max ();
+ bbox_min = Eigen::Vector3f (minx, miny, minz);
+ bbox_max = Eigen::Vector3f (maxx, maxy, maxz);
+ tree.boxSearch (bbox_min, bbox_max, pt_indices);
+
+ if (pt_indices.size () > 0)
+ {
+ Eigen::Vector4f min_pt, max_pt;
+ pcl::getMinMax3D<PointT> (*cloud_in, pt_indices, min_pt, max_pt);
+
+ switch (morphological_operator)
+ {
+ case MORPH_DILATE:
+ {
+ cloud_out.points[p_idx].z = max_pt.z ();
+ break;
+ }
+ case MORPH_ERODE:
+ {
+ cloud_out.points[p_idx].z = min_pt.z ();
+ break;
+ }
+ }
+ }
+ }
+ break;
+ }
+ case MORPH_OPEN:
+ case MORPH_CLOSE:
+ {
+ pcl::PointCloud<PointT> cloud_temp;
+
+ pcl::copyPointCloud<PointT, PointT> (*cloud_in, cloud_temp);
+
+ for (size_t p_idx = 0; p_idx < cloud_temp.points.size (); ++p_idx)
+ {
+ Eigen::Vector3f bbox_min, bbox_max;
+ std::vector<int> pt_indices;
+ float minx = cloud_temp.points[p_idx].x - half_res;
+ float miny = cloud_temp.points[p_idx].y - half_res;
+ float minz = -std::numeric_limits<float>::max ();
+ float maxx = cloud_temp.points[p_idx].x + half_res;
+ float maxy = cloud_temp.points[p_idx].y + half_res;
+ float maxz = std::numeric_limits<float>::max ();
+ bbox_min = Eigen::Vector3f (minx, miny, minz);
+ bbox_max = Eigen::Vector3f (maxx, maxy, maxz);
+ tree.boxSearch (bbox_min, bbox_max, pt_indices);
+
+ if (pt_indices.size () > 0)
+ {
+ Eigen::Vector4f min_pt, max_pt;
+ pcl::getMinMax3D<PointT> (cloud_temp, pt_indices, min_pt, max_pt);
+
+ switch (morphological_operator)
+ {
+ case MORPH_OPEN:
+ {
+ cloud_out.points[p_idx].z = min_pt.z ();
+ break;
+ }
+ case MORPH_CLOSE:
+ {
+ cloud_out.points[p_idx].z = max_pt.z ();
+ break;
+ }
+ }
+ }
+ }
+
+ cloud_temp.swap (cloud_out);
+
+ for (size_t p_idx = 0; p_idx < cloud_temp.points.size (); ++p_idx)
+ {
+ Eigen::Vector3f bbox_min, bbox_max;
+ std::vector<int> pt_indices;
+ float minx = cloud_temp.points[p_idx].x - half_res;
+ float miny = cloud_temp.points[p_idx].y - half_res;
+ float minz = -std::numeric_limits<float>::max ();
+ float maxx = cloud_temp.points[p_idx].x + half_res;
+ float maxy = cloud_temp.points[p_idx].y + half_res;
+ float maxz = std::numeric_limits<float>::max ();
+ bbox_min = Eigen::Vector3f (minx, miny, minz);
+ bbox_max = Eigen::Vector3f (maxx, maxy, maxz);
+ tree.boxSearch (bbox_min, bbox_max, pt_indices);
+
+ if (pt_indices.size () > 0)
+ {
+ Eigen::Vector4f min_pt, max_pt;
+ pcl::getMinMax3D<PointT> (cloud_temp, pt_indices, min_pt, max_pt);
+
+ switch (morphological_operator)
+ {
+ case MORPH_OPEN:
+ default:
+ {
+ cloud_out.points[p_idx].z = max_pt.z ();
+ break;
+ }
+ case MORPH_CLOSE:
+ {
+ cloud_out.points[p_idx].z = min_pt.z ();
+ break;
+ }
+ }
+ }
+ }
+ break;
+ }
+ default:
+ {
+ PCL_ERROR ("Morphological operator is not supported!\n");
+ break;
+ }
+ }
+
+ return;
+}
+
+#define PCL_INSTANTIATE_applyMorphologicalOperator(T) template PCL_EXPORTS void pcl::applyMorphologicalOperator<T> (const pcl::PointCloud<T>::ConstPtr &, float, const int, pcl::PointCloud<T> &);
+
+#endif //#ifndef PCL_FILTERS_IMPL_MORPHOLOGICAL_FILTER_H_
+
// If sample size is 0 or if the sample size is greater then input cloud size then return entire copy of cloud
if (sample_ >= input_->size ())
{
- PCL_ERROR ("[NormalSpaceSampling::initCompute] Requested more samples than the input cloud size: %d vs %zu\n",
+ PCL_ERROR ("[NormalSpaceSampling::initCompute] Requested more samples than the input cloud size: %d vs %lu\n",
sample_, input_->size ());
return false;
}
}
// Inside of the field limits are passed to removed indices if negative was set
- if (negative_ && field_value > filter_limit_min_ && field_value < filter_limit_max_)
+ if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
{
if (extract_removed_indices_)
(*removed_indices_)[rii++] = (*indices_)[iii];
* @attention untested code
*/
template<typename PointT> void
-pcl::PlaneClipper3D<PointT>::clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const
+pcl::PlaneClipper3D<PointT>::clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const
{
clipped_polygon.clear ();
clipped_polygon.reserve (polygon.size ());
if (previous_distance > 0)
clipped_polygon.push_back (polygon [0]);
- typename std::vector<PointT>::const_iterator prev_it = polygon.begin ();
+ typename std::vector<PointT, Eigen::aligned_allocator<PointT> >::const_iterator prev_it = polygon.begin ();
- for (typename std::vector<PointT>::const_iterator pIt = prev_it + 1; pIt != polygon.end (); prev_it = pIt++)
+ for (typename std::vector<PointT, Eigen::aligned_allocator<PointT> >::const_iterator pIt = prev_it + 1; pIt != polygon.end (); prev_it = pIt++)
{
// if we intersect plane
float distance = getDistance (*pIt);
* @attention untested code
*/
template<typename PointT> void
-pcl::PlaneClipper3D<PointT>::clipPlanarPolygon3D (std::vector<PointT>& polygon) const
+pcl::PlaneClipper3D<PointT>::clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> > &polygon) const
{
- std::vector<PointT> clipped;
+ std::vector<PointT, Eigen::aligned_allocator<PointT> > clipped;
clipPlanarPolygon3D (polygon, clipped);
polygon = clipped;
}
clipped.push_back (*iIt);
}
}
-#endif //PCL_FILTERS_IMPL_PLANE_CLIPPER3D_HPP
\ No newline at end of file
+#endif //PCL_FILTERS_IMPL_PLANE_CLIPPER3D_HPP
pcl::SamplingSurfaceNormal<PointT>::applyFilter (PointCloud &output)
{
std::vector <int> indices;
- int npts = int (input_->points.size ());
+ size_t npts = input_->points.size ();
for (unsigned int i = 0; i < npts; i++)
indices.push_back (i);
std::vector<int>& indices, PointCloud& output)
{
const int count (last - first);
- if (count <= sample_)
+ if (count <= static_cast<int> (sample_))
{
samplePartition (cloud, first, last, indices, output);
return;
{
pcl::PointCloud <PointT> cloud;
- for (unsigned int i = first; i < last; i++)
+ for (int i = first; i < last; i++)
{
PointT pt;
pt.x = data.points[indices[i]].x;
int64_t dy = static_cast<int64_t>((max_p[1] - min_p[1]) * inverse_leaf_size_[1])+1;
int64_t dz = static_cast<int64_t>((max_p[2] - min_p[2]) * inverse_leaf_size_[2])+1;
- if( (dx*dy*dz) > static_cast<int64_t>(std::numeric_limits<int32_t>::max()) )
+ if ((dx*dy*dz) > static_cast<int64_t>(std::numeric_limits<int32_t>::max()))
{
PCL_WARN("[pcl::%s::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.", getClassName().c_str());
output = *input_;
// we need to skip all the same, adjacenent idx values
unsigned int total = 0;
unsigned int index = 0;
+ // first_and_last_indices_vector[i] represents the index in index_vector of the first point in
+ // index_vector belonging to the voxel which corresponds to the i-th output point,
+ // and of the first point not belonging to.
+ std::vector<std::pair<unsigned int, unsigned int> > first_and_last_indices_vector;
+ // Worst case size
+ first_and_last_indices_vector.reserve (index_vector.size ());
while (index < index_vector.size ())
{
unsigned int i = index + 1;
while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx)
++i;
- ++total;
+ if (i - index >= min_points_per_voxel_)
+ {
+ ++total;
+ first_and_last_indices_vector.push_back (std::pair<unsigned int, unsigned int> (index, i));
+ }
index = i;
}
Eigen::VectorXf centroid = Eigen::VectorXf::Zero (centroid_size);
Eigen::VectorXf temporary = Eigen::VectorXf::Zero (centroid_size);
- for (unsigned int cp = 0; cp < index_vector.size ();)
+ for (unsigned int cp = 0; cp < first_and_last_indices_vector.size (); ++cp)
{
// calculate centroid - sum values from all input points, that have the same idx value in index_vector array
+ unsigned int first_index = first_and_last_indices_vector[cp].first;
+ unsigned int last_index = first_and_last_indices_vector[cp].second;
if (!downsample_all_data_)
{
- centroid[0] = input_->points[index_vector[cp].cloud_point_index].x;
- centroid[1] = input_->points[index_vector[cp].cloud_point_index].y;
- centroid[2] = input_->points[index_vector[cp].cloud_point_index].z;
+ centroid[0] = input_->points[index_vector[first_index].cloud_point_index].x;
+ centroid[1] = input_->points[index_vector[first_index].cloud_point_index].y;
+ centroid[2] = input_->points[index_vector[first_index].cloud_point_index].z;
}
else
{
{
// Fill r/g/b data, assuming that the order is BGRA
pcl::RGB rgb;
- memcpy (&rgb, reinterpret_cast<const char*> (&input_->points[index_vector[cp].cloud_point_index]) + rgba_index, sizeof (RGB));
+ memcpy (&rgb, reinterpret_cast<const char*> (&input_->points[index_vector[first_index].cloud_point_index]) + rgba_index, sizeof (RGB));
centroid[centroid_size-3] = rgb.r;
centroid[centroid_size-2] = rgb.g;
centroid[centroid_size-1] = rgb.b;
}
- pcl::for_each_type <FieldList> (NdCopyPointEigenFunctor <PointT> (input_->points[index_vector[cp].cloud_point_index], centroid));
+ pcl::for_each_type <FieldList> (NdCopyPointEigenFunctor <PointT> (input_->points[index_vector[first_index].cloud_point_index], centroid));
}
- unsigned int i = cp + 1;
- while (i < index_vector.size () && index_vector[i].idx == index_vector[cp].idx)
+ for (unsigned int i = first_index + 1; i < last_index; ++i)
{
if (!downsample_all_data_)
{
pcl::for_each_type <FieldList> (NdCopyPointEigenFunctor <PointT> (input_->points[index_vector[i].cloud_point_index], temporary));
centroid += temporary;
}
- ++i;
}
// index is centroid final position in resulting PointCloud
if (save_leaf_layout_)
- leaf_layout_[index_vector[cp].idx] = index;
+ leaf_layout_[index_vector[first_index].idx] = index;
- centroid /= static_cast<float> (i - cp);
+ centroid /= static_cast<float> (last_index - first_index);
// store centroid
// Do we need to process all the fields?
memcpy (reinterpret_cast<char*> (&output.points[index]) + rgba_index, &rgb, sizeof (float));
}
}
- cp = i;
++index;
}
output.width = static_cast<uint32_t> (output.points.size ());
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_FILTERS_LOCAL_MAXIMUM_H_
+#define PCL_FILTERS_LOCAL_MAXIMUM_H_
+
+#include <pcl/filters/filter_indices.h>
+#include <pcl/search/pcl_search.h>
+
+namespace pcl
+{
+ /** \brief LocalMaximum downsamples the cloud, by eliminating points that are locally maximal.
+ *
+ * The LocalMaximum class analyzes each point and removes those that are
+ * found to be locally maximal with respect to their neighbors (found via
+ * radius search). The comparison is made in the z dimension only at this
+ * time.
+ *
+ * \author Bradley J Chambers
+ * \ingroup filters
+ */
+ template <typename PointT>
+ class LocalMaximum: public FilterIndices<PointT>
+ {
+ protected:
+ typedef typename FilterIndices<PointT>::PointCloud PointCloud;
+ typedef typename pcl::search::Search<PointT>::Ptr SearcherPtr;
+
+ public:
+ /** \brief Empty constructor. */
+ LocalMaximum (bool extract_removed_indices = false) :
+ FilterIndices<PointT>::FilterIndices (extract_removed_indices),
+ searcher_ (),
+ radius_ (1)
+ {
+ filter_name_ = "LocalMaximum";
+ }
+
+ /** \brief Set the radius to use to determine if a point is the local max.
+ * \param[in] radius The radius to use to determine if a point is the local max.
+ */
+ inline void
+ setRadius (float radius) { radius_ = radius; }
+
+ /** \brief Get the radius to use to determine if a point is the local max.
+ * \return The radius to use to determine if a point is the local max.
+ */
+ inline float
+ getRadius () const { return (radius_); }
+
+ protected:
+ using PCLBase<PointT>::input_;
+ using PCLBase<PointT>::indices_;
+ using Filter<PointT>::filter_name_;
+ using Filter<PointT>::getClassName;
+ using FilterIndices<PointT>::negative_;
+ using FilterIndices<PointT>::extract_removed_indices_;
+ using FilterIndices<PointT>::removed_indices_;
+
+ /** \brief Downsample a Point Cloud by eliminating points that are locally maximal in z
+ * \param[out] output the resultant point cloud message
+ */
+ void
+ applyFilter (PointCloud &output);
+
+ /** \brief Filtered results are indexed by an indices array.
+ * \param[out] indices The resultant indices.
+ */
+ void
+ applyFilter (std::vector<int> &indices)
+ {
+ applyFilterIndices (indices);
+ }
+
+ /** \brief Filtered results are indexed by an indices array.
+ * \param[out] indices The resultant indices.
+ */
+ void
+ applyFilterIndices (std::vector<int> &indices);
+
+ private:
+ /** \brief A pointer to the spatial search object. */
+ SearcherPtr searcher_;
+
+ /** \brief The radius to use to determine if a point is the local max. */
+ float radius_;
+ };
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/filters/impl/local_maximum.hpp>
+#endif
+
+#endif //#ifndef PCL_FILTERS_LOCAL_MAXIMUM_H_
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_
+#define PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_
+
+#include <pcl/filters/filter_indices.h>
+#include <pcl/ModelCoefficients.h>
+
+// Sample Consensus models
+#include <pcl/sample_consensus/model_types.h>
+#include <pcl/sample_consensus/sac_model.h>
+
+namespace pcl
+{
+ /** \brief @b ModelOutlierRemoval filters points in a cloud based on the distance between model and point.
+ * \details Iterates through the entire input once, automatically filtering non-finite points and the points outside
+ * the model specified by setSampleConsensusModelPointer() and the threshold specified by setThreholdFunctionPointer().
+ * <br><br>
+ * Usage example:
+ * \code
+ * pcl::ModelCoefficients model_coeff;
+ * model_coeff.values.resize(4);
+ * model_coeff.values[0] = 0; model_coeff.values[1] = 0; model_coeff.values[2] = 1.5; model_coeff.values[3] = 0.5;
+ * pcl::ModelOutlierRemoval<pcl::PointXYZ> filter;
+ * filter.setModelCoefficients (model_coeff);
+ * filter.setThreshold (0.1);
+ * filter.setModelType (pcl::SACMODEL_PLANE);
+ * filter.setInputCloud (*cloud_in);
+ * filter.setFilterLimitsNegative (false);
+ * filter.filter (*cloud_out);
+ * \endcode
+ */
+ template <typename PointT>
+ class ModelOutlierRemoval : public FilterIndices<PointT>
+ {
+ protected:
+ typedef typename FilterIndices<PointT>::PointCloud PointCloud;
+ typedef typename PointCloud::Ptr PointCloudPtr;
+ typedef typename PointCloud::ConstPtr PointCloudConstPtr;
+ typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
+
+ public:
+ typedef typename pcl::PointCloud<pcl::Normal>::Ptr PointCloudNPtr;
+ typedef typename pcl::PointCloud<pcl::Normal>::ConstPtr PointCloudNConstPtr;
+
+ /** \brief Constructor.
+ * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
+ */
+ inline
+ ModelOutlierRemoval (bool extract_removed_indices = false) :
+ FilterIndices<PointT>::FilterIndices (extract_removed_indices)
+ {
+ thresh_ = 0;
+ normals_distance_weight_ = 0;
+ filter_name_ = "ModelOutlierRemoval";
+ setThresholdFunction (&pcl::ModelOutlierRemoval<PointT>::checkSingleThreshold, *this);
+ }
+
+ /** \brief sets the models coefficients */
+ inline void
+ setModelCoefficients (const pcl::ModelCoefficients model_coefficients)
+ {
+ model_coefficients_.resize (model_coefficients.values.size ());
+ for (unsigned int i = 0; i < model_coefficients.values.size (); i++)
+ {
+ model_coefficients_[i] = model_coefficients.values[i];
+ }
+ }
+
+ /** \brief returns the models coefficients
+ */
+ inline pcl::ModelCoefficients
+ getModelCoefficients () const
+ {
+ pcl::ModelCoefficients mc;
+ mc.values.resize (model_coefficients_.size ());
+ for (unsigned int i = 0; i < mc.values.size (); i++)
+ mc.values[i] = model_coefficients_[i];
+ return (mc);
+ }
+
+ /** \brief Set the type of SAC model used. */
+ inline void
+ setModelType (pcl::SacModel model)
+ {
+ model_type_ = model;
+ }
+
+ /** \brief Get the type of SAC model used. */
+ inline pcl::SacModel
+ getModelType () const
+ {
+ return (model_type_);
+ }
+
+ /** \brief Set the thresholdfunction*/
+ inline void
+ setThreshold (float thresh)
+ {
+ thresh_ = thresh;
+ }
+
+ /** \brief Get the thresholdfunction*/
+ inline float
+ getThreshold () const
+ {
+ return (thresh_);
+ }
+
+ /** \brief Set the normals cloud*/
+ inline void
+ setInputNormals (const PointCloudNConstPtr normals_ptr)
+ {
+ cloud_normals_ = normals_ptr;
+ }
+
+ /** \brief Get the normals cloud*/
+ inline PointCloudNConstPtr
+ getInputNormals () const
+ {
+ return (cloud_normals_);
+ }
+
+ /** \brief Set the normals distance weight*/
+ inline void
+ setNormalDistanceWeight (const double weight)
+ {
+ normals_distance_weight_ = weight;
+ }
+
+ /** \brief get the normal distance weight*/
+ inline double
+ getNormalDistanceWeight () const
+ {
+ return (normals_distance_weight_);
+ }
+
+ /** \brief Register a different threshold function
+ * \param[in] pointer to a threshold function
+ */
+ void
+ setThresholdFunction (boost::function<bool (double)> thresh)
+ {
+ threshold_function_ = thresh;
+ }
+
+ /** \brief Register a different threshold function
+ * \param[in] pointer to a threshold function
+ * \param[in] instance
+ */
+ template <typename T> void
+ setThresholdFunction (bool (T::*thresh_function) (double), T& instance)
+ {
+ setThresholdFunction (boost::bind (thresh_function, boost::ref (instance), _1));
+ }
+
+ protected:
+ using PCLBase<PointT>::input_;
+ using PCLBase<PointT>::indices_;
+ using Filter<PointT>::filter_name_;
+ using Filter<PointT>::getClassName;
+ using FilterIndices<PointT>::negative_;
+ using FilterIndices<PointT>::keep_organized_;
+ using FilterIndices<PointT>::user_filter_value_;
+ using FilterIndices<PointT>::extract_removed_indices_;
+ using FilterIndices<PointT>::removed_indices_;
+
+ /** \brief Filtered results are stored in a separate point cloud.
+ * \param[out] output The resultant point cloud.
+ */
+ void
+ applyFilter (PointCloud &output);
+
+ /** \brief Filtered results are indexed by an indices array.
+ * \param[out] indices The resultant indices.
+ */
+ void
+ applyFilter (std::vector<int> &indices)
+ {
+ applyFilterIndices (indices);
+ }
+
+ /** \brief Filtered results are indexed by an indices array.
+ * \param[out] indices The resultant indices.
+ */
+ void
+ applyFilterIndices (std::vector<int> &indices);
+
+ protected:
+ double normals_distance_weight_;
+ PointCloudNConstPtr cloud_normals_;
+
+ /** \brief The model used to calculate distances */
+ SampleConsensusModelPtr model_;
+
+ /** \brief The threshold used to seperate outliers (removed_indices) from inliers (indices) */
+ float thresh_;
+
+ /** \brief The model coefficients */
+ Eigen::VectorXf model_coefficients_;
+
+ /** \brief The type of model to use (user given parameter). */
+ pcl::SacModel model_type_;
+ boost::function<bool (double)> threshold_function_;
+
+ inline bool
+ checkSingleThreshold (double value)
+ {
+ return (value < thresh_);
+ }
+
+ private:
+ virtual bool
+ initSACModel (pcl::SacModel model_type);
+ };
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/filters/impl/model_outlier_removal.hpp>
+#endif
+
+#endif // PCL_FILTERS_MODEL_OUTLIER_REMOVAL_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_FILTERS_MORPHOLOGICAL_FILTER_H_
+#define PCL_FILTERS_MORPHOLOGICAL_FILTER_H_
+
+#include <string>
+#include <pcl/pcl_base.h>
+#include <pcl/PointIndices.h>
+#include <pcl/conversions.h>
+#include <locale>
+
+namespace pcl
+{
+ enum MorphologicalOperators
+ {
+ MORPH_OPEN,
+ MORPH_CLOSE,
+ MORPH_DILATE,
+ MORPH_ERODE
+ };
+}
+
+namespace pcl
+{
+ /** \brief Apply morphological operator to the z dimension of the input point cloud
+ * \param[in] cloud_in the input point cloud dataset
+ * \param[in] resolution the window size to be used for the morphological operation
+ * \param[in] morphological_operator the morphological operator to apply (open, close, dilate, erode)
+ * \param[out] cloud_out the resultant output point cloud dataset
+ * \ingroup filters
+ */
+ template <typename PointT> PCL_EXPORTS void
+ applyMorphologicalOperator (const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
+ float resolution, const int morphological_operator,
+ pcl::PointCloud<PointT> &cloud_out);
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/filters/impl/morphological_filter.hpp>
+#endif
+
+#endif //#ifndef PCL_FILTERS_MORPHOLOGICAL_FILTER_H_
+
clipLineSegment3D (PointT& from, PointT& to) const;
virtual void
- clipPlanarPolygon3D (std::vector<PointT>& polygon) const;
+ clipPlanarPolygon3D (std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon) const;
virtual void
- clipPlanarPolygon3D (const std::vector<PointT>& polygon, std::vector<PointT>& clipped_polygon) const;
+ clipPlanarPolygon3D (const std::vector<PointT, Eigen::aligned_allocator<PointT> >& polygon, std::vector<PointT, Eigen::aligned_allocator<PointT> >& clipped_polygon) const;
virtual void
clipPointCloud3D (const pcl::PointCloud<PointT> &cloud_in, std::vector<int>& clipped, const std::vector<int>& indices = std::vector<int> ()) const;
};
}
-#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/plane_clipper3D.hpp>
-#endif
#endif // PCL_PLANE_CLIPPER3D_H_
/** \brief Get the number of neighbors that need to be present in order to be classified as an inlier.
* \details The number of points within setRadiusSearch() from the query point will need to be equal or greater
* than this number in order to be classified as an inlier point (i.e. will not be filtered).
- * \param min_pts The minimum number of neighbors (default = 1).
+ * \return The minimum number of neighbors (default = 1).
*/
inline int
getMinNeighborsInRadius ()
getNormals () const { return (input_normals_); }
/** \brief Set the threshold for shadow points rejection
- * \param[in] thresold the threshold
+ * \param[in] threshold the threshold
*/
inline void
setThreshold (float threshold) { threshold_ = threshold; }
/** \brief Get the standard deviation multiplier for the distance threshold calculation.
* \details The distance threshold will be equal to: mean + stddev_mult * stddev.
* Points will be classified as inlier or outlier if their average neighbor distance is below or above this threshold respectively.
- * \param[in] stddev_mult The standard deviation multiplier.
*/
inline double
getStddevMulThresh ()
filter_field_name_ (""),
filter_limit_min_ (-FLT_MAX),
filter_limit_max_ (FLT_MAX),
- filter_limit_negative_ (false)
+ filter_limit_negative_ (false),
+ min_points_per_voxel_ (0)
{
filter_name_ = "VoxelGrid";
}
inline bool
getDownsampleAllData () { return (downsample_all_data_); }
+ /** \brief Set the minimum number of points required for a voxel to be used.
+ * \param[in] min_points_per_voxel the minimum number of points for required for a voxel to be used
+ */
+ inline void
+ setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) { min_points_per_voxel_ = min_points_per_voxel; }
+
+ /** \brief Return the minimum number of points required for a voxel to be used.
+ */
+ inline unsigned int
+ getMinimumPointsNumberPerVoxel () { return min_points_per_voxel_; }
+
/** \brief Set to true if leaf layout information needs to be saved for later access.
* \param[in] save_leaf_layout the new value (true/false)
*/
/** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a filter_limit_max_). Default: false. */
bool filter_limit_negative_;
+ /** \brief Minimum number of points per voxel for the centroid to be computed */
+ unsigned int min_points_per_voxel_;
+
typedef typename pcl::traits::fieldList<PointT>::type FieldList;
/** \brief Downsample a Point Cloud using a voxelized grid approach
filter_field_name_ (""),
filter_limit_min_ (-FLT_MAX),
filter_limit_max_ (FLT_MAX),
- filter_limit_negative_ (false)
+ filter_limit_negative_ (false),
+ min_points_per_voxel_ (0)
{
filter_name_ = "VoxelGrid";
}
inline bool
getDownsampleAllData () { return (downsample_all_data_); }
+ /** \brief Set the minimum number of points required for a voxel to be used.
+ * \param[in] min_points_per_voxel the minimum number of points for required for a voxel to be used
+ */
+ inline void
+ setMinimumPointsNumberPerVoxel (unsigned int min_points_per_voxel) { min_points_per_voxel_ = min_points_per_voxel; }
+
+ /** \brief Return the minimum number of points required for a voxel to be used.
+ */
+ inline unsigned int
+ getMinimumPointsNumberPerVoxel () { return min_points_per_voxel_; }
+
/** \brief Set to true if leaf layout information needs to be saved for later access.
* \param[in] save_leaf_layout the new value (true/false)
*/
/** \brief Set to true if we want to return the data outside (\a filter_limit_min_;\a filter_limit_max_). Default: false. */
bool filter_limit_negative_;
+ /** \brief Minimum number of points per voxel for the centroid to be computed */
+ unsigned int min_points_per_voxel_;
+
/** \brief Downsample a Point Cloud using a voxelized grid approach
* \param[out] output the resultant point cloud
*/
}
/** \brief Set the minimum allowable ratio between eigenvalues to prevent singular covariance matrices.
- * \param[in] min_points_per_voxel the minimum allowable ratio between eigenvalues
+ * \param[in] min_covar_eigvalue_mult the minimum allowable ratio between eigenvalues
*/
inline void
setCovEigValueInflationRatio (double min_covar_eigvalue_mult)
/** \brief Get a cloud to visualize each voxels normal distribution.
- * \param[out] a cloud created by sampling the normal distributions of each voxel
+ * \param[out] cell_cloud a cloud created by sampling the normal distributions of each voxel
*/
void
getDisplayCloud (pcl::PointCloud<PointXYZ>& cell_cloud);
/** \brief Search for the k-nearest occupied voxels for the given query point.
* \note Only voxels containing a sufficient number of points are used.
- * \param[in] point the given query point
+ * \param[in] cloud the given query point
+ * \param[in] index the index
* \param[in] k the number of neighbors to search for
* \param[out] k_leaves the resultant leaves of the neighboring points
* \param[out] k_sqr_distances the resultant squared distances to the neighboring points
* \param[in] radius the radius of the sphere bounding all of p_q's neighbors
* \param[out] k_leaves the resultant leaves of the neighboring points
* \param[out] k_sqr_distances the resultant squared distances to the neighboring points
+ * \param[in] max_nn
* \return number of neighbors found
*/
int
* \param[in] radius the radius of the sphere bounding all of p_q's neighbors
* \param[out] k_leaves the resultant leaves of the neighboring points
* \param[out] k_sqr_distances the resultant squared distances to the neighboring points
+ * \param[in] max_nn
* \return number of neighbors found
*/
inline int
/** \brief Returns the state (free = 0, occluded = 1) of the voxel
* after utilizing a ray traversal algorithm to a target voxel
* in (i, j, k) coordinates.
- * \param[out] The state of the voxel.
- * \param[in] The target voxel coordinate (i, j, k) of the voxel.
+ * \param[out] out_state The state of the voxel.
+ * \param[in] in_target_voxel The target voxel coordinate (i, j, k) of the voxel.
+ * \return the state (free = 0, occluded = 1) of the voxel
*/
int
occlusionEstimation (int& out_state,
* in (i, j, k) coordinates. Additionally, this function returns
* the voxels penetrated of the ray-traversal algorithm till reaching
* the target voxel.
- * \param[out] The state of the voxel.
- * \param[out] The voxels penetrated of the ray-traversal algorithm.
- * \param[in] The target voxel coordinate (i, j, k) of the voxel.
+ * \param[out] out_state The state of the voxel.
+ * \param[out] out_ray The voxels penetrated of the ray-traversal algorithm.
+ * \param[in] in_target_voxel The target voxel coordinate (i, j, k) of the voxel.
+ * \return the state (free = 0, occluded = 1) of the voxel
*/
int
occlusionEstimation (int& out_state,
/** \brief Returns the voxel coordinates (i, j, k) of all occluded
* voxels in the voxel gird.
- * \param[out] the coordinates (i, j, k) of all occluded voxels
+ * \param[out] occluded_voxels the coordinates (i, j, k) of all occluded voxels
+ * \return the voxel coordinates (i, j, k)
*/
int
occlusionEstimationAll (std::vector<Eigen::Vector3i>& occluded_voxels);
/** \brief Returns the voxel grid filtered point cloud
- * \param[out] The voxel grid filtered point cloud
+ * \return The voxel grid filtered point cloud
*/
inline PointCloud
getFilteredPointCloud () { return filtered_cloud_; }
/** \brief Returns the corresponding centroid (x,y,z) coordinates
* in the grid of voxel (i,j,k).
- * \param[in] the coordinate (i, j, k) of the voxel
+ * \param[in] ijk the coordinate (i, j, k) of the voxel
* \return the (x,y,z) coordinate of the voxel centroid
*/
inline Eigen::Vector4f
/** \brief Returns the scaling value (tmin) were the ray intersects with the
* voxel grid bounding box. (p_entry = origin + tmin * orientation)
- * \param[in] The sensor origin
- * \param[in] The sensor orientation
+ * \param[in] origin The sensor origin
+ * \param[in] direction The sensor orientation
* \return the scaling value
*/
float
/** \brief Returns the state of the target voxel (0 = visible, 1 = occupied)
* unsing a ray traversal algorithm.
- * \param[in] The target voxel in the voxel grid with coordinate (i, j, k).
- * \param[in] The sensor origin.
- * \param[in] The sensor orientation
- * \param[in] The scaling value (tmin).
+ * \param[in] target_voxel The target voxel in the voxel grid with coordinate (i, j, k).
+ * \param[in] origin The sensor origin.
+ * \param[in] direction The sensor orientation
+ * \param[in] t_min The scaling value (tmin).
* \return The estimated voxel state.
*/
int
/** \brief Returns the state of the target voxel (0 = visible, 1 = occupied) and
* the voxels penetrated by the ray unsing a ray traversal algorithm.
- * \param[out] The voxels penetrated by the ray in (i, j, k) coordinates
- * \param[in] The target voxel in the voxel grid with coordinate (i, j, k).
- * \param[in] The sensor origin.
- * \param[in] The sensor orientation
- * \param[in] The scaling value (tmin).
+ * \param[out] out_ray The voxels penetrated by the ray in (i, j, k) coordinates
+ * \param[in] target_voxel The target voxel in the voxel grid with coordinate (i, j, k).
+ * \param[in] origin The sensor origin.
+ * \param[in] direction The sensor orientation
+ * \param[in] t_min The scaling value (tmin).
* \return The estimated voxel state.
*/
int
const float t_min);
/** \brief Returns a rounded value.
- * \param[in] value
+ * \param[in] d
* \return rounded value
*/
inline float
};
}
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/filters/impl/voxel_grid_occlusion_estimation.hpp>
+#endif
+
#endif //#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <pcl/filters/impl/grid_minimum.hpp>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+
+// Instantiations of specific point types
+PCL_INSTANTIATE(GridMinimum, PCL_XYZ_POINT_TYPES)
+
+#endif // PCL_NO_PRECOMPILE
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <pcl/filters/impl/local_maximum.hpp>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE(LocalMaximum, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA))
+#else
+ PCL_INSTANTIATE(LocalMaximum, PCL_XYZ_POINT_TYPES)
+#endif
+
+#endif // PCL_NO_PRECOMPILE
+
#include <pcl/point_types.h>
#include <pcl/impl/instantiate.hpp>
-PCL_INSTANTIATE (MedianFilter, (pcl::PointXYZ)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal))
+PCL_INSTANTIATE (MedianFilter, PCL_XYZ_POINT_TYPES)
#endif // PCL_NO_PRECOMPILE
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ */
+
+#include <pcl/filters/impl/model_outlier_removal.hpp>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
+
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE (ModelOutlierRemoval, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))
+#else
+ PCL_INSTANTIATE (ModelOutlierRemoval, PCL_XYZ_POINT_TYPES)
+#endif
+
+#endif // PCL_NO_PRECOMPILE
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <pcl/filters/impl/morphological_filter.hpp>
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
+
+// Instantiations of specific point types
+PCL_INSTANTIATE(applyMorphologicalOperator, PCL_XYZ_POINT_TYPES)
+
+#endif // PCL_NO_PRECOMPILE
+
set(SUBSYS_DEPS common)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/line_iterator.h
- include/pcl/${SUBSYS_NAME}/mesh_base.h
- include/pcl/${SUBSYS_NAME}/mesh_circulators.h
- include/pcl/${SUBSYS_NAME}/mesh_conversion.h
- include/pcl/${SUBSYS_NAME}/mesh_elements.h
- include/pcl/${SUBSYS_NAME}/mesh_indices.h
- include/pcl/${SUBSYS_NAME}/mesh_io.h
- include/pcl/${SUBSYS_NAME}/mesh_traits.h
- include/pcl/${SUBSYS_NAME}/organized_index_iterator.h
- include/pcl/${SUBSYS_NAME}/planar_polygon.h
- include/pcl/${SUBSYS_NAME}/polygon_operations.h
- include/pcl/${SUBSYS_NAME}/polygon_mesh.h
- include/pcl/${SUBSYS_NAME}/triangle_mesh.h
- include/pcl/${SUBSYS_NAME}/quad_mesh.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/get_boundary.h"
+ "include/pcl/${SUBSYS_NAME}/line_iterator.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_base.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_circulators.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_conversion.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_elements.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_indices.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_io.h"
+ "include/pcl/${SUBSYS_NAME}/mesh_traits.h"
+ "include/pcl/${SUBSYS_NAME}/organized_index_iterator.h"
+ "include/pcl/${SUBSYS_NAME}/planar_polygon.h"
+ "include/pcl/${SUBSYS_NAME}/polygon_mesh.h"
+ "include/pcl/${SUBSYS_NAME}/polygon_operations.h"
+ "include/pcl/${SUBSYS_NAME}/quad_mesh.h"
+ "include/pcl/${SUBSYS_NAME}/triangle_mesh.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/polygon_operations.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/polygon_operations.hpp"
)
# set(srcs
# src/geometry.cpp
# )
-set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
-# PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
-# target_link_libraries(${LIB_NAME} pcl_common)
-PCL_MAKE_PKGCONFIG_HEADER_ONLY(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "")
+set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+# PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+# target_link_libraries("${LIB_NAME}" pcl_common)
+ PCL_MAKE_PKGCONFIG_HEADER_ONLY("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
return (this->isBoundary (idx_face, boost::integral_constant <bool, CheckVerticesT> ()));
}
- /** \brief Check if the given face lies on the boundary. This method uses isBoundary <true> which checks if any vertex lies on the boundary. */
+ /** \brief Check if the given face lies on the boundary. This method uses isBoundary \c true which checks if any vertex lies on the boundary. */
inline bool
isBoundary (const FaceIndex& idx_face) const
{
/** \brief Check if the half-edge bc is the next half-edge of ab.
* \param[in] idx_he_ab Index to the half-edge between the vertices a and b.
- * \param[in] idx_ha_bc Index to the half-edge between the vertices b and c.
+ * \param[in] idx_he_bc Index to the half-edge between the vertices b and c.
* \param[in] is_new_ab Half-edge ab is new.
* \param[in] is_new_bc Half-edge bc is new.
* \param[out] make_adjacent_ab_bc Half-edges ab and bc need to be made adjacent.
/** \brief Make the half-edges bc the next half-edge of ab.
* \param[in] idx_he_ab Index to the half-edge between the vertices a and b.
- * \param[in] idx_ha_bc Index to the half-edge between the vertices b and c.
+ * \param[in] idx_he_bc Index to the half-edge between the vertices b and c.
* \param[in, out] idx_free_half_edge Free half-edge needed to re-connect the half-edges around vertex b.
*/
void
////////////////////////////////////////////////////////////////////////
/** \brief Removes mesh elements and data that are marked as deleted from the container.
- * \IndexContainerT e.g. std::vector <VertexIndex>
- * \ElementContainerT e.g. std::vector <Vertex>
- * \DataContainerT e.g. std::vector <VertexData>
- * \HasDataT Integral constant specifying if the mesh has data associated with the elements.
+ * \param IndexContainerT e.g. std::vector \<VertexIndex\>
+ * \param ElementContainerT e.g. std::vector \<Vertex\>
+ * \param DataContainerT e.g. std::vector \<VertexData\>
+ * \param HasDataT Integral constant specifying if the mesh has data associated with the elements.
* \param[in, out] elements Container for the mesh elements. Resized to the new size.
* \param[in, out] data_cloud Container for the mesh data. Resized to the new size.
* \return Container with the same size as the old input data. Holds the indices to the new elements for each non-deleted element and an invalid index if it is deleted.
/** \brief Resize the mesh data. */
template <class DataCloudT> inline void
- resizeData (DataCloudT& data_cloud, const size_t n, const typename DataCloudT::value_type& data, boost::true_type /*has_data*/) const
+ resizeData (DataCloudT& /*data_cloud*/, const size_t n, const typename DataCloudT::value_type& data, boost::true_type /*has_data*/) const
{
data.resize (n, data);
}
}
/** \brief Convert the given edge index to a half-edge index.
+ * \param index
* \param[in] get_first The first half-edge of the edge is returned if this variable is true; elsewise the second.
*/
inline pcl::geometry::HalfEdgeIndex
namespace geometry
{
/** \brief No data is associated with the vertices / half-edges / edges / faces. */
- struct NoData {};
+ struct NoData
+ {
+#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
+ operator unsigned char() const
+ {
+ return 0;
+ }
+#endif
+ };
/** \brief The mesh traits are used to set up compile time settings for the mesh.
* \tparam VertexDataT Data stored for each vertex. Defaults to pcl::NoData.
* \param [in] polygon input polygon
* \param [out] approx_polygon approximate polygon
* \param [in] threshold maximum allowed distance of an input vertex to an output edge
+ * \param refine
* \param [in] closed whether it is a closed polygon or a polyline
* \author Suat Gedikli <gedikli@willowgarage.com>
*/
set(SUBSYS_DEPS common octree)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
if(WIN32)
- PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni vtk)
+ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 pcap png vtk)
else(WIN32)
- PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni vtk libusb-1.0)
+ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 pcap png vtk libusb-1.0)
endif(WIN32)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
+ set(IMAGE_INCLUDES
+ include/pcl/io/image_metadata_wrapper.h
+ include/pcl/io/image.h
+ include/pcl/io/image_rgb24.h
+ include/pcl/io/image_yuv422.h
+ include/pcl/io/image_ir.h
+ include/pcl/io/image_depth.h
+ )
+
+ set(IMAGE_SOURCES
+ src/image_rgb24.cpp
+ src/image_yuv422.cpp
+ src/image_ir.cpp
+ src/image_depth.cpp
+ )
+
+ ## OpenNI 2.x
+ OPTION(BUILD_OPENNI2 "Build the OpenNI 2 Grabber." OFF)
+ MARK_AS_ADVANCED(BUILD_OPENNI2)
+ if(NOT BUILD_OPENNI2)
+ # Set OPENNI2_FOUND to false locally to avoid building anything OpenNI 2 related
+ # Remember that other modules (libraries) need to check explicitly for BUILD_OPENNI2
+ set(OPENNI2_FOUND FALSE)
+ endif()
+ if(OPENNI2_FOUND)
+ set(OPENNI2_GRABBER_INCLUDES
+ include/pcl/io/openni2_grabber.h
+ )
+ set(OPENNI2_INCLUDES
+ include/pcl/io/openni2/openni.h
+ include/pcl/io/openni2/openni2_metadata_wrapper.h
+ include/pcl/io/openni2/openni2_frame_listener.h
+ include/pcl/io/openni2/openni2_timer_filter.h
+ include/pcl/io/openni2/openni2_video_mode.h
+ include/pcl/io/openni2/openni2_convert.h
+ include/pcl/io/openni2/openni2_device.h
+ include/pcl/io/openni2/openni2_device_info.h
+ include/pcl/io/openni2/openni2_device_manager.h
+ )
+
+ set(OPENNI2_GRABBER_SOURCES
+ src/openni2_grabber.cpp
+ src/openni2/openni2_timer_filter.cpp
+ src/openni2/openni2_video_mode.cpp
+ src/openni2/openni2_convert.cpp
+ src/openni2/openni2_device.cpp
+ src/openni2/openni2_device_info.cpp
+ src/openni2/openni2_device_manager.cpp
+ )
+
+ source_group("OpenNI 2\\Header Files" FILES ${OPENNI2_GRABBER_INCLUDES} ${OPENNI2_INCLUDES} ${IMAGE_INCLUDES})
+ source_group("OpenNI 2\\Source Files" FILES ${OPENNI2_GRABBER_SOURCES} ${IMAGE_SOURCES})
+
+ # Copy OpenNI2 redist directory to bin. Needed for driver modules. Only tested on Windows.
+ if(MSVC)
+ file(COPY ${OPENNI2_REDIST_DIR} DESTINATION ${CMAKE_BINARY_DIR}/bin PATTERN *.*)
+ endif(MSVC)
+ endif(OPENNI2_FOUND)
+
+ ## OpenNI 1.x
OPTION(BUILD_OPENNI "Build the OpenNI Grabber." ON)
MARK_AS_ADVANCED(BUILD_OPENNI)
if(NOT BUILD_OPENNI)
# Set OPENNI_FOUND to false locally to avoid building anything OpenNI related
# Remember that other modules (libraries) need to check explicitly for BUILD_OPENNI
- set(OPENNI_FOUND FALSE)
+ set(OPENNI_FOUND FALSE)
endif()
if(OPENNI_FOUND)
set(OPENNI_GRABBER_INCLUDES
include/pcl/io/openni_camera/openni_image_yuv_422.h
include/pcl/io/openni_camera/openni_image_rgb24.h
include/pcl/io/openni_camera/openni_ir_image.h
- )
- set(OPENNI_GRABBER_SOURCES src/openni_camera/openni_device.cpp
+ ${IMAGE_INCLUDES}
+ )
+ set(OPENNI_GRABBER_SOURCES
+ src/openni_camera/openni_device.cpp
src/openni_camera/openni_device_primesense.cpp
src/openni_camera/openni_image_bayer_grbg.cpp
src/openni_camera/openni_depth_image.cpp
src/openni_camera/openni_image_rgb24.cpp
src/openni_grabber.cpp
src/oni_grabber.cpp
- )
+ ${IMAGE_SOURCES}
+ )
endif(OPENNI_FOUND)
+ source_group("Image Headers" FILES ${IMAGE_INCLUDES})
+ source_group("Image Sources" FILES ${IMAGE_SOURCES})
+
if(FZAPI_FOUND)
set(FZAPI_GRABBER_INCLUDES
include/pcl/io/fotonic_grabber.h
# set(FZAPI_INCLUDES
# include/pcl/io/openni_camera/openni.h
# )
- set(FZAPI_GRABBER_SOURCES
+ set(FZAPI_GRABBER_SOURCES
src/fotonic_grabber.cpp
)
endif(FZAPI_FOUND)
-
+
if(PXCAPI_FOUND)
set(PXC_GRABBER_INCLUDES
include/pcl/io/pxc_grabber.h
src/pxc_grabber.cpp
)
endif(PXCAPI_FOUND)
-
+
if(LIBUSB_1_FOUND)
set(DINAST_GRABBER_INCLUDES
include/pcl/io/dinast_grabber.h
endif(LIBUSB_1_FOUND)
if (VTK_FOUND AND NOT ANDROID)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
- set(VTK_IO_INCLUDES
- include/pcl/${SUBSYS_NAME}/vtk_lib_io.h
- include/pcl/${SUBSYS_NAME}/png_io.h
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
+ set(VTK_IO_INCLUDES
+ "include/pcl/${SUBSYS_NAME}/vtk_lib_io.h"
+ "include/pcl/${SUBSYS_NAME}/png_io.h"
)
set(VTK_IO_INCLUDES_IMPL
- include/pcl/${SUBSYS_NAME}/impl/vtk_lib_io.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/vtk_lib_io.hpp"
)
- set(VTK_IO_SOURCE
+ set(VTK_IO_SOURCE
src/vtk_lib_io.cpp
src/png_io.cpp
)
endif ()
set(PLY_SOURCES src/ply/ply_parser.cpp)
- set(PLY_INCLUDES
- include/pcl/${SUBSYS_NAME}/ply/byte_order.h
- include/pcl/${SUBSYS_NAME}/ply/io_operators.h
- include/pcl/${SUBSYS_NAME}/ply/ply.h
- include/pcl/${SUBSYS_NAME}/ply/ply_parser.h
+ set(PLY_INCLUDES
+ "include/pcl/${SUBSYS_NAME}/ply/byte_order.h"
+ "include/pcl/${SUBSYS_NAME}/ply/io_operators.h"
+ "include/pcl/${SUBSYS_NAME}/ply/ply.h"
+ "include/pcl/${SUBSYS_NAME}/ply/ply_parser.h"
)
- PCL_ADD_LIBRARY(pcl_io_ply ${SUBSYS_NAME} ${PLY_SOURCES} ${PLY_INCLUDES})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/ply ${PLY_INCLUDES})
+ PCL_ADD_LIBRARY(pcl_io_ply "${SUBSYS_NAME}" ${PLY_SOURCES} ${PLY_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
- set(srcs
+ set(srcs
src/debayer.cpp
src/pcd_grabber.cpp
src/pcd_io.cpp
src/lzf.cpp
src/lzf_image_io.cpp
src/obj_io.cpp
+ src/ifs_io.cpp
src/image_grabber.cpp
src/hdl_grabber.cpp
src/robot_eye_grabber.cpp
+ src/file_io.cpp
+ src/io_exception.cpp
${VTK_IO_SOURCE}
${OPENNI_GRABBER_SOURCES}
+ ${OPENNI2_GRABBER_SOURCES}
+ ${IMAGE_SOURCES}
${DINAST_GRABBER_SOURCES}
${FZAPI_GRABBER_SOURCES}
- ${PXC_GRABBER_SOURCES}
+ ${PXC_GRABBER_SOURCES}
)
if(PNG_FOUND)
- set(srcs
- ${srcs}
+ list(APPEND srcs
src/libpng_wrapper.cpp
)
endif(PNG_FOUND)
add_definitions(${PCAP_DEFINES})
endif(PCAP_FOUND)
- set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/debayer.h
- include/pcl/${SUBSYS_NAME}/file_io.h
- include/pcl/${SUBSYS_NAME}/lzf.h
- include/pcl/${SUBSYS_NAME}/lzf_image_io.h
- include/pcl/${SUBSYS_NAME}/io.h
- include/pcl/${SUBSYS_NAME}/grabber.h
- include/pcl/${SUBSYS_NAME}/file_grabber.h
- include/pcl/${SUBSYS_NAME}/pcd_grabber.h
- include/pcl/${SUBSYS_NAME}/pcd_io.h
- include/pcl/${SUBSYS_NAME}/vtk_io.h
- include/pcl/${SUBSYS_NAME}/ply_io.h
- include/pcl/${SUBSYS_NAME}/tar.h
- include/pcl/${SUBSYS_NAME}/obj_io.h
- include/pcl/${SUBSYS_NAME}/ascii_io.h
- include/pcl/${SUBSYS_NAME}/image_grabber.h
- include/pcl/${SUBSYS_NAME}/hdl_grabber.h
- include/pcl/${SUBSYS_NAME}/robot_eye_grabber.h
- include/pcl/${SUBSYS_NAME}/point_cloud_image_extractors.h
+ set(incs
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/debayer.h"
+ "include/pcl/${SUBSYS_NAME}/file_io.h"
+ "include/pcl/${SUBSYS_NAME}/lzf.h"
+ "include/pcl/${SUBSYS_NAME}/lzf_image_io.h"
+ "include/pcl/${SUBSYS_NAME}/io.h"
+ "include/pcl/${SUBSYS_NAME}/grabber.h"
+ "include/pcl/${SUBSYS_NAME}/file_grabber.h"
+ "include/pcl/${SUBSYS_NAME}/pcd_grabber.h"
+ "include/pcl/${SUBSYS_NAME}/pcd_io.h"
+ "include/pcl/${SUBSYS_NAME}/vtk_io.h"
+ "include/pcl/${SUBSYS_NAME}/ply_io.h"
+ "include/pcl/${SUBSYS_NAME}/tar.h"
+ "include/pcl/${SUBSYS_NAME}/obj_io.h"
+ "include/pcl/${SUBSYS_NAME}/ascii_io.h"
+ "include/pcl/${SUBSYS_NAME}/ifs_io.h"
+ "include/pcl/${SUBSYS_NAME}/image_grabber.h"
+ "include/pcl/${SUBSYS_NAME}/hdl_grabber.h"
+ "include/pcl/${SUBSYS_NAME}/robot_eye_grabber.h"
+ "include/pcl/${SUBSYS_NAME}/point_cloud_image_extractors.h"
+ "include/pcl/${SUBSYS_NAME}/io_exception.h"
${VTK_IO_INCLUDES}
${OPENNI_GRABBER_INCLUDES}
+ ${OPENNI2_GRABBER_INCLUDES}
+ ${IMAGE_INCLUDES}
${DINAST_GRABBER_INCLUDES}
${FZAPI_GRABBER_INCLUDES}
- ${PXC_GRABBER_INCLUDES}
+ ${PXC_GRABBER_INCLUDES}
)
set(compression_incs
include/pcl/compression/point_coding.h
)
if(PNG_FOUND)
- set(compression_incs
- ${compression_incs}
+ list(APPEND compression_incs
include/pcl/compression/organized_pointcloud_conversion.h
include/pcl/compression/libpng_wrapper.h
)
- if(OPENNI_FOUND)
- set(compression_incs
- ${compression_incs}
+ if(OPENNI_FOUND OR OPENNI2_FOUND)
+ list(APPEND compression_incs
include/pcl/compression/organized_pointcloud_compression.h
)
- endif(OPENNI_FOUND)
+ endif(OPENNI_FOUND OR OPENNI2_FOUND)
endif(PNG_FOUND)
- set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/pcd_io.hpp
- include/pcl/${SUBSYS_NAME}/impl/lzf_image_io.hpp
- include/pcl/${SUBSYS_NAME}/impl/synchronized_queue.hpp
- include/pcl/${SUBSYS_NAME}/impl/point_cloud_image_extractors.hpp
+ set(impl_incs
+ "include/pcl/${SUBSYS_NAME}/impl/pcd_io.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/lzf_image_io.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/synchronized_queue.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/point_cloud_image_extractors.hpp"
include/pcl/compression/impl/entropy_range_coder.hpp
include/pcl/compression/impl/octree_pointcloud_compression.hpp
${VTK_IO_INCLUDES_IMPL}
)
- if(PNG_FOUND AND OPENNI_FOUND)
- set(impl_incs
- ${impl_incs}
+ if(PNG_FOUND AND (OPENNI_FOUND OR OPENNI2_FOUND) )
+ list(APPEND impl_incs
include/pcl/compression/impl/organized_pointcloud_compression.hpp
)
- endif(PNG_FOUND AND OPENNI_FOUND)
+ endif(PNG_FOUND AND (OPENNI_FOUND OR OPENNI2_FOUND) )
- set(LIB_NAME pcl_${SUBSYS_NAME})
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${VTK_INCLUDE_DIRECTORIES})
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRECTORIES})
add_definitions(${VTK_DEFINES})
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES})
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
link_directories(${VTK_LINK_DIRECTORIES})
- target_link_libraries(${LIB_NAME} pcl_common pcl_io_ply ${VTK_IO_TARGET_LINK_LIBRARIES} )
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES} )
if(PNG_FOUND)
- target_link_libraries(${LIB_NAME} ${PNG_LIBRARY})
+ target_link_libraries("${LIB_NAME}" "${PNG_LIBRARY}")
endif(PNG_FOUND)
if(LIBUSB_1_FOUND)
- target_link_libraries(${LIB_NAME} ${LIBUSB_1_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
endif(LIBUSB_1_FOUND)
+ if(OPENNI2_FOUND)
+ target_link_libraries(${LIB_NAME} ${OPENNI2_LIBRARIES})
+ endif(OPENNI2_FOUND)
+
if(OPENNI_FOUND)
- target_link_libraries(${LIB_NAME} ${OPENNI_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" ${OPENNI_LIBRARIES})
endif(OPENNI_FOUND)
-
+
if(FZAPI_FOUND)
- target_link_libraries(${LIB_NAME} ${FZAPI_LIBS})
+ target_link_libraries("${LIB_NAME}" ${FZAPI_LIBS})
if(WIN32)
- target_link_libraries(${LIB_NAME} Version.lib)
+ target_link_libraries("${LIB_NAME}" Version.lib)
endif(WIN32)
endif(FZAPI_FOUND)
-
+
if(PXCAPI_FOUND)
link_directories(${PXCAPI_LIB_DIRS})
- target_link_libraries(${LIB_NAME} ${PXCAPI_LIBS})
+ target_link_libraries("${LIB_NAME}" ${PXCAPI_LIBS})
endif(PXCAPI_FOUND)
-
+
if (PCAP_FOUND)
- target_link_libraries(${LIB_NAME} ${PCAP_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" ${PCAP_LIBRARIES})
endif(PCAP_FOUND)
set(EXT_DEPS eigen3)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+
+ if(OPENNI_FOUND)
+ list(APPEND EXT_DEPS openni-dev)
+ endif(OPENNI_FOUND)
+ if(OPENNI2_FOUND)
+ list(APPEND EXT_DEPS openni2-dev)
+ endif(OPENNI2_FOUND)
+
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} compression ${compression_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/openni_camera ${OPENNI_INCLUDES})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
-
- add_subdirectory(tools)
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" compression ${compression_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/openni_camera" ${OPENNI_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/openni2" ${OPENNI2_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+
+ if(BUILD_tools)
+ add_subdirectory(tools)
+ endif(BUILD_tools)
endif(build)
{
uint32_t cloud_width;
uint32_t cloud_height;
- float maxDepth, focalLength, disparityShift, disparityScale;
+ float maxDepth;
+ float focalLength;
+ float disparityShift = 0.0f;
+ float disparityScale;
// disparity and rgb image data
std::vector<uint16_t> disparityData;
* \param[in] image_arg input image data
* \param[in] width_arg image width
* \param[in] height_arg image height
- * \param[out] pngData PNG compressed image data
+ * \param[out] pngData_arg PNG compressed image data
* \param[in] png_level_arg zLib compression level (default level: -1)
* \ingroup io
*/
* \param[in] image_arg input image data
* \param[in] width_arg image width
* \param[in] height_arg image height
- * \param[out] pngData PNG compressed image data
+ * \param[out] pngData_arg PNG compressed image data
* \param[in] png_level_arg zLib compression level (default level: -1)
* \ingroup io
*/
* \param[in] image_arg input image data
* \param[in] width_arg image width
* \param[in] height_arg image height
- * \param[out] pngData PNG compressed image data
+ * \param[out] pngData_arg PNG compressed image data
* \param[in] png_level_arg zLib compression level (default level: -1)
* \ingroup io
*/
* \param[in] image_arg input image data
* \param[in] width_arg image width
* \param[in] height_arg image height
- * \param[out] pngData PNG compressed image data
+ * \param[out] pngData_arg PNG compressed image data
* \param[in] png_level_arg zLib compression level (default level: -1)
* \ingroup io
*/
int png_level_arg = -1);
/** \brief Decode compressed PNG to 8-bit image
- * \param[in] pngData PNG compressed input data
- * \param[in] imageData image output data
- * \param[out] width image width
- * \param[out] height image height
- * \param[out] channels number of channels
+ * \param[in] pngData_arg PNG compressed input data
+ * \param[in] imageData_arg image output data
+ * \param[out] width_arg image width
+ * \param[out] heigh_argt image height
+ * \param[out] channels_arg number of channels
* \ingroup io
*/
PCL_EXPORTS void
unsigned int& channels_arg);
/** \brief Decode compressed PNG to 16-bit image
- * \param[in] pngData PNG compressed input data
- * \param[in] imageData image output data
- * \param[out] width image width
- * \param[out] height image height
- * \param[out] channels number of channels
+ * \param[in] pngData_arg PNG compressed input data
+ * \param[in] imageData_arg image output data
+ * \param[out] width_arg image width
+ * \param[out] height_arg image height
+ * \param[out] channels_arg number of channels
* \ingroup io
*/
PCL_EXPORTS void
serializeTreeCallback (LeafT &leaf_arg, const OctreeKey& key_arg);
/** \brief Decode leaf nodes information during deserialization
- * \param leaf_arg: reference to new leaf node
- * \param key_arg: octree key of new leaf node
+ * \param key_arg octree key of new leaf node
*/
+ // param leaf_arg reference to new leaf node
virtual void
deserializeTreeCallback (LeafT&, const OctreeKey& key_arg);
/** \brief Encode raw disparity map and color image.
* \note Default values are configured according to the kinect/asus device specifications
* \param[in] disparityMap_arg: pointer to raw 16-bit disparity map
- * \param[in] disparityMap_arg: pointer to raw 8-bit rgb color image
+ * \param[in] colorImage_arg: pointer to raw 8-bit rgb color image
* \param[in] width_arg: width of disparity map/color image
* \param[in] height_arg: height of disparity map/color image
* \param[out] compressedDataOut_arg: binary output stream containing compressed data
#include <boost/mpl/vector.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
+#include <boost/chrono.hpp>
#include <boost/tokenizer.hpp>
#include <boost/foreach.hpp>
#include <boost/shared_array.hpp>
#if BOOST_VERSION >= 104900
#include <boost/interprocess/permissions.hpp>
#endif
+#include <boost/iostreams/device/mapped_file.hpp>
#define BOOST_PARAMETER_MAX_ARITY 7
#include <boost/signals2.hpp>
#include <boost/signals2/slot.hpp>
/** \brief Send a RX data packet request
* \param[in] req_code the request to send (the request field for the setup packet)
+ * \param buffer
* \param[in] length the length field for the setup packet. The data buffer should be at least this size.
*/
bool
/** \brief Send a TX data packet request
* \param[in] req_code the request to send (the request field for the setup packet)
+ * \param buffer
* \param[in] length the length field for the setup packet. The data buffer should be at least this size.
*/
bool
readImage ();
/** \brief Obtains XYZI Point Cloud from the image of the camera
- * \param[out] the point cloud from the image data
+ * \return the point cloud from the image data
*/
pcl::PointCloud<pcl::PointXYZI>::Ptr
getXYZIPointCloud ();
#include <pcl/io/boost.h>
#include <cmath>
#include <sstream>
+#include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
namespace pcl
{
cloud.fields[field_idx].offset +
fields_count * sizeof (uint8_t)], reinterpret_cast<char*> (&value), sizeof (uint8_t));
}
+
+ namespace io
+ {
+ /** \brief Load a file into a PointCloud2 according to extension.
+ * \param[in] file_name the name of the file to load
+ * \param[out] blob the resultant pcl::PointCloud2 blob
+ * \ingroup io
+ */
+ PCL_EXPORTS int
+ load (const std::string& file_name, pcl::PCLPointCloud2& blob);
+
+ /** \brief Load a file into a template PointCloud type according to extension.
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant templated point cloud
+ * \ingroup io
+ */
+ template<typename PointT> int
+ load (const std::string& file_name, pcl::PointCloud<PointT>& cloud);
+
+ /** \brief Load a file into a PolygonMesh according to extension.
+ * \param[in] file_name the name of the file to load
+ * \param[out] mesh the resultant pcl::PolygonMesh
+ * \ingroup io
+ */
+ PCL_EXPORTS int
+ load (const std::string& file_name, pcl::PolygonMesh& mesh);
+
+ /** \brief Load a file into a TextureMesh according to extension.
+ * \param[in] file_name the name of the file to load
+ * \param[out] mesh the resultant pcl::TextureMesh
+ * \ingroup io
+ */
+ PCL_EXPORTS int
+ load (const std::string& file_name, pcl::TextureMesh& mesh);
+
+ /** \brief Save point cloud data to a binary file when available else to ASCII.
+ * \param[in] file_name the output file name
+ * \param[in] blob the point cloud data message
+ * \param[in] precision float precision when saving to ASCII files
+ * \ingroup io
+ */
+ PCL_EXPORTS int
+ save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision = 5);
+
+ /** \brief Save point cloud to a binary file when available else to ASCII.
+ * \param[in] file_name the output file name
+ * \param[in] cloud the point cloud
+ * \param[in] precision float precision when saving to ASCII files
+ * \ingroup io
+ */
+ template<typename PointT> int
+ save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud, unsigned precision = 5);
+
+ /** \brief Saves a TextureMesh to a binary file when available else to ASCII.
+ * \param[in] file_name the name of the file to write to disk
+ * \param[in] tex_mesh the texture mesh to save
+ * \param[in] precision float precision when saving to ASCII files
+ * \ingroup io
+ */
+ PCL_EXPORTS int
+ save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision = 5);
+
+ /** \brief Saves a PolygonMesh to a binary file when available else to ASCII.
+ * \param[in] file_name the name of the file to write to disk
+ * \param[in] mesh the polygonal mesh to save
+ * \param[in] precision float precision when saving to ASCII files
+ * \ingroup io
+ */
+ PCL_EXPORTS int
+ save (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision = 5);
+ }
}
#endif //#ifndef PCL_IO_FILE_IO_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_IO_IFS_IO_H_
+#define PCL_IO_IFS_IO_H_
+
+#include <pcl/point_cloud.h>
+#include <pcl/PCLPointCloud2.h>
+#include <pcl/conversions.h>
+#include <pcl/io/boost.h>
+#include <pcl/PolygonMesh.h>
+
+namespace pcl
+{
+ /** \brief Indexed Face set (IFS) file format reader. This file format is used for
+ * the Brown Mesh Set for instance.
+ * \author Nizar Sallem
+ * \ingroup io
+ */
+ class PCL_EXPORTS IFSReader
+ {
+ public:
+ /** Empty constructor */
+ IFSReader () {}
+ /** Empty destructor */
+ ~IFSReader () {}
+
+ /** \brief we support two versions
+ * 1.0 classic
+ * 1.1 with texture coordinates addon
+ */
+ enum
+ {
+ IFS_V1_0 = 0,
+ IFS_V1_1 = 1
+ };
+
+ /** \brief Read a point cloud data header from an IFS file.
+ *
+ * Load only the meta information (number of points, their types, etc),
+ * and not the points themselves, from a given IFS file. Useful for fast
+ * evaluation of the underlying data structure.
+ *
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant point cloud dataset (only header will be filled)
+ * \param[out] ifs_version the IFS version of the file (IFS_V1_0 or IFS_V1_1)
+ * \param[out] data_idx the offset of cloud data within the file
+ *
+ * \return
+ * * < 0 (-1) on error
+ * * == 0 on success
+ */
+ int
+ readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ int &ifs_version, unsigned int &data_idx);
+
+ /** \brief Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] cloud the resultant PCLPointCloud2 blob read from disk
+ * \param[out] ifs_version the IFS version of the file (either IFS_V1_0 or IFS_V1_1)
+ *
+ * \return
+ * * < 0 (-1) on error
+ * * == 0 on success
+ */
+ int
+ read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, int &ifs_version);
+
+ /** \brief Read a point cloud data from an IFS file and store it into a PolygonMesh.
+ * \param[in] file_name the name of the file containing the mesh data
+ * \param[out] mesh the resultant PolygonMesh
+ * \param[out] ifs_version the IFS version of the file (either IFS_V1_0 or IFS_V1_1)
+ *
+ * \return
+ * * < 0 (-1) on error
+ * * == 0 on success
+ */
+ int
+ read (const std::string &file_name, pcl::PolygonMesh &mesh, int &ifs_version);
+
+ /** \brief Read a point cloud data from an IFS file, and convert it to the
+ * given template pcl::PointCloud format.
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] cloud the resultant PointCloud message read from disk
+ *
+ * \return
+ * * < 0 (-1) on error
+ * * == 0 on success
+ */
+ template<typename PointT> int
+ read (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
+ {
+ pcl::PCLPointCloud2 blob;
+ int ifs_version;
+ cloud.sensor_origin_ = Eigen::Vector4f::Zero ();
+ cloud.sensor_orientation_ = Eigen::Quaternionf::Identity ();
+ int res = read (file_name, blob, ifs_version);
+
+ // If no error, convert the data
+ if (res == 0)
+ pcl::fromPCLPointCloud2 (blob, cloud);
+ return (res);
+ }
+ };
+
+ /** \brief Point Cloud Data (IFS) file format writer.
+ * \author Nizar Sallem
+ * \ingroup io
+ */
+ class PCL_EXPORTS IFSWriter
+ {
+ public:
+ IFSWriter() {}
+ ~IFSWriter() {}
+
+ /** \brief Save point cloud data to an IFS file containing 3D points.
+ * \param[in] file_name the output file name
+ * \param[in] cloud the point cloud data
+ * \param[in] cloud_name the point cloud name to be stored inside the IFS file.
+ *
+ * \return
+ * * 0 on success
+ * * < 0 on error
+ */
+ int
+ write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud,
+ const std::string &cloud_name = "cloud");
+
+ /** \brief Save point cloud data to an IFS file containing 3D points.
+ * \param[in] file_name the output file name
+ * \param[in] cloud the point cloud
+ * \param[in] cloud_name the point cloud name to be stored inside the IFS file.
+ *
+ * \return
+ * * 0 on success
+ * * < 0 on error
+ */
+ template<typename PointT> int
+ write (const std::string &file_name, const pcl::PointCloud<PointT> &cloud,
+ const std::string &cloud_name = "cloud")
+ {
+ pcl::PCLPointCloud2 blob;
+ pcl::fromPCLPointCloud2<PointT> (blob, cloud);
+ return (write (file_name, blob, cloud_name));
+ }
+ };
+
+ namespace io
+ {
+ /** \brief Load an IFS file into a PCLPointCloud2 blob type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant templated point cloud
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ inline int
+ loadIFSFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
+ {
+ pcl::IFSReader p;
+ int ifs_version;
+ return (p.read (file_name, cloud, ifs_version));
+ }
+
+ /** \brief Load any IFS file into a templated PointCloud type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant templated point cloud
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ template<typename PointT> inline int
+ loadIFSFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
+ {
+ pcl::IFSReader p;
+ return (p.read<PointT> (file_name, cloud));
+ }
+
+ /** \brief Load any IFS file into a PolygonMesh type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] mesh the resultant mesh
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ inline int
+ loadIFSFile (const std::string &file_name, pcl::PolygonMesh &mesh)
+ {
+ pcl::IFSReader p;
+ int ifs_version;
+ return (p.read (file_name, mesh, ifs_version));
+ }
+
+ /** \brief Save point cloud data to an IFS file containing 3D points
+ * \param[in] file_name the output file name
+ * \param[in] cloud the point cloud data message
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ inline int
+ saveIFSFile (const std::string &file_name, const pcl::PCLPointCloud2 &cloud)
+ {
+ pcl::IFSWriter w;
+ return (w.write (file_name, cloud));
+ }
+
+ /** \brief Save point cloud data to an IFS file containing 3D points
+ * \param[in] file_name the output file name
+ * \param[in] cloud the point cloud
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ template<typename PointT> int
+ saveIFSFile (const std::string &file_name, const pcl::PointCloud<PointT> &cloud)
+ {
+ pcl::IFSWriter w;
+ return (w.write<PointT> (file_name, cloud));
+ }
+ }
+}
+
+#endif //#ifndef PCL_IO_IFS_IO_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 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 the copyright holder(s) 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.
+ *
+ */
+#include <pcl/pcl_config.h>
+#ifndef PCL_IO_IMAGE_H_
+#define PCL_IO_IMAGE_H_
+
+#include <pcl/pcl_exports.h>
+#include <pcl/io/boost.h>
+#include <boost/chrono.hpp>
+
+#include <pcl/io/image_metadata_wrapper.h>
+
+namespace pcl
+{
+ namespace io
+ {
+
+ /**
+ * @brief Image interface class providing an interface to fill a RGB or Grayscale image buffer.
+ * @param[in] image_metadata
+ * @ingroup io
+ */
+ class PCL_EXPORTS Image
+ {
+ public:
+ typedef boost::shared_ptr<Image> Ptr;
+ typedef boost::shared_ptr<const Image> ConstPtr;
+
+ typedef boost::chrono::high_resolution_clock Clock;
+ typedef boost::chrono::high_resolution_clock::time_point Timestamp;
+
+ typedef enum
+ {
+ BAYER_GRBG,
+ YUV422,
+ RGB
+ } Encoding;
+
+ Image (FrameWrapper::Ptr image_metadata)
+ : wrapper_ (image_metadata)
+ , timestamp_ (Clock::now ())
+ {}
+
+ Image (FrameWrapper::Ptr image_metadata, Timestamp time)
+ : wrapper_ (image_metadata)
+ , timestamp_ (time)
+ {}
+
+ /**
+ * @brief virtual Destructor that never throws an exception.
+ */
+ inline virtual ~Image ()
+ {}
+
+ /**
+ * @param[in] input_width width of input image
+ * @param[in] input_height height of input image
+ * @param[in] output_width width of desired output image
+ * @param[in] output_height height of desired output image
+ * @return wheter the resizing is supported or not.
+ */
+ virtual bool
+ isResizingSupported (unsigned input_width, unsigned input_height,
+ unsigned output_width, unsigned output_height) const = 0;
+
+ /**
+ * @brief fills a user given buffer with the RGB values, with an optional nearest-neighbor down sampling and an optional subregion
+ * @param[in] width desired width of output image.
+ * @param[in] height desired height of output image.
+ * @param[in,out] rgb_buffer the output RGB buffer.
+ * @param[in] rgb_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
+ */
+ virtual void
+ fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step = 0) const = 0;
+
+ /**
+ * @brief returns the encoding of the native data.
+ * @return encoding
+ */
+ virtual Encoding
+ getEncoding () const = 0;
+
+ /**
+ * @brief fills a user given buffer with the raw values.
+ * @param[in,out] rgb_buffer
+ */
+ virtual void
+ fillRaw (unsigned char* rgb_buffer) const
+ {
+ memcpy (rgb_buffer, wrapper_->getData (), wrapper_->getDataSize ());
+ }
+
+ /**
+ * @brief fills a user given buffer with the gray values, with an optional nearest-neighbor down sampling and an optional subregion
+ * @param[in] width desired width of output image.
+ * @param[in] height desired height of output image.
+ * @param[in,out] gray_buffer the output gray buffer.
+ * @param[in] gray_line_step optional line step in bytes to allow the output in a rectangular subregion of the output buffer.
+ */
+ virtual void
+ fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer,
+ unsigned gray_line_step = 0) const = 0;
+
+ /**
+ * @return width of the image
+ */
+ unsigned
+ getWidth () const
+ {
+ return (wrapper_->getWidth ());
+ }
+
+ /**
+ * @return height of the image
+ */
+ unsigned
+ getHeight () const
+ {
+ return (wrapper_->getHeight ());
+ }
+
+ /**
+ * @return frame id of the image.
+ * @note frame ids are ascending, but not necessarily synchronized with other streams
+ */
+ unsigned
+ getFrameID () const
+ {
+ return (wrapper_->getFrameID ());
+ }
+
+ /**
+ * @return the timestamp of the image
+ * @note the time value is not synchronized with the system time
+ */
+ pcl::uint64_t
+ getTimestamp () const
+ {
+ return (wrapper_->getTimestamp ());
+ }
+
+
+ /**
+ * @return the timestamp of the image
+ * @note the time value *is* synchronized with the system time.
+ */
+ Timestamp
+ getSystemTimestamp () const
+ {
+ return (timestamp_);
+ }
+
+ // Get a const pointer to the raw depth buffer
+ const void*
+ getData ()
+ {
+ return (wrapper_->getData ());
+ }
+
+ // Data buffer size in bytes
+ int
+ getDataSize () const
+ {
+ return (wrapper_->getDataSize ());
+ }
+
+ // Size of each row, including any padding
+ inline unsigned
+ getStep() const
+ {
+ return (getDataSize() / getHeight());
+ }
+
+ protected:
+ FrameWrapper::Ptr wrapper_;
+ Timestamp timestamp_;
+ };
+
+ } // namespace
+}
+
+#endif //PCL_IO_IMAGE_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2011 Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+#pragma once
+#include <pcl/pcl_config.h>
+
+#ifndef PCL_IO_IMAGE_DEPTH_H_
+#define PCL_IO_IMAGE_DEPTH_H_
+
+#include <pcl/pcl_exports.h>
+#include <pcl/io/boost.h>
+#include <boost/chrono.hpp>
+
+#include<pcl/io/image_metadata_wrapper.h>
+
+namespace pcl
+{
+ namespace io
+ {
+ /** \brief This class provides methods to fill a depth or disparity image.
+ */
+ class PCL_EXPORTS DepthImage
+ {
+ public:
+ typedef boost::shared_ptr<DepthImage> Ptr;
+ typedef boost::shared_ptr<const DepthImage> ConstPtr;
+
+ typedef boost::chrono::high_resolution_clock Clock;
+ typedef boost::chrono::high_resolution_clock::time_point Timestamp;
+
+ /** \brief Constructor
+ * \param[in] depth_meta_data the actual data from the OpenNI library
+ * \param[in] baseline the baseline of the "stereo" camera, i.e. the distance between the projector and the IR camera for
+ * Primesense like cameras. e.g. 7.5cm for PSDK5 and PSDK6 reference design.
+ * \param[in] focal_length focal length of the "stereo" frame.
+ * \param[in] shadow_value defines which values in the depth data are indicating shadow (resulting from the parallax between projector and IR camera)
+ * \param[in] no_sample_value defines which values in the depth data are indicating that no depth (disparity) could be determined .
+ * \attention The focal length may change, depending whether the depth stream is registered/mapped to the RGB stream or not.
+ */
+ DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value);
+ DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value, Timestamp time);
+
+ /** \brief Destructor. Never throws an exception. */
+ ~DepthImage ();
+
+ /** \brief method to access the internal data structure from OpenNI. If the data is accessed just read-only, then this method is faster than a fillXXX method
+ * \return the actual depth data of type openni::VideoFrameRef.
+ */
+ const FrameWrapper::Ptr
+ getMetaData () const;
+
+ /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
+ * \param[in] width the width of the desired disparity image.
+ * \param[in] height the height of the desired disparity image.
+ * \param[in,out] disparity_buffer the float pointer to the actual memory buffer to be filled with the disparity values.
+ * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
+ * width in bytes (not floats) of the original width of the depth buffer.
+ */
+ void
+ fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step = 0) const;
+
+ /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
+ * \param[in] width width the width of the desired depth image.
+ * \param[in] height height the height of the desired depth image.
+ * \param[in,out] depth_buffer the float pointer to the actual memory buffer to be filled with the depth values.
+ * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
+ * width in bytes (not floats) of the original width of the depth buffer.
+ */
+ void
+ fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step = 0) const;
+
+ /** \brief fills a user given block of memory with the raw values with additional nearest-neighbor down-scaling.
+ * \param[in] width width the width of the desired raw image.
+ * \param[in] height height the height of the desired raw image.
+ * \param[in,out] depth_buffer the unsigned short pointer to the actual memory buffer to be filled with the raw values.
+ * \param[in] line_step if only a rectangular sub region of the buffer needs to be filled, then line_step is the
+ * width in bytes (not floats) of the original width of the depth buffer.
+ */
+ void
+ fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step = 0) const;
+
+ /** \brief method to access the baseline of the "stereo" frame that was used to retrieve the depth image.
+ * \return baseline in meters
+ */
+ float
+ getBaseline () const;
+
+ /** \brief method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
+ * \return focal length in pixels
+ */
+ float
+ getFocalLength () const;
+
+ /** \brief method to access the shadow value, that indicates pixels lying in shadow in the depth image.
+ * \return shadow value
+ */
+ pcl::uint64_t
+ getShadowValue () const;
+
+ /** \brief method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
+ * \return no-sample value
+ */
+ pcl::uint64_t
+ getNoSampleValue () const;
+
+ /** \return the width of the depth image */
+ unsigned
+ getWidth () const;
+
+ /** \return the height of the depth image */
+ unsigned
+ getHeight () const;
+
+ /** \return an ascending id for the depth frame
+ * \attention not necessarily synchronized with other streams
+ */
+ unsigned
+ getFrameID () const;
+
+ /** \return a ascending timestamp for the depth frame
+ * \attention its not the system time, thus can not be used directly to synchronize different sensors.
+ * But definitely synchronized with other streams
+ */
+ pcl::uint64_t
+ getTimestamp () const;
+
+ Timestamp
+ getSystemTimestamp () const;
+
+ // Get a const pointer to the raw depth buffer
+ const unsigned short*
+ getData ();
+
+ // Data buffer size in bytes
+ int
+ getDataSize () const;
+
+ // Size of each row, including any padding
+ inline unsigned
+ getStep() const
+ {
+ return (getDataSize() / getHeight());
+ }
+
+ protected:
+ pcl::io::FrameWrapper::Ptr wrapper_;
+
+ float baseline_;
+ float focal_length_;
+ pcl::uint64_t shadow_value_;
+ pcl::uint64_t no_sample_value_;
+ Timestamp timestamp_;
+ };
+
+}} // namespace
+
+#endif // PCL_IO_IMAGE_DEPTH_H_
* \param[in] directory Directory which contains an ordered set of images corresponding to an [RGB]D video, stored as TIFF, PNG, JPG, or PPM files. The naming convention is: frame_[timestamp]_["depth"/"rgb"].[extension]
* \param[in] frames_per_second frames per second. If 0, start() functions like a trigger, publishing the next PCD in the list.
* \param[in] repeat whether to play PCD file in an endless loop or not.
+ * \param pclzf_mode
*/
ImageGrabberBase (const std::string& directory, float frames_per_second, bool repeat, bool pclzf_mode);
/** \brief Query only the timestamp of an index, if it exists */
bool
- getTimestampAtIndex (size_t idx, uint64_t ×tamp) const;
+ getTimestampAtIndex (size_t idx, pcl::uint64_t ×tamp) const;
/** \brief Manually set RGB image files.
* \param[in] rgb_image_files A vector of [tiff/png/jpg/ppm] files to use as input. There must be a 1-to-1 correspondence between these and the depth images you set
const double principal_point_x,
const double principal_point_y);
- /** \brief Get the current focal length and center pixel. If the intrinsics have been manually set with @setCameraIntrinsics@, this will return those values. Else, if start () has been called and the grabber has found a frame_[timestamp].xml file, this will return the most recent values read. Else, returns factory defaults.
+ /** \brief Get the current focal length and center pixel. If the intrinsics have been manually set with setCameraIntrinsics, this will return those values. Else, if start () has been called and the grabber has found a frame_[timestamp].xml file, this will return the most recent values read. Else, returns factory defaults.
* \param[out] focal_length_x Horizontal focal length (fx)
* \param[out] focal_length_y Vertical focal length (fy)
* \param[out] principal_point_x Horizontal coordinates of the principal point (cx)
setNumberOfThreads (unsigned int nr_threads = 0);
protected:
- /** \brief Convenience function to see how many frames this consists of */
+ /** \brief Convenience function to see how many frames this consists of
+ */
size_t
numFrames () const;
--- /dev/null
+/*
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 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 the copyright holder(s) 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.
+*
+*/
+#ifndef PCL_IO_IMAGE_IR_H_
+#define PCL_IO_IMAGE_IR_H_
+
+#include <pcl/pcl_macros.h>
+#include <pcl/io/boost.h>
+
+#include <pcl/io/image_metadata_wrapper.h>
+
+namespace pcl
+{
+ namespace io
+ {
+
+ /**
+ * @brief Class containing just a reference to IR meta data.
+ */
+ class PCL_EXPORTS IRImage
+ {
+ public:
+ typedef boost::shared_ptr<IRImage> Ptr;
+ typedef boost::shared_ptr<const IRImage> ConstPtr;
+
+ typedef boost::chrono::high_resolution_clock Clock;
+ typedef boost::chrono::high_resolution_clock::time_point Timestamp;
+
+ IRImage (FrameWrapper::Ptr ir_metadata);
+ IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time);
+
+ ~IRImage () throw ()
+ {}
+
+ void
+ fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
+
+ unsigned
+ getWidth () const;
+
+ unsigned
+ getHeight () const;
+
+ unsigned
+ getFrameID () const;
+
+ pcl::uint64_t
+ getTimestamp () const;
+
+ Timestamp
+ getSystemTimestamp () const;
+
+ // Get a const pointer to the raw depth buffer. If the data is accessed just read-only, then this method is faster than a fillXXX method
+ const unsigned short*
+ getData ();
+
+ // Data buffer size in bytes
+ int
+ getDataSize () const;
+
+ // Size of each row, including any padding
+ inline unsigned
+ getStep() const
+ {
+ return (getDataSize() / getHeight());
+ }
+
+ /** \brief method to access the internal data structure wrapper, which needs to be cast to an
+ * approperate subclass before the getMetadata(..) function is available to access the native data type.
+ */
+ const FrameWrapper::Ptr
+ getMetaData () const;
+
+ protected:
+ FrameWrapper::Ptr wrapper_;
+ Timestamp timestamp_;
+ };
+
+ } // namespace
+}
+
+#endif // PCL_IO_IMAGE_IR_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, respective authors.
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#pragma once
+#ifndef PCL_IO_IMAGE_METADATA_WRAPPER_H_
+#define PCL_IO_IMAGE_METADATA_WRAPPER_H_
+
+#include <pcl/pcl_config.h>
+#include <pcl/pcl_macros.h>
+
+namespace pcl
+{
+ namespace io
+ {
+
+ /**
+ * Pure abstract interface to wrap native frame data types.
+ */
+ class FrameWrapper
+ {
+ public:
+ typedef boost::shared_ptr<FrameWrapper> Ptr;
+
+ virtual const void*
+ getData () const = 0;
+
+ virtual unsigned
+ getDataSize () const = 0;
+
+ virtual unsigned
+ getWidth () const = 0;
+
+ virtual unsigned
+ getHeight () const = 0;
+
+ virtual unsigned
+ getFrameID () const = 0;
+
+ // Microseconds from some arbitrary start point
+ virtual pcl::uint64_t
+ getTimestamp () const = 0;
+ };
+
+ } // namespace
+}
+
+#endif // PCL_IO_IMAGE_METADATA_WRAPPER_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 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 the copyright holder(s) 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.
+ *
+ */
+#include <pcl/pcl_config.h>
+
+#ifndef PCL_IO_IMAGE_RGB_H_
+#define PCL_IO_IMAGE_RGB_H_
+
+#include <pcl/pcl_macros.h>
+#include <boost/chrono.hpp>
+
+#include <pcl/io/image.h>
+
+namespace pcl
+{
+ namespace io
+ {
+ /**
+ * @brief This class provides methods to fill a RGB or Grayscale image buffer from underlying RGB24 image.
+ * @ingroup io
+ */
+ class PCL_EXPORTS ImageRGB24 : public pcl::io::Image
+ {
+ public:
+
+ ImageRGB24 (FrameWrapper::Ptr image_metadata);
+ ImageRGB24 (FrameWrapper::Ptr image_metadata, Timestamp timestamp);
+ virtual ~ImageRGB24 () throw ();
+
+ inline virtual Encoding
+ getEncoding () const
+ {
+ return (RGB);
+ }
+
+ virtual void
+ fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step = 0) const;
+
+ virtual void
+ fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step = 0) const;
+
+ virtual bool
+ isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const;
+
+ private:
+
+ // Struct used for type conversion
+ typedef struct
+ {
+ uint8_t r;
+ uint8_t g;
+ uint8_t b;
+ } RGB888Pixel;
+ };
+
+ } // namespace
+}
+
+#endif // PCL_IO_IMAGE_RGB_H_
--- /dev/null
+/*
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 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 the copyright holder(s) 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.
+*
+*/
+#include <pcl/pcl_config.h>
+
+#ifndef PCL_IO_IMAGE_YUV422_H_
+#define PCL_IO_IMAGE_YUV422_H_
+#include <pcl/pcl_macros.h>
+
+#include <pcl/io/image.h>
+
+namespace pcl
+{
+ namespace io
+ {
+ /**
+ * @brief Concrete implementation of the interface Image for a YUV 422 image used by Primesense devices.
+ * @ingroup io
+ */
+ class PCL_EXPORTS ImageYUV422 : public pcl::io::Image
+ {
+ public:
+ ImageYUV422 (FrameWrapper::Ptr image_metadata);
+ ImageYUV422 (FrameWrapper::Ptr image_metadata, Timestamp timestamp);
+
+ virtual ~ImageYUV422 () throw ();
+
+ inline virtual Encoding
+ getEncoding () const
+ {
+ return (YUV422);
+ }
+
+ virtual void
+ fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step = 0) const;
+
+ virtual void
+ fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step = 0) const;
+
+ virtual bool
+ isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const;
+ };
+
+ } // namespace
+}
+
+#endif // PCL_IO_IMAGE_YUV22_H_
register int depth_idx = 0, point_idx = 0;
double constant_x = 1.0 / parameters_.focal_length_x,
constant_y = 1.0 / parameters_.focal_length_y;
- for (int v = 0; v < cloud.height; ++v)
+ for (uint32_t v = 0; v < cloud.height; ++v)
{
- for (register int u = 0; u < cloud.width; ++u, ++point_idx, depth_idx += 2)
+ for (register uint32_t u = 0; u < cloud.width; ++u, ++point_idx, depth_idx += 2)
{
PointT &pt = cloud.points[point_idx];
unsigned short val;
unsigned char *color_v = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2 + getWidth () * getHeight ()]);
register int y_idx = 0;
- for (size_t i = 0; i < wh2; ++i, y_idx += 2)
+ for (int i = 0; i < wh2; ++i, y_idx += 2)
{
int v = color_v[i] - 128;
int u = color_u[i] - 128;
#ifndef PCL_POINT_CLOUD_IMAGE_EXTRACTORS_IMPL_HPP_
#define PCL_POINT_CLOUD_IMAGE_EXTRACTORS_IMPL_HPP_
+#include <set>
#include <map>
#include <ctime>
#include <cstdlib>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
-pcl::io::PointCloudImageExtractor
FromNormalField<PointT>::extract (const PointCloud& cloud, pcl::PCLImage& img) const
+pcl::io::PointCloudImageExtractor<PointT>::extract (const PointCloud& cloud, pcl::PCLImage& img) const
{
if (!cloud.isOrganized () || cloud.points.size () != cloud.width * cloud.height)
return (false);
+ bool result = this->extractImpl (cloud, img);
+
+ if (paint_nans_with_black_ && result)
+ {
+ size_t size = img.encoding == "mono16" ? 2 : 3;
+ for (size_t i = 0; i < cloud.points.size (); ++i)
+ if (!pcl::isFinite (cloud[i]))
+ std::memset (&img.data[i * size], 0, size);
+ }
+
+ return (result);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::io::PointCloudImageExtractorFromNormalField<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
+{
std::vector<pcl::PCLPointField> fields;
int field_x_idx = pcl::getFieldIndex (cloud, "normal_x", fields);
int field_y_idx = pcl::getFieldIndex (cloud, "normal_y", fields);
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
-pcl::io::PointCloudImageExtractorFromRGBField<PointT>::extract (const PointCloud& cloud, pcl::PCLImage& img) const
+pcl::io::PointCloudImageExtractorFromRGBField<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
{
- if (!cloud.isOrganized () || cloud.points.size () != cloud.width * cloud.height)
- return (false);
-
std::vector<pcl::PCLPointField> fields;
int field_idx = pcl::getFieldIndex (cloud, "rgb", fields);
if (field_idx == -1)
return (true);
}
+// Lookup table is copied from (excluding the first entry):
+// https://github.com/fiji/fiji/blob/master/luts/glasbey.lut
+const uint8_t GLASBEY_LUT[] =
+{
+ 0, 0, 255,
+ 255, 0, 0,
+ 0, 255, 0,
+ 0, 0, 51,
+ 255, 0, 182,
+ 0, 83, 0,
+ 255, 211, 0,
+ 0, 159, 255,
+ 154, 77, 66,
+ 0, 255, 190,
+ 120, 63, 193,
+ 31, 150, 152,
+ 255, 172, 253,
+ 177, 204, 113,
+ 241, 8, 92,
+ 254, 143, 66,
+ 221, 0, 255,
+ 32, 26, 1,
+ 114, 0, 85,
+ 118, 108, 149,
+ 2, 173, 36,
+ 200, 255, 0,
+ 136, 108, 0,
+ 255, 183, 159,
+ 133, 133, 103,
+ 161, 3, 0,
+ 20, 249, 255,
+ 0, 71, 158,
+ 220, 94, 147,
+ 147, 212, 255,
+ 0, 76, 255,
+ 0, 66, 80,
+ 57, 167, 106,
+ 238, 112, 254,
+ 0, 0, 100,
+ 171, 245, 204,
+ 161, 146, 255,
+ 164, 255, 115,
+ 255, 206, 113,
+ 71, 0, 21,
+ 212, 173, 197,
+ 251, 118, 111,
+ 171, 188, 0,
+ 117, 0, 215,
+ 166, 0, 154,
+ 0, 115, 254,
+ 165, 93, 174,
+ 98, 132, 2,
+ 0, 121, 168,
+ 0, 255, 131,
+ 86, 53, 0,
+ 159, 0, 63,
+ 66, 45, 66,
+ 255, 242, 187,
+ 0, 93, 67,
+ 252, 255, 124,
+ 159, 191, 186,
+ 167, 84, 19,
+ 74, 39, 108,
+ 0, 16, 166,
+ 145, 78, 109,
+ 207, 149, 0,
+ 195, 187, 255,
+ 253, 68, 64,
+ 66, 78, 32,
+ 106, 1, 0,
+ 181, 131, 84,
+ 132, 233, 147,
+ 96, 217, 0,
+ 255, 111, 211,
+ 102, 75, 63,
+ 254, 100, 0,
+ 228, 3, 127,
+ 17, 199, 174,
+ 210, 129, 139,
+ 91, 118, 124,
+ 32, 59, 106,
+ 180, 84, 255,
+ 226, 8, 210,
+ 0, 1, 20,
+ 93, 132, 68,
+ 166, 250, 255,
+ 97, 123, 201,
+ 98, 0, 122,
+ 126, 190, 58,
+ 0, 60, 183,
+ 255, 253, 0,
+ 7, 197, 226,
+ 180, 167, 57,
+ 148, 186, 138,
+ 204, 187, 160,
+ 55, 0, 49,
+ 0, 40, 1,
+ 150, 122, 129,
+ 39, 136, 38,
+ 206, 130, 180,
+ 150, 164, 196,
+ 180, 32, 128,
+ 110, 86, 180,
+ 147, 0, 185,
+ 199, 48, 61,
+ 115, 102, 255,
+ 15, 187, 253,
+ 172, 164, 100,
+ 182, 117, 250,
+ 216, 220, 254,
+ 87, 141, 113,
+ 216, 85, 34,
+ 0, 196, 103,
+ 243, 165, 105,
+ 216, 255, 182,
+ 1, 24, 219,
+ 52, 66, 54,
+ 255, 154, 0,
+ 87, 95, 1,
+ 198, 241, 79,
+ 255, 95, 133,
+ 123, 172, 240,
+ 120, 100, 49,
+ 162, 133, 204,
+ 105, 255, 220,
+ 198, 82, 100,
+ 121, 26, 64,
+ 0, 238, 70,
+ 231, 207, 69,
+ 217, 128, 233,
+ 255, 211, 209,
+ 209, 255, 141,
+ 36, 0, 3,
+ 87, 163, 193,
+ 211, 231, 201,
+ 203, 111, 79 ,
+ 62, 24, 0,
+ 0, 117, 223,
+ 112, 176, 88 ,
+ 209, 24, 0,
+ 0, 30, 107,
+ 105, 200, 197,
+ 255, 203, 255,
+ 233, 194, 137,
+ 191, 129, 46,
+ 69, 42, 145,
+ 171, 76, 194,
+ 14, 117, 61,
+ 0, 30, 25,
+ 118, 73, 127,
+ 255, 169, 200,
+ 94, 55, 217,
+ 238, 230, 138,
+ 159, 54, 33,
+ 80, 0, 148,
+ 189, 144, 128,
+ 0, 109, 126,
+ 88, 223, 96,
+ 71, 80, 103,
+ 1, 93, 159,
+ 99, 48, 60,
+ 2, 206, 148,
+ 139, 83, 37,
+ 171, 0, 255,
+ 141, 42, 135,
+ 85, 83, 148,
+ 150, 255, 0,
+ 0, 152, 123,
+ 255, 138, 203,
+ 222, 69, 200,
+ 107, 109, 230,
+ 30, 0, 68,
+ 173, 76, 138,
+ 255, 134, 161,
+ 0, 35, 60,
+ 138, 205, 0,
+ 111, 202, 157,
+ 225, 75, 253,
+ 255, 176, 77,
+ 229, 232, 57,
+ 114, 16, 255,
+ 111, 82, 101,
+ 134, 137, 48,
+ 99, 38, 80,
+ 105, 38, 32,
+ 200, 110, 0,
+ 209, 164, 255,
+ 198, 210, 86,
+ 79, 103, 77,
+ 174, 165, 166,
+ 170, 45, 101,
+ 199, 81, 175,
+ 255, 89, 172,
+ 146, 102, 78,
+ 102, 134, 184,
+ 111, 152, 255,
+ 92, 255, 159,
+ 172, 137, 178,
+ 210, 34, 98,
+ 199, 207, 147,
+ 255, 185, 30,
+ 250, 148, 141,
+ 49, 34, 78,
+ 254, 81, 97,
+ 254, 141, 100,
+ 68, 54, 23,
+ 201, 162, 84,
+ 199, 232, 240,
+ 68, 152, 0,
+ 147, 172, 58,
+ 22, 75, 28,
+ 8, 84, 121,
+ 116, 45, 0,
+ 104, 60, 255,
+ 64, 41, 38,
+ 164, 113, 215,
+ 207, 0, 155,
+ 118, 1, 35,
+ 83, 0, 88,
+ 0, 82, 232,
+ 43, 92, 87,
+ 160, 217, 146,
+ 176, 26, 229,
+ 29, 3, 36,
+ 122, 58, 159,
+ 214, 209, 207,
+ 160, 100, 105,
+ 106, 157, 160,
+ 153, 219, 113,
+ 192, 56, 207,
+ 125, 255, 89,
+ 149, 0, 34,
+ 213, 162, 223,
+ 22, 131, 204,
+ 166, 249, 69,
+ 109, 105, 97,
+ 86, 188, 78,
+ 255, 109, 81,
+ 255, 3, 248,
+ 255, 0, 73,
+ 202, 0, 35,
+ 67, 109, 18,
+ 234, 170, 173,
+ 191, 165, 0,
+ 38, 44, 51,
+ 85, 185, 2,
+ 121, 182, 158,
+ 254, 236, 212,
+ 139, 165, 89,
+ 141, 254, 193,
+ 0, 60, 43,
+ 63, 17, 40,
+ 255, 221, 246,
+ 17, 26, 146,
+ 154, 66, 84,
+ 149, 157, 238,
+ 126, 130, 72,
+ 58, 6, 101,
+ 189, 117, 101,
+};
+
+const size_t GLASBEY_LUT_SIZE = sizeof (GLASBEY_LUT) / sizeof (GLASBEY_LUT[0]);
+
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
-pcl::io::PointCloudImageExtractorFromLabelField<PointT>::extract (const PointCloud& cloud, pcl::PCLImage& img) const
+pcl::io::PointCloudImageExtractorFromLabelField<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
{
- if (!cloud.isOrganized () || cloud.points.size () != cloud.width * cloud.height)
- return (false);
-
std::vector<pcl::PCLPointField> fields;
int field_idx = pcl::getFieldIndex (cloud, "label", fields);
if (field_idx == -1)
}
break;
}
+ case COLORS_RGB_GLASBEY:
+ {
+ img.encoding = "rgb8";
+ img.width = cloud.width;
+ img.height = cloud.height;
+ img.step = img.width * sizeof (unsigned char) * 3;
+ img.data.resize (img.step * img.height);
+
+ std::srand(std::time(0));
+ std::set<uint32_t> labels;
+ std::map<uint32_t, size_t> colormap;
+
+ // First pass: find unique labels
+ for (size_t i = 0; i < cloud.points.size (); ++i)
+ {
+ uint32_t val;
+ pcl::getFieldValue<PointT, uint32_t> (cloud.points[i], offset, val);
+ labels.insert (val);
+ }
+
+ // Assign Glasbey colors in ascending order of labels
+ size_t color = 0;
+ for (std::set<uint32_t>::iterator iter = labels.begin (); iter != labels.end (); ++iter)
+ {
+ colormap[*iter] = color % GLASBEY_LUT_SIZE;
+ ++color;
+ }
+
+ // Second pass: copy colors from the LUT
+ for (size_t i = 0; i < cloud.points.size (); ++i)
+ {
+ uint32_t val;
+ pcl::getFieldValue<PointT, uint32_t> (cloud.points[i], offset, val);
+ memcpy (&img.data[i * 3], &GLASBEY_LUT[colormap[val] * 3], 3);
+ }
+
+ break;
+ }
}
return (true);
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
-pcl::io::PointCloudImageExtractorWithScaling<PointT>::extract (const PointCloud& cloud, pcl::PCLImage& img) const
+pcl::io::PointCloudImageExtractorWithScaling<PointT>::extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const
{
- if (!cloud.isOrganized () || cloud.points.size () != cloud.width * cloud.height)
- return (false);
-
std::vector<pcl::PCLPointField> fields;
int field_idx = pcl::getFieldIndex (cloud, field_name_, fields);
if (field_idx == -1)
#ifdef __GNUC__
#pragma GCC system_header
#endif
+#include <vtkVersion.h>
#include <vtkFloatArray.h>
#include <vtkPointData.h>
#include <vtkPoints.h>
// Add 0D topology to every point
vtkSmartPointer<vtkVertexGlyphFilter> vertex_glyph_filter = vtkSmartPointer<vtkVertexGlyphFilter>::New ();
- #if VTK_MAJOR_VERSION <= 5
+ #if VTK_MAJOR_VERSION < 6
vertex_glyph_filter->AddInputConnection (temp_polydata->GetProducerPort ());
#else
vertex_glyph_filter->SetInputData (temp_polydata);
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 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 the copyright holder(s) 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.
+ */
+
+#include <pcl/pcl_config.h>
+
+#ifndef PCL_IO_EXCEPTION_H_
+#define PCL_IO_EXCEPTION_H_
+
+#include <cstdarg>
+#include <cstdio>
+#include <exception>
+#include <string>
+
+
+//fom <pcl/pcl_macros.h>
+#if defined _WIN32 && defined _MSC_VER && !defined __PRETTY_FUNCTION__
+ #define __PRETTY_FUNCTION__ __FUNCTION__
+#endif
+
+
+#define THROW_IO_EXCEPTION(format,...) throwIOException( __PRETTY_FUNCTION__, __FILE__, __LINE__, format , ##__VA_ARGS__ )
+
+
+namespace pcl
+{
+ namespace io
+ {
+ /**
+ * @brief General IO exception class
+ */
+ class IOException : public std::exception
+ {
+ public:
+ IOException (const std::string& function_name,
+ const std::string& file_name,
+ unsigned line_number,
+ const std::string& message);
+
+ virtual ~IOException () throw ();
+
+ IOException&
+ operator= (const IOException& exception);
+
+ virtual const char*
+ what () const throw ();
+
+ const std::string&
+ getFunctionName () const;
+
+ const std::string&
+ getFileName () const;
+
+ unsigned
+ getLineNumber () const;
+
+ protected:
+ std::string function_name_;
+ std::string file_name_;
+ unsigned line_number_;
+ std::string message_;
+ std::string message_long_;
+ };
+
+ inline void
+ throwIOException (const char* function, const char* file, unsigned line, const char* format, ...)
+ {
+ static char msg[1024];
+ va_list args;
+ va_start (args, format);
+ vsnprintf (msg, 1024, format, args);
+ throw IOException (function, file, line, msg);
+ }
+ } // namespace
+}
+#endif // PCL_IO_EXCEPTION_H_
/** \brief Load a compressed image array from disk
* \param[in] filename the file name to load the data from
- * \param[out] data_size the size of the data
+ * \param[out] data the size of the data
+ * \param uncompressed_size
* \return an array filled with the data loaded from disk, NULL if error
*/
bool
unsigned int num_threads=0);
/** \brief Read camera parameters from a given stream and store them internally.
- * The parameters will be read from the <depth> ... </depth> tag.
+ * The parameters will be read from the \<depth\> ... \</depth\> tag.
* \return true if operation successful, false otherwise
*/
virtual bool
unsigned int num_threads=0);
/** \brief Read camera parameters from a given stream and store them internally.
- * The parameters will be read from the <rgb> ... </rgb> tag.
+ * The parameters will be read from the \<rgb\> ... \</rgb\> tag.
* \return true if operation successful, false otherwise
*/
virtual bool
* \param[in] filename the file name to write
* \return true if operation successful, false otherwise
* This overwrites the following parameters in the xml file, under the
- * <depth> tag:
- * <focal_length_x>...</focal_length_x>
- * <focal_length_y>...</focal_length_y>
- * <principal_point_x>...</principal_point_x>
- * <principal_point_y>...</principal_point_y>
- * <z_multiplication_factor>...</z_multiplication_factor>
+ * \<depth> tag:
+ * \<focal_length_x\>...\</focal_length_x\>
+ * \<focal_length_y\>...\</focal_length_y\>
+ * \<principal_point_x\>...\</principal_point_x\>
+ * \<principal_point_y\>...\</principal_point_y\>
+ * \<z_multiplication_factor\>...\</z_multiplication_factor\>
*/
virtual bool
writeParameters (const CameraParameters ¶meters,
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
+ * Copyright (c) 2013, Open Perception, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
- * $Id: obj_io.h 1001 2011-07-13 13:07:00 ktran $
- *
*/
#ifndef OBJ_IO_H_
#include <pcl/pcl_macros.h>
#include <pcl/TextureMesh.h>
#include <pcl/PolygonMesh.h>
+#include <pcl/io/file_io.h>
namespace pcl
{
+ class PCL_EXPORTS MTLReader
+ {
+ public:
+ /** \brief empty constructor */
+ MTLReader ();
+
+ /** \brief empty destructor */
+ virtual ~MTLReader() {}
+
+ /** \brief Read a MTL file given its full path.
+ * \param[in] filename full path to MTL file
+ * \return 0 on success < 0 else.
+ */
+ int
+ read (const std::string& filename);
+
+ /** \brief Read a MTL file given an OBJ file full path and the MTL file name.
+ * \param[in] obj_file_name full path to OBJ file
+ * \param[in] mtl_file_name MTL file name
+ * \return 0 on success < 0 else.
+ */
+ int
+ read (const std::string& obj_file_name, const std::string& mtl_file_name);
+
+ std::vector<pcl::TexMaterial>::const_iterator
+ getMaterial (const std::string& material_name) const;
+
+ /// materials array
+ std::vector<pcl::TexMaterial> materials_;
+
+ private:
+ /// converts CIE XYZ to RGB
+ inline void
+ cie2rgb (const Eigen::Vector3f& xyz, pcl::TexMaterial::RGB& rgb) const;
+ /// fill a pcl::TexMaterial::RGB from a split line containing CIE x y z values
+ int
+ fillRGBfromXYZ (const std::vector<std::string>& split_line, pcl::TexMaterial::RGB& rgb);
+ /// fill a pcl::TexMaterial::RGB from a split line containing r g b values
+ int
+ fillRGBfromRGB (const std::vector<std::string>& split_line, pcl::TexMaterial::RGB& rgb);
+ /// matrix to convert CIE to RGB
+ Eigen::Matrix3f xyz_to_rgb_matrix_;
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ };
+
+ class PCL_EXPORTS OBJReader : public FileReader
+ {
+ public:
+ /** \brief empty constructor */
+ OBJReader() {}
+ /** \brief empty destructor */
+ virtual ~OBJReader() {}
+ /** \brief Read a point cloud data header from a FILE file.
+ *
+ * Load only the meta information (number of points, their types, etc),
+ * and not the points themselves, from a given FILE file. Useful for fast
+ * evaluation of the underlying data structure.
+ *
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] cloud the resultant PointCloud message read from disk
+ * \param[out] origin the sensor acquisition origin always null
+ * \param[out] orientation the sensor acquisition orientation always identity
+ * \param[out] file_version always 0
+ * \param data_type
+ * \param data_idx
+ * \param[in] offset the offset in the file where to expect the true header to begin.
+ * One usage example for setting the offset parameter is for reading
+ * data from a TAR "archive containing multiple files: TAR files always
+ * add a 512 byte header in front of the actual file, so set the offset
+ * to the next byte after the header (e.g., 513).
+ *
+ * \return 0 on success.
+ */
+ int
+ readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, int &data_type, unsigned int &data_idx,
+ const int offset);
+
+ /** \brief Read a point cloud data from a FILE file and store it into a
+ * pcl/PCLPointCloud2.
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] cloud the resultant PointCloud message read from disk
+ * \param[out] origin the sensor acquisition origin always null
+ * \param[out] orientation the sensor acquisition orientation always identity
+ * \param[out] file_version always 0
+ * \param[in] offset the offset in the file where to expect the true header to begin.
+ * One usage example for setting the offset parameter is for reading
+ * data from a TAR "archive containing multiple files: TAR files always
+ * add a 512 byte header in front of the actual file, so set the offset
+ * to the next byte after the header (e.g., 513).
+ *
+ * \return 0 on success.
+ */
+ int
+ read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, const int offset = 0);
+
+
+ /** \brief Read a point cloud data from a FILE file and store it into a
+ * pcl/PCLPointCloud2.
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] cloud the resultant PointCloud message read from disk
+ * \param[in] offset the offset in the file where to expect the true header to begin.
+ * One usage example for setting the offset parameter is for reading
+ * data from a TAR "archive containing multiple files: TAR files always
+ * add a 512 byte header in front of the actual file, so set the offset
+ * to the next byte after the header (e.g., 513).
+ *
+ * \return 0 on success.
+ */
+ int
+ read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset = 0);
+
+ /** \brief Read a point cloud data from a FILE file and store it into a
+ * pcl/TextureMesh.
+ * \param[in] file_name the name of the file containing data
+ * \param[out] mesh the resultant TextureMesh read from disk
+ * \param[out] origin the sensor origin always null
+ * \param[out] orientation the sensor orientation always identity
+ * \param[out] file_version always 0
+ * \param[in] offset the offset in the file where to expect the true
+ * header to begin.
+ *
+ * \return 0 on success.
+ */
+ int
+ read (const std::string &file_name, pcl::TextureMesh &mesh,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, const int offset = 0);
+
+ /** \brief Read a point cloud data from a FILE file and store it into a
+ * pcl/TextureMesh.
+ * \param[in] file_name the name of the file containing data
+ * \param[out] mesh the resultant TextureMesh read from disk
+ * \param[in] offset the offset in the file where to expect the true
+ * header to begin.
+ *
+ * \return 0 on success.
+ */
+ int
+ read (const std::string &file_name, pcl::TextureMesh &mesh, const int offset = 0);
+
+ /** \brief Read a point cloud data from a FILE file and store it into a
+ * pcl/PolygonMesh.
+ * \param[in] file_name the name of the file containing data
+ * \param[out] mesh the resultant PolygonMesh read from disk
+ * \param[out] origin the sensor origin always null
+ * \param[out] orientation the sensor orientation always identity
+ * \param[out] file_version always 0
+ * \param[in] offset the offset in the file where to expect the true
+ * header to begin.
+ *
+ * \return 0 on success.
+ */
+ int
+ read (const std::string &file_name, pcl::PolygonMesh &mesh,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, const int offset = 0);
+
+ /** \brief Read a point cloud data from a FILE file and store it into a
+ * pcl/PolygonMesh.
+ * \param[in] file_name the name of the file containing data
+ * \param[out] mesh the resultant PolygonMesh read from disk
+ * \param[in] offset the offset in the file where to expect the true
+ * header to begin.
+ *
+ * \return 0 on success.
+ */
+ int
+ read (const std::string &file_name, pcl::PolygonMesh &mesh, const int offset = 0);
+
+ /** \brief Read a point cloud data from any FILE file, and convert it to the given
+ * template format.
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] cloud the resultant PointCloud message read from disk
+ * \param[in] offset the offset in the file where to expect the true header to begin.
+ * One usage example for setting the offset parameter is for reading
+ * data from a TAR "archive containing multiple files: TAR files always
+ * add a 512 byte header in front of the actual file, so set the offset
+ * to the next byte after the header (e.g., 513).
+ */
+ template<typename PointT> inline int
+ read (const std::string &file_name, pcl::PointCloud<PointT> &cloud,
+ const int offset =0)
+ {
+ pcl::PCLPointCloud2 blob;
+ int file_version;
+ int res = read (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_,
+ file_version, offset);
+ if (res < 0)
+ return (res);
+
+ pcl::fromPCLPointCloud2 (blob, cloud);
+ return (0);
+ }
+
+ private:
+ /// Usually OBJ files come MTL files where texture materials are stored
+ std::vector<pcl::MTLReader> companions_;
+ };
+
namespace io
{
+ /** \brief Load any OBJ file into a templated PointCloud type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant templated point cloud
+ * \param[out] origin the sensor acquisition origin, null
+ * \param[out] orientation the sensor acquisition orientation, identity
+ * \ingroup io
+ */
+ inline int
+ loadOBJFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation)
+ {
+ pcl::OBJReader p;
+ int obj_version;
+ return (p.read (file_name, cloud, origin, orientation, obj_version));
+ }
+
+ /** \brief Load an OBJ file into a PCLPointCloud2 blob type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant templated point cloud
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ inline int
+ loadOBJFile (const std::string &file_name, pcl::PCLPointCloud2 &cloud)
+ {
+ pcl::OBJReader p;
+ return (p.read (file_name, cloud));
+ }
+
+ /** \brief Load any OBJ file into a templated PointCloud type
+ * \param[in] file_name the name of the file to load
+ * \param[out] cloud the resultant templated point cloud
+ * \ingroup io
+ */
+ template<typename PointT> inline int
+ loadOBJFile (const std::string &file_name, pcl::PointCloud<PointT> &cloud)
+ {
+ pcl::OBJReader p;
+ return (p.read (file_name, cloud));
+ }
+
+ /** \brief Load any OBJ file into a PolygonMesh type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] mesh the resultant mesh
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ inline int
+ loadOBJFile (const std::string &file_name, pcl::PolygonMesh &mesh)
+ {
+ pcl::OBJReader p;
+ return (p.read (file_name, mesh));
+ }
+
+ /** \brief Load any OBJ file into a TextureMesh type.
+ * \param[in] file_name the name of the file to load
+ * \param[out] mesh the resultant mesh
+ * \return 0 on success < 0 on error
+ *
+ * \ingroup io
+ */
+ inline int
+ loadOBJFile (const std::string &file_name, pcl::TextureMesh &mesh)
+ {
+ pcl::OBJReader p;
+ return (p.read (file_name, mesh));
+ }
+
/** \brief Saves a TextureMesh in ascii OBJ format.
* \param[in] file_name the name of the file to write to disk
* \param[in] tex_mesh the texture mesh to save
* \ingroup io
*/
PCL_EXPORTS int
- saveOBJFile (const std::string &file_name,
- const pcl::TextureMesh &tex_mesh,
+ saveOBJFile (const std::string &file_name,
+ const pcl::TextureMesh &tex_mesh,
unsigned precision = 5);
/** \brief Saves a PolygonMesh in ascii PLY format.
* \ingroup io
*/
PCL_EXPORTS int
- saveOBJFile (const std::string &file_name,
- const pcl::PolygonMesh &mesh,
+ saveOBJFile (const std::string &file_name,
+ const pcl::PolygonMesh &mesh,
unsigned precision = 5);
}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+#include <pcl/pcl_config.h>
+#ifdef HAVE_OPENNI2
+
+#ifndef PCL_IO_OPENNI2_OPENNI_H_
+#define PCL_IO_OPENNI2_OPENNI_H_
+
+#if defined __GNUC__
+# pragma GCC system_header
+#endif
+
+#include <OpenNI.h>
+#include <OniVersion.h>
+
+// Standard resolutions, ported from OpenNI 1.x. To be removed later.
+#define XN_QQVGA_X_RES 160
+#define XN_QQVGA_Y_RES 120
+#define XN_CGA_X_RES 320
+#define XN_CGA_Y_RES 200
+#define XN_QVGA_X_RES 320
+#define XN_QVGA_Y_RES 240
+#define XN_VGA_X_RES 640
+#define XN_VGA_Y_RES 480
+#define XN_SVGA_X_RES 800
+#define XN_SVGA_Y_RES 600
+#define XN_XGA_X_RES 1024
+#define XN_XGA_Y_RES 768
+#define XN_720P_X_RES 1280
+#define XN_720P_Y_RES 720
+#define XN_SXGA_X_RES 1280
+#define XN_SXGA_Y_RES 1024
+#define XN_UXGA_X_RES 1600
+#define XN_UXGA_Y_RES 1200
+#define XN_1080P_X_RES 1920
+#define XN_1080P_Y_RES 1080
+#define XN_QCIF_X_RES 176
+#define XN_QCIF_Y_RES 144
+#define XN_240P_X_RES 423
+#define XN_240P_Y_RES 240
+#define XN_CIF_X_RES 352
+#define XN_CIF_Y_RES 288
+#define XN_WVGA_X_RES 640
+#define XN_WVGA_Y_RES 360
+#define XN_480P_X_RES 864
+#define XN_480P_Y_RES 480
+#define XN_576P_X_RES 1024
+#define XN_576P_Y_RES 576
+#define XN_DV_X_RES 960
+#define XN_DV_Y_RES 720
+
+#endif // PCL_IO_OPENNI2_OPENNI_H_
+#endif // HAVE_OPENNI2
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+
+#ifndef PCL_IO_OPENNI2_CONVERT_H_
+#define PCL_IO_OPENNI2_CONVERT_H_
+
+#include "pcl/io/openni2/openni2_device_info.h"
+#include "pcl/io/openni2/openni2_video_mode.h"
+
+#include "OpenNI.h"
+
+#include <vector>
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+ const OpenNI2DeviceInfo
+ openni2_convert (const openni::DeviceInfo* pInfo);
+
+ const openni::VideoMode
+ grabberModeToOpenniMode (const OpenNI2VideoMode& input);
+
+ const OpenNI2VideoMode
+ openniModeToGrabberMode (const openni::VideoMode& input);
+
+ const std::vector<OpenNI2VideoMode>
+ openniModeToGrabberMode (const openni::Array<openni::VideoMode>& input);
+
+ } // namespace
+ }
+}
+
+#endif // PCL_IO_OPENNI2_CONVERT_H_
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ */
+
+#ifndef PCL_IO_OPENNI2_DEVICE_H_
+#define PCL_IO_OPENNI2_DEVICE_H_
+
+#include <pcl/pcl_exports.h>
+#include "openni.h"
+#include "pcl/io/openni2/openni2_video_mode.h"
+#include "pcl/io/io_exception.h"
+
+#include <boost/shared_ptr.hpp>
+#include <boost/cstdint.hpp>
+#include <boost/bind.hpp>
+#include <boost/function.hpp>
+#include <string>
+#include <vector>
+
+// Template frame wrappers
+#include <pcl/io/image.h>
+#include <pcl/io/image_depth.h>
+#include <pcl/io/image_ir.h>
+
+
+
+namespace openni
+{
+ class Device;
+ class DeviceInfo;
+ class VideoStream;
+ class SensorInfo;
+}
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+ typedef pcl::io::DepthImage DepthImage;
+ typedef pcl::io::IRImage IRImage;
+ typedef pcl::io::Image Image;
+
+ class OpenNI2FrameListener;
+
+ class PCL_EXPORTS OpenNI2Device
+ {
+ public:
+
+ typedef boost::function<void(boost::shared_ptr<Image>, void* cookie) > ImageCallbackFunction;
+ typedef boost::function<void(boost::shared_ptr<DepthImage>, void* cookie) > DepthImageCallbackFunction;
+ typedef boost::function<void(boost::shared_ptr<IRImage>, void* cookie) > IRImageCallbackFunction;
+ typedef unsigned CallbackHandle;
+
+ typedef boost::function<void(openni::VideoStream& stream)> StreamCallbackFunction;
+
+ OpenNI2Device (const std::string& device_URI);
+ virtual ~OpenNI2Device ();
+
+ const std::string
+ getUri () const;
+ const std::string
+ getVendor () const;
+ const std::string
+ getName () const;
+ uint16_t
+ getUsbVendorId () const;
+ uint16_t
+ getUsbProductId () const;
+
+ const std::string
+ getStringID () const;
+
+ bool
+ isValid () const;
+
+ bool
+ hasIRSensor () const;
+ bool
+ hasColorSensor () const;
+ bool
+ hasDepthSensor () const;
+
+ void
+ startIRStream ();
+ void
+ startColorStream ();
+ void
+ startDepthStream ();
+
+ void
+ stopAllStreams ();
+
+ void
+ stopIRStream ();
+ void
+ stopColorStream ();
+ void
+ stopDepthStream ();
+
+ bool
+ isIRStreamStarted ();
+ bool
+ isColorStreamStarted ();
+ bool
+ isDepthStreamStarted ();
+
+ bool
+ isImageRegistrationModeSupported () const;
+ void
+ setImageRegistrationMode (bool enabled);
+ bool
+ isDepthRegistered () const;
+
+ const OpenNI2VideoMode
+ getIRVideoMode ();
+ const OpenNI2VideoMode
+ getColorVideoMode ();
+ const OpenNI2VideoMode
+ getDepthVideoMode ();
+
+ const std::vector<OpenNI2VideoMode>&
+ getSupportedIRVideoModes () const;
+ const std::vector<OpenNI2VideoMode>&
+ getSupportedColorVideoModes () const;
+ const std::vector<OpenNI2VideoMode>&
+ getSupportedDepthVideoModes () const;
+
+ bool
+ isIRVideoModeSupported (const OpenNI2VideoMode& video_mode) const;
+ bool
+ isColorVideoModeSupported (const OpenNI2VideoMode& video_mode) const;
+ bool
+ isDepthVideoModeSupported (const OpenNI2VideoMode& video_mode) const;
+
+ bool
+ findCompatibleIRMode (const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const;
+ bool
+ findCompatibleColorMode (const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const;
+ bool
+ findCompatibleDepthMode (const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const;
+
+ void
+ setIRVideoMode (const OpenNI2VideoMode& video_mode);
+ void
+ setColorVideoMode (const OpenNI2VideoMode& video_mode);
+ void
+ setDepthVideoMode (const OpenNI2VideoMode& video_mode);
+
+ OpenNI2VideoMode
+ getDefaultIRMode () const;
+ OpenNI2VideoMode
+ getDefaultColorMode () const;
+ OpenNI2VideoMode
+ getDefaultDepthMode () const;
+
+ float
+ getIRFocalLength () const;
+ float
+ getColorFocalLength () const;
+ float
+ getDepthFocalLength () const;
+
+ // Baseline between sensors. Returns 0 if this value does not exist.
+ float
+ getBaseline();
+
+ // Value of pixels in shadow or that have no valid measurement
+ uint64_t
+ getShadowValue();
+
+ void
+ setAutoExposure (bool enable);
+ void
+ setAutoWhiteBalance (bool enable);
+
+ inline bool
+ isSynchronized ()
+ {
+ return (openni_device_->getDepthColorSyncEnabled ());
+ }
+
+ inline bool
+ isSynchronizationSupported ()
+ {
+ return (true); // Not sure how to query this from the hardware
+ }
+
+ inline bool
+ isFile()
+ {
+ return (openni_device_->isFile());
+ }
+
+ void
+ setSynchronization (bool enableSync);
+
+ bool
+ getAutoExposure () const;
+ bool
+ getAutoWhiteBalance () const;
+
+ void
+ setUseDeviceTimer (bool enable);
+
+ /** \brief Get absolut number of depth frames in the current stream.
+ * This function returns 0 if the current device is not a file stream or
+ * if the current mode has no depth stream.
+ */
+ int
+ getDepthFrameCount ();
+
+ /** \brief Get absolut number of color frames in the current stream.
+ * This function returns 0 if the current device is not a file stream or
+ * if the current mode has no color stream.
+ */
+ int
+ getColorFrameCount ();
+
+ /** \brief Get absolut number of ir frames in the current stream.
+ * This function returns 0 if the current device is not a file stream or
+ * if the current mode has no ir stream.
+ */
+ int
+ getIRFrameCount ();
+
+ /** \brief Set the playback speed if the device is an recorded stream.
+ * If setting the device playback speed fails, because the device is no recorded stream or
+ * any other reason this function returns false. Otherwise true is returned.
+ * \param[in] speed The playback speed factor 1.0 means the same speed as recorded,
+ * 0.5 half the speed, 2.0 double speed and so on.
+ * \return True on success, false otherwise.
+ */
+ bool
+ setPlaybackSpeed (double speed);
+
+ /************************************************************************************/
+ // Callbacks from openni::VideoStream to grabber. Internal interface
+ void
+ setColorCallback (StreamCallbackFunction color_callback);
+ void
+ setDepthCallback (StreamCallbackFunction depth_callback);
+ void
+ setIRCallback (StreamCallbackFunction ir_callback);
+
+ protected:
+ void shutdown ();
+
+ boost::shared_ptr<openni::VideoStream>
+ getIRVideoStream () const;
+ boost::shared_ptr<openni::VideoStream>
+ getColorVideoStream () const;
+ boost::shared_ptr<openni::VideoStream>
+ getDepthVideoStream () const;
+
+
+ void
+ processColorFrame (openni::VideoStream& stream);
+ void
+ processDepthFrame (openni::VideoStream& stream);
+ void
+ processIRFrame (openni::VideoStream& stream);
+
+
+ bool
+ findCompatibleVideoMode (const std::vector<OpenNI2VideoMode> supportedModes,
+ const OpenNI2VideoMode& output_mode, OpenNI2VideoMode& mode) const;
+
+ bool
+ resizingSupported (size_t input_width, size_t input_height, size_t output_width, size_t output_height) const;
+
+ // Members
+
+ boost::shared_ptr<openni::Device> openni_device_;
+ boost::shared_ptr<openni::DeviceInfo> device_info_;
+
+ boost::shared_ptr<OpenNI2FrameListener> ir_frame_listener;
+ boost::shared_ptr<OpenNI2FrameListener> color_frame_listener;
+ boost::shared_ptr<OpenNI2FrameListener> depth_frame_listener;
+
+ mutable boost::shared_ptr<openni::VideoStream> ir_video_stream_;
+ mutable boost::shared_ptr<openni::VideoStream> color_video_stream_;
+ mutable boost::shared_ptr<openni::VideoStream> depth_video_stream_;
+
+ mutable std::vector<OpenNI2VideoMode> ir_video_modes_;
+ mutable std::vector<OpenNI2VideoMode> color_video_modes_;
+ mutable std::vector<OpenNI2VideoMode> depth_video_modes_;
+
+ bool ir_video_started_;
+ bool color_video_started_;
+ bool depth_video_started_;
+
+ /** \brief distance between the projector and the IR camera in meters*/
+ float baseline_;
+ /** the value for shadow (occluded pixels) */
+ uint64_t shadow_value_;
+ /** the value for pixels without a valid disparity measurement */
+ uint64_t no_sample_value_;
+ };
+
+ PCL_EXPORTS std::ostream& operator<< (std::ostream& stream, const OpenNI2Device& device);
+
+ } // namespace
+ }
+}
+
+#endif // PCL_IO_OPENNI2_DEVICE_H_
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#ifndef PCL_IO_OPENNI2_DEVICE_INFO_H_
+#define PCL_IO_OPENNI2_DEVICE_INFO_H_
+
+#include <ostream>
+
+#include <boost/cstdint.hpp>
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ struct OpenNI2DeviceInfo
+ {
+ std::string uri_;
+ std::string vendor_;
+ std::string name_;
+ uint16_t vendor_id_;
+ uint16_t product_id_;
+ };
+
+ std::ostream&
+ operator<< (std::ostream& stream, const OpenNI2DeviceInfo& device_info);
+
+ } // namespace
+ }
+}
+
+#endif // PCL_IO_OPENNI2_DEVICE_INFO_H_
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#ifndef PCL_IO_OPENNI2_DEVICE_MANAGER_H_
+#define PCL_IO_OPENNI2_DEVICE_MANAGER_H_
+
+#include <pcl/pcl_exports.h>
+#include "pcl/io/openni2/openni2_device_info.h"
+
+#include <boost/thread/mutex.hpp>
+#include <boost/shared_ptr.hpp>
+#include <boost/make_shared.hpp>
+
+#include <vector>
+#include <string>
+#include <ostream>
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ class OpenNI2DeviceListener;
+ class OpenNI2Device;
+
+ class PCL_EXPORTS OpenNI2DeviceManager
+ {
+ public:
+ OpenNI2DeviceManager ();
+ virtual ~OpenNI2DeviceManager ();
+
+ // This may not actually be a sigleton yet. Need to work out cross-dll incerface.
+ // Based on http://stackoverflow.com/a/13431981/1789618
+ static boost::shared_ptr<OpenNI2DeviceManager> getInstance ()
+ {
+ static boost::shared_ptr<OpenNI2DeviceManager> instance = boost::make_shared<OpenNI2DeviceManager>();
+ return (instance);
+ }
+
+ boost::shared_ptr<std::vector<OpenNI2DeviceInfo> >
+ getConnectedDeviceInfos () const;
+
+ boost::shared_ptr<std::vector<std::string> >
+ getConnectedDeviceURIs () const;
+
+ std::size_t
+ getNumOfConnectedDevices () const;
+
+ boost::shared_ptr<OpenNI2Device>
+ getAnyDevice ();
+
+ boost::shared_ptr<OpenNI2Device>
+ getDevice (const std::string& device_URI);
+
+ boost::shared_ptr<OpenNI2Device>
+ getDeviceByIndex (int index);
+
+ boost::shared_ptr<OpenNI2Device>
+ getFileDevice (const std::string& path);
+
+ protected:
+ boost::shared_ptr<OpenNI2DeviceListener> device_listener_;
+ };
+
+ std::ostream&
+ operator<< (std::ostream& stream, const OpenNI2DeviceManager& device_manager);
+
+ } // namespace
+ }
+}
+
+#endif // PCL_IO_OPENNI2_DEVICE_MANAGER_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_IO_OPENNI2_FRAME_LISTENER_H_
+#define PCL_IO_OPENNI2_FRAME_LISTENER_H_
+
+#include <boost/function.hpp>
+
+#include "OpenNI.h"
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ typedef boost::function<void(openni::VideoStream& stream)> StreamCallbackFunction;
+
+ /* Each NewFrameListener may only listen to one VideoStream at a time.
+ **/
+ class OpenNI2FrameListener : public openni::VideoStream::NewFrameListener
+ {
+ public:
+
+ OpenNI2FrameListener ()
+ : callback_(0) {}
+ OpenNI2FrameListener (StreamCallbackFunction cb)
+ : callback_(cb) {}
+
+ virtual ~OpenNI2FrameListener ()
+ { };
+
+ inline void
+ onNewFrame (openni::VideoStream& stream)
+ {
+ if (callback_)
+ callback_(stream);
+ }
+
+ void
+ setCallback (StreamCallbackFunction cb)
+ {
+ callback_ = cb;
+ }
+
+ private:
+ StreamCallbackFunction callback_;
+ };
+
+ } // namespace
+ }
+}
+
+#endif // PCL_IO_OPENNI2_FRAME_LISTENER_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, respective authors.
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#pragma once
+#ifndef PCL_IO_OPENNI2_METADATA_WRAPPER_H_
+#define PCL_IO_OPENNI2_METADATA_WRAPPER_H_
+
+#include <pcl/pcl_config.h>
+
+#if defined(HAVE_OPENNI2)
+
+#include <pcl/io/image_metadata_wrapper.h>
+#include <pcl/io/openni2/openni.h>
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+ class Openni2FrameWrapper : public pcl::io::FrameWrapper
+ {
+ public:
+ Openni2FrameWrapper (openni::VideoFrameRef metadata)
+ : metadata_(metadata)
+ {}
+
+ virtual inline const void*
+ getData () const
+ {
+ return (metadata_.getData ());
+ }
+
+ virtual inline unsigned
+ getDataSize () const
+ {
+ return (metadata_.getDataSize ());
+ }
+
+ virtual inline unsigned
+ getWidth () const
+ {
+ return (metadata_.getWidth ());
+ }
+
+ virtual inline unsigned
+ getHeight () const
+ {
+ return (metadata_.getHeight ());
+ }
+
+ virtual inline unsigned
+ getFrameID () const
+ {
+ return (metadata_.getFrameIndex ());
+ }
+
+ virtual inline uint64_t
+ getTimestamp () const
+ {
+ return (metadata_.getTimestamp ());
+ }
+
+
+ const inline openni::VideoFrameRef&
+ getMetaData () const
+ {
+ return (metadata_);
+ }
+
+ private:
+ openni::VideoFrameRef metadata_; // Internally reference counted
+ };
+
+ } // namespace
+ }
+}
+#endif // HAVE_OPENNI2
+
+#endif // PCL_IO_OPENNI2_METADATA_WRAPPER_H_
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#ifndef PCL_IO_OPENNI2_TIME_FILTER_H_
+#define PCL_IO_OPENNI2_TIME_FILTER_H_
+
+#include <deque>
+
+#include "OpenNI.h"
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ class OpenNI2TimerFilter
+ {
+ public:
+ OpenNI2TimerFilter (std::size_t filter_len);
+ virtual ~OpenNI2TimerFilter ();
+
+ void
+ addSample (double sample);
+
+ double
+ getMedian ();
+
+ double
+ getMovingAvg ();
+
+ void
+ clear ();
+
+ private:
+ std::size_t filter_len_;
+
+ std::deque<double> buffer_;
+ };
+
+ } // namespace
+ }
+}
+
+#endif // PCL_IO_OPENNI2_TIME_FILTER_H_
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#ifndef PCL_IO_OPENNI2_VIDEO_MODE_H_
+#define PCL_IO_OPENNI2_VIDEO_MODE_H_
+
+#include <cstddef>
+#include <ostream>
+
+#include <OpenNI.h>
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+ // copied from OniEnums.h
+ typedef enum
+ {
+ // Depth
+ PIXEL_FORMAT_DEPTH_1_MM = 100,
+ PIXEL_FORMAT_DEPTH_100_UM = 101,
+ PIXEL_FORMAT_SHIFT_9_2 = 102,
+ PIXEL_FORMAT_SHIFT_9_3 = 103,
+
+ // Color
+ PIXEL_FORMAT_RGB888 = 200,
+ PIXEL_FORMAT_YUV422 = 201,
+ PIXEL_FORMAT_GRAY8 = 202,
+ PIXEL_FORMAT_GRAY16 = 203,
+ PIXEL_FORMAT_JPEG = 204,
+ PIXEL_FORMAT_YUYV = 205,
+ } PixelFormat;
+
+ struct OpenNI2VideoMode
+ {
+ OpenNI2VideoMode ()
+ :x_resolution_(0), y_resolution_(0), frame_rate_(0)
+ {}
+
+ OpenNI2VideoMode (int xResolution, int yResolution, int frameRate)
+ :x_resolution_(xResolution), y_resolution_(yResolution), frame_rate_(frameRate)
+ {}
+
+ int x_resolution_;
+ int y_resolution_;
+ int frame_rate_;
+ PixelFormat pixel_format_;
+ };
+
+ std::ostream&
+ operator<< (std::ostream& stream, const OpenNI2VideoMode& video_mode);
+
+ bool
+ operator== (const OpenNI2VideoMode& video_mode_a, const OpenNI2VideoMode& video_mode_b);
+
+ bool
+ operator!= (const OpenNI2VideoMode& video_mode_a, const OpenNI2VideoMode& video_mode_b);
+
+ } // namespace
+ }
+}
+
+#endif
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2011 Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+#include <pcl/pcl_config.h>
+#ifdef HAVE_OPENNI2
+
+#ifndef __OPENNI_SHIFT_TO_DEPTH_CONVERSION
+#define __OPENNI_SHIFT_TO_DEPTH_CONVERSION
+
+#include <vector>
+#include <limits>
+
+namespace openni_wrapper
+{
+ /** \brief This class provides conversion of the openni 11-bit shift data to depth;
+ */
+ class PCL_EXPORTS ShiftToDepthConverter
+ {
+ public:
+ /** \brief Constructor. */
+ ShiftToDepthConverter () : init_(false) {}
+
+ /** \brief Destructor. */
+ virtual ~ShiftToDepthConverter () {};
+
+ /** \brief This method generates a look-up table to convert openni shift values to depth
+ */
+ void
+ generateLookupTable ()
+ {
+ // lookup of 11 bit shift values
+ const std::size_t table_size = 1<<10;
+
+ lookupTable_.clear();
+ lookupTable_.resize(table_size);
+
+ // constants taken from openni driver
+ static const int16_t nConstShift = 800;
+ static const double nParamCoeff = 4.000000;
+ static const double dPlanePixelSize = 0.104200;
+ static const double nShiftScale = 10.000000;
+ static const double dPlaneDsr = 120.000000;
+ static const double dPlaneDcl = 7.500000;
+
+ std::size_t i;
+ double dFixedRefX;
+ double dMetric;
+
+ for (i=0; i<table_size; ++i)
+ {
+ // shift to depth calculation from opnni
+ dFixedRefX = (static_cast<double>(i - nConstShift) / nParamCoeff)-0.375;
+ dMetric = dFixedRefX * dPlanePixelSize;
+ lookupTable_[i] = static_cast<float>((nShiftScale * ((dMetric * dPlaneDsr / (dPlaneDcl - dMetric)) + dPlaneDsr) ) / 1000.0f);
+ }
+
+ init_ = true;
+ }
+
+ /** \brief Generate a look-up table for converting openni shift values to depth
+ */
+ inline float
+ shiftToDepth (uint16_t shift_val)
+ {
+ assert (init_);
+
+ static const float bad_point = std::numeric_limits<float>::quiet_NaN ();
+
+ float ret = bad_point;
+
+ // lookup depth value in shift lookup table
+ if (shift_val<lookupTable_.size())
+ ret = lookupTable_[shift_val];
+
+ return ret;
+ }
+
+ inline bool isInitialized() const
+ {
+ return init_;
+ }
+
+ protected:
+ std::vector<float> lookupTable_;
+ bool init_;
+ } ;
+}
+
+#endif
+#endif //__OPENNI_SHIFT_TO_DEPTH_CONVERSION
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, respective authors.
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/pcl_config.h>
+#ifdef HAVE_OPENNI2
+
+#ifndef PCL_IO_OPENNI2_GRABBER_H_
+#define PCL_IO_OPENNI2_GRABBER_H_
+
+#include <pcl/io/eigen.h>
+#include <pcl/io/boost.h>
+#include <pcl/io/grabber.h>
+#include <pcl/io/openni2/openni2_device_manager.h>
+#include <pcl/io/openni2/openni2_device.h>
+#include <string>
+#include <deque>
+#include <pcl/common/synchronizer.h>
+
+#include <pcl/io/image.h>
+#include <pcl/io/image_rgb24.h>
+#include <pcl/io/image_yuv422.h>
+#include <pcl/io/image_depth.h>
+#include <pcl/io/image_ir.h>
+
+namespace pcl
+{
+ struct PointXYZ;
+ struct PointXYZRGB;
+ struct PointXYZRGBA;
+ struct PointXYZI;
+ template <typename T> class PointCloud;
+
+ namespace io
+ {
+
+ /** \brief Grabber for OpenNI 2 devices (i.e., Primesense PSDK, Microsoft Kinect, Asus XTion Pro/Live)
+ * \ingroup io
+ */
+ class PCL_EXPORTS OpenNI2Grabber : public Grabber
+ {
+ public:
+ typedef boost::shared_ptr<OpenNI2Grabber> Ptr;
+ typedef boost::shared_ptr<const OpenNI2Grabber> ConstPtr;
+
+ // Templated images
+ typedef pcl::io::DepthImage DepthImage;
+ typedef pcl::io::IRImage IRImage;
+ typedef pcl::io::Image Image;
+
+ /** \brief Basic camera parameters placeholder. */
+ struct CameraParameters
+ {
+ /** fx */
+ double focal_length_x;
+ /** fy */
+ double focal_length_y;
+ /** cx */
+ double principal_point_x;
+ /** cy */
+ double principal_point_y;
+
+ CameraParameters (double initValue)
+ : focal_length_x (initValue), focal_length_y (initValue),
+ principal_point_x (initValue), principal_point_y (initValue)
+ {}
+
+ CameraParameters (double fx, double fy, double cx, double cy)
+ : focal_length_x (fx), focal_length_y (fy), principal_point_x (cx), principal_point_y (cy)
+ { }
+ };
+
+ typedef enum
+ {
+ OpenNI_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
+ OpenNI_SXGA_15Hz = 1, // Only supported by the Kinect
+ OpenNI_VGA_30Hz = 2, // Supported by PSDK, Xtion and Kinect
+ OpenNI_VGA_25Hz = 3, // Supportged by PSDK and Xtion
+ OpenNI_QVGA_25Hz = 4, // Supported by PSDK and Xtion
+ OpenNI_QVGA_30Hz = 5, // Supported by PSDK, Xtion and Kinect
+ OpenNI_QVGA_60Hz = 6, // Supported by PSDK and Xtion
+ OpenNI_QQVGA_25Hz = 7, // Not supported -> using software downsampling (only for integer scale factor and only NN)
+ OpenNI_QQVGA_30Hz = 8, // Not supported -> using software downsampling (only for integer scale factor and only NN)
+ OpenNI_QQVGA_60Hz = 9 // Not supported -> using software downsampling (only for integer scale factor and only NN)
+ } Mode;
+
+ //define callback signature typedefs
+ typedef void (sig_cb_openni_image) (const boost::shared_ptr<Image>&);
+ typedef void (sig_cb_openni_depth_image) (const boost::shared_ptr<DepthImage>&);
+ typedef void (sig_cb_openni_ir_image) (const boost::shared_ptr<IRImage>&);
+ typedef void (sig_cb_openni_image_depth_image) (const boost::shared_ptr<Image>&, const boost::shared_ptr<DepthImage>&, float reciprocalFocalLength) ;
+ typedef void (sig_cb_openni_ir_depth_image) (const boost::shared_ptr<IRImage>&, const boost::shared_ptr<DepthImage>&, float reciprocalFocalLength) ;
+ typedef void (sig_cb_openni_point_cloud) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZ> >&);
+ typedef void (sig_cb_openni_point_cloud_rgb) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGB> >&);
+ typedef void (sig_cb_openni_point_cloud_rgba) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZRGBA> >&);
+ typedef void (sig_cb_openni_point_cloud_i) (const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);
+
+ public:
+ /** \brief Constructor
+ * \param[in] device_id ID of the device, which might be a serial number, bus@address or the index of the device.
+ * \param[in] depth_mode the mode of the depth stream
+ * \param[in] image_mode the mode of the image stream
+ */
+ OpenNI2Grabber (const std::string& device_id = "",
+ const Mode& depth_mode = OpenNI_Default_Mode,
+ const Mode& image_mode = OpenNI_Default_Mode);
+
+ /** \brief virtual Destructor inherited from the Grabber interface. It never throws. */
+ virtual ~OpenNI2Grabber () throw ();
+
+ /** \brief Start the data acquisition. */
+ virtual void
+ start ();
+
+ /** \brief Stop the data acquisition. */
+ virtual void
+ stop ();
+
+ /** \brief Check if the data acquisition is still running. */
+ virtual bool
+ isRunning () const;
+
+ virtual std::string
+ getName () const;
+
+ /** \brief Obtain the number of frames per second (FPS). */
+ virtual float
+ getFramesPerSecond () const;
+
+ /** \brief Get a boost shared pointer to the \ref OpenNIDevice object. */
+ inline boost::shared_ptr<pcl::io::openni2::OpenNI2Device>
+ getDevice () const;
+
+ /** \brief Obtain a list of the available depth modes that this device supports. */
+ std::vector<std::pair<int, pcl::io::openni2::OpenNI2VideoMode> >
+ getAvailableDepthModes () const;
+
+ /** \brief Obtain a list of the available image modes that this device supports. */
+ std::vector<std::pair<int, pcl::io::openni2::OpenNI2VideoMode> >
+ getAvailableImageModes () const;
+
+ /** \brief Set the RGB camera parameters (fx, fy, cx, cy)
+ * \param[in] rgb_focal_length_x the RGB focal length (fx)
+ * \param[in] rgb_focal_length_y the RGB focal length (fy)
+ * \param[in] rgb_principal_point_x the RGB principal point (cx)
+ * \param[in] rgb_principal_point_y the RGB principal point (cy)
+ * Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
+ * and the grabber will use the default values from the camera instead.
+ */
+ inline void
+ setRGBCameraIntrinsics (const double rgb_focal_length_x,
+ const double rgb_focal_length_y,
+ const double rgb_principal_point_x,
+ const double rgb_principal_point_y)
+ {
+ rgb_parameters_ = CameraParameters (
+ rgb_focal_length_x, rgb_focal_length_y,
+ rgb_principal_point_x, rgb_principal_point_y);
+ }
+
+ /** \brief Get the RGB camera parameters (fx, fy, cx, cy)
+ * \param[out] rgb_focal_length_x the RGB focal length (fx)
+ * \param[out] rgb_focal_length_y the RGB focal length (fy)
+ * \param[out] rgb_principal_point_x the RGB principal point (cx)
+ * \param[out] rgb_principal_point_y the RGB principal point (cy)
+ */
+ inline void
+ getRGBCameraIntrinsics (double &rgb_focal_length_x,
+ double &rgb_focal_length_y,
+ double &rgb_principal_point_x,
+ double &rgb_principal_point_y) const
+ {
+ rgb_focal_length_x = rgb_parameters_.focal_length_x;
+ rgb_focal_length_y = rgb_parameters_.focal_length_y;
+ rgb_principal_point_x = rgb_parameters_.principal_point_x;
+ rgb_principal_point_y = rgb_parameters_.principal_point_y;
+ }
+
+
+ /** \brief Set the RGB image focal length (fx = fy).
+ * \param[in] rgb_focal_length the RGB focal length (assumes fx = fy)
+ * Setting the parameter to a non-finite value (e.g., NaN, Inf) invalidates it
+ * and the grabber will use the default values from the camera instead.
+ * These parameters will be used for XYZRGBA clouds.
+ */
+ inline void
+ setRGBFocalLength (const double rgb_focal_length)
+ {
+ rgb_parameters_.focal_length_x = rgb_focal_length;
+ rgb_parameters_.focal_length_y = rgb_focal_length;
+ }
+
+ /** \brief Set the RGB image focal length
+ * \param[in] rgb_focal_length_x the RGB focal length (fx)
+ * \param[in] rgb_focal_ulength_y the RGB focal length (fy)
+ * Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
+ * and the grabber will use the default values from the camera instead.
+ * These parameters will be used for XYZRGBA clouds.
+ */
+ inline void
+ setRGBFocalLength (const double rgb_focal_length_x, const double rgb_focal_length_y)
+ {
+ rgb_parameters_.focal_length_x = rgb_focal_length_x;
+ rgb_parameters_.focal_length_y = rgb_focal_length_y;
+ }
+
+ /** \brief Return the RGB focal length parameters (fx, fy)
+ * \param[out] rgb_focal_length_x the RGB focal length (fx)
+ * \param[out] rgb_focal_length_y the RGB focal length (fy)
+ */
+ inline void
+ getRGBFocalLength (double &rgb_focal_length_x, double &rgb_focal_length_y) const
+ {
+ rgb_focal_length_x = rgb_parameters_.focal_length_x;
+ rgb_focal_length_y = rgb_parameters_.focal_length_y;
+ }
+
+ /** \brief Set the Depth camera parameters (fx, fy, cx, cy)
+ * \param[in] depth_focal_length_x the Depth focal length (fx)
+ * \param[in] depth_focal_length_y the Depth focal length (fy)
+ * \param[in] depth_principal_point_x the Depth principal point (cx)
+ * \param[in] depth_principal_point_y the Depth principal point (cy)
+ * Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
+ * and the grabber will use the default values from the camera instead.
+ */
+ inline void
+ setDepthCameraIntrinsics (const double depth_focal_length_x,
+ const double depth_focal_length_y,
+ const double depth_principal_point_x,
+ const double depth_principal_point_y)
+ {
+ depth_parameters_ = CameraParameters (
+ depth_focal_length_x, depth_focal_length_y,
+ depth_principal_point_x, depth_principal_point_y);
+ }
+
+ /** \brief Get the Depth camera parameters (fx, fy, cx, cy)
+ * \param[out] depth_focal_length_x the Depth focal length (fx)
+ * \param[out] depth_focal_length_y the Depth focal length (fy)
+ * \param[out] depth_principal_point_x the Depth principal point (cx)
+ * \param[out] depth_principal_point_y the Depth principal point (cy)
+ */
+ inline void
+ getDepthCameraIntrinsics (double &depth_focal_length_x,
+ double &depth_focal_length_y,
+ double &depth_principal_point_x,
+ double &depth_principal_point_y) const
+ {
+ depth_focal_length_x = depth_parameters_.focal_length_x;
+ depth_focal_length_y = depth_parameters_.focal_length_y;
+ depth_principal_point_x = depth_parameters_.principal_point_x;
+ depth_principal_point_y = depth_parameters_.principal_point_y;
+ }
+
+ /** \brief Set the Depth image focal length (fx = fy).
+ * \param[in] depth_focal_length the Depth focal length (assumes fx = fy)
+ * Setting the parameter to a non-finite value (e.g., NaN, Inf) invalidates it
+ * and the grabber will use the default values from the camera instead.
+ */
+ inline void
+ setDepthFocalLength (const double depth_focal_length)
+ {
+ depth_parameters_.focal_length_x = depth_focal_length;
+ depth_parameters_.focal_length_y = depth_focal_length;
+ }
+
+
+ /** \brief Set the Depth image focal length
+ * \param[in] depth_focal_length_x the Depth focal length (fx)
+ * \param[in] depth_focal_length_y the Depth focal length (fy)
+ * Setting the parameter to non-finite values (e.g., NaN, Inf) invalidates them
+ * and the grabber will use the default values from the camera instead.
+ */
+ inline void
+ setDepthFocalLength (const double depth_focal_length_x, const double depth_focal_length_y)
+ {
+ depth_parameters_.focal_length_x = depth_focal_length_x;
+ depth_parameters_.focal_length_y = depth_focal_length_y;
+ }
+
+ /** \brief Return the Depth focal length parameters (fx, fy)
+ * \param[out] depth_focal_length_x the Depth focal length (fx)
+ * \param[out] depth_focal_length_y the Depth focal length (fy)
+ */
+ inline void
+ getDepthFocalLength (double &depth_focal_length_x, double &depth_focal_length_y) const
+ {
+ depth_focal_length_x = depth_parameters_.focal_length_x;
+ depth_focal_length_y = depth_parameters_.focal_length_y;
+ }
+
+ protected:
+
+ /** \brief Sets up an OpenNI device. */
+ void
+ setupDevice (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode);
+
+ /** \brief Update mode maps. */
+ void
+ updateModeMaps ();
+
+ /** \brief Start synchronization. */
+ void
+ startSynchronization ();
+
+ /** \brief Stop synchronization. */
+ void
+ stopSynchronization ();
+
+ // TODO: rename to mapMode2OniMode
+ /** \brief Map config modes. */
+ bool
+ mapMode2XnMode (int mode, pcl::io::openni2::OpenNI2VideoMode& videoMode) const;
+
+ // callback methods
+ /** \brief RGB image callback. */
+ virtual void
+ imageCallback (pcl::io::openni2::Image::Ptr image, void* cookie);
+
+ /** \brief Depth image callback. */
+ virtual void
+ depthCallback (pcl::io::openni2::DepthImage::Ptr depth_image, void* cookie);
+
+ /** \brief IR image callback. */
+ virtual void
+ irCallback (pcl::io::openni2::IRImage::Ptr ir_image, void* cookie);
+
+ /** \brief RGB + Depth image callback. */
+ virtual void
+ imageDepthImageCallback (const pcl::io::openni2::Image::Ptr &image,
+ const pcl::io::openni2::DepthImage::Ptr &depth_image);
+
+ /** \brief IR + Depth image callback. */
+ virtual void
+ irDepthImageCallback (const pcl::io::openni2::IRImage::Ptr &image,
+ const pcl::io::openni2::DepthImage::Ptr &depth_image);
+
+ /** \brief Process changed signals. */
+ virtual void
+ signalsChanged ();
+
+ // helper methods
+
+ /** \brief Check if the RGB and Depth images are required to be synchronized or not. */
+ virtual void
+ checkImageAndDepthSynchronizationRequired ();
+
+ /** \brief Check if the RGB image stream is required or not. */
+ virtual void
+ checkImageStreamRequired ();
+
+ /** \brief Check if the depth stream is required or not. */
+ virtual void
+ checkDepthStreamRequired ();
+
+ /** \brief Check if the IR image stream is required or not. */
+ virtual void
+ checkIRStreamRequired ();
+
+
+ // Point cloud conversion ///////////////////////////////////////////////
+
+ /** \brief Convert a Depth image to a pcl::PointCloud<pcl::PointXYZ>
+ * \param[in] depth the depth image to convert
+ */
+ boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ> >
+ convertToXYZPointCloud (const pcl::io::openni2::DepthImage::Ptr &depth);
+
+ /** \brief Convert a Depth + RGB image pair to a pcl::PointCloud<PointT>
+ * \param[in] image the RGB image to convert
+ * \param[in] depth_image the depth image to convert
+ */
+ template <typename PointT> typename pcl::PointCloud<PointT>::Ptr
+ convertToXYZRGBPointCloud (const pcl::io::openni2::Image::Ptr &image,
+ const pcl::io::openni2::DepthImage::Ptr &depth_image);
+
+ /** \brief Convert a Depth + Intensity image pair to a pcl::PointCloud<pcl::PointXYZI>
+ * \param[in] image the IR image to convert
+ * \param[in] depth_image the depth image to convert
+ */
+ boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >
+ convertToXYZIPointCloud (const pcl::io::openni2::IRImage::Ptr &image,
+ const pcl::io::openni2::DepthImage::Ptr &depth_image);
+
+ std::vector<uint8_t> color_resize_buffer_;
+ std::vector<uint16_t> depth_resize_buffer_;
+ std::vector<uint16_t> ir_resize_buffer_;
+
+ // Stream callbacks /////////////////////////////////////////////////////
+ void
+ processColorFrame (openni::VideoStream& stream);
+
+ void
+ processDepthFrame (openni::VideoStream& stream);
+
+ void
+ processIRFrame (openni::VideoStream& stream);
+
+
+ Synchronizer<pcl::io::openni2::Image::Ptr, pcl::io::openni2::DepthImage::Ptr > rgb_sync_;
+ Synchronizer<pcl::io::openni2::IRImage::Ptr, pcl::io::openni2::DepthImage::Ptr > ir_sync_;
+
+ /** \brief The actual openni device. */
+ boost::shared_ptr<pcl::io::openni2::OpenNI2Device> device_;
+
+ std::string rgb_frame_id_;
+ std::string depth_frame_id_;
+ unsigned image_width_;
+ unsigned image_height_;
+ unsigned depth_width_;
+ unsigned depth_height_;
+
+ bool image_required_;
+ bool depth_required_;
+ bool ir_required_;
+ bool sync_required_;
+
+ boost::signals2::signal<sig_cb_openni_image>* image_signal_;
+ boost::signals2::signal<sig_cb_openni_depth_image>* depth_image_signal_;
+ boost::signals2::signal<sig_cb_openni_ir_image>* ir_image_signal_;
+ boost::signals2::signal<sig_cb_openni_image_depth_image>* image_depth_image_signal_;
+ boost::signals2::signal<sig_cb_openni_ir_depth_image>* ir_depth_image_signal_;
+ boost::signals2::signal<sig_cb_openni_point_cloud>* point_cloud_signal_;
+ boost::signals2::signal<sig_cb_openni_point_cloud_i>* point_cloud_i_signal_;
+ boost::signals2::signal<sig_cb_openni_point_cloud_rgb>* point_cloud_rgb_signal_;
+ boost::signals2::signal<sig_cb_openni_point_cloud_rgba>* point_cloud_rgba_signal_;
+
+ struct modeComp
+ {
+ bool operator () (const openni::VideoMode& mode1, const openni::VideoMode & mode2) const
+ {
+ if (mode1.getResolutionX () < mode2.getResolutionX ())
+ return true;
+ else if (mode1.getResolutionX () > mode2.getResolutionX ())
+ return false;
+ else if (mode1.getResolutionY () < mode2.getResolutionY ())
+ return true;
+ else if (mode1.getResolutionY () > mode2.getResolutionY ())
+ return false;
+ else if (mode1.getFps () < mode2.getFps () )
+ return true;
+ else
+ return false;
+ }
+ };
+
+ // Mapping from config (enum) modes to native OpenNI modes
+ std::map<int, pcl::io::openni2::OpenNI2VideoMode> config2oni_map_;
+
+ pcl::io::openni2::OpenNI2Device::CallbackHandle depth_callback_handle_;
+ pcl::io::openni2::OpenNI2Device::CallbackHandle image_callback_handle_;
+ pcl::io::openni2::OpenNI2Device::CallbackHandle ir_callback_handle_;
+ bool running_;
+
+
+ CameraParameters rgb_parameters_;
+ CameraParameters depth_parameters_;
+
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ };
+
+ boost::shared_ptr<pcl::io::openni2::OpenNI2Device>
+ OpenNI2Grabber::getDevice () const
+ {
+ return device_;
+ }
+
+ } // namespace
+}
+
+#endif // PCL_IO_OPENNI2_GRABBER_H_
+#endif // HAVE_OPENNI2
* This version is used to register a member function of any class.
* The callback will always be called with a new image and the user data "cookie".
* \param[in] callback the user callback to be called if a new image is available
+ * \param instance
* \param[in] cookie the cookie that needs to be passed to the callback together with the new image.
* \return a callback handler that can be used to remove the user callback from list of image-stream callbacks.
*/
* This version is used to register a member function of any class.
* The callback will always be called with a new depth image and the user data "cookie".
* \param[in] callback the user callback to be called if a new depth image is available
+ * \param instance
* \param[in] cookie the cookie that needs to be passed to the callback together with the new depth image.
* \return a callback handler that can be used to remove the user callback from list of depth-stream callbacks.
*/
* This version is used to register a member function of any class.
* The callback will always be called with a new IR image and the user data "cookie".
* \param[in] callback the user callback to be called if a new IR image is available
+ * \param instance
* \param[in] cookie the cookie that needs to be passed to the callback together with the new IR image.
* \return a callback handler that can be used to remove the user callback from list of IR-stream callbacks.
*/
public:
/** \brief Constructor
- * \param[in] device_id ID of the device, which might be a serial number, bus@address or the index of the device.
+ * \param[in] device_id ID of the device, which might be a serial number, bus\@address or the index of the device.
* \param[in] depth_mode the mode of the depth stream
* \param[in] image_mode the mode of the image stream
*/
virtual float
getFramesPerSecond () const;
- /** \brief Get a boost shared pointer to the \ref OpenNIDevice object. */
+ /** \brief Get a boost shared pointer to the \ref pcl::openni_wrapper::OpenNIDevice object. */
inline boost::shared_ptr<openni_wrapper::OpenNIDevice>
getDevice () const;
/** \brief Set the RGB image focal length
* \param[in] rgb_focal_length_x the RGB focal length (fx)
- * \param[in] rgb_focal_ulength_y the RGB focal length (fy)
+ * \param[in] rgb_focal_length_y the RGB focal length (fy)
* Setting the parameters to non-finite values (e.g., NaN, Inf) invalidates them
* and the grabber will use the default values from the camera instead.
* These parameters will be used for XYZRGBA clouds.
openni_wrapper::OpenNIDevice::CallbackHandle ir_callback_handle;
bool running_;
+ mutable unsigned rgb_array_size_;
+ mutable unsigned depth_buffer_size_;
+ mutable boost::shared_array<unsigned char> rgb_array_;
+ mutable boost::shared_array<unsigned short> depth_buffer_;
+ mutable boost::shared_array<unsigned short> ir_buffer_;
+
/** \brief The RGB image focal length (fx). */
double rgb_focal_length_x_;
/** \brief The RGB image focal length (fy). */
at (const scalar_property_definition_callbacks_type& scalar_property_definition_callbacks);
};
- template <typename ScalarType>
- friend typename scalar_property_definition_callback_type<ScalarType>::type&
+ template <typename ScalarType> static
+ typename scalar_property_definition_callback_type<ScalarType>::type&
at (scalar_property_definition_callbacks_type& scalar_property_definition_callbacks)
{
return (scalar_property_definition_callbacks.get<ScalarType> ());
}
- template <typename ScalarType>
- friend const typename scalar_property_definition_callback_type<ScalarType>::type&
+ template <typename ScalarType> static
+ const typename scalar_property_definition_callback_type<ScalarType>::type&
at (const scalar_property_definition_callbacks_type& scalar_property_definition_callbacks)
{
return (scalar_property_definition_callbacks.get<ScalarType> ());
at (const list_property_definition_callbacks_type& list_property_definition_callbacks);
};
- template <typename SizeType, typename ScalarType>
- friend typename list_property_definition_callback_type<SizeType, ScalarType>::type&
+ template <typename SizeType, typename ScalarType> static
+ typename list_property_definition_callback_type<SizeType, ScalarType>::type&
at (list_property_definition_callbacks_type& list_property_definition_callbacks)
{
return (list_property_definition_callbacks.get<SizeType, ScalarType> ());
}
- template <typename SizeType, typename ScalarType>
- friend const typename list_property_definition_callback_type<SizeType, ScalarType>::type&
+ template <typename SizeType, typename ScalarType> static
+ const typename list_property_definition_callback_type<SizeType, ScalarType>::type&
at (const list_property_definition_callbacks_type& list_property_definition_callbacks)
{
return (list_property_definition_callbacks.get<SizeType, ScalarType> ());
{
typedef SizeType size_type;
typedef ScalarType scalar_type;
- typename list_property_definition_callback_type<size_type, scalar_type>::type& list_property_definition_callback =
- list_property_definition_callbacks_.get<size_type, scalar_type> ();
+ typedef typename list_property_definition_callback_type<size_type, scalar_type>::type list_property_definition_callback_type;
+ list_property_definition_callback_type& list_property_definition_callback = list_property_definition_callbacks_.get<size_type, scalar_type> ();
typedef typename list_property_begin_callback_type<size_type, scalar_type>::type list_property_begin_callback_type;
typedef typename list_property_element_callback_type<size_type, scalar_type>::type list_property_element_callback_type;
typedef typename list_property_end_callback_type<size_type, scalar_type>::type list_property_end_callback_type;
, orientation_ (Eigen::Matrix3f::Zero ())
, cloud_ ()
, vertex_count_ (0)
- , vertex_properties_counter_ (0)
, vertex_offset_before_ (0)
, range_grid_ (0)
- , range_count_ (0)
- , range_grid_vertex_indices_element_index_ (0)
, rgb_offset_before_ (0)
, do_resize_ (false)
+ , polygons_ (0)
{}
PLYReader (const PLYReader &p)
, orientation_ (Eigen::Matrix3f::Zero ())
, cloud_ ()
, vertex_count_ (0)
- , vertex_properties_counter_ (0)
, vertex_offset_before_ (0)
, range_grid_ (0)
- , range_count_ (0)
- , range_grid_vertex_indices_element_index_ (0)
, rgb_offset_before_ (0)
, do_resize_ (false)
+ , polygons_ (0)
{
*this = p;
}
origin_ = p.origin_;
orientation_ = p.orientation_;
range_grid_ = p.range_grid_;
+ polygons_ = p.polygons_;
return (*this);
}
read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &origin, Eigen::Quaternionf &orientation, int& ply_version, const int offset = 0);
- /** \brief Read a point cloud data from a PLY file (PLY_V6 only!) and store it into a pcl/PCLPointCloud2.
- *
- * \note This function is provided for backwards compatibility only and
- * it can only read PLY_V6 files correctly, as pcl::PCLPointCloud2
- * does not contain a sensor origin/orientation. Reading any file
- * > PLY_V6 will generate a warning.
- *
+ /** \brief Read a point cloud data from a PLY file and store it into a pcl/PCLPointCloud2.
+ * \note This function is provided for backwards compatibility only
* \param[in] file_name the name of the file containing the actual PointCloud data
* \param[out] cloud the resultant PointCloud message read from disk
* \param[in] offset the offset in the file where to expect the true header to begin.
return (0);
}
+ /** \brief Read a point cloud data from a PLY file and store it into a pcl/PolygonMesh.
+ *
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] mesh the resultant PolygonMesh message read from disk
+ * \param[in] origin the sensor data acquisition origin (translation)
+ * \param[in] orientation the sensor data acquisition origin (rotation)
+ * \param[out] ply_version the PLY version read from the file
+ * \param[in] offset the offset in the file where to expect the true header to begin.
+ * One usage example for setting the offset parameter is for reading
+ * data from a TAR "archive containing multiple files: TAR files always
+ * add a 512 byte header in front of the actual file, so set the offset
+ * to the next byte after the header (e.g., 513).
+ */
+ int
+ read (const std::string &file_name, pcl::PolygonMesh &mesh,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int& ply_version, const int offset = 0);
+
+ /** \brief Read a point cloud data from a PLY file and store it into a pcl/PolygonMesh.
+ *
+ * \param[in] file_name the name of the file containing the actual PointCloud data
+ * \param[out] mesh the resultant PolygonMesh message read from disk
+ * \param[in] offset the offset in the file where to expect the true header to begin.
+ * One usage example for setting the offset parameter is for reading
+ * data from a TAR "archive containing multiple files: TAR files always
+ * add a 512 byte header in front of the actual file, so set the offset
+ * to the next byte after the header (e.g., 513).
+ */
+ int
+ read (const std::string &file_name, pcl::PolygonMesh &mesh, const int offset = 0);
+
private:
::pcl::io::ply::ply_parser parser_;
inline void
vertexListPropertyEndCallback ();
- /** Callback function for an anonymous vertex double property.
+ /** Callback function for an anonymous vertex scalar property.
* Writes down a double value in cloud data.
* param[in] value double value parsed
*/
- inline void
- vertexDoublePropertyCallback (pcl::io::ply::float64 value);
-
- /** Callback function for an anonymous vertex float property.
- * Writes down a float value in cloud data.
- * param[in] value float value parsed
- */
- inline void
- vertexFloatPropertyCallback (pcl::io::ply::float32 value);
-
- /** Callback function for an anonymous vertex int property.
- * Writes down a int value in cloud data.
- * param[in] value int value parsed
- */
- inline void
- vertexIntPropertyCallback (pcl::io::ply::int32 value);
-
- /** Callback function for an anonymous vertex uint property.
- * Writes down a uint value in cloud data.
- * param[in] value uint value parsed
- */
- inline void
- vertexUnsignedIntPropertyCallback (pcl::io::ply::uint32 value);
-
- /** Callback function for an anonymous vertex short property.
- * Writes down a short value in cloud data.
- * param[in] value short value parsed
- */
- inline void
- vertexShortPropertyCallback (pcl::io::ply::int16 value);
-
- /** Callback function for an anonymous vertex ushort property.
- * Writes down a ushort value in cloud data.
- * param[in] value ushort value parsed
- */
- inline void
- vertexUnsignedShortPropertyCallback (pcl::io::ply::uint16 value);
-
- /** Callback function for an anonymous vertex char property.
- * Writes down a char value in cloud data.
- * param[in] value char value parsed
- */
- inline void
- vertexCharPropertyCallback (pcl::io::ply::int8 value);
-
- /** Callback function for an anonymous vertex uchar property.
- * Writes down a uchar value in cloud data.
- * param[in] value uchar value parsed
- */
- inline void
- vertexUnsignedCharPropertyCallback (pcl::io::ply::uint8 value);
+ template<typename Scalar> void
+ vertexScalarPropertyCallback (Scalar value);
/** Callback function for vertex RGB color.
* This callback is in charge of packing red green and blue in a single int
inline void
cloudWidthCallback (const int &width) { cloud_->width = width; }
- /** Append a double property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendDoubleProperty (const std::string& name, const size_t& count = 1);
-
- /** Append a float property to the cloud fields.
+ /** Append a scalar property to the cloud fields.
* param[in] name property name
* param[in] count property count: 1 for scalar properties and higher for a
* list property.
*/
- void
- appendFloatProperty (const std::string& name, const size_t& count = 1);
-
- /** Append an unsigned int property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendIntProperty (const std::string& name, const size_t& count = 1);
-
- /** Append an unsigned int property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendUnsignedIntProperty (const std::string& name, const size_t& count = 1);
-
- /** Append a short property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendShortProperty (const std::string& name, const size_t& count = 1);
-
- /** Append a short property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendUnsignedShortProperty (const std::string& name, const size_t& count = 1);
-
- /** Append a char property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendCharProperty (const std::string& name, const size_t& count = 1);
-
- /** Append a char property to the cloud fields.
- * param[in] name property name
- * param[in] count property count: 1 for scalar properties and higher for a
- * list property.
- */
- void
- appendUnsignedCharProperty (const std::string& name, const size_t& count = 1);
+ template<typename Scalar> void
+ appendScalarProperty (const std::string& name, const size_t& count = 1);
/** Amend property from cloud fields identified by \a old_name renaming
* it \a new_name.
void
objInfoCallback (const std::string& line);
+ /** Callback function for the begin of face line */
+ void
+ faceBeginCallback ();
+
+ /** Callback function for the begin of face vertex_indices property
+ * param[in] size vertex_indices list size
+ */
+ void
+ faceVertexIndicesBeginCallback (pcl::io::ply::uint8 size);
+
+ /** Callback function for each face vertex_indices element
+ * param[in] vertex_index index of the vertex in vertex_indices
+ */
+ void
+ faceVertexIndicesElementCallback (pcl::io::ply::int32 vertex_index);
+
+ /** Callback function for the end of a face vertex_indices property */
+ void
+ faceVertexIndicesEndCallback ();
+
+ /** Callback function for the end of a face element end */
+ void
+ faceEndCallback ();
+
/// origin
Eigen::Vector4f origin_;
//vertex element artifacts
pcl::PCLPointCloud2 *cloud_;
- size_t vertex_count_, vertex_properties_counter_;
+ size_t vertex_count_;
int vertex_offset_before_;
//range element artifacts
std::vector<std::vector <int> > *range_grid_;
- size_t range_count_, range_grid_vertex_indices_element_index_;
size_t rgb_offset_before_;
bool do_resize_;
+ //face element artifact
+ std::vector<pcl::Vertices> *polygons_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
return (p.read (file_name, cloud));
}
+ /** \brief Load a PLY file into a PolygonMesh type.
+ *
+ * Any PLY files containg sensor data will generate a warning as a
+ * pcl/PolygonMesh message cannot hold the sensor origin.
+ *
+ * \param[in] file_name the name of the file to load
+ * \param[in] mesh the resultant polygon mesh
+ * \ingroup io
+ */
+ inline int
+ loadPLYFile (const std::string &file_name, pcl::PolygonMesh &mesh)
+ {
+ pcl::PLYReader p;
+ return (p.read (file_name, mesh));
+ }
+
/** \brief Save point cloud data to a PLY file containing n-D points
* \param[in] file_name the output file name
* \param[in] cloud the point cloud data message
* \param[in] origin the sensor data acquisition origin (translation)
* \param[in] orientation the sensor data acquisition origin (rotation)
* \param[in] binary_mode true for binary mode, false (default) for ASCII
+ * \param[in] use_camera
* \ingroup io
*/
inline int
* \ingroup io
*/
PCL_EXPORTS void
- saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height)
- {
- saveCharPNGFile(file_name, rgb_image, width, height, 3);
- }
+ saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height);
/** \brief Saves 8-bit grayscale cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] cloud point cloud to save
* \ingroup io
*/
- void
- savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud)
- {
- saveCharPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
- }
+ PCL_EXPORTS void
+ savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud);
/** \brief Saves 16-bit grayscale cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] cloud point cloud to save
* \ingroup io
*/
- void
- savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud)
- {
- saveShortPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
- }
+ PCL_EXPORTS void
+ savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud);
/** \brief Saves a PCLImage (formely ROS sensor_msgs::Image) to PNG file.
* \param[in] file_name the name of the file to write to disk
* \ingroup io
* \note Currently only "rgb8", "mono8", and "mono16" image encodings are supported.
*/
- void
- savePNGFile (const std::string& file_name, const pcl::PCLImage& image)
- {
- if (image.encoding == "rgb8")
- {
- saveRgbPNGFile(file_name, &image.data[0], image.width, image.height);
- }
- else if (image.encoding == "mono8")
- {
- saveCharPNGFile(file_name, &image.data[0], image.width, image.height, 1);
- }
- else if (image.encoding == "mono16")
- {
- saveShortPNGFile(file_name, reinterpret_cast<const unsigned short*>(&image.data[0]), image.width, image.height, 1);
- }
- else
- {
- PCL_ERROR ("[pcl::io::savePNGFile] Unsupported image encoding \"%s\".\n", image.encoding.c_str ());
- }
- }
+ PCL_EXPORTS void
+ savePNGFile (const std::string& file_name, const pcl::PCLImage& image);
/** \brief Saves RGB fields of cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
* \param[in] cloud point cloud to save
* \ingroup io
*/
- PCL_DEPRECATED (template <typename T> void savePNGFile (const std::string& file_name, const pcl::PointCloud<T>& cloud),
+ template <typename T>
+ PCL_DEPRECATED (
"pcl::io::savePNGFile<typename T> (file_name, cloud) is deprecated, please use a new generic "
"function pcl::io::savePNGFile (file_name, cloud, field_name) with \"rgb\" as the field name."
- );
- template <typename T> void
+ )
+ void
savePNGFile (const std::string& file_name, const pcl::PointCloud<T>& cloud)
{
std::vector<unsigned char> data(cloud.width * cloud.height * 3);
* \ingroup io
* Warning: Converts to 16 bit (for png), labels using more than 16 bits will cause problems
*/
- PCL_DEPRECATED (void savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud),
- "pcl::io::savePNGFile (file_name, cloud) is deprecated, please use a new generic function "
- "pcl::io::savePNGFile (file_name, cloud, field_name) with \"label\" as the field name."
- );
+ PCL_EXPORTS PCL_DEPRECATED (
+ "savePNGFile (file_name, cloud) is deprecated, please use a new generic function "
+ "savePNGFile (file_name, cloud, field_name) with \"label\" as the field name."
+ )
void
- savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud)
- {
- std::vector<unsigned short> data(cloud.width * cloud.height);
- for (size_t i = 0; i < cloud.points.size (); ++i)
- {
- data[i] = static_cast<unsigned short> (cloud.points[i].label);
- }
- saveShortPNGFile(file_name, &data[0], cloud.width, cloud.height,1);
- }
+ savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud);
/** \brief Saves the data from the specified field of the point cloud as image to PNG file.
* \param[in] file_name the name of the file to write to disk
typedef boost::shared_ptr<const PointCloudImageExtractor<PointT> > ConstPtr;
/** \brief Constructor. */
- PointCloudImageExtractor () {}
+ PointCloudImageExtractor ()
+ : paint_nans_with_black_ (false)
+ {}
/** \brief Destructor. */
virtual ~PointCloudImageExtractor () {}
* \param[out] image the output image
* \return true if the operation was successful, false otherwise
*/
+ bool
+ extract (const PointCloud& cloud, pcl::PCLImage& image) const;
+
+ /** \brief Set a flag that controls if image pixels corresponding to
+ * NaN (infinite) points should be painted black.
+ */
+ inline void
+ setPaintNaNsWithBlack (bool flag)
+ {
+ paint_nans_with_black_ = flag;
+ }
+
+ protected:
+
+ /** \brief Implementation of the extract() function, has to be
+ * implemented in deriving classes.
+ */
virtual bool
- extract (const PointCloud& cloud, pcl::PCLImage& image) const = 0;
+ extractImpl (const PointCloud& cloud, pcl::PCLImage& image) const = 0;
+
+ /// A flag that controls if image pixels corresponding to NaN (infinite)
+ /// points should be painted black.
+ bool paint_nans_with_black_;
};
//////////////////////////////////////////////////////////////////////////////////////
/** \brief Destructor. */
virtual ~PointCloudImageExtractorWithScaling () {}
- /** \brief Obtain the image from the given cloud.
- * \param[in] cloud organized point cloud to extract image from
- * \param[out] image the output image
- * \return true if the operation was successful, false otherwise
- */
- virtual bool
- extract (const PointCloud& cloud, pcl::PCLImage& image) const;
-
/** \brief Set scaling method. */
inline void
setScalingMethod (const ScalingMethod scaling_method)
protected:
+ virtual bool
+ extractImpl (const PointCloud& cloud, pcl::PCLImage& image) const;
+
std::string field_name_;
ScalingMethod scaling_method_;
float scaling_factor_;
/** \brief Destructor. */
virtual ~PointCloudImageExtractorFromNormalField () {}
- /** \brief Obtain the color image from the given cloud.
- * The cloud should contain "normal" field.
- * \param[in] cloud organized point cloud to extract image from
- * \param[out] image the output image
- * \return true if the operation was successful, false otherwise
- */
+ protected:
+
virtual bool
- extract (const PointCloud& cloud, pcl::PCLImage& img) const;
+ extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const;
};
//////////////////////////////////////////////////////////////////////////////////////
/** \brief Destructor. */
virtual ~PointCloudImageExtractorFromRGBField () {}
- /** \brief Obtain the color image from the given cloud.
- * The cloud should contain either "rgb" or "rgba" field.
- * \param[in] cloud organized point cloud to extract image from
- * \param[out] image the output image
- * \return true if the operation was successful, false otherwise
- */
+ protected:
+
virtual bool
- extract (const PointCloud& cloud, pcl::PCLImage& img) const;
+ extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const;
};
//////////////////////////////////////////////////////////////////////////////////////
/** \brief Image Extractor which uses the data present in the "label" field to produce
* either monochrome or RGB image where different labels correspond to different
- * colors. In the monochrome case colors are shades of gray, in the RGB case the
- * colors are generated randomly.
+ * colors.
+ * See the documentation for ColorMode to learn about available coloring options.
* \author Sergey Alexandrov
* \ingroup io
*/
typedef boost::shared_ptr<PointCloudImageExtractorFromLabelField<PointT> > Ptr;
typedef boost::shared_ptr<const PointCloudImageExtractorFromLabelField<PointT> > ConstPtr;
- /** \brief Different modes for color mapping.
- * <ul>
- * <li><b>COLORS_MONO</b> - shades of gray (according to label id).</li>
- * <li><b>COLORS_RGB_RANDOM</b> - randomly generated RGB colors.</li>
- * </ul>
- */
+ /** \brief Different modes for color mapping. */
enum ColorMode
{
+ /// Shades of gray (according to label id)
+ /// \note Labels using more than 16 bits will cause problems
COLORS_MONO,
+ /// Randomly generated RGB colors
COLORS_RGB_RANDOM,
+ /// Fixed RGB colors from the [Glasbey lookup table](http://fiji.sc/Glasbey),
+ /// assigned in the ascending order of label id
+ COLORS_RGB_GLASBEY,
};
/** \brief Constructor. */
/** \brief Destructor. */
virtual ~PointCloudImageExtractorFromLabelField () {}
- /** \brief Obtain the label image from the given cloud.
- * The cloud should contain "label" field.
- * \note Labels using more than 16 bits will cause problems in COLORS_MONO mode.
- * \param[in] cloud organized point cloud to extract image from
- * \param[out] image the output image
- * \return true if the operation was successful, false otherwise
- */
- virtual bool
- extract (const PointCloud& cloud, pcl::PCLImage& img) const;
-
/** \brief Set color mapping mode. */
inline void
setColorMode (const ColorMode color_mode)
color_mode_ = color_mode;
}
+ protected:
+
+ virtual bool
+ extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const;
+
private:
ColorMode color_mode_;
typedef boost::shared_ptr<const PointCloudImageExtractorFromZField<PointT> > ConstPtr;
/** \brief Constructor.
- * \param[i] scaling_factor a scaling factor to apply to each depth value (default 10000)
+ * \param[in] scaling_factor a scaling factor to apply to each depth value (default 10000)
*/
PointCloudImageExtractorFromZField (const float scaling_factor = 10000)
: PointCloudImageExtractorWithScaling<PointT> ("z", scaling_factor)
}
/** \brief Constructor.
- * \param[i] scaling_method a scaling method to use
+ * \param[in] scaling_method a scaling method to use
*/
PointCloudImageExtractorFromZField (const ScalingMethod scaling_method)
: PointCloudImageExtractorWithScaling<PointT> ("z", scaling_method)
typedef boost::shared_ptr<const PointCloudImageExtractorFromCurvatureField<PointT> > ConstPtr;
/** \brief Constructor.
- * \param[i] scaling_method a scaling method to use (default SCALING_FULL_RANGE)
+ * \param[in] scaling_method a scaling method to use (default SCALING_FULL_RANGE)
*/
PointCloudImageExtractorFromCurvatureField (const ScalingMethod scaling_method = PointCloudImageExtractorWithScaling<PointT>::SCALING_FULL_RANGE)
: PointCloudImageExtractorWithScaling<PointT> ("curvature", scaling_method)
}
/** \brief Constructor.
- * \param[i] scaling_factor a scaling factor to apply to each curvature value
+ * \param[in] scaling_factor a scaling factor to apply to each curvature value
*/
PointCloudImageExtractorFromCurvatureField (const float scaling_factor)
: PointCloudImageExtractorWithScaling<PointT> ("curvature", scaling_factor)
typedef boost::shared_ptr<const PointCloudImageExtractorFromIntensityField<PointT> > ConstPtr;
/** \brief Constructor.
- * \param[i] scaling_method a scaling method to use (default SCALING_NO)
+ * \param[in] scaling_method a scaling method to use (default SCALING_NO)
*/
PointCloudImageExtractorFromIntensityField (const ScalingMethod scaling_method = PointCloudImageExtractorWithScaling<PointT>::SCALING_NO)
: PointCloudImageExtractorWithScaling<PointT> ("intensity", scaling_method)
}
/** \brief Constructor.
- * \param[i] scaling_factor a scaling factor to apply to each intensity value
+ * \param[in] scaling_factor a scaling factor to apply to each intensity value
*/
PointCloudImageExtractorFromIntensityField (const float scaling_factor)
: PointCloudImageExtractorWithScaling<PointT> ("intensity", scaling_factor)
char file_name_prefix[155];
char _padding[12];
- /** \brief . */
+ /** \brief get file size */
unsigned int
getFileSize ()
{
/** \brief Save a PointCloud dataset into a TAR file.
* Append if the file exists, or create a new one if not.
- *
- * \param[in] tar_filename the name of the TAR file to save the cloud to
- * \param[in] cloud the point cloud dataset to save
- * \param[in] pcd_filename the internal name of the PCD file that should be stored in the TAR header
* \remark till implemented will return FALSE
*/
+ // param[in] tar_filename the name of the TAR file to save the cloud to
+ // param[in] cloud the point cloud dataset to save
+ // param[in] pcd_filename the internal name of the PCD file that should be stored in the TAR header
template <typename PointT> bool
- saveTARPointCloud (const std::string &tar_filename,
- const PointCloud<PointT> &cloud,
- const std::string &pcd_filename)
+ saveTARPointCloud (const std::string& /*tar_filename*/,
+ const PointCloud<PointT>& /*cloud*/,
+ const std::string& /*pcd_filename*/)
{
return (false);
}
#ifdef __GNUC__
#pragma GCC system_header
#endif
+#include <vtkVersion.h>
#include <vtkSmartPointer.h>
#include <vtkStructuredGrid.h>
#include <vtkPoints.h>
cloud.fields = fields_;
cloud.point_step = 0;
- for (int i = 0; i < fields_.size (); i++)
+ for (size_t i = 0; i < fields_.size (); i++)
cloud.point_step += typeSize (cloud.fields[i].datatype);
std::fstream ifile (file_name.c_str (), std::fstream::in);
uint32_t offset = 0;
try
{
- for (int i = 0; i < fields_.size (); i++)
+ for (size_t i = 0; i < fields_.size (); i++)
offset += parse (tokens[i], fields_[i], data + offset);
}
catch (std::exception& /*e*/)
// Is there enough data in the buffer to return one image, and did we find the header?
// If not, go back and read some more data off the USB port
// Else, read the data, clean the g_buffer_, return to the user
- if (!first_image && (g_buffer_.size () >= image_size_ + data_adr) && data_adr != -1)
+ if (!first_image && (g_buffer_.size () >= static_cast<boost::circular_buffer<unsigned char>::size_type> (image_size_ + data_adr)) && data_adr != -1)
{
// An image found. Copy it from the buffer into the user given buffer
first_image = true;
}
- if (first_image && g_buffer_.size () >= image_size_)
+ if (first_image && g_buffer_.size () >= static_cast<boost::circular_buffer<unsigned char>::size_type> (image_size_))
break;
}
}
int depth_idx = 0;
- for (int x = 0; x < cloud->width; ++x)
+ for (int x = 0; x < static_cast<int> (cloud->width); ++x)
{
- for (int y = 0; y < cloud->height; ++y, ++depth_idx)
+ for (int y = 0; y < static_cast<int> (cloud->height); ++y, ++depth_idx)
{
double pixel = image_[x + image_width_ * y];
// Get rid of the noise
- if(cloud->points[depth_idx].z > 0.8f or cloud->points[depth_idx].z < 0.02f)
+ if(cloud->points[depth_idx].z > 0.8f || cloud->points[depth_idx].z < 0.02f)
{
cloud->points[depth_idx].x = std::numeric_limits<float>::quiet_NaN ();
cloud->points[depth_idx].y = std::numeric_limits<float>::quiet_NaN ();
{
// We need at least 2 full sync packets, in case the header starts at the end of the first sync packet to
// guarantee that the index returned actually exists in g_buffer_ (we perform no checking in the rest of the code)
- if (g_buffer_.size () < 2 * sync_packet_size_)
+ if (g_buffer_.size () < static_cast<boost::circular_buffer<unsigned char>::size_type> (2 * sync_packet_size_))
return (-1);
int data_ptr = -1;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/io/file_io.h>
+#include <pcl/io/boost.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+#include <pcl/io/ifs_io.h>
+#include <pcl/io/obj_io.h>
+#include <pcl/io/vtk_io.h>
+
+namespace pcl
+{
+ namespace io
+ {
+ template<typename PointT> int
+ load (const std::string& file_name, pcl::PointCloud<PointT>& cloud)
+ {
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".pcd")
+ result = pcl::io::loadPCDFile (file_name, cloud);
+ else if (extension == ".ply")
+ result = pcl::io::loadPLYFile (file_name, cloud);
+ else if (extension == ".ifs")
+ result = pcl::io::loadIFSFile (file_name, cloud);
+ else
+ {
+ PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+ }
+
+ template<typename PointT> int
+ save (const std::string& file_name, const pcl::PointCloud<PointT>& cloud)
+ {
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".pcd")
+ result = pcl::io::savePCDFile (file_name, cloud, true);
+ else if (extension == ".ply")
+ result = pcl::io::savePLYFile (file_name, cloud, true);
+ else if (extension == ".ifs")
+ result = pcl::io::saveIFSFile (file_name, cloud);
+ else
+ {
+ PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+ }
+ }
+}
+
+int
+pcl::io::load (const std::string& file_name, pcl::PCLPointCloud2& blob)
+{
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".pcd")
+ result = pcl::io::loadPCDFile (file_name, blob);
+ else if (extension == ".ply")
+ result = pcl::io::loadPLYFile (file_name, blob);
+ else if (extension == ".ifs")
+ result = pcl::io::loadIFSFile (file_name, blob);
+ else if (extension == ".obj")
+ result = pcl::io::loadOBJFile (file_name, blob);
+ else
+ {
+ PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+}
+
+int
+pcl::io::load (const std::string& file_name, pcl::PolygonMesh& mesh)
+{
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".ply")
+ result = pcl::io::loadPLYFile (file_name, mesh);
+ else if (extension == ".ifs")
+ result = pcl::io::loadIFSFile (file_name, mesh);
+ else if (extension == ".obj")
+ result = pcl::io::loadOBJFile (file_name, mesh);
+ else
+ {
+ PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+}
+
+int
+pcl::io::load (const std::string& file_name, pcl::TextureMesh& mesh)
+{
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".obj")
+ result = pcl::io::loadOBJFile (file_name, mesh);
+ else
+ {
+ PCL_ERROR ("[pcl::io::load] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+}
+
+int
+pcl::io::save (const std::string& file_name, const pcl::PCLPointCloud2& blob, unsigned precision)
+{
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".pcd")
+ {
+ Eigen::Vector4f origin = Eigen::Vector4f::Zero ();
+ Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity ();
+ result = pcl::io::savePCDFile (file_name, blob, origin, orientation, true);
+ }
+ else if (extension == ".ply")
+ {
+ Eigen::Vector4f origin = Eigen::Vector4f::Zero ();
+ Eigen::Quaternionf orientation = Eigen::Quaternionf::Identity ();
+ result = pcl::io::savePLYFile (file_name, blob, origin, orientation, true);
+ }
+ else if (extension == ".ifs")
+ result = pcl::io::saveIFSFile (file_name, blob);
+ else if (extension == ".vtk")
+ result = pcl::io::saveVTKFile (file_name, blob, precision);
+ else
+ {
+ PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+}
+
+int
+pcl::io::save (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision)
+{
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".obj")
+ result = pcl::io::saveOBJFile (file_name, tex_mesh, precision);
+ else
+ {
+ PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+}
+
+int
+pcl::io::save (const std::string &file_name, const pcl::PolygonMesh &poly_mesh, unsigned precision)
+{
+ boost::filesystem::path p (file_name.c_str ());
+ std::string extension = p.extension ().string ();
+ int result = -1;
+ if (extension == ".ply")
+ result = pcl::io::savePLYFileBinary (file_name, poly_mesh);
+ else if (extension == ".obj")
+ result = pcl::io::saveOBJFile (file_name, poly_mesh, precision);
+ else if (extension == ".vtk")
+ result = pcl::io::saveVTKFile (file_name, poly_mesh, precision);
+ else
+ {
+ PCL_ERROR ("[pcl::io::save] Don't know how to handle file with extension %s", extension.c_str ());
+ result = -1;
+ }
+ return (result);
+}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013, Open Perception, 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.
+ *
+ */
+
+#include <fstream>
+#include <pcl/io/boost.h>
+#include <pcl/common/io.h>
+#include <pcl/io/ifs_io.h>
+#include <pcl/console/time.h>
+
+#include <cstring>
+#include <cerrno>
+
+///////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::IFSReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ int &ifs_version, unsigned int &data_idx)
+{
+ // Default values
+ data_idx = 0;
+ ifs_version = IFS_V1_0;
+ cloud.width = cloud.height = cloud.point_step = cloud.row_step = 0;
+ cloud.data.clear ();
+
+ // By default, assume that there are _no_ invalid (e.g., NaN) points
+ //cloud.is_dense = true;
+
+ uint32_t nr_points = 0;
+ std::ifstream fs;
+ std::string line;
+
+ if (file_name == "" || !boost::filesystem::exists (file_name))
+ {
+ PCL_ERROR ("[pcl::IFSReader::readHeader] Could not find file '%s'.\n", file_name.c_str ());
+ return (-1);
+ }
+
+ fs.open (file_name.c_str (), std::ios::binary);
+ if (!fs.is_open () || fs.fail ())
+ {
+ PCL_ERROR ("[pcl::IFSReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno));
+ fs.close ();
+ return (-1);
+ }
+
+ //Read the magic
+ uint32_t length_of_magic;
+ fs.read ((char*)&length_of_magic, sizeof (uint32_t));
+ char *magic = new char [length_of_magic];
+ fs.read (magic, sizeof (char) * length_of_magic);
+ if (strcmp (magic, "IFS"))
+ {
+ PCL_ERROR ("[pcl::IFSReader::readHeader] File %s is not an IFS file!\n", file_name.c_str ());
+ fs.close ();
+ return (-1);
+ }
+ delete[] magic;
+
+ //Read IFS version
+ float version;
+ fs.read ((char*)&version, sizeof (float));
+ if (version == 1.0f)
+ ifs_version = IFS_V1_0;
+ else
+ if (version == 1.1f)
+ ifs_version = IFS_V1_1;
+ else
+ {
+ PCL_ERROR ("[pcl::IFSReader::readHeader] Bad IFS file %f!\n", version);
+ fs.close ();
+ return (-1);
+ }
+
+ //Read the name
+ uint32_t length_of_name;
+ fs.read ((char*)&length_of_name, sizeof (uint32_t));
+ char *name = new char [length_of_name];
+ fs.read (name, sizeof (char) * length_of_name);
+ delete[] name;
+ int offset = 0;
+
+ // Read the header and fill it in with wonderful values
+ try
+ {
+ while (!fs.eof ())
+ {
+ //Read the keyword
+ uint32_t length_of_keyword;
+ fs.read ((char*)&length_of_keyword, sizeof (uint32_t));
+ char *keyword = new char [length_of_keyword];
+ fs.read (keyword, sizeof (char) * length_of_keyword);
+
+ if (strcmp (keyword, "VERTICES") == 0)
+ {
+ fs.read ((char*)&nr_points, sizeof (uint32_t));
+ if ((nr_points == 0) || (nr_points > 10000000))
+ {
+ PCL_ERROR ("[pcl::IFSReader::readHeader] Bad number of vertices %lu!\n", nr_points);
+ fs.close ();
+ return (-1);
+ }
+
+ cloud.fields.resize (3);
+ cloud.fields[0].name = "x";
+ cloud.fields[1].name = "y";
+ cloud.fields[2].name = "z";
+
+ for (int i = 0; i < 3; ++i, offset += 4)
+ {
+ cloud.fields[i].offset = offset;
+ cloud.fields[i].datatype = pcl::PCLPointField::FLOAT32;
+ cloud.fields[i].count = 1;
+ }
+ cloud.point_step = offset;
+ cloud.data.resize (nr_points * cloud.point_step);
+ data_idx = fs.tellg ();
+ break;
+ }
+ }
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::IFSReader::readHeader] %s\n", exception);
+ fs.close ();
+ return (-1);
+ }
+
+ // Set width and height
+ cloud.width = nr_points;
+ cloud.height = 1;
+ cloud.row_step = cloud.point_step * cloud.width;
+
+ // Close file
+ fs.close ();
+
+ return (0);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::IFSReader::read (const std::string &file_name,
+ pcl::PCLPointCloud2 &cloud, int &ifs_version)
+{
+ pcl::console::TicToc tt;
+ tt.tic ();
+
+ unsigned int data_idx;
+
+ int res = readHeader (file_name, cloud, ifs_version, data_idx);
+
+ if (res < 0)
+ return (res);
+
+ // Setting the is_dense property to true by default
+ cloud.is_dense = true;
+
+ boost::iostreams::mapped_file_source mapped_file;
+
+ size_t data_size = data_idx + cloud.data.size ();
+
+ try
+ {
+ mapped_file.open (file_name, data_size, 0);
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] Error : %s!\n", file_name.c_str (), exception);
+ mapped_file.close ();
+ return (-1);
+ }
+
+ if(!mapped_file.is_open ())
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] File mapping failure\n");
+ mapped_file.close ();
+ return (-1);
+ }
+
+ // Copy the data
+ memcpy (&cloud.data[0], mapped_file.data () + data_idx, cloud.data.size ());
+
+ mapped_file.close ();
+
+ double total_time = tt.toc ();
+ PCL_DEBUG ("[pcl::IFSReader::read] Loaded %s as a %s cloud in %g ms with %d points. Available dimensions: %s.\n",
+ file_name.c_str (), cloud.is_dense ? "dense" : "non-dense", total_time,
+ cloud.width * cloud.height, pcl::getFieldsList (cloud).c_str ());
+ return (0);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::IFSReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, int &ifs_version)
+{
+ pcl::console::TicToc tt;
+ tt.tic ();
+
+ unsigned int data_idx;
+
+ int res = readHeader (file_name, mesh.cloud, ifs_version, data_idx);
+
+ if (res < 0)
+ return (res);
+
+ // Setting the is_dense property to true by default
+ mesh.cloud.is_dense = true;
+
+ boost::iostreams::mapped_file_source mapped_file;
+
+ size_t data_size = data_idx + mesh.cloud.data.size ();
+
+ try
+ {
+ mapped_file.open (file_name, data_size, 0);
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] Error : %s!\n", file_name.c_str (), exception);
+ mapped_file.close ();
+ return (-1);
+ }
+
+ if(!mapped_file.is_open ())
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] File mapping failure\n");
+ mapped_file.close ();
+ return (-1);
+ }
+
+ // Copy the data
+ memcpy (&mesh.cloud.data[0], mapped_file.data () + data_idx, mesh.cloud.data.size ());
+
+ mapped_file.close ();
+
+ // Reopen the file to load the facets
+ std::ifstream fs;
+ fs.open (file_name.c_str (), std::ios::binary);
+ if (!fs.is_open () || fs.fail ())
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno));
+ fs.close ();
+ return (-1);
+ }
+ // Jump to the end of cloud data
+ fs.seekg (data_size);
+ // Read the TRIANGLES keyword
+ uint32_t length_of_keyword;
+ fs.read ((char*)&length_of_keyword, sizeof (uint32_t));
+ char *keyword = new char [length_of_keyword];
+ fs.read (keyword, sizeof (char) * length_of_keyword);
+ if (strcmp (keyword, "TRIANGLES"))
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] File %s is does not contain facets!\n", file_name.c_str ());
+ fs.close ();
+ return (-1);
+ }
+ delete[] keyword;
+ // Read the number of facets
+ uint32_t nr_facets;
+ fs.read ((char*)&nr_facets, sizeof (uint32_t));
+ if ((nr_facets == 0) || (nr_facets > 10000000))
+ {
+ PCL_ERROR ("[pcl::IFSReader::read] Bad number of facets %lu!\n", nr_facets);
+ fs.close ();
+ return (-1);
+ }
+ // Resize the mesh polygons
+ mesh.polygons.resize (nr_facets);
+ // Fill each polygon
+ for (uint32_t i = 0; i < nr_facets; ++i)
+ {
+ pcl::Vertices &facet = mesh.polygons[i];
+ facet.vertices.resize (3);
+ fs.read ((char*)&(facet.vertices[0]), sizeof (uint32_t));
+ fs.read ((char*)&(facet.vertices[1]), sizeof (uint32_t));
+ fs.read ((char*)&(facet.vertices[2]), sizeof (uint32_t));
+ }
+ // We are done, close the file
+ fs.close ();
+ // Display statistics
+ double total_time = tt.toc ();
+ PCL_DEBUG ("[pcl::IFSReader::read] Loaded %s as a polygon mesh in %g ms with %d points and %d facets.\n",
+ file_name.c_str (), total_time, mesh.cloud.width * mesh.cloud.height, mesh.polygons.size ());
+ return (0);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::IFSWriter::write (const std::string &file_name, const pcl::PCLPointCloud2 &cloud, const std::string& cloud_name)
+{
+ if (cloud.data.empty ())
+ {
+ PCL_ERROR ("[pcl::IFSWriter::write] Input point cloud has no data!\n");
+ return (-1);
+ }
+
+ if (!cloud.is_dense)
+ {
+ PCL_ERROR ("[pcl::IFSWriter::write] Non dense cloud are not alowed by IFS format!\n");
+ return (-1);
+ }
+
+ const std::string magic = "IFS";
+ const float version = 1.0f;
+ const std::string vertices = "VERTICES";
+ std::vector<char> header (sizeof (uint32_t) + magic.size () + 1 +
+ sizeof (float) +
+ sizeof (uint32_t) + cloud_name.size () + 1 +
+ sizeof (uint32_t) + vertices.size () + 1 +
+ sizeof (uint32_t));
+ char* addr = &(header[0]);
+ const uint32_t magic_size = static_cast<uint32_t> (magic.size ()) + 1;
+ memcpy (addr, &magic_size, sizeof (uint32_t));
+ addr+= sizeof (uint32_t);
+ memcpy (addr, magic.c_str (), magic_size * sizeof (char));
+ addr+= magic_size * sizeof (char);
+ memcpy (addr, &version, sizeof (float));
+ addr+= sizeof (float);
+ const uint32_t cloud_name_size = static_cast<uint32_t> (cloud_name.size ()) + 1;
+ memcpy (addr, &cloud_name_size, sizeof (uint32_t));
+ addr+= sizeof (uint32_t);
+ memcpy (addr, cloud_name.c_str (), cloud_name_size * sizeof (char));
+ addr+= cloud_name_size * sizeof (char);
+ const uint32_t vertices_size = static_cast<uint32_t> (vertices.size ()) + 1;
+ memcpy (addr, &vertices_size, sizeof (uint32_t));
+ addr+= sizeof (uint32_t);
+ memcpy (addr, vertices.c_str (), vertices_size * sizeof (char));
+ addr+= vertices_size * sizeof (char);
+ const uint32_t nb_vertices = cloud.data.size () / cloud.point_step;
+ memcpy (addr, &nb_vertices, sizeof (uint32_t));
+ addr+= sizeof (uint32_t);
+
+ std::size_t data_idx = header.size ();
+
+ boost::iostreams::mapped_file_sink sink;
+ boost::iostreams::mapped_file_params params;
+ params.path = file_name;
+ params.flags = boost::iostreams::mapped_file_base::readwrite;
+ params.offset = 0;
+ params.new_file_size = data_idx + cloud.data.size ();
+ params.length = data_idx + cloud.data.size ();
+
+ try
+ {
+ sink.open (params);
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::IFSWriter::write] Error : %s!\n", file_name.c_str (), exception);
+ sink.close ();
+ return (-1);
+ }
+
+ if (!sink.is_open ())
+ {
+ PCL_ERROR ("[pcl::IFSWriter::write] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno));
+ sink.close ();
+ return (-1);
+ }
+
+ // copy header
+ memcpy (sink.data (), &header[0], data_idx);
+
+ // Copy the data
+ memcpy (sink.data () + data_idx, &cloud.data[0], cloud.data.size ());
+
+ sink.close ();
+
+ return (0);
+}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011 Willow Garage, Inc.
+ * Suat Gedikli <gedikli@willowgarage.com>
+ *
+ * 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.
+ *
+ */
+
+#include <pcl/pcl_config.h>
+#include <pcl/io/image_depth.h>
+
+#include <sstream>
+#include <limits>
+#include <iostream>
+
+#include <pcl/io/io_exception.h>
+
+using pcl::io::FrameWrapper;
+using pcl::io::IOException;
+
+pcl::io::DepthImage::DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value)
+: wrapper_ (depth_metadata)
+, baseline_ (baseline)
+, focal_length_ (focal_length)
+, shadow_value_ (shadow_value)
+, no_sample_value_ (no_sample_value)
+, timestamp_ (Clock::now ())
+{}
+
+
+pcl::io::DepthImage::DepthImage (FrameWrapper::Ptr depth_metadata, float baseline, float focal_length, pcl::uint64_t shadow_value, pcl::uint64_t no_sample_value, Timestamp timestamp)
+: wrapper_(depth_metadata)
+, baseline_ (baseline)
+, focal_length_ (focal_length)
+, shadow_value_ (shadow_value)
+, no_sample_value_ (no_sample_value)
+, timestamp_(timestamp)
+{}
+
+
+pcl::io::DepthImage::~DepthImage ()
+{}
+
+
+const unsigned short*
+pcl::io::DepthImage::getData ()
+{
+ return static_cast<const unsigned short*> (wrapper_->getData ());
+}
+
+
+int
+pcl::io::DepthImage::getDataSize () const
+{
+ return (wrapper_->getDataSize ());
+}
+
+
+const FrameWrapper::Ptr
+pcl::io::DepthImage::getMetaData () const
+{
+ return (wrapper_);
+}
+
+
+float
+pcl::io::DepthImage::getBaseline () const
+{
+ return (baseline_);
+}
+
+
+float
+pcl::io::DepthImage::getFocalLength () const
+{
+ return (focal_length_);
+}
+
+
+pcl::uint64_t
+pcl::io::DepthImage::getShadowValue () const
+{
+ return (shadow_value_);
+}
+
+
+pcl::uint64_t
+pcl::io::DepthImage::getNoSampleValue () const
+{
+ return (no_sample_value_);
+}
+
+
+unsigned
+pcl::io::DepthImage::getWidth () const
+{
+ return (wrapper_->getWidth ());
+}
+
+
+unsigned
+pcl::io::DepthImage::getHeight () const
+{
+ return (wrapper_->getHeight ());
+}
+
+
+unsigned
+pcl::io::DepthImage::getFrameID () const
+{
+ return (wrapper_->getFrameID ());
+}
+
+
+pcl::uint64_t
+pcl::io::DepthImage::getTimestamp () const
+{
+ return (wrapper_->getTimestamp ());
+}
+
+
+pcl::io::DepthImage::Timestamp
+pcl::io::DepthImage::getSystemTimestamp () const
+{
+ return (timestamp_);
+}
+
+// Fill external buffers ////////////////////////////////////////////////////
+
+void
+pcl::io::DepthImage::fillDepthImageRaw (unsigned width, unsigned height, unsigned short* depth_buffer, unsigned line_step) const
+{
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
+ THROW_IO_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (line_step == 0)
+ line_step = width * static_cast<unsigned> (sizeof (unsigned short));
+
+ // special case no sclaing, no padding => memcopy!
+ if (width == wrapper_->getWidth () && height == wrapper_->getHeight () && (line_step == width * sizeof (unsigned short)))
+ {
+ memcpy (depth_buffer, wrapper_->getData (), wrapper_->getDataSize ());
+ return;
+ }
+
+ // padding skip for destination image
+ unsigned bufferSkip = line_step - width * static_cast<unsigned> (sizeof (unsigned short));
+
+ // step and padding skip for source image
+ unsigned xStep = wrapper_->getWidth () / width;
+ unsigned ySkip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();
+
+ // Fill in the depth image data, converting mm to m
+ short bad_point = std::numeric_limits<short>::quiet_NaN ();
+ unsigned depthIdx = 0;
+
+ const unsigned short* inputBuffer = static_cast<const unsigned short*> (wrapper_->getData ());
+
+ for (unsigned yIdx = 0; yIdx < height; ++yIdx, depthIdx += ySkip)
+ {
+ for (unsigned xIdx = 0; xIdx < width; ++xIdx, depthIdx += xStep, ++depth_buffer)
+ {
+ /// @todo Different values for these cases
+ unsigned short pixel = inputBuffer[depthIdx];
+ if (pixel == 0 || pixel == no_sample_value_ || pixel == shadow_value_)
+ *depth_buffer = bad_point;
+ else
+ {
+ *depth_buffer = static_cast<unsigned short>( pixel );
+ }
+ }
+ // if we have padding
+ if (bufferSkip > 0)
+ {
+ char* cBuffer = reinterpret_cast<char*> (depth_buffer);
+ depth_buffer = reinterpret_cast<unsigned short*> (cBuffer + bufferSkip);
+ }
+ }
+}
+
+void
+pcl::io::DepthImage::fillDepthImage (unsigned width, unsigned height, float* depth_buffer, unsigned line_step) const
+{
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
+ THROW_IO_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (line_step == 0)
+ line_step = width * static_cast<unsigned> (sizeof (float));
+
+ // padding skip for destination image
+ unsigned bufferSkip = line_step - width * static_cast<unsigned> (sizeof (float));
+
+ // step and padding skip for source image
+ unsigned xStep = wrapper_->getWidth () / width;
+ unsigned ySkip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();
+
+ // Fill in the depth image data, converting mm to m
+ float bad_point = std::numeric_limits<float>::quiet_NaN ();
+ unsigned depthIdx = 0;
+
+ const unsigned short* inputBuffer = static_cast<const unsigned short*> (wrapper_->getData ());
+
+ for (unsigned yIdx = 0; yIdx < height; ++yIdx, depthIdx += ySkip)
+ {
+ for (unsigned xIdx = 0; xIdx < width; ++xIdx, depthIdx += xStep, ++depth_buffer)
+ {
+ /// @todo Different values for these cases
+ unsigned short pixel = inputBuffer[depthIdx];
+ if (pixel == 0 || pixel == no_sample_value_ || pixel == shadow_value_)
+ *depth_buffer = bad_point;
+ else
+ {
+ *depth_buffer = static_cast<unsigned short>( pixel ) * 0.001f; // millimeters to meters
+ }
+ }
+ // if we have padding
+ if (bufferSkip > 0)
+ {
+ char* cBuffer = reinterpret_cast<char*> (depth_buffer);
+ depth_buffer = reinterpret_cast<float*> (cBuffer + bufferSkip);
+ }
+ }
+}
+
+void
+pcl::io::DepthImage::fillDisparityImage (unsigned width, unsigned height, float* disparity_buffer, unsigned line_step) const
+{
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
+ THROW_IO_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (line_step == 0)
+ line_step = width * static_cast<unsigned> (sizeof (float));
+
+ unsigned xStep = wrapper_->getWidth () / width;
+ unsigned ySkip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();
+
+ unsigned bufferSkip = line_step - width * static_cast<unsigned> (sizeof (float));
+
+ // Fill in the depth image data
+ // iterate over all elements and fill disparity matrix: disp[x,y] = f * b / z_distance[x,y];
+ // focal length is for the native image resolution -> focal_length = focal_length_ / xStep;
+ float constant = focal_length_ * baseline_ * 1000.0f / static_cast<float> (xStep);
+
+ const unsigned short* inputBuffer = static_cast<const unsigned short*> (wrapper_->getData ());
+
+ for (unsigned yIdx = 0, depthIdx = 0; yIdx < height; ++yIdx, depthIdx += ySkip)
+ {
+ for (unsigned xIdx = 0; xIdx < width; ++xIdx, depthIdx += xStep, ++disparity_buffer)
+ {
+ unsigned short pixel = inputBuffer[depthIdx];
+ if (pixel == 0 || pixel == no_sample_value_ || pixel == shadow_value_)
+ *disparity_buffer = 0.0;
+ else
+ *disparity_buffer = constant / static_cast<float> (pixel);
+ }
+
+ // if we have padding
+ if (bufferSkip > 0)
+ {
+ char* cBuffer = reinterpret_cast<char*> (disparity_buffer);
+ disparity_buffer = reinterpret_cast<float*> (cBuffer + bufferSkip);
+ }
+ }
+}
//! Checks if a timestamp is given in the filename
//! And returns if so
bool
- getTimestampFromFilepath (const std::string &filepath, uint64_t ×tamp) const;
+ getTimestampFromFilepath (const std::string &filepath, pcl::uint64_t ×tamp) const;
size_t
numFrames () const;
bool
pcl::ImageGrabberBase::ImageGrabberImpl::getTimestampFromFilepath (
const std::string &filepath,
- uint64_t ×tamp) const
+ pcl::uint64_t ×tamp) const
{
// For now, we assume the file is of the form frame_[22-char POSIX timestamp]_*
char timestamp_str[256];
timestamp_str);
if (result > 0)
{
- // Convert to uint64_t, microseconds since 1970-01-01
+ // Convert to pcl::uint64_t, microseconds since 1970-01-01
boost::posix_time::ptime cur_date = boost::posix_time::from_iso_string (timestamp_str);
boost::posix_time::ptime zero_date (
boost::gregorian::date (1970,boost::gregorian::Jan,1));
}
}
// Handle timestamps
- uint64_t timestamp;
+ pcl::uint64_t timestamp;
if (getTimestampFromFilepath (depth_image_file, timestamp))
{
cloud_color.header.stamp = timestamp;
}
}
// Handle timestamps
- uint64_t timestamp;
+ pcl::uint64_t timestamp;
if (getTimestampFromFilepath (depth_image_file, timestamp))
{
cloud.header.stamp = timestamp;
depth.readOMP (depth_pclzf_file, cloud_color, num_threads_);
}
// handle timestamps
- uint64_t timestamp;
+ pcl::uint64_t timestamp;
if (getTimestampFromFilepath (depth_pclzf_file, timestamp))
{
cloud_color.header.stamp = timestamp;
else
depth.readOMP (depth_pclzf_file, cloud, num_threads_);
// handle timestamps
- uint64_t timestamp;
+ pcl::uint64_t timestamp;
if (getTimestampFromFilepath (depth_pclzf_file, timestamp))
{
cloud.header.stamp = timestamp;
////////////////////////////////////////////////////////////////////////////////////////
bool
-pcl::ImageGrabberBase::getTimestampAtIndex (size_t idx, uint64_t ×tamp) const
+pcl::ImageGrabberBase::getTimestampAtIndex (size_t idx, pcl::uint64_t ×tamp) const
{
std::string filename;
if (impl_->pclzf_mode_)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011 Willow Garage, Inc.
+ * Suat Gedikli <gedikli@willowgarage.com>
+ *
+ * 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.
+ *
+ */
+
+#include <pcl/pcl_config.h>
+#include <pcl/io/image_ir.h>
+
+#include <sstream>
+#include <limits>
+#include <iostream>
+
+#include <pcl/io/io_exception.h>
+
+using pcl::io::FrameWrapper;
+using pcl::io::IOException;
+
+pcl::io::IRImage::IRImage (FrameWrapper::Ptr ir_metadata)
+ : wrapper_(ir_metadata)
+ , timestamp_(Clock::now ())
+{}
+
+
+pcl::io::IRImage::IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time)
+ : wrapper_(ir_metadata)
+ , timestamp_(time)
+{}
+
+
+const unsigned short*
+pcl::io::IRImage::getData ()
+{
+ return ( static_cast<const unsigned short*> (wrapper_->getData ()) );
+}
+
+
+int
+pcl::io::IRImage::getDataSize () const
+{
+ return (wrapper_->getDataSize ());
+}
+
+
+const FrameWrapper::Ptr
+pcl::io::IRImage::getMetaData () const
+{
+ return (wrapper_);
+}
+
+
+unsigned
+pcl::io::IRImage::getWidth () const
+{
+ return (wrapper_->getWidth ());
+}
+
+
+unsigned
+pcl::io::IRImage::getHeight () const
+{
+ return (wrapper_->getHeight ());
+}
+
+
+unsigned
+pcl::io::IRImage::getFrameID () const
+{
+ return (wrapper_->getFrameID ());
+}
+
+
+pcl::uint64_t
+pcl::io::IRImage::getTimestamp () const
+{
+ return (wrapper_->getTimestamp ());
+}
+
+
+pcl::io::IRImage::Timestamp
+pcl::io::IRImage::getSystemTimestamp () const
+{
+ return (timestamp_);
+}
+
+
+void pcl::io::IRImage::fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step) const
+{
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
+ THROW_IO_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (line_step == 0)
+ line_step = width * static_cast<unsigned> (sizeof (unsigned short));
+
+ // special case no sclaing, no padding => memcopy!
+ if (width == wrapper_->getWidth () && height == wrapper_->getHeight () && (line_step == width * sizeof (unsigned short)))
+ {
+ memcpy (ir_buffer, wrapper_->getData (), wrapper_->getDataSize ());
+ return;
+ }
+
+ // padding skip for destination image
+ unsigned bufferSkip = line_step - width * static_cast<unsigned> (sizeof (unsigned short));
+
+ // step and padding skip for source image
+ unsigned xStep = wrapper_->getWidth () / width;
+ unsigned ySkip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();
+
+ unsigned irIdx = 0;
+
+ const unsigned short* inputBuffer = static_cast<const unsigned short*> (wrapper_->getData ());
+
+ for (unsigned yIdx = 0; yIdx < height; ++yIdx, irIdx += ySkip)
+ {
+ for (unsigned xIdx = 0; xIdx < width; ++xIdx, irIdx += xStep, ++ir_buffer)
+ *ir_buffer = inputBuffer[irIdx];
+
+ // if we have padding
+ if (bufferSkip > 0)
+ {
+ char* cBuffer = reinterpret_cast<char*> (ir_buffer);
+ ir_buffer = reinterpret_cast<unsigned short*> (cBuffer + bufferSkip);
+ }
+ }
+}
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, respective authors.
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/pcl_config.h>
+#include <pcl/io/image_rgb24.h>
+
+#include <pcl/io/io_exception.h>
+
+using pcl::io::FrameWrapper;
+using pcl::io::IOException;
+
+pcl::io::ImageRGB24::ImageRGB24 (FrameWrapper::Ptr image_metadata)
+ : Image (image_metadata)
+{}
+
+
+pcl::io::ImageRGB24::ImageRGB24 (FrameWrapper::Ptr image_metadata, Timestamp timestamp)
+ : Image (image_metadata, timestamp)
+{}
+
+
+pcl::io::ImageRGB24::~ImageRGB24 () throw ()
+{}
+
+bool
+pcl::io::ImageRGB24::isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const
+{
+ return (output_width <= input_width && output_height <= input_height && input_width % output_width == 0 && input_height % output_height == 0 );
+}
+
+
+void
+pcl::io::ImageRGB24::fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step) const
+{
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("Up-sampling not supported. Request was %d x %d -> %d x %d.", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (wrapper_->getWidth () % width == 0 && wrapper_->getHeight () % height == 0)
+ {
+ unsigned src_step = wrapper_->getWidth () / width;
+ unsigned src_skip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();
+
+ if (gray_line_step == 0)
+ gray_line_step = width;
+
+ unsigned dst_skip = gray_line_step - width; // skip of padding values in bytes
+
+ unsigned char* dst_line = gray_buffer;
+ const RGB888Pixel* src_line = (RGB888Pixel*) wrapper_->getData ();
+
+ for (unsigned yIdx = 0; yIdx < height; ++yIdx, src_line += src_skip, dst_line += dst_skip)
+ {
+ for (unsigned xIdx = 0; xIdx < width; ++xIdx, src_line += src_step, dst_line ++)
+ {
+ *dst_line = static_cast<unsigned char>((static_cast<int> (src_line->r) * 299 +
+ static_cast<int> (src_line->g) * 587 +
+ static_cast<int> (src_line->b) * 114) * 0.001);
+ }
+ }
+ }
+ else
+ {
+ THROW_IO_EXCEPTION ("Down-sampling only possible for integer scale. Request was %d x %d -> %d x %d.", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+ }
+}
+
+
+void
+pcl::io::ImageRGB24::fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step) const
+{
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("Up-sampling not supported. Request was %d x %d -> %d x %d.", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (width == wrapper_->getWidth () && height == wrapper_->getHeight ())
+ {
+ unsigned line_size = width * 3;
+ if (rgb_line_step == 0 || rgb_line_step == line_size)
+ {
+ memcpy (rgb_buffer, wrapper_->getData (), wrapper_->getDataSize ());
+ }
+ else // line by line
+ {
+ unsigned char* rgb_line = rgb_buffer;
+ const unsigned char* src_line = static_cast<const unsigned char*> (wrapper_->getData ());
+ for (unsigned yIdx = 0; yIdx < height; ++yIdx, rgb_line += rgb_line_step, src_line += line_size)
+ {
+ memcpy (rgb_line, src_line, line_size);
+ }
+ }
+ }
+ else if (wrapper_->getWidth () % width == 0 && wrapper_->getHeight () % height == 0) // downsamplig
+ {
+ unsigned src_step = wrapper_->getWidth () / width;
+ unsigned src_skip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();
+
+ if (rgb_line_step == 0)
+ rgb_line_step = width * 3;
+
+ unsigned dst_skip = rgb_line_step - width * 3; // skip of padding values in bytes
+
+ RGB888Pixel* dst_line = reinterpret_cast<RGB888Pixel*> (rgb_buffer);
+ const RGB888Pixel* src_line = (RGB888Pixel*) wrapper_->getData ();
+
+ for (unsigned yIdx = 0; yIdx < height; ++yIdx, src_line += src_skip)
+ {
+ for (unsigned xIdx = 0; xIdx < width; ++xIdx, src_line += src_step, dst_line ++)
+ {
+ *dst_line = *src_line;
+ }
+
+ if (dst_skip != 0)
+ {
+ // use bytes to skip rather than XnRGB24Pixel's, since line_step does not need to be multiple of 3
+ unsigned char* temp = reinterpret_cast <unsigned char*> (dst_line);
+ dst_line = reinterpret_cast <RGB888Pixel*> (temp + dst_skip);
+ }
+ }
+ }
+ else
+ {
+ THROW_IO_EXCEPTION ("Down-sampling only possible for integer scale. Request was %d x %d -> %d x %d.", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+ }
+}
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011 2011 Willow Garage, Inc.
+ * Suat Gedikli <gedikli@willowgarage.com>
+ *
+ * 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.
+ *
+ */
+#include <pcl/pcl_config.h>
+#include <pcl/io/image_yuv422.h>
+
+#include <pcl/io/io_exception.h>
+
+#include <sstream>
+#include <iostream>
+
+#define CLIP_CHAR(c) static_cast<unsigned char> ((c)>255?255:(c)<0?0:(c))
+
+using pcl::io::FrameWrapper;
+using pcl::io::IOException;
+
+pcl::io::ImageYUV422::ImageYUV422 (FrameWrapper::Ptr image_metadata)
+ : Image (image_metadata)
+{}
+
+
+pcl::io::ImageYUV422::ImageYUV422 (FrameWrapper::Ptr image_metadata, Timestamp timestamp)
+ : Image (image_metadata, timestamp)
+{}
+
+
+pcl::io::ImageYUV422::~ImageYUV422 () throw ()
+{}
+
+bool
+pcl::io::ImageYUV422::isResizingSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const
+{
+ return (output_width <= input_width && output_height <= input_height && input_width % output_width == 0 && input_height % output_height == 0 );
+}
+
+
+void
+pcl::io::ImageYUV422::fillRGB (unsigned width, unsigned height, unsigned char* rgb_buffer, unsigned rgb_line_step) const
+{
+ // 0 1 2 3
+ // u y1 v y2
+
+ if (wrapper_->getWidth () != width && wrapper_->getHeight () != height)
+ {
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight () )
+ THROW_IO_EXCEPTION ("Upsampling not supported. Request was: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if ( wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0
+ || (wrapper_->getWidth () / width) & 0x01 || (wrapper_->getHeight () / height & 0x01) )
+ THROW_IO_EXCEPTION ("Downsampling only possible for power of two scale in both dimensions. Request was %d x %d -> %d x %d.", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+ }
+
+ register const uint8_t* yuv_buffer = (uint8_t*) wrapper_->getData ();
+
+ unsigned rgb_line_skip = 0;
+ if (rgb_line_step != 0)
+ rgb_line_skip = rgb_line_step - width * 3;
+
+ if (wrapper_->getWidth () == width && wrapper_->getHeight () == height)
+ {
+ for ( register unsigned yIdx = 0; yIdx < height; ++yIdx, rgb_buffer += rgb_line_skip )
+ {
+ for ( register unsigned xIdx = 0; xIdx < width; xIdx += 2, rgb_buffer += 6, yuv_buffer += 4 )
+ {
+ int v = yuv_buffer[2] - 128;
+ int u = yuv_buffer[0] - 128;
+
+ rgb_buffer[0] = CLIP_CHAR (yuv_buffer[1] + ((v * 18678 + 8192 ) >> 14));
+ rgb_buffer[1] = CLIP_CHAR (yuv_buffer[1] + ((v * -9519 - u * 6472 + 8192 ) >> 14));
+ rgb_buffer[2] = CLIP_CHAR (yuv_buffer[1] + ((u * 33292 + 8192 ) >> 14));
+
+ rgb_buffer[3] = CLIP_CHAR (yuv_buffer[3] + ((v * 18678 + 8192 ) >> 14));
+ rgb_buffer[4] = CLIP_CHAR (yuv_buffer[3] + ((v * -9519 - u * 6472 + 8192 ) >> 14));
+ rgb_buffer[5] = CLIP_CHAR (yuv_buffer[3] + ((u * 33292 + 8192 ) >> 14));
+ }
+ }
+ }
+ else
+ {
+ register unsigned yuv_step = wrapper_->getWidth () / width;
+ register unsigned yuv_x_step = yuv_step << 1;
+ register unsigned yuv_skip = (wrapper_->getHeight () / height - 1) * ( wrapper_->getWidth () << 1 );
+
+ for ( register unsigned yIdx = 0; yIdx < wrapper_->getHeight (); yIdx += yuv_step, yuv_buffer += yuv_skip, rgb_buffer += rgb_line_skip )
+ {
+ for ( register unsigned xIdx = 0; xIdx < wrapper_->getWidth (); xIdx += yuv_step, rgb_buffer += 3, yuv_buffer += yuv_x_step )
+ {
+ int v = yuv_buffer[2] - 128;
+ int u = yuv_buffer[0] - 128;
+
+ rgb_buffer[0] = CLIP_CHAR (yuv_buffer[1] + ((v * 18678 + 8192 ) >> 14));
+ rgb_buffer[1] = CLIP_CHAR (yuv_buffer[1] + ((v * -9519 - u * 6472 + 8192 ) >> 14));
+ rgb_buffer[2] = CLIP_CHAR (yuv_buffer[1] + ((u * 33292 + 8192 ) >> 14));
+ }
+ }
+ }
+}
+
+
+void
+pcl::io::ImageYUV422::fillGrayscale (unsigned width, unsigned height, unsigned char* gray_buffer, unsigned gray_line_step) const
+{
+ // u y1 v y2
+ if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
+ THROW_IO_EXCEPTION ("Upsampling not supported. Request was: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
+ THROW_IO_EXCEPTION ("Downsampling only possible for integer scales in both dimensions. Request was %d x %d -> %d x %d.", wrapper_->getWidth (), wrapper_->getHeight (), width, height);
+
+ unsigned gray_line_skip = 0;
+ if (gray_line_step != 0)
+ gray_line_skip = gray_line_step - width;
+
+ register unsigned yuv_step = wrapper_->getWidth () / width;
+ register unsigned yuv_x_step = yuv_step << 1;
+ register unsigned yuv_skip = (wrapper_->getHeight () / height - 1) * ( wrapper_->getWidth () << 1 );
+ register const uint8_t* yuv_buffer = ( (uint8_t*) wrapper_->getData () + 1);
+
+ for ( register unsigned yIdx = 0; yIdx < wrapper_->getHeight (); yIdx += yuv_step, yuv_buffer += yuv_skip, gray_buffer += gray_line_skip )
+ {
+ for ( register unsigned xIdx = 0; xIdx < wrapper_->getWidth (); xIdx += yuv_step, ++gray_buffer, yuv_buffer += yuv_x_step )
+ {
+ *gray_buffer = *yuv_buffer;
+ }
+ }
+}
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 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.
+ *
+ */
+#include "pcl/io/io_exception.h"
+#include <sstream>
+
+pcl::io::IOException::IOException (const std::string& function_name, const std::string& file_name, unsigned line_number, const std::string& message)
+ : function_name_ (function_name)
+ , file_name_ (file_name)
+ , line_number_ (line_number)
+ , message_ (message)
+{
+ std::stringstream sstream;
+ sstream << function_name_ << " @ " << file_name_ << " @ " << line_number_ << " : " << message_;
+ message_long_ = sstream.str ();
+}
+
+pcl::io::IOException::~IOException () throw ()
+{
+}
+
+pcl::io::IOException&
+pcl::io::IOException::operator = (const IOException& exception)
+{
+ message_ = exception.message_;
+ return (*this);
+}
+
+const char*
+pcl::io::IOException::what () const throw ()
+{
+ return (message_long_.c_str ());
+}
+
+const std::string&
+pcl::io::IOException::getFunctionName () const
+{
+ return (function_name_);
+}
+
+const std::string&
+pcl::io::IOException::getFileName () const
+{
+ return (file_name_);
+}
+
+unsigned
+pcl::io::IOException::getLineNumber () const
+{
+ return (line_number_);
+}
#include <vector>
#include <stdlib.h>
#include <stdio.h>
-#include <stdint.h>
#include <assert.h>
// user defined I/O callback methods for libPNG
namespace
{
+ using pcl::uint8_t;
/////////////////////////////////////////////////////////////////////////////////////////
void
user_read_data (png_structp png_ptr, png_bytep data, png_size_t length)
size_t& height_arg,
unsigned int& channels_arg)
{
- int y;
+ unsigned long y;
png_structp png_ptr;
png_infop info_ptr;
png_uint_32 png_width;
#define LZF_HEADER_SIZE 37
+
+// The signature of boost::property_tree::xml_parser::write_xml() changed in Boost 1.56
+// See https://github.com/PointCloudLibrary/pcl/issues/864
+#include <boost/version.hpp>
+#if (BOOST_VERSION >= 105600)
+ typedef boost::property_tree::xml_writer_settings<std::string> xml_writer_settings;
+#else
+ typedef boost::property_tree::xml_writer_settings<char> xml_writer_settings;
+#endif
+
+
//////////////////////////////////////////////////////////////////////////////
bool
pcl::io::LZFImageWriter::saveImageBlob (const char* data,
catch (std::exception& e)
{}
- boost::property_tree::xml_writer_settings<char> settings ('\t', 1);
pt.put (tag, parameter);
- write_xml (filename, pt, std::locale (), settings);
+ write_xml (filename, pt, std::locale (), xml_writer_settings ('\t', 1));
return (true);
}
catch (std::exception& e)
{}
- boost::property_tree::xml_writer_settings<char> settings ('\t', 1);
pt.put ("depth.focal_length_x", parameters.focal_length_x);
pt.put ("depth.focal_length_y", parameters.focal_length_y);
pt.put ("depth.principal_point_x", parameters.principal_point_x);
pt.put ("depth.principal_point_y", parameters.principal_point_y);
pt.put ("depth.z_multiplication_factor", z_multiplication_factor_);
- write_xml (filename, pt, std::locale (), settings);
+ write_xml (filename, pt, std::locale (), xml_writer_settings ('\t', 1));
return (true);
}
int ptr1 = 0,
ptr2 = width * height,
ptr3 = 2 * width * height;
- for (int i = 0; i < width * height; ++i, ++ptr1, ++ptr2, ++ptr3)
+ for (uint32_t i = 0; i < width * height; ++i, ++ptr1, ++ptr2, ++ptr3)
{
rrggbb[ptr1] = data[i * 3 + 0];
rrggbb[ptr2] = data[i * 3 + 1];
catch (std::exception& e)
{}
- boost::property_tree::xml_writer_settings<char> settings ('\t', 1);
pt.put ("rgb.focal_length_x", parameters.focal_length_x);
pt.put ("rgb.focal_length_y", parameters.focal_length_y);
pt.put ("rgb.principal_point_x", parameters.principal_point_x);
pt.put ("rgb.principal_point_y", parameters.principal_point_y);
- write_xml (filename, pt, std::locale (), settings);
+ write_xml (filename, pt, std::locale (), xml_writer_settings ('\t', 1));
return (true);
}
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010, Willow Garage, Inc.
+ * Copyright (c) 2013, Open Perception, Inc.
*
* All rights reserved.
*
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
- * $Id$
- *
*/
#include <pcl/io/obj_io.h>
#include <fstream>
#include <iostream>
#include <pcl/common/io.h>
+#include <pcl/io/boost.h>
+#include <boost/lexical_cast.hpp>
+#include <pcl/console/time.h>
+
+pcl::MTLReader::MTLReader ()
+{
+ xyz_to_rgb_matrix_ << 2.3706743, -0.9000405, -0.4706338,
+ -0.5138850, 1.4253036, 0.0885814,
+ 0.0052982, -0.0146949, 1.0093968;
+}
+
+inline void
+pcl::MTLReader::cie2rgb (const Eigen::Vector3f &xyz, pcl::TexMaterial::RGB& rgb) const
+{
+ Eigen::Vector3f rgb_vec = xyz_to_rgb_matrix_ * xyz;
+ rgb.r = rgb_vec[0]; rgb.g = rgb_vec[1]; rgb.b = rgb_vec[2];
+}
+
+int
+pcl::MTLReader::fillRGBfromXYZ (const std::vector<std::string>& split_line,
+ pcl::TexMaterial::RGB& rgb)
+{
+ Eigen::Vector3f xyz;
+ if (split_line.size () == 5)
+ {
+ try
+ {
+ xyz[0] = boost::lexical_cast<float> (split_line[2]);
+ xyz[1] = boost::lexical_cast<float> (split_line[3]);
+ xyz[2] = boost::lexical_cast<float> (split_line[4]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ return (-1);
+ }
+ }
+ else
+ if (split_line.size () == 3)
+ {
+ try
+ {
+ xyz[0] = xyz[1] = xyz[2] = boost::lexical_cast<float> (split_line[2]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ return (-1);
+ }
+ }
+ else
+ return (-1);
+
+ cie2rgb (xyz, rgb);
+ return (0);
+}
+
+int
+pcl::MTLReader::fillRGBfromRGB (const std::vector<std::string>& split_line,
+ pcl::TexMaterial::RGB& rgb)
+{
+ if (split_line.size () == 4)
+ {
+ try
+ {
+ rgb.r = boost::lexical_cast<float> (split_line[1]);
+ rgb.g = boost::lexical_cast<float> (split_line[2]);
+ rgb.b = boost::lexical_cast<float> (split_line[3]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ rgb.r = rgb.g = rgb.b = 0;
+ return (-1);
+ }
+ }
+ else
+ if (split_line.size () == 2)
+ {
+ try
+ {
+ rgb.r = rgb.g = rgb.b = boost::lexical_cast<float> (split_line[1]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ return (-1);
+ }
+ }
+ else
+ return (-1);
+
+ return (0);
+}
+
+std::vector<pcl::TexMaterial>::const_iterator
+pcl::MTLReader::getMaterial (const std::string& material_name) const
+{
+ std::vector<pcl::TexMaterial>::const_iterator mat_it = materials_.begin ();
+ for (; mat_it != materials_.end (); ++mat_it)
+ if (mat_it->tex_name == material_name)
+ break;
+ return (mat_it);
+}
+
+int
+pcl::MTLReader::read (const std::string& obj_file_name,
+ const std::string& mtl_file_name)
+{
+ if (obj_file_name == "" || !boost::filesystem::exists (obj_file_name))
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not find file '%s'!\n",
+ obj_file_name.c_str ());
+ return (-1);
+ }
+
+ if (mtl_file_name == "")
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] MTL file name is empty!\n");
+ return (-1);
+ }
+
+ boost::filesystem::path obj_file_path (obj_file_name.c_str ());
+ boost::filesystem::path mtl_file_path = obj_file_path.parent_path ();
+ mtl_file_path /= mtl_file_name;
+ return (read (mtl_file_path.string ()));
+}
+
+int
+pcl::MTLReader::read (const std::string& mtl_file_path)
+{
+ if (mtl_file_path == "" || !boost::filesystem::exists (mtl_file_path))
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not find file '%s'.\n", mtl_file_path.c_str ());
+ return (-1);
+ }
+
+ std::ifstream mtl_file;
+ mtl_file.open (mtl_file_path.c_str (), std::ios::binary);
+ if (!mtl_file.is_open () || mtl_file.fail ())
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not open file '%s'! Error : %s\n",
+ mtl_file_path.c_str (), strerror(errno));
+ mtl_file.close ();
+ return (-1);
+ }
+
+ std::string line;
+ std::vector<std::string> st;
+ boost::filesystem::path parent_path = mtl_file_path.c_str ();
+ parent_path = parent_path.parent_path ();
+
+ try
+ {
+ while (!mtl_file.eof ())
+ {
+ getline (mtl_file, line);
+ // Ignore empty lines
+ if (line == "")
+ continue;
+
+ // Tokenize the line
+ std::stringstream sstream (line);
+ sstream.imbue (std::locale::classic ());
+ line = sstream.str ();
+ boost::trim (line);
+ boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
+ // Ignore comments
+ if (st[0] == "#")
+ continue;
+
+ if (st[0] == "newmtl")
+ {
+ materials_.push_back (pcl::TexMaterial ());
+ materials_.back ().tex_name = st[1];
+ continue;
+ }
+
+ if (st[0] == "Ka" || st[0] == "Kd" || st[0] == "Ks")
+ {
+ if (st[1] == "spectral")
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Can't handle spectral files!\n");
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ else
+ {
+ pcl::TexMaterial::RGB &rgb = materials_.back ().tex_Ka;
+ if (st[0] == "Kd")
+ rgb = materials_.back ().tex_Kd;
+ else if (st[0] == "Ks")
+ rgb = materials_.back ().tex_Ks;
+
+ if (st[1] == "xyz")
+ {
+ if (fillRGBfromXYZ (st, rgb))
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not convert %s to RGB values",
+ line.c_str ());
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ }
+ else
+ {
+ if (fillRGBfromRGB (st, rgb))
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not convert %s to RGB values",
+ line.c_str ());
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ }
+ }
+ continue;
+ }
+
+ if (st[0] == "illum")
+ {
+ try
+ {
+ materials_.back ().tex_illum = boost::lexical_cast<int> (st[1]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not convert %s to illumination model",
+ line.c_str ());
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ continue;
+ }
+
+ if (st[0] == "d")
+ {
+ if (st.size () > 2)
+ {
+ try
+ {
+ materials_.back ().tex_d = boost::lexical_cast<float> (st[2]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not convert %s to transparency value",
+ line.c_str ());
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ }
+ else
+ {
+ try
+ {
+ materials_.back ().tex_d = boost::lexical_cast<float> (st[1]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not convert %s to transparency value",
+ line.c_str ());
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ }
+ continue;
+ }
+
+ if (st[0] == "Ns")
+ {
+ try
+ {
+ materials_.back ().tex_d = boost::lexical_cast<float> (st[1]);
+ }
+ catch (boost::bad_lexical_cast &)
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] Could not convert %s to shininess value",
+ line.c_str ());
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+ continue;
+ }
+
+ if (st[0] == "map_Kd")
+ {
+ boost::filesystem::path full_path = parent_path;
+ full_path/= st.back ().c_str ();
+ materials_.back ().tex_file = full_path.string ();
+ continue;
+ }
+ // other elements? we don't care for now
+ }
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::MTLReader::read] %s\n", exception);
+ mtl_file.close ();
+ materials_.clear ();
+ return (-1);
+ }
+
+ return (0);
+}
+
+int
+pcl::OBJReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, int &data_type, unsigned int &data_idx,
+ const int offset)
+{
+ origin = Eigen::Vector4f::Zero ();
+ orientation = Eigen::Quaternionf::Identity ();
+ file_version = 0;
+ cloud.width = cloud.height = cloud.point_step = cloud.row_step = 0;
+ cloud.data.clear ();
+ data_type = 0;
+ data_idx = offset;
+
+ std::ifstream fs;
+ std::string line;
+
+ if (file_name == "" || !boost::filesystem::exists (file_name))
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] Could not find file '%s'.\n", file_name.c_str ());
+ return (-1);
+ }
+
+ // Open file in binary mode to avoid problem of
+ // std::getline() corrupting the result of ifstream::tellg()
+ fs.open (file_name.c_str (), std::ios::binary);
+ if (!fs.is_open () || fs.fail ())
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n", file_name.c_str (), strerror(errno));
+ fs.close ();
+ return (-1);
+ }
+
+ // Seek at the given offset
+ fs.seekg (offset, std::ios::beg);
+
+ // Read the header and fill it in with wonderful values
+ bool vertex_normal_found = false;
+ bool vertex_texture_found = false;
+ // Material library, skip for now!
+ // bool material_found = false;
+ std::vector<std::string> material_files;
+ std::size_t nr_point = 0;
+ std::vector<std::string> st;
+
+ try
+ {
+ while (!fs.eof ())
+ {
+ getline (fs, line);
+ // Ignore empty lines
+ if (line == "")
+ continue;
+
+ // Tokenize the line
+ std::stringstream sstream (line);
+ sstream.imbue (std::locale::classic ());
+ line = sstream.str ();
+ boost::trim (line);
+ boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
+ // Ignore comments
+ if (st.at (0) == "#")
+ continue;
+
+ // Vertex
+ if (st.at (0) == "v")
+ {
+ ++nr_point;
+ continue;
+ }
+
+ // Vertex texture
+ if ((st.at (0) == "vt") && !vertex_texture_found)
+ {
+ vertex_texture_found = true;
+ continue;
+ }
+
+ // Vertex normal
+ if ((st.at (0) == "vn") && !vertex_normal_found)
+ {
+ vertex_normal_found = true;
+ continue;
+ }
+
+ // Material library, skip for now!
+ if (st.at (0) == "mtllib")
+ {
+ material_files.push_back (st.at (1));
+ continue;
+ }
+ }
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] %s\n", exception);
+ fs.close ();
+ return (-1);
+ }
+
+ if (!nr_point)
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] No vertices found!\n");
+ fs.close ();
+ return (-1);
+ }
+
+ int field_offset = 0;
+ for (int i = 0; i < 3; ++i, field_offset += 4)
+ {
+ cloud.fields.push_back (pcl::PCLPointField ());
+ cloud.fields[i].offset = field_offset;
+ cloud.fields[i].datatype = pcl::PCLPointField::FLOAT32;
+ cloud.fields[i].count = 1;
+ }
+
+ cloud.fields[0].name = "x";
+ cloud.fields[1].name = "y";
+ cloud.fields[2].name = "z";
+
+ if (vertex_normal_found)
+ {
+ std::string normals_names[3] = { "normal_x", "normal_y", "normal_z" };
+ for (int i = 0; i < 3; ++i, field_offset += 4)
+ {
+ cloud.fields.push_back (pcl::PCLPointField ());
+ pcl::PCLPointField& last = cloud.fields.back ();
+ last.name = normals_names[i];
+ last.offset = field_offset;
+ last.datatype = pcl::PCLPointField::FLOAT32;
+ last.count = 1;
+ }
+ }
+
+ if (material_files.size () > 0)
+ {
+ for (std::size_t i = 0; i < material_files.size (); ++i)
+ {
+ MTLReader companion;
+ if (companion.read (file_name, material_files[i]))
+ PCL_WARN ("[pcl::OBJReader::readHeader] Problem reading material file %s\n",
+ material_files[i].c_str ());
+ companions_.push_back (companion);
+ }
+ }
+
+ cloud.point_step = field_offset;
+ cloud.width = nr_point;
+ cloud.height = 1;
+ cloud.row_step = cloud.point_step * cloud.width;
+ cloud.is_dense = true;
+ cloud.data.resize (cloud.point_step * nr_point);
+ fs.close ();
+ return (0);
+}
+
+int
+pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud, const int offset)
+{
+ int file_version;
+ Eigen::Vector4f origin;
+ Eigen::Quaternionf orientation;
+ return (read (file_name, cloud, origin, orientation, file_version, offset));
+}
+
+int
+pcl::OBJReader::read (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, const int offset)
+{
+ pcl::console::TicToc tt;
+ tt.tic ();
+
+ int data_type;
+ unsigned int data_idx;
+ if (readHeader (file_name, cloud, origin, orientation, file_version, data_type, data_idx, offset))
+ {
+ PCL_ERROR ("[pcl::OBJReader::read] Problem reading header!\n");
+ return (-1);
+ }
+
+ std::ifstream fs;
+ fs.open (file_name.c_str (), std::ios::binary);
+ if (!fs.is_open () || fs.fail ())
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n",
+ file_name.c_str (), strerror(errno));
+ fs.close ();
+ return (-1);
+ }
+
+ // Seek at the given offset
+ fs.seekg (data_idx, std::ios::beg);
+
+ // Get normal_x and rgba fields indices
+ int normal_x_field = -1;
+ // std::size_t rgba_field = 0;
+ for (std::size_t i = 0; i < cloud.fields.size (); ++i)
+ if (cloud.fields[i].name == "normal_x")
+ {
+ normal_x_field = i;
+ break;
+ }
+
+
+ // else if (cloud.fields[i].name == "rgba")
+ // rgba_field = i;
+
+ std::size_t point_idx = 0;
+ std::size_t normal_idx = 0;
+ std::string line;
+ std::vector<std::string> st;
+ try
+ {
+ while (!fs.eof ())
+ {
+ getline (fs, line);
+ // Ignore empty lines
+ if (line == "")
+ continue;
+
+ // Tokenize the line
+ std::stringstream sstream (line);
+ sstream.imbue (std::locale::classic ());
+ line = sstream.str ();
+ boost::trim (line);
+ boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
+
+ // Ignore comments
+ if (st[0] == "#")
+ continue;
+
+ // Vertex
+ if (st[0] == "v")
+ {
+ try
+ {
+ for (int i = 1, f = 0; i < 4; ++i, ++f)
+ {
+ float value = boost::lexical_cast<float> (st[i]);
+ memcpy (&cloud.data[point_idx * cloud.point_step + cloud.fields[f].offset],
+ &value,
+ sizeof (float));
+ }
+ ++point_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert %s to vertex coordinates!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+
+ // Vertex normal
+ if (st[0] == "vn")
+ {
+ try
+ {
+ for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
+ {
+ float value = boost::lexical_cast<float> (st[i]);
+ memcpy (&cloud.data[normal_idx * cloud.point_step + cloud.fields[f].offset],
+ &value,
+ sizeof (float));
+ }
+ ++normal_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert line %s to vertex normal!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+ }
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::OBJReader::read] %s\n", exception);
+ fs.close ();
+ return (-1);
+ }
+
+ double total_time = tt.toc ();
+ PCL_DEBUG ("[pcl::OBJReader::read] Loaded %s as a dense cloud in %g ms with %d points. Available dimensions: %s.\n",
+ file_name.c_str (), total_time,
+ cloud.width * cloud.height, pcl::getFieldsList (cloud).c_str ());
+ fs.close ();
+ return (0);
+}
+
+int
+pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh, const int offset)
+{
+ int file_version;
+ Eigen::Vector4f origin;
+ Eigen::Quaternionf orientation;
+ return (read (file_name, mesh, origin, orientation, file_version, offset));
+}
+
+int
+pcl::OBJReader::read (const std::string &file_name, pcl::TextureMesh &mesh,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, const int offset)
+{
+ pcl::console::TicToc tt;
+ tt.tic ();
+
+ int data_type;
+ unsigned int data_idx;
+ if (readHeader (file_name, mesh.cloud, origin, orientation, file_version, data_type, data_idx, offset))
+ {
+ PCL_ERROR ("[pcl::OBJReader::read] Problem reading header!\n");
+ return (-1);
+ }
+
+ std::ifstream fs;
+ fs.open (file_name.c_str (), std::ios::binary);
+ if (!fs.is_open () || fs.fail ())
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n",
+ file_name.c_str (), strerror(errno));
+ fs.close ();
+ return (-1);
+ }
+
+ // Seek at the given offset
+ fs.seekg (data_idx, std::ios::beg);
+
+ // Get normal_x and rgba fields indices
+ int normal_x_field = -1;
+ // std::size_t rgba_field = 0;
+ for (std::size_t i = 0; i < mesh.cloud.fields.size (); ++i)
+ if (mesh.cloud.fields[i].name == "normal_x")
+ {
+ normal_x_field = i;
+ break;
+ }
+
+ std::size_t v_idx = 0;
+ std::size_t vn_idx = 0;
+ std::size_t vt_idx = 0;
+ std::size_t f_idx = 0;
+ std::string line;
+ std::vector<std::string> st;
+ std::vector<Eigen::Vector2f> coordinates;
+ try
+ {
+ while (!fs.eof ())
+ {
+ getline (fs, line);
+ // Ignore empty lines
+ if (line == "")
+ continue;
+
+ // Tokenize the line
+ std::stringstream sstream (line);
+ sstream.imbue (std::locale::classic ());
+ line = sstream.str ();
+ boost::trim (line);
+ boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
+
+ // Ignore comments
+ if (st[0] == "#")
+ continue;
+ // Vertex
+ if (st[0] == "v")
+ {
+ try
+ {
+ for (int i = 1, f = 0; i < 4; ++i, ++f)
+ {
+ float value = boost::lexical_cast<float> (st[i]);
+ memcpy (&mesh.cloud.data[v_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset],
+ &value,
+ sizeof (float));
+ }
+ ++v_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert %s to vertex coordinates!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+ // Vertex normal
+ if (st[0] == "vn")
+ {
+ try
+ {
+ for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
+ {
+ float value = boost::lexical_cast<float> (st[i]);
+ memcpy (&mesh.cloud.data[vn_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset],
+ &value,
+ sizeof (float));
+ }
+ ++vn_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert line %s to vertex normal!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+ // Texture coordinates
+ if (st[0] == "vt")
+ {
+ try
+ {
+ Eigen::Vector3f c (0, 0, 0);
+ for (std::size_t i = 1; i < st.size (); ++i)
+ c[i-1] = boost::lexical_cast<float> (st[i]);
+ if (c[2] == 0)
+ coordinates.push_back (Eigen::Vector2f (c[0], c[1]));
+ else
+ coordinates.push_back (Eigen::Vector2f (c[0]/c[2], c[1]/c[2]));
+ ++vt_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert line %s to texture coordinates!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+ // Material
+ if (st[0] == "usemtl")
+ {
+ mesh.tex_polygons.push_back (std::vector<pcl::Vertices> ());
+ mesh.tex_materials.push_back (pcl::TexMaterial ());
+ for (std::size_t i = 0; i < companions_.size (); ++i)
+ {
+ std::vector<pcl::TexMaterial>::const_iterator mat_it = companions_[i].getMaterial (st[1]);
+ if (mat_it != companions_[i].materials_.end ())
+ {
+ mesh.tex_materials.back () = *mat_it;
+ break;
+ }
+ }
+ // We didn't find the appropriate material so we create it here with name only.
+ if (mesh.tex_materials.back ().tex_name == "")
+ mesh.tex_materials.back ().tex_name = st[1];
+ mesh.tex_coordinates.push_back (coordinates);
+ coordinates.clear ();
+ continue;
+ }
+ // Face
+ if (st[0] == "f")
+ {
+ //We only care for vertices indices
+ pcl::Vertices face_v; face_v.vertices.resize (st.size () - 1);
+ for (std::size_t i = 1; i < st.size (); ++i)
+ {
+ int v;
+ sscanf (st[i].c_str (), "%d", &v);
+ v = (v < 0) ? v_idx + v : v - 1;
+ face_v.vertices[i-1] = v;
+ }
+ mesh.tex_polygons.back ().push_back (face_v);
+ ++f_idx;
+ continue;
+ }
+ }
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::OBJReader::read] %s\n", exception);
+ fs.close ();
+ return (-1);
+ }
+
+ double total_time = tt.toc ();
+ PCL_DEBUG ("[pcl::OBJReader::read] Loaded %s as a TextureMesh in %g ms with %g points, %g texture materials, %g polygons.\n",
+ file_name.c_str (), total_time,
+ v_idx -1, mesh.tex_materials.size (), f_idx -1);
+ fs.close ();
+ return (0);
+}
+
+int
+pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, const int offset)
+{
+ int file_version;
+ Eigen::Vector4f origin;
+ Eigen::Quaternionf orientation;
+ return (read (file_name, mesh, origin, orientation, file_version, offset));
+}
+
+int
+pcl::OBJReader::read (const std::string &file_name, pcl::PolygonMesh &mesh,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &file_version, const int offset)
+{
+ pcl::console::TicToc tt;
+ tt.tic ();
+
+ int data_type;
+ unsigned int data_idx;
+ if (readHeader (file_name, mesh.cloud, origin, orientation, file_version, data_type, data_idx, offset))
+ {
+ PCL_ERROR ("[pcl::OBJReader::read] Problem reading header!\n");
+ return (-1);
+ }
+
+ std::ifstream fs;
+ fs.open (file_name.c_str (), std::ios::binary);
+ if (!fs.is_open () || fs.fail ())
+ {
+ PCL_ERROR ("[pcl::OBJReader::readHeader] Could not open file '%s'! Error : %s\n",
+ file_name.c_str (), strerror(errno));
+ fs.close ();
+ return (-1);
+ }
+
+ // Seek at the given offset
+ fs.seekg (data_idx, std::ios::beg);
+
+ // Get normal_x and rgba fields indices
+ int normal_x_field = -1;
+ // std::size_t rgba_field = 0;
+ for (std::size_t i = 0; i < mesh.cloud.fields.size (); ++i)
+ if (mesh.cloud.fields[i].name == "normal_x")
+ {
+ normal_x_field = i;
+ break;
+ }
+
+ std::size_t v_idx = 0;
+ std::size_t vn_idx = 0;
+ std::string line;
+ std::vector<std::string> st;
+ try
+ {
+ while (!fs.eof ())
+ {
+ getline (fs, line);
+ // Ignore empty lines
+ if (line == "")
+ continue;
+
+ // Tokenize the line
+ std::stringstream sstream (line);
+ sstream.imbue (std::locale::classic ());
+ line = sstream.str ();
+ boost::trim (line);
+ boost::split (st, line, boost::is_any_of ("\t\r "), boost::token_compress_on);
+
+ // Ignore comments
+ if (st[0] == "#")
+ continue;
+
+ // Vertex
+ if (st[0] == "v")
+ {
+ try
+ {
+ for (int i = 1, f = 0; i < 4; ++i, ++f)
+ {
+ float value = boost::lexical_cast<float> (st[i]);
+ memcpy (&mesh.cloud.data[v_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset],
+ &value,
+ sizeof (float));
+ }
+ ++v_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert %s to vertex coordinates!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+
+ // Vertex normal
+ if (st[0] == "vn")
+ {
+ try
+ {
+ for (int i = 1, f = normal_x_field; i < 4; ++i, ++f)
+ {
+ float value = boost::lexical_cast<float> (st[i]);
+ memcpy (&mesh.cloud.data[vn_idx * mesh.cloud.point_step + mesh.cloud.fields[f].offset],
+ &value,
+ sizeof (float));
+ }
+ ++vn_idx;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ PCL_ERROR ("Unable to convert line %s to vertex normal!", line.c_str ());
+ return (-1);
+ }
+ continue;
+ }
+
+ // Face
+ if (st[0] == "f")
+ {
+ pcl::Vertices face_vertices; face_vertices.vertices.resize (st.size () - 1);
+ for (std::size_t i = 1; i < st.size (); ++i)
+ {
+ int v;
+ sscanf (st[i].c_str (), "%d", &v);
+ v = (v < 0) ? v_idx + v : v - 1;
+ face_vertices.vertices[i - 1] = v;
+ }
+ mesh.polygons.push_back (face_vertices);
+ continue;
+ }
+ }
+ }
+ catch (const char *exception)
+ {
+ PCL_ERROR ("[pcl::OBJReader::read] %s\n", exception);
+ fs.close ();
+ return (-1);
+ }
+
+ double total_time = tt.toc ();
+ PCL_DEBUG ("[pcl::OBJReader::read] Loaded %s as a PolygonMesh in %g ms with %g points and %g polygons.\n",
+ file_name.c_str (), total_time,
+ mesh.cloud.width * mesh.cloud.height, mesh.polygons.size ());
+ fs.close ();
+ return (0);
+}
int
pcl::io::saveOBJFile (const std::string &file_name,
size_t j = 0;
// There's one UV per vertex per face, i.e., the same vertex can have
// different UV depending on the face.
- for (j = 0; j < tex_mesh.tex_polygons[m][i].vertices.size (); ++j)
+ for (j = 0; j < tex_mesh.tex_polygons[m][i].vertices.size (); ++j)
{
uint32_t idx = tex_mesh.tex_polygons[m][i].vertices[j] + 1;
fs << " " << idx
fs << "# "<< nr_points <<" vertices" << std::endl;
if(normal_index != -1)
- {
+ {
fs << "# Normals in (x,y,z) form; normals might not be unit." << std::endl;
// Write vertex normals
for (int i = 0; i < nr_points; ++i)
if (mesh.cloud.fields[d].name == "normal_x")
// write vertices beginning with vn
fs << "vn ";
-
+
float value;
memcpy (&value, &mesh.cloud.data[i * point_size + mesh.cloud.fields[d].offset + c * sizeof (float)], sizeof (float));
fs << value;
for(unsigned i = 0; i < nr_faces; i++)
{
fs << "f ";
- size_t j = 0;
+ size_t j = 0;
for (; j < mesh.polygons[i].vertices.size () - 1; ++j)
fs << mesh.polygons[i].vertices[j] + 1 << " ";
fs << mesh.polygons[i].vertices[j] + 1 << std::endl;
for(unsigned i = 0; i < nr_faces; i++)
{
fs << "f ";
- size_t j = 0;
+ size_t j = 0;
for (; j < mesh.polygons[i].vertices.size () - 1; ++j)
- fs << mesh.polygons[i].vertices[j] + 1 << "//" << mesh.polygons[i].vertices[j] + 1;
+ fs << mesh.polygons[i].vertices[j] + 1 << "//" << mesh.polygons[i].vertices[j] + 1 << " ";
fs << mesh.polygons[i].vertices[j] + 1 << "//" << mesh.polygons[i].vertices[j] + 1 << std::endl;
}
}
fs << "# End of File" << std::endl;
// Close obj file
- fs.close ();
+ fs.close ();
return 0;
}
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#include "pcl/io/openni2/openni2_convert.h"
+#include "pcl/io/io_exception.h"
+
+#include <boost/make_shared.hpp>
+
+#include <string>
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ const OpenNI2DeviceInfo
+ openni2_convert (const openni::DeviceInfo* pInfo)
+ {
+ if (!pInfo)
+ THROW_IO_EXCEPTION ("openni2_convert called with zero pointer\n");
+
+ OpenNI2DeviceInfo output;
+
+ output.name_ = pInfo->getName ();
+ output.uri_ = pInfo->getUri ();
+ output.vendor_ = pInfo->getVendor ();
+ output.product_id_ = pInfo->getUsbProductId ();
+ output.vendor_id_ = pInfo->getUsbVendorId ();
+
+ return (output);
+ }
+
+ const openni::VideoMode
+ grabberModeToOpenniMode (const OpenNI2VideoMode& input)
+ {
+
+ openni::VideoMode output;
+
+ output.setResolution (input.x_resolution_, input.y_resolution_);
+ output.setFps (input.frame_rate_);
+ output.setPixelFormat (static_cast<openni::PixelFormat>(input.pixel_format_));
+
+ return (output);
+ }
+
+
+ const OpenNI2VideoMode
+ openniModeToGrabberMode (const openni::VideoMode& input)
+ {
+ OpenNI2VideoMode output;
+
+ output.x_resolution_ = input.getResolutionX ();
+ output.y_resolution_ = input.getResolutionY ();
+ output.frame_rate_ = input.getFps ();
+ output.pixel_format_ = static_cast<PixelFormat>(input.getPixelFormat ());
+
+ return (output);
+ }
+
+ const std::vector<OpenNI2VideoMode>
+ openniModeToGrabberMode (const openni::Array<openni::VideoMode>& input)
+ {
+ std::vector<OpenNI2VideoMode> output;
+
+ int size = input.getSize ();
+
+ output.reserve (size);
+
+ for (int i=0; i<size; ++i)
+ output.push_back (openniModeToGrabberMode (input[i]));
+
+ return (output);
+ }
+
+ } // namespace
+ }
+ }
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#include <OpenNI.h>
+#include <PS1080.h> // For XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE property
+
+#include <boost/shared_ptr.hpp>
+#include <boost/make_shared.hpp>
+#include <boost/lexical_cast.hpp>
+#include <boost/algorithm/string/replace.hpp>
+#include <boost/chrono.hpp>
+
+#include "pcl/io/openni2/openni2_device.h"
+#include "pcl/io/openni2/openni2_convert.h"
+#include "pcl/io/openni2/openni2_frame_listener.h"
+
+#include "pcl/io/io_exception.h"
+
+#include <string>
+
+using namespace openni;
+using namespace pcl::io::openni2;
+
+using openni::VideoMode;
+using std::vector;
+
+typedef boost::chrono::high_resolution_clock hr_clock;
+
+pcl::io::openni2::OpenNI2Device::OpenNI2Device (const std::string& device_URI) :
+ openni_device_(),
+ ir_video_started_(false),
+ color_video_started_(false),
+ depth_video_started_(false)
+{
+ openni::Status status = openni::OpenNI::initialize ();
+ if (status != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Initialize failed\n%s\n", OpenNI::getExtendedError ());
+
+ openni_device_ = boost::make_shared<openni::Device>();
+
+ if (device_URI.length () > 0)
+ status = openni_device_->open (device_URI.c_str ());
+ else
+ status = openni_device_->open (openni::ANY_DEVICE);
+
+ if (status != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Initialize failed\n%s\n", openni::OpenNI::getExtendedError ());
+
+ // Get depth calculation parameters
+ // Some of these are device-spefic and may not exist
+ baseline_ = 0.0;
+ if ( getDepthVideoStream ()->isPropertySupported (XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE) )
+ {
+ double baseline;
+ getDepthVideoStream ()->getProperty (XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline); // Device specific -- from PS1080.h
+ baseline_ = static_cast<float> (baseline * 0.01f); // baseline from cm -> meters
+ }
+ shadow_value_ = 0; // This does not exist in OpenNI 2, and is maintained for compatibility with the OpenNI 1.x grabber
+ no_sample_value_ = 0; // This does not exist in OpenNI 2, and is maintained for compatibility with the OpenNI 1.x grabber
+
+ // Set default resolution if not reading a file
+ if (!openni_device_->isFile ())
+ {
+ setColorVideoMode (getDefaultColorMode ());
+ setDepthVideoMode (getDefaultDepthMode ());
+ setIRVideoMode (getDefaultIRMode ());
+ }
+
+ if (openni_device_->isFile ())
+ {
+ openni_device_->getPlaybackControl ()->setSpeed (1.0f);
+ }
+
+ device_info_ = boost::make_shared<openni::DeviceInfo>();
+ *device_info_ = openni_device_->getDeviceInfo ();
+
+ color_frame_listener = boost::make_shared<OpenNI2FrameListener>();
+ depth_frame_listener = boost::make_shared<OpenNI2FrameListener>();
+ ir_frame_listener = boost::make_shared<OpenNI2FrameListener>();
+}
+
+pcl::io::openni2::OpenNI2Device::~OpenNI2Device ()
+{
+ stopAllStreams ();
+
+ shutdown ();
+
+ openni_device_->close ();
+}
+
+const std::string
+pcl::io::openni2::OpenNI2Device::getUri () const
+{
+ return (std::string (device_info_->getUri ()));
+}
+
+const std::string
+pcl::io::openni2::OpenNI2Device::getVendor () const
+{
+ return (std::string (device_info_->getVendor ()));
+}
+
+const std::string
+pcl::io::openni2::OpenNI2Device::getName () const
+{
+ return (std::string (device_info_->getName ()));
+}
+
+uint16_t
+pcl::io::openni2::OpenNI2Device::getUsbVendorId () const
+{
+ return (device_info_->getUsbVendorId ());
+}
+
+uint16_t
+pcl::io::openni2::OpenNI2Device::getUsbProductId () const
+{
+ return (device_info_->getUsbProductId ());
+}
+
+const std::string
+pcl::io::openni2::OpenNI2Device::getStringID () const
+{
+ std::string ID_str = getName () + "_" + getVendor ();
+
+ boost::replace_all (ID_str, "/", "");
+ boost::replace_all (ID_str, ".", "");
+ boost::replace_all (ID_str, "@", "");
+
+ return (ID_str);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isValid () const
+{
+ return (openni_device_.get () != 0) && openni_device_->isValid ();
+}
+
+float
+pcl::io::openni2::OpenNI2Device::getIRFocalLength () const
+{
+ boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream ();
+
+ int frameWidth = stream->getVideoMode ().getResolutionX ();
+ float hFov = stream->getHorizontalFieldOfView ();
+ float calculatedFocalLengthX = frameWidth / (2.0f * tan (hFov / 2.0f));
+ return (calculatedFocalLengthX);
+}
+
+float
+pcl::io::openni2::OpenNI2Device::getColorFocalLength () const
+{
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ int frameWidth = stream->getVideoMode ().getResolutionX ();
+ float hFov = stream->getHorizontalFieldOfView ();
+ float calculatedFocalLengthX = frameWidth / (2.0f * tan (hFov / 2.0f));
+ return (calculatedFocalLengthX);
+}
+
+float
+pcl::io::openni2::OpenNI2Device::getDepthFocalLength () const
+{
+ boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream ();
+
+ int frameWidth = stream->getVideoMode ().getResolutionX ();
+ float hFov = stream->getHorizontalFieldOfView ();
+ float calculatedFocalLengthX = frameWidth / (2.0f * tan (hFov / 2.0f));
+ return (calculatedFocalLengthX);
+}
+
+float
+pcl::io::openni2::OpenNI2Device::getBaseline()
+{
+ return (baseline_);
+}
+
+uint64_t
+pcl::io::openni2::OpenNI2Device::getShadowValue()
+{
+ return (shadow_value_);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isIRVideoModeSupported (const OpenNI2VideoMode& video_mode) const
+{
+ getSupportedIRVideoModes ();
+
+ bool supported = false;
+
+ std::vector<OpenNI2VideoMode>::const_iterator it = ir_video_modes_.begin ();
+ std::vector<OpenNI2VideoMode>::const_iterator it_end = ir_video_modes_.end ();
+
+ while (it != it_end && !supported)
+ {
+ supported = (*it == video_mode);
+ ++it;
+ }
+
+ return (supported);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isColorVideoModeSupported (const OpenNI2VideoMode& video_mode) const
+{
+ getSupportedColorVideoModes ();
+
+ bool supported = false;
+
+ std::vector<OpenNI2VideoMode>::const_iterator it = color_video_modes_.begin ();
+ std::vector<OpenNI2VideoMode>::const_iterator it_end = color_video_modes_.end ();
+
+ while (it != it_end && !supported)
+ {
+ supported = (*it == video_mode);
+ ++it;
+ }
+
+ return (supported);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isDepthVideoModeSupported (const OpenNI2VideoMode& video_mode) const
+{
+ getSupportedDepthVideoModes ();
+
+ bool supported = false;
+
+ std::vector<OpenNI2VideoMode>::const_iterator it = depth_video_modes_.begin ();
+ std::vector<OpenNI2VideoMode>::const_iterator it_end = depth_video_modes_.end ();
+
+ while (it != it_end && !supported)
+ {
+ supported = (*it == video_mode);
+ ++it;
+ }
+
+ return (supported);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::hasIRSensor () const
+{
+ return (openni_device_->hasSensor (openni::SENSOR_IR));
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::hasColorSensor () const
+{
+ return (openni_device_->hasSensor (openni::SENSOR_COLOR));
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::hasDepthSensor () const
+{
+ return (openni_device_->hasSensor (openni::SENSOR_DEPTH));
+}
+
+void
+pcl::io::openni2::OpenNI2Device::startIRStream ()
+{
+ boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream ();
+
+ if (stream)
+ {
+ stream->setMirroringEnabled (false);
+ stream->addNewFrameListener (ir_frame_listener.get ());
+ stream->start ();
+ ir_video_started_ = true;
+ }
+}
+
+void
+pcl::io::openni2::OpenNI2Device::startColorStream ()
+{
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ stream->setMirroringEnabled (false);
+ stream->addNewFrameListener (color_frame_listener.get ());
+ stream->start ();
+ color_video_started_ = true;
+ }
+}
+void
+pcl::io::openni2::OpenNI2Device::startDepthStream ()
+{
+ boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream ();
+
+ if (stream)
+ {
+ stream->setMirroringEnabled (false);
+ stream->addNewFrameListener (depth_frame_listener.get ());
+ stream->start ();
+ depth_video_started_ = true;
+ }
+}
+
+void
+pcl::io::openni2::OpenNI2Device::stopAllStreams ()
+{
+ stopIRStream ();
+ stopColorStream ();
+ stopDepthStream ();
+}
+
+void
+pcl::io::openni2::OpenNI2Device::stopIRStream ()
+{
+ if (ir_video_stream_.get () != 0)
+ {
+ ir_video_stream_->stop ();
+ ir_video_started_ = false;
+ }
+}
+void
+pcl::io::openni2::OpenNI2Device::stopColorStream ()
+{
+ if (color_video_stream_.get () != 0)
+ {
+ color_video_stream_->stop ();
+ color_video_started_ = false;
+ }
+}
+void
+pcl::io::openni2::OpenNI2Device::stopDepthStream ()
+{
+ if (depth_video_stream_.get () != 0)
+ {
+ depth_video_stream_->stop ();
+ depth_video_started_ = false;
+ }
+}
+
+void
+pcl::io::openni2::OpenNI2Device::shutdown ()
+{
+ if (ir_video_stream_.get () != 0)
+ ir_video_stream_->destroy ();
+
+ if (color_video_stream_.get () != 0)
+ color_video_stream_->destroy ();
+
+ if (depth_video_stream_.get () != 0)
+ depth_video_stream_->destroy ();
+
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isIRStreamStarted ()
+{
+ return (ir_video_started_);
+}
+bool
+pcl::io::openni2::OpenNI2Device::isColorStreamStarted ()
+{
+ return (color_video_started_);
+}
+bool
+pcl::io::openni2::OpenNI2Device::isDepthStreamStarted ()
+{
+ return (depth_video_started_);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isImageRegistrationModeSupported () const
+{
+ return (openni_device_->isImageRegistrationModeSupported (openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR));
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setImageRegistrationMode (bool setEnable)
+{
+ bool registrationSupported = isImageRegistrationModeSupported ();
+ if (registrationSupported)
+ {
+ if (setEnable)
+ {
+ openni::Status rc = openni_device_->setImageRegistrationMode (openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Enabling image registration mode failed: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+ else
+ {
+ openni::Status rc = openni_device_->setImageRegistrationMode (openni::IMAGE_REGISTRATION_OFF);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Disabling image registration mode failed: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+ }
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::isDepthRegistered () const
+{
+ return openni_device_->getImageRegistrationMode () == openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR;
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setSynchronization (bool enabled)
+{
+ openni::Status rc = openni_device_->setDepthColorSyncEnabled (enabled);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Enabling depth color synchronization failed: \n%s\n", openni::OpenNI::getExtendedError ());
+}
+
+const OpenNI2VideoMode
+pcl::io::openni2::OpenNI2Device::getIRVideoMode ()
+{
+ OpenNI2VideoMode ret;
+
+ boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream ();
+
+ if (stream)
+ {
+ openni::VideoMode video_mode = stream->getVideoMode ();
+
+ ret = openniModeToGrabberMode (video_mode);
+ }
+ else
+ THROW_IO_EXCEPTION ("Could not create video stream.");
+
+ return (ret);
+}
+
+const OpenNI2VideoMode
+pcl::io::openni2::OpenNI2Device::getColorVideoMode ()
+{
+ OpenNI2VideoMode ret;
+
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ openni::VideoMode video_mode = stream->getVideoMode ();
+
+ ret = openniModeToGrabberMode (video_mode);
+ }
+ else
+ THROW_IO_EXCEPTION ("Could not create video stream.");
+
+ return (ret);
+}
+
+const OpenNI2VideoMode
+pcl::io::openni2::OpenNI2Device::getDepthVideoMode ()
+{
+ OpenNI2VideoMode ret;
+
+ boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream ();
+
+ if (stream)
+ {
+ openni::VideoMode video_mode = stream->getVideoMode ();
+
+ ret = openniModeToGrabberMode (video_mode);
+ }
+ else
+ THROW_IO_EXCEPTION ("Could not create video stream.");
+
+ return (ret);
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setIRVideoMode (const OpenNI2VideoMode& video_mode)
+{
+ boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream ();
+
+ if (stream)
+ {
+ const openni::VideoMode videoMode = grabberModeToOpenniMode (video_mode);
+ const openni::Status rc = stream->setVideoMode (videoMode);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't set IR video mode: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setColorVideoMode (const OpenNI2VideoMode& video_mode)
+{
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ openni::VideoMode videoMode = grabberModeToOpenniMode (video_mode);
+ const openni::Status rc = stream->setVideoMode (videoMode);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't set color video mode: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setDepthVideoMode (const OpenNI2VideoMode& video_mode)
+{
+ boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream ();
+
+ if (stream)
+ {
+ const openni::VideoMode videoMode = grabberModeToOpenniMode (video_mode);
+ const openni::Status rc = stream->setVideoMode (videoMode);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't set depth video mode: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+}
+
+OpenNI2VideoMode
+pcl::io::openni2::OpenNI2Device::getDefaultIRMode () const
+{
+ // Search for and return VGA@30 Hz mode
+ vector<OpenNI2VideoMode> modeList = getSupportedIRVideoModes ();
+ for (vector<OpenNI2VideoMode>::iterator modeItr = modeList.begin (); modeItr != modeList.end (); modeItr++)
+ {
+ OpenNI2VideoMode mode = *modeItr;
+ if ( (mode.x_resolution_ == 640) && (mode.y_resolution_ == 480) && (mode.frame_rate_ == 30.0) )
+ return mode;
+ }
+ return (modeList.at (0)); // Return first mode if we can't find VGA
+}
+
+OpenNI2VideoMode
+pcl::io::openni2::OpenNI2Device::getDefaultColorMode () const
+{
+ // Search for and return VGA@30 Hz mode
+ vector<OpenNI2VideoMode> modeList = getSupportedColorVideoModes ();
+ for (vector<OpenNI2VideoMode>::iterator modeItr = modeList.begin (); modeItr != modeList.end (); modeItr++)
+ {
+ OpenNI2VideoMode mode = *modeItr;
+ if ( (mode.x_resolution_ == 640) && (mode.y_resolution_ == 480) && (mode.frame_rate_ == 30.0) )
+ return mode;
+ }
+ return (modeList.at (0)); // Return first mode if we can't find VGA
+}
+
+OpenNI2VideoMode
+pcl::io::openni2::OpenNI2Device::getDefaultDepthMode () const
+{
+ // Search for and return VGA@30 Hz mode
+ vector<OpenNI2VideoMode> modeList = getSupportedDepthVideoModes ();
+ for (vector<OpenNI2VideoMode>::iterator modeItr = modeList.begin (); modeItr != modeList.end (); modeItr++)
+ {
+ OpenNI2VideoMode mode = *modeItr;
+ if ( (mode.x_resolution_ == 640) && (mode.y_resolution_ == 480) && (mode.frame_rate_ == 30.0) )
+ return mode;
+ }
+ return (modeList.at (0)); // Return first mode if we can't find VGA
+}
+
+const std::vector<OpenNI2VideoMode>&
+pcl::io::openni2::OpenNI2Device::getSupportedIRVideoModes () const
+{
+ boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream ();
+ ir_video_modes_.clear ();
+
+ if (stream)
+ {
+ const openni::SensorInfo& sensor_info = stream->getSensorInfo ();
+
+ ir_video_modes_ = openniModeToGrabberMode (sensor_info.getSupportedVideoModes ());
+ }
+
+ return (ir_video_modes_);
+}
+
+const std::vector<OpenNI2VideoMode>&
+pcl::io::openni2::OpenNI2Device::getSupportedColorVideoModes () const
+{
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ color_video_modes_.clear ();
+
+ if (stream)
+ {
+ const openni::SensorInfo& sensor_info = stream->getSensorInfo ();
+
+ color_video_modes_ = openniModeToGrabberMode (sensor_info.getSupportedVideoModes ());
+ }
+
+ return (color_video_modes_);
+}
+
+const std::vector<OpenNI2VideoMode>&
+pcl::io::openni2::OpenNI2Device::getSupportedDepthVideoModes () const
+{
+ boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream ();
+
+ depth_video_modes_.clear ();
+
+ if (stream)
+ {
+ const openni::SensorInfo& sensor_info = stream->getSensorInfo ();
+
+ depth_video_modes_ = openniModeToGrabberMode (sensor_info.getSupportedVideoModes ());
+ }
+
+ return (depth_video_modes_);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::findCompatibleIRMode (const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const
+{
+ if ( isIRVideoModeSupported (requested_mode) )
+ {
+ actual_mode = requested_mode;
+ return (true);
+ }
+ else
+ {
+ // Find a resize-compatable mode
+ std::vector<OpenNI2VideoMode> supportedModes = getSupportedIRVideoModes ();
+ bool found = findCompatibleVideoMode (supportedModes, requested_mode, actual_mode);
+ return (found);
+ }
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::findCompatibleColorMode (const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const
+{
+ if ( isColorVideoModeSupported (requested_mode) )
+ {
+ actual_mode = requested_mode;
+ return (true);
+ }
+ else
+ {
+ // Find a resize-compatable mode
+ std::vector<OpenNI2VideoMode> supportedModes = getSupportedColorVideoModes ();
+ bool found = findCompatibleVideoMode (supportedModes, requested_mode, actual_mode);
+ return (found);
+ }
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::findCompatibleDepthMode (const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const
+{
+ if ( isDepthVideoModeSupported (requested_mode) )
+ {
+ actual_mode = requested_mode;
+ return (true);
+ }
+ else
+ {
+ // Find a resize-compatable mode
+ std::vector<OpenNI2VideoMode> supportedModes = getSupportedDepthVideoModes ();
+ bool found = findCompatibleVideoMode (supportedModes, requested_mode, actual_mode);
+ return (found);
+ }
+}
+
+// Generic support method for the above findCompatable...Mode calls above
+bool
+pcl::io::openni2::OpenNI2Device::findCompatibleVideoMode (const std::vector<OpenNI2VideoMode> supportedModes, const OpenNI2VideoMode& requested_mode, OpenNI2VideoMode& actual_mode) const
+{
+ bool found = false;
+ for (std::vector<OpenNI2VideoMode>::const_iterator modeIt = supportedModes.begin (); modeIt != supportedModes.end (); ++modeIt)
+ {
+ if (modeIt->frame_rate_ == requested_mode.frame_rate_
+ && resizingSupported (modeIt->x_resolution_, modeIt->y_resolution_, requested_mode.x_resolution_, requested_mode.y_resolution_))
+ {
+ if (found)
+ { // check wheter the new mode is better -> smaller than the current one.
+ if (actual_mode.x_resolution_ * actual_mode.x_resolution_ > modeIt->x_resolution_ * modeIt->y_resolution_ )
+ actual_mode = *modeIt;
+ }
+ else
+ {
+ actual_mode = *modeIt;
+ found = true;
+ }
+ }
+ }
+ return (found);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::resizingSupported (size_t input_width, size_t input_height, size_t output_width, size_t output_height) const
+{
+ return (output_width <= input_width && output_height <= input_height && input_width % output_width == 0 && input_height % output_height == 0 );
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setAutoExposure (bool enable)
+{
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ openni::CameraSettings* camera_seeting = stream->getCameraSettings ();
+ if (camera_seeting)
+ {
+ const openni::Status rc = camera_seeting->setAutoExposureEnabled (enable);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't set auto exposure: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+
+ }
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setAutoWhiteBalance (bool enable)
+{
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ openni::CameraSettings* camera_seeting = stream->getCameraSettings ();
+ if (camera_seeting)
+ {
+ const openni::Status rc = camera_seeting->setAutoWhiteBalanceEnabled (enable);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't set auto white balance: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+
+ }
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::getAutoExposure () const
+{
+ bool ret = false;
+
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ openni::CameraSettings* camera_seeting = stream->getCameraSettings ();
+ if (camera_seeting)
+ ret = camera_seeting->getAutoExposureEnabled ();
+ }
+
+ return (ret);
+}
+
+bool
+pcl::io::openni2::OpenNI2Device::getAutoWhiteBalance () const
+{
+ bool ret = false;
+
+ boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream ();
+
+ if (stream)
+ {
+ openni::CameraSettings* camera_setting = stream->getCameraSettings ();
+ if (camera_setting)
+ ret = camera_setting->getAutoWhiteBalanceEnabled ();
+ }
+
+ return (ret);
+}
+
+int pcl::io::openni2::OpenNI2Device::getDepthFrameCount ()
+{
+ if (!openni_device_->isFile () || !getDepthVideoStream ())
+ {
+ return 0;
+ }
+ return openni_device_->getPlaybackControl ()->getNumberOfFrames(*getDepthVideoStream ());
+}
+
+int OpenNI2Device::getColorFrameCount ()
+{
+ if (!openni_device_->isFile () || !getColorVideoStream ())
+ {
+ return 0;
+ }
+ return openni_device_->getPlaybackControl ()->getNumberOfFrames (*getColorVideoStream ());
+}
+
+int OpenNI2Device::getIRFrameCount ()
+{
+ if (!openni_device_->isFile () || !getIRVideoStream ())
+ {
+ return 0;
+ }
+ return openni_device_->getPlaybackControl ()->getNumberOfFrames (*getIRVideoStream ());
+}
+
+bool OpenNI2Device::setPlaybackSpeed (double speed)
+{
+ return openni_device_->getPlaybackControl ()->setSpeed (speed) == openni::STATUS_OK;
+}
+
+boost::shared_ptr<openni::VideoStream>
+pcl::io::openni2::OpenNI2Device::getIRVideoStream () const
+{
+ if (ir_video_stream_.get () == 0)
+ {
+ if (hasIRSensor ())
+ {
+ ir_video_stream_ = boost::make_shared<openni::VideoStream>();
+
+ const openni::Status rc = ir_video_stream_->create (*openni_device_, openni::SENSOR_IR);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't create IR video stream: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+ }
+ return (ir_video_stream_);
+}
+
+boost::shared_ptr<openni::VideoStream>
+pcl::io::openni2::OpenNI2Device::getColorVideoStream () const
+{
+ if (color_video_stream_.get () == 0)
+ {
+ if (hasColorSensor ())
+ {
+ color_video_stream_ = boost::make_shared<openni::VideoStream>();
+
+ const openni::Status rc = color_video_stream_->create (*openni_device_, openni::SENSOR_COLOR);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't create color video stream: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+ }
+ return (color_video_stream_);
+}
+
+boost::shared_ptr<openni::VideoStream>
+pcl::io::openni2::OpenNI2Device::getDepthVideoStream () const
+{
+ if (depth_video_stream_.get () == 0)
+ {
+ if (hasDepthSensor ())
+ {
+ depth_video_stream_ = boost::make_shared<openni::VideoStream>();
+
+ const openni::Status rc = depth_video_stream_->create (*openni_device_, openni::SENSOR_DEPTH);
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Couldn't create depth video stream: \n%s\n", openni::OpenNI::getExtendedError ());
+ }
+ }
+ return (depth_video_stream_);
+}
+
+std::ostream& pcl::io::openni2::operator<< (std::ostream& stream, const OpenNI2Device& device)
+{
+
+ stream << "Device info (" << device.getUri () << ")" << std::endl;
+ stream << " Vendor: " << device.getVendor () << std::endl;
+ stream << " Name: " << device.getName () << std::endl;
+ stream << " USB Vendor ID: " << device.getUsbVendorId () << std::endl;
+ stream << " USB Product ID: " << device.getUsbVendorId () << std::endl << std::endl;
+
+ if (device.hasIRSensor ())
+ {
+ stream << "IR sensor video modes:" << std::endl;
+ const std::vector<OpenNI2VideoMode>& video_modes = device.getSupportedIRVideoModes ();
+
+ std::vector<OpenNI2VideoMode>::const_iterator it = video_modes.begin ();
+ std::vector<OpenNI2VideoMode>::const_iterator it_end = video_modes.end ();
+ for (; it != it_end; ++it)
+ stream << " - " << *it << std::endl;
+ }
+ else
+ {
+ stream << "No IR sensor available" << std::endl;
+ }
+
+ if (device.hasColorSensor ())
+ {
+ stream << "Color sensor video modes:" << std::endl;
+ const std::vector<OpenNI2VideoMode>& video_modes = device.getSupportedColorVideoModes ();
+
+ std::vector<OpenNI2VideoMode>::const_iterator it = video_modes.begin ();
+ std::vector<OpenNI2VideoMode>::const_iterator it_end = video_modes.end ();
+ for (; it != it_end; ++it)
+ stream << " - " << *it << std::endl;
+ }
+ else
+ {
+ stream << "No Color sensor available" << std::endl;
+ }
+
+ if (device.hasDepthSensor ())
+ {
+ stream << "Depth sensor video modes:" << std::endl;
+ const std::vector<OpenNI2VideoMode>& video_modes = device.getSupportedDepthVideoModes ();
+
+ std::vector<OpenNI2VideoMode>::const_iterator it = video_modes.begin ();
+ std::vector<OpenNI2VideoMode>::const_iterator it_end = video_modes.end ();
+ for (; it != it_end; ++it)
+ stream << " - " << *it << std::endl;
+ }
+ else
+ {
+ stream << "No Depth sensor available" << std::endl;
+ }
+
+ return (stream);
+
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setColorCallback (StreamCallbackFunction color_callback)
+{
+ color_frame_listener->setCallback (color_callback);
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setDepthCallback (StreamCallbackFunction depth_callback)
+{
+ depth_frame_listener->setCallback (depth_callback);
+}
+
+void
+pcl::io::openni2::OpenNI2Device::setIRCallback (StreamCallbackFunction ir_callback)
+{
+ ir_frame_listener->setCallback (ir_callback);
+}
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#include <string>
+#include "pcl/io/openni2/openni2_device_info.h"
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ std::ostream& operator << (std::ostream& stream, const OpenNI2DeviceInfo& device_info)
+ {
+ stream << "Uri: " << device_info.uri_ << " (Vendor: " << device_info.vendor_ <<
+ ", Name: " << device_info.name_ <<
+ ", Vendor ID: " << device_info.vendor_id_ <<
+ ", Product ID: " << device_info.product_id_ <<
+ ")" << std::endl;
+ return stream;
+ }
+
+ } //namespace
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#include "pcl/io/openni2/openni2_device_manager.h"
+#include "pcl/io/openni2/openni2_convert.h"
+#include "pcl/io/openni2/openni2_device.h"
+#include "pcl/io/io_exception.h"
+
+#include <boost/make_shared.hpp>
+
+#include <set>
+#include <string>
+
+#include "OpenNI.h"
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ class OpenNI2DeviceInfoComparator
+ {
+ public:
+ bool operator ()(const OpenNI2DeviceInfo& di1, const OpenNI2DeviceInfo& di2)
+ {
+ return (di1.uri_.compare (di2.uri_) < 0);
+ }
+ };
+
+ typedef std::set<OpenNI2DeviceInfo, OpenNI2DeviceInfoComparator> DeviceSet;
+
+
+
+ class OpenNI2DeviceListener : public openni::OpenNI::DeviceConnectedListener,
+ public openni::OpenNI::DeviceDisconnectedListener,
+ public openni::OpenNI::DeviceStateChangedListener
+ {
+ public:
+ OpenNI2DeviceListener ()
+ : openni::OpenNI::DeviceConnectedListener ()
+ , openni::OpenNI::DeviceDisconnectedListener ()
+ , openni::OpenNI::DeviceStateChangedListener ()
+ {
+ openni::OpenNI::addDeviceConnectedListener (this);
+ openni::OpenNI::addDeviceDisconnectedListener (this);
+ openni::OpenNI::addDeviceStateChangedListener (this);
+
+ // get list of currently connected devices
+ openni::Array<openni::DeviceInfo> device_info_list;
+ openni::OpenNI::enumerateDevices (&device_info_list);
+
+ for (int i = 0; i < device_info_list.getSize (); ++i)
+ {
+ onDeviceConnected (&device_info_list[i]);
+ }
+ }
+
+ ~OpenNI2DeviceListener ()
+ {
+ openni::OpenNI::removeDeviceConnectedListener (this);
+ openni::OpenNI::removeDeviceDisconnectedListener (this);
+ openni::OpenNI::removeDeviceStateChangedListener (this);
+ }
+
+ virtual void
+ onDeviceStateChanged (const openni::DeviceInfo* pInfo, openni::DeviceState state)
+ {
+ switch (state)
+ {
+ case openni::DEVICE_STATE_OK:
+ onDeviceConnected (pInfo);
+ break;
+ case openni::DEVICE_STATE_ERROR:
+ case openni::DEVICE_STATE_NOT_READY:
+ case openni::DEVICE_STATE_EOF:
+ default:
+ onDeviceDisconnected (pInfo);
+ break;
+ }
+ }
+
+ virtual void
+ onDeviceConnected (const openni::DeviceInfo* pInfo)
+ {
+ boost::mutex::scoped_lock l (device_mutex_);
+
+ const OpenNI2DeviceInfo device_info_wrapped = openni2_convert (pInfo);
+
+ // make sure it does not exist in set before inserting
+ device_set_.erase (device_info_wrapped);
+ device_set_.insert (device_info_wrapped);
+ }
+
+ virtual void
+ onDeviceDisconnected (const openni::DeviceInfo* pInfo)
+ {
+ boost::mutex::scoped_lock l (device_mutex_);
+
+ const OpenNI2DeviceInfo device_info_wrapped = openni2_convert (pInfo);
+ device_set_.erase (device_info_wrapped);
+ }
+
+ boost::shared_ptr<std::vector<std::string> >
+ getConnectedDeviceURIs ()
+ {
+ boost::mutex::scoped_lock l (device_mutex_);
+
+ boost::shared_ptr<std::vector<std::string> > result = boost::make_shared<std::vector<std::string> >();
+
+ result->reserve (device_set_.size ());
+
+ std::set<OpenNI2DeviceInfo, OpenNI2DeviceInfoComparator>::const_iterator it;
+ std::set<OpenNI2DeviceInfo, OpenNI2DeviceInfoComparator>::const_iterator it_end = device_set_.end ();
+
+ for (it = device_set_.begin (); it != it_end; ++it)
+ result->push_back (it->uri_);
+
+ return result;
+ }
+
+ boost::shared_ptr<std::vector<OpenNI2DeviceInfo> >
+ getConnectedDeviceInfos ()
+ {
+ boost::mutex::scoped_lock l (device_mutex_);
+
+ boost::shared_ptr<std::vector<OpenNI2DeviceInfo> > result = boost::make_shared<std::vector<OpenNI2DeviceInfo> >();
+
+ result->reserve (device_set_.size ());
+
+ DeviceSet::const_iterator it;
+ DeviceSet::const_iterator it_end = device_set_.end ();
+
+ for (it = device_set_.begin (); it != it_end; ++it)
+ result->push_back (*it);
+
+ return result;
+ }
+
+ std::size_t
+ getNumOfConnectedDevices ()
+ {
+ boost::mutex::scoped_lock l (device_mutex_);
+
+ return device_set_.size ();
+ }
+
+ boost::mutex device_mutex_;
+ DeviceSet device_set_;
+ };
+
+ } //namespace
+ }
+}
+
+
+//////////////////////////////////////////////////////////////////////////
+using pcl::io::openni2::OpenNI2Device;
+using pcl::io::openni2::OpenNI2DeviceInfo;
+using pcl::io::openni2::OpenNI2DeviceManager;
+
+pcl::io::openni2::OpenNI2DeviceManager::OpenNI2DeviceManager ()
+{
+ openni::Status rc = openni::OpenNI::initialize ();
+ if (rc != openni::STATUS_OK)
+ THROW_IO_EXCEPTION ("Initialize failed\n%s\n", openni::OpenNI::getExtendedError ());
+
+ device_listener_ = boost::make_shared<OpenNI2DeviceListener>();
+}
+
+pcl::io::openni2::OpenNI2DeviceManager::~OpenNI2DeviceManager ()
+{
+}
+
+boost::shared_ptr<std::vector<OpenNI2DeviceInfo> >
+pcl::io::openni2::OpenNI2DeviceManager::getConnectedDeviceInfos () const
+{
+ return device_listener_->getConnectedDeviceInfos ();
+}
+
+boost::shared_ptr<std::vector<std::string> >
+pcl::io::openni2::OpenNI2DeviceManager::getConnectedDeviceURIs () const
+{
+ return device_listener_->getConnectedDeviceURIs ();
+}
+
+std::size_t
+pcl::io::openni2::OpenNI2DeviceManager::getNumOfConnectedDevices () const
+{
+ return device_listener_->getNumOfConnectedDevices ();
+}
+
+boost::shared_ptr<OpenNI2Device>
+pcl::io::openni2::OpenNI2DeviceManager::getAnyDevice ()
+{
+ return boost::make_shared<OpenNI2Device>("");
+}
+
+boost::shared_ptr<OpenNI2Device>
+pcl::io::openni2::OpenNI2DeviceManager::getDevice (const std::string& device_URI)
+{
+ return boost::make_shared<OpenNI2Device>(device_URI);
+}
+
+boost::shared_ptr<OpenNI2Device>
+pcl::io::openni2::OpenNI2DeviceManager::getDeviceByIndex (int index)
+{
+ boost::shared_ptr<std::vector<std::string> > URIs = getConnectedDeviceURIs ();
+ return boost::make_shared<OpenNI2Device>( URIs->at (index) );
+}
+
+boost::shared_ptr<OpenNI2Device>
+pcl::io::openni2::OpenNI2DeviceManager::getFileDevice (const std::string& path)
+{
+ return boost::make_shared<OpenNI2Device>(path);
+}
+
+std::ostream&
+operator<< (std::ostream& stream, const OpenNI2DeviceManager& device_manager)
+{
+
+ boost::shared_ptr<std::vector<OpenNI2DeviceInfo> > device_info = device_manager.getConnectedDeviceInfos ();
+
+ std::vector<OpenNI2DeviceInfo>::const_iterator it;
+ std::vector<OpenNI2DeviceInfo>::const_iterator it_end = device_info->end ();
+
+ for (it = device_info->begin (); it != it_end; ++it)
+ {
+ stream << "Uri: " << it->uri_ << " (Vendor: " << it->vendor_ <<
+ ", Name: " << it->name_ <<
+ ", Vendor ID: " << it->vendor_id_ <<
+ ", Product ID: " << it->product_id_ <<
+ ")" << std::endl;
+ }
+
+ return (stream);
+}
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#include "pcl/io/openni2/openni2_timer_filter.h"
+#include <algorithm>
+
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ OpenNI2TimerFilter::OpenNI2TimerFilter (std::size_t filter_len):
+ filter_len_(filter_len)
+ {}
+
+ OpenNI2TimerFilter::~OpenNI2TimerFilter ()
+ {}
+
+ void OpenNI2TimerFilter::addSample (double sample)
+ {
+ buffer_.push_back (sample);
+ if (buffer_.size ()>filter_len_)
+ buffer_.pop_front ();
+ }
+
+ double OpenNI2TimerFilter::getMedian ()
+ {
+ if (buffer_.size ()>0)
+ {
+ std::deque<double> sort_buffer = buffer_;
+
+ std::sort (sort_buffer.begin (), sort_buffer.end ());
+
+ return sort_buffer[sort_buffer.size ()/2];
+ } else
+ return (0.0);
+ }
+
+ double
+ OpenNI2TimerFilter::getMovingAvg ()
+ {
+ if (buffer_.size () > 0)
+ {
+ double sum = 0;
+
+ std::deque<double>::const_iterator it = buffer_.begin ();
+ std::deque<double>::const_iterator it_end = buffer_.end ();
+
+ while (it != it_end)
+ {
+ sum += *(it++);
+ }
+
+ return sum / static_cast<double>(buffer_.size ());
+ } else
+ return (0.0);
+ }
+
+
+ void OpenNI2TimerFilter::clear ()
+ {
+ buffer_.clear ();
+ }
+
+ } //namespace
+ }
+}
--- /dev/null
+/*
+ * Copyright (c) 2013, 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 the 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.
+ *
+ * Author: Julius Kammerl (jkammerl@willowgarage.com)
+ */
+
+#include "pcl/io/openni2/openni2_video_mode.h"
+
+namespace pcl
+{
+ namespace io
+ {
+ namespace openni2
+ {
+
+ std::ostream&
+ operator<< (std::ostream& stream, const OpenNI2VideoMode& video_mode)
+ {
+ stream << "Resolution: " << (int)video_mode.x_resolution_ << "x" << (int)video_mode.y_resolution_ <<
+ "@" << video_mode.frame_rate_ <<
+ "Hz Format: ";
+
+ switch (video_mode.pixel_format_)
+ {
+ case PIXEL_FORMAT_DEPTH_1_MM:
+ stream << "Depth 1mm";
+ break;
+ case PIXEL_FORMAT_DEPTH_100_UM:
+ stream << "Depth 100um";
+ break;
+ case PIXEL_FORMAT_SHIFT_9_2:
+ stream << "Shift 9/2";
+ break;
+ case PIXEL_FORMAT_SHIFT_9_3:
+ stream << "Shift 9/3";
+ break;
+ case PIXEL_FORMAT_RGB888:
+ stream << "RGB888";
+ break;
+ case PIXEL_FORMAT_YUV422:
+ stream << "YUV422";
+ break;
+ case PIXEL_FORMAT_GRAY8:
+ stream << "Gray8";
+ break;
+ case PIXEL_FORMAT_GRAY16:
+ stream << "Gray16";
+ break;
+ case PIXEL_FORMAT_JPEG:
+ stream << "JPEG";
+ break;
+
+ default:
+ break;
+ }
+
+ return (stream);
+ }
+
+ bool
+ operator==(const OpenNI2VideoMode& video_mode_a, const OpenNI2VideoMode& video_mode_b)
+ {
+ return (video_mode_a.x_resolution_==video_mode_b.x_resolution_) &&
+ (video_mode_a.y_resolution_==video_mode_b.y_resolution_) &&
+ (video_mode_a.frame_rate_ ==video_mode_b.frame_rate_) &&
+ (video_mode_a.pixel_format_==video_mode_b.pixel_format_);
+ }
+
+ bool
+ operator!=(const OpenNI2VideoMode& video_mode_a, const OpenNI2VideoMode& video_mode_b)
+ {
+ return !(video_mode_a==video_mode_b);
+ }
+
+ } //namespace
+ }
+}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, respective authors.
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/pcl_config.h>
+#ifdef HAVE_OPENNI2
+
+#include <pcl/io/openni2_grabber.h>
+#include <pcl/io/openni2/openni2_device_manager.h>
+#include <pcl/io/openni2/openni2_metadata_wrapper.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/common/time.h>
+#include <pcl/console/print.h>
+#include <pcl/io/boost.h>
+#include <pcl/exceptions.h>
+#include <iostream>
+
+using namespace pcl::io::openni2;
+
+namespace pcl
+{
+ // Treat color as chars, float32, or uint32
+ typedef union
+ {
+ struct
+ {
+ unsigned char Blue;
+ unsigned char Green;
+ unsigned char Red;
+ unsigned char Alpha;
+ };
+ float float_value;
+ uint32_t long_value;
+ } RGBValue;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+pcl::io::OpenNI2Grabber::OpenNI2Grabber (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode)
+ : color_resize_buffer_(0)
+ , depth_resize_buffer_(0)
+ , ir_resize_buffer_(0)
+ , rgb_sync_ ()
+ , ir_sync_ ()
+ , device_ ()
+ , rgb_frame_id_ ()
+ , depth_frame_id_ ()
+ , image_width_ ()
+ , image_height_ ()
+ , depth_width_ ()
+ , depth_height_ ()
+ , image_required_ (false)
+ , depth_required_ (false)
+ , ir_required_ (false)
+ , sync_required_ (false)
+ , image_signal_ (), depth_image_signal_ (), ir_image_signal_ (), image_depth_image_signal_ ()
+ , ir_depth_image_signal_ (), point_cloud_signal_ (), point_cloud_i_signal_ ()
+ , point_cloud_rgb_signal_ (), point_cloud_rgba_signal_ ()
+ , config2oni_map_ (), depth_callback_handle_ (), image_callback_handle_ (), ir_callback_handle_ ()
+ , running_ (false)
+ , rgb_parameters_(std::numeric_limits<double>::quiet_NaN () )
+ , depth_parameters_(std::numeric_limits<double>::quiet_NaN () )
+{
+ // initialize driver
+ updateModeMaps (); // registering mapping from PCL enum modes to openni::VideoMode and vice versa
+ setupDevice (device_id, depth_mode, image_mode);
+
+ rgb_frame_id_ = "/openni2_rgb_optical_frame";
+ depth_frame_id_ = "/openni2_depth_optical_frame";
+
+
+ if (!device_->hasDepthSensor () )
+ PCL_THROW_EXCEPTION (pcl::IOException, "Device does not provide 3D information.");
+
+ depth_image_signal_ = createSignal<sig_cb_openni_depth_image> ();
+ ir_image_signal_ = createSignal<sig_cb_openni_ir_image> ();
+ point_cloud_signal_ = createSignal<sig_cb_openni_point_cloud> ();
+ point_cloud_i_signal_ = createSignal<sig_cb_openni_point_cloud_i> ();
+ ir_depth_image_signal_ = createSignal<sig_cb_openni_ir_depth_image> ();
+ ir_sync_.addCallback (boost::bind (&OpenNI2Grabber::irDepthImageCallback, this, _1, _2));
+
+ if (device_->hasColorSensor ())
+ {
+ // create callback signals
+ image_signal_ = createSignal<sig_cb_openni_image> ();
+ image_depth_image_signal_ = createSignal<sig_cb_openni_image_depth_image> ();
+ point_cloud_rgb_signal_ = createSignal<sig_cb_openni_point_cloud_rgb> ();
+ point_cloud_rgba_signal_ = createSignal<sig_cb_openni_point_cloud_rgba> ();
+ rgb_sync_.addCallback (boost::bind (&OpenNI2Grabber::imageDepthImageCallback, this, _1, _2));
+ }
+
+ // callbacks from the sensor to the grabber
+ device_->setColorCallback (boost::bind (&OpenNI2Grabber::processColorFrame, this, _1));
+ device_->setDepthCallback (boost::bind (&OpenNI2Grabber::processDepthFrame, this, _1));
+ device_->setIRCallback (boost::bind (&OpenNI2Grabber::processIRFrame, this, _1));
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+pcl::io::OpenNI2Grabber::~OpenNI2Grabber () throw ()
+{
+ try
+ {
+ stop ();
+
+ // release the pointer to the device object
+ device_.reset ();
+
+ // disconnect all listeners
+ disconnect_all_slots<sig_cb_openni_image> ();
+ disconnect_all_slots<sig_cb_openni_depth_image> ();
+ disconnect_all_slots<sig_cb_openni_ir_image> ();
+ disconnect_all_slots<sig_cb_openni_image_depth_image> ();
+ disconnect_all_slots<sig_cb_openni_point_cloud> ();
+ disconnect_all_slots<sig_cb_openni_point_cloud_rgb> ();
+ disconnect_all_slots<sig_cb_openni_point_cloud_rgba> ();
+ disconnect_all_slots<sig_cb_openni_point_cloud_i> ();
+ }
+ catch (...)
+ {
+ // destructor never throws
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::checkImageAndDepthSynchronizationRequired ()
+{
+ // do we have anyone listening to images or color point clouds?
+ if (num_slots<sig_cb_openni_point_cloud_rgb> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
+ num_slots<sig_cb_openni_image_depth_image> () > 0)
+ sync_required_ = true;
+ else
+ sync_required_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::checkImageStreamRequired ()
+{
+ // do we have anyone listening to images or color point clouds?
+ if (num_slots<sig_cb_openni_image> () > 0 ||
+ num_slots<sig_cb_openni_image_depth_image> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgb> () > 0)
+ image_required_ = true;
+ else
+ image_required_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::checkDepthStreamRequired ()
+{
+ // do we have anyone listening to depth images or (color) point clouds?
+ if (num_slots<sig_cb_openni_depth_image> () > 0 ||
+ num_slots<sig_cb_openni_image_depth_image> () > 0 ||
+ num_slots<sig_cb_openni_ir_depth_image> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgb> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_i> () > 0 )
+ depth_required_ = true;
+ else
+ depth_required_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::checkIRStreamRequired ()
+{
+ if (num_slots<sig_cb_openni_ir_image> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_i> () > 0 ||
+ num_slots<sig_cb_openni_ir_depth_image> () > 0)
+ ir_required_ = true;
+ else
+ ir_required_ = false;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::start ()
+{
+ try
+ {
+ // check if we need to start/stop any stream
+ if (image_required_ && !device_->isColorStreamStarted () )
+ {
+ block_signals ();
+ device_->startColorStream ();
+ startSynchronization ();
+ }
+
+ if (depth_required_ && !device_->isDepthStreamStarted ())
+ {
+ block_signals ();
+ if (device_->hasColorSensor () && device_->isImageRegistrationModeSupported () )
+ {
+ device_->setImageRegistrationMode (true);
+ }
+ device_->startDepthStream ();
+ startSynchronization ();
+ }
+
+ if (ir_required_ && !device_->isIRStreamStarted () )
+ {
+ block_signals ();
+ device_->startIRStream ();
+ }
+ running_ = true;
+ }
+ catch (IOException& ex)
+ {
+ PCL_THROW_EXCEPTION (pcl::IOException, "Could not start streams. Reason: " << ex.what ());
+ }
+
+ // workaround, since the first frame is corrupted
+ //boost::this_thread::sleep (boost::posix_time::seconds (1));
+ unblock_signals ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::stop ()
+{
+ try
+ {
+ if (device_->hasDepthSensor () && device_->isDepthStreamStarted () )
+ device_->stopDepthStream ();
+
+ if (device_->hasColorSensor () && device_->isColorStreamStarted () )
+ device_->stopColorStream ();
+
+ if (device_->hasIRSensor () && device_->isIRStreamStarted ())
+ device_->stopIRStream ();
+
+ running_ = false;
+ }
+ catch (IOException& ex)
+ {
+ PCL_THROW_EXCEPTION (pcl::IOException, "Could not stop streams. Reason: " << ex.what ());
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::io::OpenNI2Grabber::isRunning () const
+{
+ return (running_);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::signalsChanged ()
+{
+ // reevaluate which streams are required
+ checkImageStreamRequired ();
+ checkDepthStreamRequired ();
+ checkIRStreamRequired ();
+ if (ir_required_ && image_required_)
+ PCL_THROW_EXCEPTION (pcl::IOException, "Can not provide IR stream and RGB stream at the same time.");
+
+ checkImageAndDepthSynchronizationRequired ();
+ if (running_)
+ start ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+std::string
+pcl::io::OpenNI2Grabber::getName () const
+{
+ return (std::string ("OpenNI2Grabber"));
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::setupDevice (const std::string& device_id, const Mode& depth_mode, const Mode& image_mode)
+{
+ // Initialize the openni device
+ boost::shared_ptr<OpenNI2DeviceManager> deviceManager = OpenNI2DeviceManager::getInstance ();
+
+ try
+ {
+ if (boost::filesystem::exists (device_id))
+ {
+ device_ = deviceManager->getFileDevice (device_id); // Treat as file path
+ }
+ else if (deviceManager->getNumOfConnectedDevices () == 0)
+ {
+ PCL_THROW_EXCEPTION (pcl::IOException, "No devices connected.");
+ }
+ else if (device_id[0] == '#')
+ {
+ unsigned index = atoi (device_id.c_str () + 1);
+ device_ = deviceManager->getDeviceByIndex (index - 1);
+ }
+ else
+ {
+ device_ = deviceManager->getAnyDevice ();
+ }
+ }
+ catch (const IOException& exception)
+ {
+ if (!device_)
+ PCL_THROW_EXCEPTION (pcl::IOException, "No matching device found. " << exception.what ())
+ else
+ PCL_THROW_EXCEPTION (pcl::IOException, "could not retrieve device. Reason " << exception.what ())
+ }
+ catch (const pcl::IOException&)
+ {
+ throw;
+ }
+ catch (...)
+ {
+ PCL_THROW_EXCEPTION (pcl::IOException, "unknown error occured");
+ }
+
+ typedef pcl::io::openni2::OpenNI2VideoMode VideoMode;
+
+ VideoMode depth_md;
+ // Set the selected output mode
+ if (depth_mode != OpenNI_Default_Mode)
+ {
+ VideoMode actual_depth_md;
+ if (!mapMode2XnMode (depth_mode, depth_md) || !device_->findCompatibleDepthMode (depth_md, actual_depth_md))
+ PCL_THROW_EXCEPTION (pcl::IOException, "could not find compatible depth stream mode " << static_cast<int> (depth_mode) );
+
+ VideoMode current_depth_md = device_->getDepthVideoMode ();
+ if (current_depth_md.x_resolution_ != actual_depth_md.x_resolution_ || current_depth_md.y_resolution_ != actual_depth_md.y_resolution_)
+ device_->setDepthVideoMode (actual_depth_md);
+ }
+ else
+ {
+ depth_md = device_->getDefaultDepthMode ();
+ }
+
+ depth_width_ = depth_md.x_resolution_;
+ depth_height_ = depth_md.y_resolution_;
+
+ if (device_->hasColorSensor ())
+ {
+ VideoMode image_md;
+ if (image_mode != OpenNI_Default_Mode)
+ {
+ VideoMode actual_image_md;
+ if (!mapMode2XnMode (image_mode, image_md) || !device_->findCompatibleColorMode (image_md, actual_image_md))
+ PCL_THROW_EXCEPTION (pcl::IOException, "could not find compatible image stream mode " << static_cast<int> (image_mode) );
+
+ VideoMode current_image_md = device_->getColorVideoMode ();
+ if (current_image_md.x_resolution_ != actual_image_md.x_resolution_ || current_image_md.y_resolution_ != actual_image_md.y_resolution_)
+ device_->setColorVideoMode (actual_image_md);
+ }
+ else
+ {
+ image_md = device_->getDefaultColorMode ();
+ }
+
+ image_width_ = image_md.x_resolution_;
+ image_height_ = image_md.y_resolution_;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::startSynchronization ()
+{
+ try
+ {
+ if (device_->isSynchronizationSupported () && !device_->isSynchronized () && !device_->isFile () &&
+ device_->getColorVideoMode ().frame_rate_ == device_->getDepthVideoMode ().frame_rate_)
+ device_->setSynchronization (true);
+ }
+ catch (const IOException& exception)
+ {
+ std::cerr << exception.what() << std::endl;
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::stopSynchronization ()
+{
+ try
+ {
+ if (device_->isSynchronizationSupported () && device_->isSynchronized ())
+ device_->setSynchronization (false);
+ }
+ catch (const IOException& exception)
+ {
+ PCL_THROW_EXCEPTION (pcl::IOException, "Could not start synchronization " << exception.what ());
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::imageCallback (Image::Ptr image, void*)
+{
+ if (num_slots<sig_cb_openni_point_cloud_rgb> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
+ num_slots<sig_cb_openni_image_depth_image> () > 0)
+ rgb_sync_.add0 (image, image->getTimestamp ());
+
+ int numImageSlots = image_signal_->num_slots ();
+ if (numImageSlots > 0)
+ image_signal_->operator ()(image);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::depthCallback (DepthImage::Ptr depth_image, void*)
+{
+ if (num_slots<sig_cb_openni_point_cloud_rgb> () > 0 ||
+ num_slots<sig_cb_openni_point_cloud_rgba> () > 0 ||
+ num_slots<sig_cb_openni_image_depth_image> () > 0)
+ rgb_sync_.add1 (depth_image, depth_image->getTimestamp ());
+
+ if (num_slots<sig_cb_openni_point_cloud_i> () > 0 ||
+ num_slots<sig_cb_openni_ir_depth_image> () > 0)
+ ir_sync_.add1 (depth_image, depth_image->getTimestamp ());
+
+ if (depth_image_signal_->num_slots () > 0)
+ depth_image_signal_->operator ()(depth_image);
+
+ if (point_cloud_signal_->num_slots () > 0)
+ point_cloud_signal_->operator ()(convertToXYZPointCloud (depth_image));
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::irCallback (IRImage::Ptr ir_image, void*)
+{
+ if (num_slots<sig_cb_openni_point_cloud_i> () > 0 ||
+ num_slots<sig_cb_openni_ir_depth_image> () > 0)
+ ir_sync_.add0(ir_image, ir_image->getTimestamp ());
+
+ if (ir_image_signal_->num_slots () > 0)
+ ir_image_signal_->operator ()(ir_image);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::imageDepthImageCallback (const Image::Ptr &image,
+ const DepthImage::Ptr &depth_image)
+{
+ // check if we have color point cloud slots
+ if (point_cloud_rgb_signal_->num_slots () > 0)
+ {
+ PCL_WARN ("PointXYZRGB callbacks deprecated. Use PointXYZRGBA instead.\n");
+ point_cloud_rgb_signal_->operator ()(convertToXYZRGBPointCloud<pcl::PointXYZRGB> (image, depth_image));
+ }
+
+ if (point_cloud_rgba_signal_->num_slots () > 0)
+ point_cloud_rgba_signal_->operator ()(convertToXYZRGBPointCloud<pcl::PointXYZRGBA> (image, depth_image));
+
+ if (image_depth_image_signal_->num_slots () > 0)
+ {
+ float reciprocalFocalLength = 1.0f / device_->getDepthFocalLength ();
+ image_depth_image_signal_->operator ()(image, depth_image, reciprocalFocalLength);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::irDepthImageCallback (const IRImage::Ptr &ir_image,
+ const DepthImage::Ptr &depth_image)
+{
+ // check if we have color point cloud slots
+ if (point_cloud_i_signal_->num_slots () > 0)
+ point_cloud_i_signal_->operator ()(convertToXYZIPointCloud (ir_image, depth_image));
+
+ if (ir_depth_image_signal_->num_slots () > 0)
+ {
+ float reciprocalFocalLength = 1.0f / device_->getDepthFocalLength ();
+ ir_depth_image_signal_->operator ()(ir_image, depth_image, reciprocalFocalLength);
+ }
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+pcl::PointCloud<pcl::PointXYZ>::Ptr
+pcl::io::OpenNI2Grabber::convertToXYZPointCloud (const DepthImage::Ptr& depth_image)
+{
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud <pcl::PointXYZ>);
+
+ cloud->header.seq = depth_image->getFrameID ();
+ cloud->header.stamp = depth_image->getTimestamp ();
+ cloud->height = depth_height_;
+ cloud->width = depth_width_;
+ cloud->is_dense = false;
+
+ cloud->points.resize (cloud->height * cloud->width);
+
+ float constant_x = 1.0f / device_->getDepthFocalLength ();
+ float constant_y = 1.0f / device_->getDepthFocalLength ();
+ float centerX = ((float)cloud->width - 1.f) / 2.f;
+ float centerY = ((float)cloud->height - 1.f) / 2.f;
+
+ if (pcl_isfinite (depth_parameters_.focal_length_x))
+ constant_x = 1.0f / static_cast<float> (depth_parameters_.focal_length_x);
+
+ if (pcl_isfinite (depth_parameters_.focal_length_y))
+ constant_y = 1.0f / static_cast<float> (depth_parameters_.focal_length_y);
+
+ if (pcl_isfinite (depth_parameters_.principal_point_x))
+ centerX = static_cast<float> (depth_parameters_.principal_point_x);
+
+ if (pcl_isfinite (depth_parameters_.principal_point_y))
+ centerY = static_cast<float> (depth_parameters_.principal_point_y);
+
+ if ( device_->isDepthRegistered() )
+ cloud->header.frame_id = rgb_frame_id_;
+ else
+ cloud->header.frame_id = depth_frame_id_;
+
+
+ float bad_point = std::numeric_limits<float>::quiet_NaN ();
+
+ const uint16_t* depth_map = (const uint16_t*) depth_image->getData ();
+ if (depth_image->getWidth () != depth_width_ || depth_image->getHeight () != depth_height_)
+ {
+ // Resize the image if nessacery
+ depth_resize_buffer_.resize(depth_width_ * depth_height_);
+
+ depth_image->fillDepthImageRaw (depth_width_, depth_height_, (uint16_t*) depth_resize_buffer_.data() );
+ depth_map = depth_resize_buffer_.data();
+ }
+
+ int depth_idx = 0;
+ for (int v = 0; v < depth_height_; ++v)
+ {
+ for (int u = 0; u < depth_width_; ++u, ++depth_idx)
+ {
+ pcl::PointXYZ& pt = cloud->points[depth_idx];
+ // Check for invalid measurements
+ if (depth_map[depth_idx] == 0 ||
+ depth_map[depth_idx] == depth_image->getNoSampleValue () ||
+ depth_map[depth_idx] == depth_image->getShadowValue ())
+ {
+ // not valid
+ pt.x = pt.y = pt.z = bad_point;
+ continue;
+ }
+ pt.z = depth_map[depth_idx] * 0.001f;
+ pt.x = (static_cast<float> (u) - centerX) * pt.z * constant_x;
+ pt.y = (static_cast<float> (v) - centerY) * pt.z * constant_y;
+ }
+ }
+ cloud->sensor_origin_.setZero ();
+ cloud->sensor_orientation_.w () = 1.0f;
+ cloud->sensor_orientation_.x () = 0.0f;
+ cloud->sensor_orientation_.y () = 0.0f;
+ cloud->sensor_orientation_.z () = 0.0f;
+ return (cloud);
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> typename pcl::PointCloud<PointT>::Ptr
+pcl::io::OpenNI2Grabber::convertToXYZRGBPointCloud (const Image::Ptr &image, const DepthImage::Ptr &depth_image)
+{
+ boost::shared_ptr<pcl::PointCloud<PointT> > cloud (new pcl::PointCloud<PointT>);
+
+ cloud->header.seq = depth_image->getFrameID ();
+ cloud->header.stamp = depth_image->getTimestamp ();
+ cloud->header.frame_id = rgb_frame_id_;
+ cloud->height = std::max (image_height_, depth_height_);
+ cloud->width = std::max (image_width_, depth_width_);
+ cloud->is_dense = false;
+
+ cloud->points.resize (cloud->height * cloud->width);
+
+ // Generate default camera parameters
+ float fx = device_->getDepthFocalLength (); // Horizontal focal length
+ float fy = device_->getDepthFocalLength (); // Vertcal focal length
+ float cx = ((float)depth_width_ - 1.f) / 2.f; // Center x
+ float cy = ((float)depth_height_- 1.f) / 2.f; // Center y
+
+ // Load pre-calibrated camera parameters if they exist
+ if (pcl_isfinite (depth_parameters_.focal_length_x))
+ fx = 1.0f / static_cast<float> (depth_parameters_.focal_length_x);
+
+ if (pcl_isfinite (depth_parameters_.focal_length_y))
+ fy = 1.0f / static_cast<float> (depth_parameters_.focal_length_y);
+
+ if (pcl_isfinite (depth_parameters_.principal_point_x))
+ cx = static_cast<float> (depth_parameters_.principal_point_x);
+
+ if (pcl_isfinite (depth_parameters_.principal_point_y))
+ cy = static_cast<float> (depth_parameters_.principal_point_y);
+
+ // Get inverse focal length for calculations below
+ float fx_inv = 1.0f / fx;
+ float fy_inv = 1.0f / fy;
+
+ const uint16_t* depth_map = (const uint16_t*) depth_image->getData ();
+ if (depth_image->getWidth () != depth_width_ || depth_image->getHeight () != depth_height_)
+ {
+ // Resize the image if nessacery
+ depth_resize_buffer_.resize(depth_width_ * depth_height_);
+ depth_map = depth_resize_buffer_.data();
+ depth_image->fillDepthImageRaw (depth_width_, depth_height_, (unsigned short*) depth_map );
+ }
+
+ const uint8_t* rgb_buffer = (const uint8_t*) image->getData ();
+ if (image->getWidth () != image_width_ || image->getHeight () != image_height_)
+ {
+ // Resize the image if nessacery
+ color_resize_buffer_.resize(image_width_ * image_height_ * 3);
+ rgb_buffer = color_resize_buffer_.data();
+ image->fillRGB (image_width_, image_height_, (unsigned char*) rgb_buffer, image_width_ * 3);
+ }
+
+
+ float bad_point = std::numeric_limits<float>::quiet_NaN ();
+
+ // set xyz to Nan and rgb to 0 (black)
+ if (image_width_ != depth_width_)
+ {
+ PointT pt;
+ pt.x = pt.y = pt.z = bad_point;
+ pt.b = pt.g = pt.r = 0;
+ pt.a = 255; // point has no color info -> alpha = max => transparent
+ cloud->points.assign (cloud->points.size (), pt);
+ }
+
+ // fill in XYZ values
+ unsigned step = cloud->width / depth_width_;
+ unsigned skip = cloud->width * step - cloud->width;
+
+ int value_idx = 0;
+ int point_idx = 0;
+ for (int v = 0; v < depth_height_; ++v, point_idx += skip)
+ {
+ for (int u = 0; u < depth_width_; ++u, ++value_idx, point_idx += step)
+ {
+ PointT& pt = cloud->points[point_idx];
+ /// @todo Different values for these cases
+ // Check for invalid measurements
+
+ OniDepthPixel pixel = depth_map[value_idx];
+ if (pixel != 0 &&
+ pixel != depth_image->getNoSampleValue () &&
+ pixel != depth_image->getShadowValue () )
+ {
+ pt.z = depth_map[value_idx] * 0.001f; // millimeters to meters
+ pt.x = (static_cast<float> (u) - cx) * pt.z * fx_inv;
+ pt.y = (static_cast<float> (v) - cy) * pt.z * fy_inv;
+ }
+ else
+ {
+ pt.x = pt.y = pt.z = bad_point;
+ }
+ }
+ }
+
+ // fill in the RGB values
+ step = cloud->width / image_width_;
+ skip = cloud->width * step - cloud->width;
+
+ value_idx = 0;
+ point_idx = 0;
+ RGBValue color;
+ color.Alpha = 0;
+
+ for (unsigned yIdx = 0; yIdx < image_height_; ++yIdx, point_idx += skip)
+ {
+ for (unsigned xIdx = 0; xIdx < image_width_; ++xIdx, point_idx += step, value_idx += 3)
+ {
+ PointT& pt = cloud->points[point_idx];
+
+ color.Red = rgb_buffer[value_idx];
+ color.Green = rgb_buffer[value_idx + 1];
+ color.Blue = rgb_buffer[value_idx + 2];
+
+ pt.rgba = color.long_value;
+ }
+ }
+ cloud->sensor_origin_.setZero ();
+ cloud->sensor_orientation_.setIdentity ();
+ return (cloud);
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+pcl::PointCloud<pcl::PointXYZI>::Ptr
+pcl::io::OpenNI2Grabber::convertToXYZIPointCloud (const IRImage::Ptr &ir_image, const DepthImage::Ptr &depth_image)
+{
+ boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > cloud (new pcl::PointCloud<pcl::PointXYZI > ());
+
+ cloud->header.seq = depth_image->getFrameID ();
+ cloud->header.stamp = depth_image->getTimestamp ();
+ cloud->header.frame_id = rgb_frame_id_;
+ cloud->height = depth_height_;
+ cloud->width = depth_width_;
+ cloud->is_dense = false;
+
+ cloud->points.resize (cloud->height * cloud->width);
+
+
+ float fx = device_->getDepthFocalLength (); // Horizontal focal length
+ float fy = device_->getDepthFocalLength (); // Vertcal focal length
+ float cx = ((float)cloud->width - 1.f) / 2.f; // Center x
+ float cy = ((float)cloud->height - 1.f) / 2.f; // Center y
+
+ // Load pre-calibrated camera parameters if they exist
+ if (pcl_isfinite (depth_parameters_.focal_length_x))
+ fx = static_cast<float> (depth_parameters_.focal_length_x);
+
+ if (pcl_isfinite (depth_parameters_.focal_length_y))
+ fy = static_cast<float> (depth_parameters_.focal_length_y);
+
+ if (pcl_isfinite (depth_parameters_.principal_point_x))
+ cx = static_cast<float> (depth_parameters_.principal_point_x);
+
+ if (pcl_isfinite (depth_parameters_.principal_point_y))
+ cy = static_cast<float> (depth_parameters_.principal_point_y);
+
+ float fx_inv = 1.0f / fx;
+ float fy_inv = 1.0f / fy;
+
+
+ const uint16_t* depth_map = (const uint16_t*) depth_image->getData ();
+ if (depth_image->getWidth () != depth_width_ || depth_image->getHeight () != depth_height_)
+ {
+ // Resize the image if nessacery
+ depth_resize_buffer_.resize(depth_width_ * depth_height_);
+ depth_map = depth_resize_buffer_.data();
+ depth_image->fillDepthImageRaw (depth_width_, depth_height_, (unsigned short*) depth_map );
+ }
+
+ const uint16_t* ir_map = (const uint16_t*) ir_image->getData ();
+ if (ir_image->getWidth () != depth_width_ || ir_image->getHeight () != depth_height_)
+ {
+ // Resize the image if nessacery
+ ir_resize_buffer_.resize(depth_width_ * depth_height_);
+ ir_map = ir_resize_buffer_.data();
+ ir_image->fillRaw (depth_width_, depth_height_, (unsigned short*) ir_map);
+ }
+
+
+ int depth_idx = 0;
+ float bad_point = std::numeric_limits<float>::quiet_NaN ();
+
+ for (int v = 0; v < depth_height_; ++v)
+ {
+ for (int u = 0; u < depth_width_; ++u, ++depth_idx)
+ {
+ pcl::PointXYZI& pt = cloud->points[depth_idx];
+ /// @todo Different values for these cases
+ // Check for invalid measurements
+ if (depth_map[depth_idx] == 0 ||
+ depth_map[depth_idx] == depth_image->getNoSampleValue () ||
+ depth_map[depth_idx] == depth_image->getShadowValue ())
+ {
+ pt.x = pt.y = pt.z = bad_point;
+ }
+ else
+ {
+ pt.z = depth_map[depth_idx] * 0.001f; // millimeters to meters
+ pt.x = (static_cast<float> (u) - cx) * pt.z * fx_inv;
+ pt.y = (static_cast<float> (v) - cy) * pt.z * fy_inv;
+ }
+
+ pt.data_c[0] = pt.data_c[1] = pt.data_c[2] = pt.data_c[3] = 0;
+ pt.intensity = static_cast<float> (ir_map[depth_idx]);
+ }
+ }
+ cloud->sensor_origin_.setZero ();
+ cloud->sensor_orientation_.setIdentity ();
+ return (cloud);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::io::OpenNI2Grabber::updateModeMaps ()
+{
+ typedef pcl::io::openni2::OpenNI2VideoMode VideoMode;
+
+pcl::io::openni2::OpenNI2VideoMode output_mode;
+
+ config2oni_map_[OpenNI_SXGA_15Hz] = VideoMode (XN_SXGA_X_RES, XN_SXGA_Y_RES, 15);
+
+ config2oni_map_[OpenNI_VGA_25Hz] = VideoMode (XN_VGA_X_RES, XN_VGA_Y_RES, 25);
+ config2oni_map_[OpenNI_VGA_30Hz] = VideoMode (XN_VGA_X_RES, XN_VGA_Y_RES, 30);
+
+ config2oni_map_[OpenNI_QVGA_25Hz] = VideoMode (XN_QVGA_X_RES, XN_QVGA_Y_RES, 25);
+ config2oni_map_[OpenNI_QVGA_30Hz] = VideoMode (XN_QVGA_X_RES, XN_QVGA_Y_RES, 30);
+ config2oni_map_[OpenNI_QVGA_60Hz] = VideoMode (XN_QVGA_X_RES, XN_QVGA_Y_RES, 60);
+
+ config2oni_map_[OpenNI_QQVGA_25Hz] = VideoMode (XN_QQVGA_X_RES, XN_QQVGA_Y_RES, 25);
+ config2oni_map_[OpenNI_QQVGA_30Hz] = VideoMode (XN_QQVGA_X_RES, XN_QQVGA_Y_RES, 30);
+ config2oni_map_[OpenNI_QQVGA_60Hz] = VideoMode (XN_QQVGA_X_RES, XN_QQVGA_Y_RES, 60);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::io::OpenNI2Grabber::mapMode2XnMode (int mode, OpenNI2VideoMode &xnmode) const
+{
+ std::map<int, pcl::io::openni2::OpenNI2VideoMode>::const_iterator it = config2oni_map_.find (mode);
+ if (it != config2oni_map_.end ())
+ {
+ xnmode = it->second;
+ return (true);
+ }
+ else
+ {
+ return (false);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+std::vector<std::pair<int, pcl::io::openni2::OpenNI2VideoMode> >
+pcl::io::OpenNI2Grabber::getAvailableDepthModes () const
+{
+pcl::io::openni2::OpenNI2VideoMode dummy;
+ std::vector<std::pair<int, pcl::io::openni2::OpenNI2VideoMode> > result;
+ for (std::map<int, pcl::io::openni2::OpenNI2VideoMode>::const_iterator it = config2oni_map_.begin (); it != config2oni_map_.end (); ++it)
+ {
+ if (device_->findCompatibleDepthMode (it->second, dummy))
+ result.push_back (*it);
+ }
+
+ return (result);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+std::vector<std::pair<int, pcl::io::openni2::OpenNI2VideoMode> >
+pcl::io::OpenNI2Grabber::getAvailableImageModes () const
+{
+pcl::io::openni2::OpenNI2VideoMode dummy;
+ std::vector<std::pair<int, pcl::io::openni2::OpenNI2VideoMode> > result;
+ for (std::map<int, pcl::io::openni2::OpenNI2VideoMode>::const_iterator it = config2oni_map_.begin (); it != config2oni_map_.end (); ++it)
+ {
+ if (device_->findCompatibleColorMode (it->second, dummy))
+ result.push_back (*it);
+ }
+
+ return (result);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+float
+pcl::io::OpenNI2Grabber::getFramesPerSecond () const
+{
+ return (static_cast<float> (device_->getColorVideoMode ().frame_rate_));
+}
+
+
+
+// Convert VideoFrameRef into pcl::Image and forward to registered callbacks
+void pcl::io::OpenNI2Grabber::processColorFrame (openni::VideoStream& stream)
+{
+ Image::Timestamp t_callback = Image::Clock::now ();
+
+ openni::VideoFrameRef frame;
+ stream.readFrame (&frame);
+ FrameWrapper::Ptr frameWrapper = boost::make_shared<Openni2FrameWrapper>(frame);
+
+ openni::PixelFormat format = frame.getVideoMode ().getPixelFormat ();
+ boost::shared_ptr<Image> image;
+
+ // Convert frame to PCL image type, based on pixel format
+ if (format == openni::PIXEL_FORMAT_YUV422)
+ image = boost::make_shared<ImageYUV422> (frameWrapper, t_callback);
+ else //if (format == PixelFormat::PIXEL_FORMAT_RGB888)
+ image = boost::make_shared<ImageRGB24> (frameWrapper, t_callback);
+
+ imageCallback (image, NULL);
+}
+
+
+void pcl::io::OpenNI2Grabber::processDepthFrame (openni::VideoStream& stream)
+{
+ openni::VideoFrameRef frame;
+ stream.readFrame (&frame);
+ FrameWrapper::Ptr frameWrapper = boost::make_shared<Openni2FrameWrapper>(frame);
+
+ float focalLength = device_->getDepthFocalLength ();
+
+ float baseline = device_->getBaseline();
+ pcl::uint64_t no_sample_value = device_->getShadowValue();
+ pcl::uint64_t shadow_value = no_sample_value;
+
+ boost::shared_ptr<DepthImage> image =
+ boost::make_shared<DepthImage> (frameWrapper, baseline, focalLength, shadow_value, no_sample_value);
+
+ depthCallback (image, NULL);
+}
+
+
+void pcl::io::OpenNI2Grabber::processIRFrame (openni::VideoStream& stream)
+{
+ openni::VideoFrameRef frame;
+ stream.readFrame (&frame);
+
+ FrameWrapper::Ptr frameWrapper = boost::make_shared<Openni2FrameWrapper>(frame);
+
+ boost::shared_ptr<IRImage> image = boost::make_shared<IRImage> ( frameWrapper );
+
+ irCallback (image, NULL);
+}
+
+#endif // HAVE_OPENNI2
{
// Calculate shift conversion table
- pcl::int32_t nIndex = 0;
+ pcl::uint32_t nIndex = 0;
pcl::int32_t nShiftValue = 0;
double dFixedRefX = 0;
double dMetric = 0;
, point_cloud_rgb_signal_ (), point_cloud_rgba_signal_ ()
, config2xn_map_ (), depth_callback_handle (), image_callback_handle (), ir_callback_handle ()
, running_ (false)
+ , rgb_array_size_ (0)
+ , depth_buffer_size_ (0)
, rgb_focal_length_x_ (std::numeric_limits<double>::quiet_NaN ())
, rgb_focal_length_y_ (std::numeric_limits<double>::quiet_NaN ())
, rgb_principal_point_x_ (std::numeric_limits<double>::quiet_NaN ())
register const unsigned short* depth_map = depth_image->getDepthMetaData ().Data ();
if (depth_image->getWidth() != depth_width_ || depth_image->getHeight () != depth_height_)
{
- static unsigned buffer_size = 0;
- static boost::shared_array<unsigned short> depth_buffer ((unsigned short*)(NULL));
-
- if (buffer_size < depth_width_ * depth_height_)
+ if (depth_buffer_size_ < depth_width_ * depth_height_)
{
- buffer_size = depth_width_ * depth_height_;
- depth_buffer.reset (new unsigned short [buffer_size]);
+ depth_buffer_size_ = depth_width_ * depth_height_;
+ depth_buffer_.reset (new unsigned short [depth_buffer_size_]);
}
- depth_image->fillDepthImageRaw (depth_width_, depth_height_, depth_buffer.get ());
- depth_map = depth_buffer.get ();
+ depth_image->fillDepthImageRaw (depth_width_, depth_height_, depth_buffer_.get ());
+ depth_map = depth_buffer_.get ();
}
register int depth_idx = 0;
- for (int v = 0; v < depth_height_; ++v)
+ for (unsigned int v = 0; v < depth_height_; ++v)
{
- for (register int u = 0; u < depth_width_; ++u, ++depth_idx)
+ for (register unsigned int u = 0; u < depth_width_; ++u, ++depth_idx)
{
pcl::PointXYZ& pt = cloud->points[depth_idx];
// Check for invalid measurements
pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wrapper::Image> &image,
const boost::shared_ptr<openni_wrapper::DepthImage> &depth_image) const
{
- static unsigned rgb_array_size = 0;
- static boost::shared_array<unsigned char> rgb_array ((unsigned char*)(NULL));
- static unsigned char* rgb_buffer = 0;
-
+ unsigned char* rgb_buffer = rgb_array_.get ();
boost::shared_ptr<pcl::PointCloud<PointT> > cloud (new pcl::PointCloud<PointT>);
cloud->header.frame_id = rgb_frame_id_;
register const XnDepthPixel* depth_map = depth_image->getDepthMetaData ().Data ();
if (depth_image->getWidth () != depth_width_ || depth_image->getHeight() != depth_height_)
{
- static unsigned buffer_size = 0;
- static boost::shared_array<unsigned short> depth_buffer ((unsigned short*)(NULL));
-
- if (buffer_size < depth_width_ * depth_height_)
+ if (depth_buffer_size_ < depth_width_ * depth_height_)
{
- buffer_size = depth_width_ * depth_height_;
- depth_buffer.reset (new unsigned short [buffer_size]);
+ depth_buffer_size_ = depth_width_ * depth_height_;
+ depth_buffer_.reset (new unsigned short [depth_buffer_size_]);
}
- depth_image->fillDepthImageRaw (depth_width_, depth_height_, depth_buffer.get ());
- depth_map = depth_buffer.get ();
+ depth_image->fillDepthImageRaw (depth_width_, depth_height_, depth_buffer_.get ());
+ depth_map = depth_buffer_.get ();
}
// here we need exact the size of the point cloud for a one-one correspondence!
- if (rgb_array_size < image_width_ * image_height_ * 3)
+ if (rgb_array_size_ < image_width_ * image_height_ * 3)
{
- rgb_array_size = image_width_ * image_height_ * 3;
- rgb_array.reset (new unsigned char [rgb_array_size]);
- rgb_buffer = rgb_array.get ();
+ rgb_array_size_ = image_width_ * image_height_ * 3;
+ rgb_array_.reset (new unsigned char [rgb_array_size_]);
+ rgb_buffer = rgb_array_.get ();
}
image->fillRGB (image_width_, image_height_, rgb_buffer, image_width_ * 3);
float bad_point = std::numeric_limits<float>::quiet_NaN ();
int value_idx = 0;
int point_idx = 0;
- for (int v = 0; v < depth_height_; ++v, point_idx += skip)
+ for (unsigned int v = 0; v < depth_height_; ++v, point_idx += skip)
{
- for (register int u = 0; u < depth_width_; ++u, ++value_idx, point_idx += step)
+ for (register unsigned int u = 0; u < depth_width_; ++u, ++value_idx, point_idx += step)
{
PointT& pt = cloud->points[point_idx];
/// @todo Different values for these cases
if (depth_image->getWidth () != depth_width_ || depth_image->getHeight () != depth_height_)
{
- static unsigned buffer_size = 0;
- static boost::shared_array<unsigned short> depth_buffer ((unsigned short*)(NULL));
- static boost::shared_array<unsigned short> ir_buffer ((unsigned short*)(NULL));
-
- if (buffer_size < depth_width_ * depth_height_)
+ if (depth_buffer_size_ < depth_width_ * depth_height_)
{
- buffer_size = depth_width_ * depth_height_;
- depth_buffer.reset (new unsigned short [buffer_size]);
- ir_buffer.reset (new unsigned short [buffer_size]);
+ depth_buffer_size_ = depth_width_ * depth_height_;
+ depth_buffer_.reset (new unsigned short [depth_buffer_size_]);
+ ir_buffer_.reset (new unsigned short [depth_buffer_size_]);
}
- depth_image->fillDepthImageRaw (depth_width_, depth_height_, depth_buffer.get ());
- depth_map = depth_buffer.get ();
+ depth_image->fillDepthImageRaw (depth_width_, depth_height_, depth_buffer_.get ());
+ depth_map = depth_buffer_.get ();
- ir_image->fillRaw (depth_width_, depth_height_, ir_buffer.get ());
- ir_map = ir_buffer.get ();
+ ir_image->fillRaw (depth_width_, depth_height_, ir_buffer_.get ());
+ ir_map = ir_buffer_.get ();
}
register int depth_idx = 0;
float bad_point = std::numeric_limits<float>::quiet_NaN ();
- for (int v = 0; v < depth_height_; ++v)
+ for (unsigned int v = 0; v < depth_height_; ++v)
{
- for (register int u = 0; u < depth_width_; ++u, ++depth_idx)
+ for (register unsigned int u = 0; u < depth_width_; ++u, ++depth_idx)
{
pcl::PointXYZI& pt = cloud->points[depth_idx];
/// @todo Different values for these cases
std::vector<int> tar_offsets_;
std::vector<size_t> cloud_idx_to_file_idx_;
+ // Mutex to ensure that two quick consecutive triggers do not cause
+ // simultaneous asynchronous read-aheads
+ boost::mutex read_ahead_mutex_;
+
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
void
pcl::PCDGrabberBase::PCDGrabberImpl::trigger ()
{
+ boost::mutex::scoped_lock read_ahead_lock(read_ahead_mutex_);
if (valid_)
grabber_.publish (next_cloud_,origin_,orientation_);
// (we really ought to check this in the compressor and copy the original data in those cases)
if (data_size < compressed_size || uncompressed_size < compressed_size)
{
- PCL_DEBUG ("[pcl::PCDReader::read] Allocated data size (%zu) or uncompressed size (%zu) smaller than compressed size (%u). Need to remap.\n", data_size, uncompressed_size, compressed_size);
+ PCL_DEBUG ("[pcl::PCDReader::read] Allocated data size (%lu) or uncompressed size (%lu) smaller than compressed size (%u). Need to remap.\n", data_size, uncompressed_size, compressed_size);
#ifdef _WIN32
UnmapViewOfFile (map);
data_size = compressed_size + data_idx + 8;
boost::bind (&pcl::PLYReader::vertexBeginCallback, this),
boost::bind (&pcl::PLYReader::vertexEndCallback, this)));
}
- // else if (element_name == "face")
- // {
- // return (boost::tuple<boost::function<void ()>, boost::function<void ()> > (
- // boost::bind (&pcl::PLYReader::faceBegin, this),
- // boost::bind (&pcl::PLYReader::faceEnd, this)));
- // }
+ else if ((element_name == "face") && polygons_)
+ {
+ polygons_->reserve (count);
+ return (boost::tuple<boost::function<void ()>, boost::function<void ()> > (
+ boost::bind (&pcl::PLYReader::faceBeginCallback, this),
+ boost::bind (&pcl::PLYReader::faceEndCallback, this)));
+ }
else if (element_name == "camera")
{
cloud_->is_dense = true;
}
else if (element_name == "range_grid")
{
- (*range_grid_).resize (count);
- range_count_ = 0;
+ range_grid_->reserve (count);
return (boost::tuple<boost::function<void ()>, boost::function<void ()> > (
boost::bind (&pcl::PLYReader::rangeGridBeginCallback, this),
boost::bind (&pcl::PLYReader::rangeGridEndCallback, this)));
return (cloud_->data.size () == cloud_->point_step * cloud_->width * cloud_->height);
}
-void
-pcl::PLYReader::appendFloatProperty (const std::string& name, const size_t& size)
+template<typename Scalar> void
+pcl::PLYReader::appendScalarProperty (const std::string& name, const size_t& size)
{
cloud_->fields.push_back (::pcl::PCLPointField ());
::pcl::PCLPointField ¤t_field = cloud_->fields.back ();
current_field.name = name;
current_field.offset = cloud_->point_step;
- current_field.datatype = ::pcl::PCLPointField::FLOAT32;
+ current_field.datatype = pcl::traits::asEnum<Scalar>::value;
current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (::pcl::PCLPointField::FLOAT32) * size);
+ cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::traits::asEnum<Scalar>::value) * size);
}
void
finder->datatype = new_datatype;
}
-void
-pcl::PLYReader::appendUnsignedIntProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (::pcl::PCLPointField ());
- ::pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = ::pcl::PCLPointField::UINT32;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (::pcl::PCLPointField::UINT32) * size);
-}
-
-void
-pcl::PLYReader::appendIntProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (pcl::PCLPointField ());
- pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = pcl::PCLPointField::INT32;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::PCLPointField::INT32) * size);
-}
-
-void
-pcl::PLYReader::appendDoubleProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (pcl::PCLPointField ());
- pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = pcl::PCLPointField::FLOAT64;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::PCLPointField::FLOAT64) * size);
-}
-
-void
-pcl::PLYReader::appendUnsignedCharProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (pcl::PCLPointField ());
- pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = pcl::PCLPointField::UINT8;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::PCLPointField::UINT8) * size);
-}
-
-void
-pcl::PLYReader::appendCharProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (pcl::PCLPointField ());
- pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = pcl::PCLPointField::INT8;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::PCLPointField::INT8) * size);
-}
-
-void
-pcl::PLYReader::appendUnsignedShortProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (pcl::PCLPointField ());
- pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = pcl::PCLPointField::UINT16;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::PCLPointField::UINT16) * size);
-}
-
-void
-pcl::PLYReader::appendShortProperty (const std::string& name, const size_t& size)
-{
- cloud_->fields.push_back (pcl::PCLPointField ());
- pcl::PCLPointField ¤t_field = cloud_->fields.back ();
- current_field.name = name;
- current_field.offset = cloud_->point_step;
- current_field.datatype = pcl::PCLPointField::INT16;
- current_field.count = static_cast<uint32_t> (size);
- cloud_->point_step += static_cast<uint32_t> (pcl::getFieldSize (pcl::PCLPointField::INT16) * size);
-}
-
namespace pcl
{
template <>
{
if (element_name == "vertex")
{
- appendFloatProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexFloatPropertyCallback, this, _1));
+ appendScalarProperty<pcl::io::ply::float32> (property_name, 1);
+ return (boost::bind (&pcl::PLYReader::vertexScalarPropertyCallback<pcl::io::ply::float32>, this, _1));
}
else if (element_name == "camera")
{
(property_name == "diffuse_red") || (property_name == "diffuse_green") || (property_name == "diffuse_blue"))
{
if ((property_name == "red") || (property_name == "diffuse_red"))
- appendFloatProperty ("rgb");
+ appendScalarProperty<pcl::io::ply::float32> ("rgb");
return boost::bind (&pcl::PLYReader::vertexColorCallback, this, property_name, _1);
}
else if (property_name == "alpha")
}
else if (property_name == "intensity")
{
- appendFloatProperty (property_name);
+ appendScalarProperty<pcl::io::ply::float32> (property_name);
return boost::bind (&pcl::PLYReader::vertexIntensityCallback, this, _1);
}
else
{
- appendUnsignedCharProperty (property_name);
- return boost::bind (&pcl::PLYReader::vertexUnsignedCharPropertyCallback, this, _1);
+ appendScalarProperty<pcl::io::ply::uint8> (property_name);
+ return boost::bind (&pcl::PLYReader::vertexScalarPropertyCallback<pcl::io::ply::uint8>, this, _1);
}
}
else
{
if (element_name == "vertex")
{
- appendIntProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexIntPropertyCallback, this, _1));
+ appendScalarProperty<pcl::io::ply::int32> (property_name, 1);
+ return (boost::bind (&pcl::PLYReader::vertexScalarPropertyCallback<pcl::io::ply::int32>, this, _1));
}
if (element_name == "camera")
{
return boost::bind (&pcl::PLYReader::cloudHeightCallback, this, _1);
}
else
- {
- appendIntProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexIntPropertyCallback, this, _1));
- }
+ return (0);
}
else
return (0);
}
- template <> boost::function<void (pcl::io::ply::uint32)>
- PLYReader::scalarPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name)
- {
- if (element_name == "vertex")
- {
- appendUnsignedIntProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexUnsignedIntPropertyCallback, this, _1));
- }
- return (0);
- }
-
- template <> boost::function<void (pcl::io::ply::float64)>
- PLYReader::scalarPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name)
- {
- if (element_name == "vertex")
- {
- appendDoubleProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexDoublePropertyCallback, this, _1));
- }
- return (0);
- }
-
- template <> boost::function<void (pcl::io::ply::uint16)>
- PLYReader::scalarPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name)
- {
- if (element_name == "vertex")
- {
- appendUnsignedShortProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexUnsignedShortPropertyCallback, this, _1));
- }
- return (0);
- }
-
- template <> boost::function<void (pcl::io::ply::int16)>
+ template <typename Scalar> boost::function<void (Scalar)>
PLYReader::scalarPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name)
{
if (element_name == "vertex")
{
- appendShortProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexShortPropertyCallback, this, _1));
+ appendScalarProperty<Scalar> (property_name, 1);
+ return (boost::bind (&pcl::PLYReader::vertexScalarPropertyCallback<Scalar>, this, _1));
}
return (0);
}
-
- template <> boost::function<void (pcl::io::ply::int8)>
- PLYReader::scalarPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name)
+ template<typename Scalar> void
+ PLYReader::vertexScalarPropertyCallback (Scalar value)
{
- if (element_name == "vertex")
- {
- appendCharProperty (property_name, 1);
- return (boost::bind (&pcl::PLYReader::vertexCharPropertyCallback, this, _1));
- }
- return (0);
+ memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
+ &value,
+ sizeof (Scalar));
+ vertex_offset_before_ += static_cast<int> (sizeof (Scalar));
}
template <typename SizeType> void
boost::tuple<boost::function<void (pcl::io::ply::uint8)>, boost::function<void (pcl::io::ply::int32)>, boost::function<void ()> >
pcl::PLYReader::listPropertyDefinitionCallback (const std::string& element_name, const std::string& property_name)
{
- if ((element_name == "range_grid") && (property_name == "vertex_indices"))
+ if ((element_name == "range_grid") && (property_name == "vertex_indices") && polygons_)
{
return boost::tuple<boost::function<void (pcl::io::ply::uint8)>, boost::function<void (pcl::io::ply::int32)>, boost::function<void ()> > (
boost::bind (&pcl::PLYReader::rangeGridVertexIndicesBeginCallback, this, _1),
boost::bind (&pcl::PLYReader::rangeGridVertexIndicesEndCallback, this)
);
}
+ else if ((element_name == "face") && (property_name == "vertex_indices"))
+ {
+ return boost::tuple<boost::function<void (pcl::io::ply::uint8)>, boost::function<void (pcl::io::ply::int32)>, boost::function<void ()> > (
+ boost::bind (&pcl::PLYReader::faceVertexIndicesBeginCallback, this, _1),
+ boost::bind (&pcl::PLYReader::faceVertexIndicesElementCallback, this, _1),
+ boost::bind (&pcl::PLYReader::faceVertexIndicesEndCallback, this)
+ );
+ }
else if (element_name == "vertex")
{
cloud_->fields.push_back (pcl::PCLPointField ());
return boost::tuple<boost::function<void (SizeType)>, boost::function<void (ContentType)>, boost::function<void ()> > (0, 0, 0);
}
}
-
-}
-
-void
-pcl::PLYReader::vertexFloatPropertyCallback (pcl::io::ply::float32 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::float32));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::float32));
-}
-
-void
-pcl::PLYReader::vertexDoublePropertyCallback (pcl::io::ply::float64 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::float64));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::float64));
-}
-
-void
-pcl::PLYReader::vertexUnsignedIntPropertyCallback (pcl::io::ply::uint32 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::uint32));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::uint32));
-}
-
-void
-pcl::PLYReader::vertexIntPropertyCallback (pcl::io::ply::int32 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::int32));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::int32));
-}
-
-void
-pcl::PLYReader::vertexUnsignedShortPropertyCallback (pcl::io::ply::uint16 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::uint16));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::uint16));
-}
-
-void
-pcl::PLYReader::vertexShortPropertyCallback (pcl::io::ply::int16 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::int16));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::int16));
-}
-
-void
-pcl::PLYReader::vertexUnsignedCharPropertyCallback (pcl::io::ply::uint8 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::uint8));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::uint8));
-}
-
-void
-pcl::PLYReader::vertexCharPropertyCallback (pcl::io::ply::int8 value)
-{
- memcpy (&cloud_->data[vertex_count_ * cloud_->point_step + vertex_offset_before_],
- &value,
- sizeof (pcl::io::ply::int8));
- vertex_offset_before_ += static_cast<int> (sizeof (pcl::io::ply::int8));
}
void
}
void
-pcl::PLYReader::rangeGridBeginCallback () { }
+pcl::PLYReader::rangeGridBeginCallback ()
+{
+ range_grid_->push_back (std::vector <int> ());
+}
void
pcl::PLYReader::rangeGridVertexIndicesBeginCallback (pcl::io::ply::uint8 size)
{
- (*range_grid_)[range_count_].reserve (size);
+ range_grid_->back ().reserve (size);
}
-void pcl::PLYReader::rangeGridVertexIndicesElementCallback (pcl::io::ply::int32 vertex_index)
+void
+pcl::PLYReader::rangeGridVertexIndicesElementCallback (pcl::io::ply::int32 vertex_index)
+{
+ range_grid_->back ().push_back (vertex_index);
+}
+
+void
+pcl::PLYReader::rangeGridVertexIndicesEndCallback () {}
+
+void
+pcl::PLYReader::rangeGridEndCallback () {}
+
+void
+pcl::PLYReader::faceBeginCallback ()
{
- (*range_grid_)[range_count_].push_back (vertex_index);
+ polygons_->push_back (pcl::Vertices ());
}
void
-pcl::PLYReader::rangeGridVertexIndicesEndCallback () { }
+pcl::PLYReader::faceVertexIndicesBeginCallback (pcl::io::ply::uint8 size)
+{
+ polygons_->back ().vertices.reserve (size);
+}
void
-pcl::PLYReader::rangeGridEndCallback ()
+pcl::PLYReader::faceVertexIndicesElementCallback (pcl::io::ply::int32 vertex_index)
{
- ++range_count_;
+ polygons_->back ().vertices.push_back (vertex_index);
}
+void
+pcl::PLYReader::faceVertexIndicesEndCallback () { }
+
+void
+pcl::PLYReader::faceEndCallback () {}
+
void
pcl::PLYReader::objInfoCallback (const std::string& line)
{
ply_parser.end_header_callback (boost::bind (&pcl::PLYReader::endHeaderCallback, this));
pcl::io::ply::ply_parser::scalar_property_definition_callbacks_type scalar_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::float64> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::float64>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::float32> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::float32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::int8> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::int8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::uint8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::int32> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::int32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::uint32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::int16> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::int16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::uint16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::float64> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::float64>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::float32> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::int8> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::int8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::uint8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::int32> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::uint32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::int16> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::int16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16> (scalar_property_definition_callbacks) = boost::bind (&pcl::PLYReader::scalarPropertyDefinitionCallback<pcl::io::ply::uint16>, this, _1, _2);
ply_parser.scalar_property_definition_callbacks (scalar_property_definition_callbacks);
pcl::io::ply::ply_parser::list_property_definition_callbacks_type list_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
-
pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::float64> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::float64>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::float32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::float32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::uint32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::uint32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::int32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::uint16> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::uint16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::int16> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::int16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::uint8> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::uint8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::int8> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::int8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
+
pcl::io::ply::ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::float64> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::float64>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::float32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::uint32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::uint32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::uint16> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::uint16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::int16> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::int16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::uint8> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::uint8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::int8> (list_property_definition_callbacks) = boost::bind (&pcl::PLYReader::listPropertyDefinitionCallback<pcl::io::ply::uint32, pcl::io::ply::int8>, this, _1, _2);
ply_parser.list_property_definition_callbacks (list_property_definition_callbacks);
return ply_parser.parse (istream_filename);
////////////////////////////////////////////////////////////////////////////////////////
int
pcl::PLYReader::readHeader (const std::string &file_name, pcl::PCLPointCloud2 &cloud,
- Eigen::Vector4f &, Eigen::Quaternionf &,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
int &, int &, unsigned int &, const int)
{
// Silence compiler warnings
cloud_ = &cloud;
range_grid_ = new std::vector<std::vector<int> >;
cloud_->width = cloud_->height = 0;
+ origin = Eigen::Vector4f::Zero ();
+ orientation = Eigen::Quaternionf::Identity ();
if (!parse (file_name))
{
PCL_ERROR ("[pcl::PLYReader::read] problem parsing header!\n");
cloud_->data.swap (data);
}
- orientation = Eigen::Quaternionf (orientation_);
- origin = origin_;
+ orientation_ = Eigen::Quaternionf (orientation);
+ origin_ = origin;
for (size_t i = 0; i < cloud_->fields.size (); ++i)
{
}
////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::PLYReader::read (const std::string &file_name, pcl::PolygonMesh &mesh,
+ Eigen::Vector4f &origin, Eigen::Quaternionf &orientation,
+ int &ply_version, const int offset)
+{
+ // kept only for backward compatibility
+ int data_type;
+ unsigned int data_idx;
+ polygons_ = &(mesh.polygons);
+ if (this->readHeader (file_name, mesh.cloud, origin, orientation, ply_version, data_type, data_idx, offset))
+ {
+ PCL_ERROR ("[pcl::PLYReader::read] problem parsing header!\n");
+ return (-1);
+ }
+
+ // a range_grid element was found ?
+ size_t r_size;
+ if ((r_size = (*range_grid_).size ()) > 0 && r_size != vertex_count_)
+ {
+ //cloud.header = cloud_->header;
+ std::vector<pcl::uint8_t> data ((*range_grid_).size () * mesh.cloud.point_step);
+ const static float f_nan = std::numeric_limits <float>::quiet_NaN ();
+ const static double d_nan = std::numeric_limits <double>::quiet_NaN ();
+ for (size_t r = 0; r < r_size; ++r)
+ {
+ if ((*range_grid_)[r].size () == 0)
+ {
+ for (size_t f = 0; f < cloud_->fields.size (); ++f)
+ if (cloud_->fields[f].datatype == ::pcl::PCLPointField::FLOAT32)
+ memcpy (&data[r * cloud_->point_step + cloud_->fields[f].offset],
+ reinterpret_cast<const char*> (&f_nan), sizeof (float));
+ else if (cloud_->fields[f].datatype == ::pcl::PCLPointField::FLOAT64)
+ memcpy (&data[r * cloud_->point_step + cloud_->fields[f].offset],
+ reinterpret_cast<const char*> (&d_nan), sizeof (double));
+ else
+ memset (&data[r * cloud_->point_step + cloud_->fields[f].offset], 0,
+ pcl::getFieldSize (cloud_->fields[f].datatype) * cloud_->fields[f].count);
+ }
+ else
+ memcpy (&data[r* cloud_->point_step], &cloud_->data[(*range_grid_)[r][0] * cloud_->point_step], cloud_->point_step);
+ }
+ cloud_->data.swap (data);
+ }
+
+ orientation_ = Eigen::Quaternionf (orientation);
+ origin_ = origin;
+
+ for (size_t i = 0; i < cloud_->fields.size (); ++i)
+ {
+ if (cloud_->fields[i].name == "nx")
+ cloud_->fields[i].name = "normal_x";
+ if (cloud_->fields[i].name == "ny")
+ cloud_->fields[i].name = "normal_y";
+ if (cloud_->fields[i].name == "nz")
+ cloud_->fields[i].name = "normal_z";
+ }
+ return (0);
+}
+////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::PLYReader::read (const std::string &file_name, pcl::PolygonMesh &mesh, const int offset)
+{
+ Eigen::Vector4f origin;
+ Eigen::Quaternionf orientation;
+ int ply_version;
+ return read (file_name, mesh, origin, orientation, ply_version, offset);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////
std::string
pcl::PLYWriter::generateHeader (const pcl::PCLPointCloud2 &cloud,
const Eigen::Vector4f &origin,
}
// Faces
fs << "\nelement face "<< nr_faces;
- fs << "\nproperty list uchar int vertex_index";
+ fs << "\nproperty list uchar int vertex_indices";
fs << "\nend_header\n";
// Write down vertices
}
// Faces
fs << "\nelement face "<< nr_faces;
- fs << "\nproperty list uchar int vertex_index";
+ fs << "\nproperty list uchar int vertex_indices";
fs << "\nend_header\n";
// Close the file
flipAndWritePng(file_name, importer);
}
+
+void
+pcl::io::saveRgbPNGFile (const std::string& file_name, const unsigned char *rgb_image, int width, int height)
+{
+ saveCharPNGFile(file_name, rgb_image, width, height, 3);
+}
+
+void
+pcl::io::savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned char>& cloud)
+{
+ saveCharPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
+}
+
+void
+pcl::io::savePNGFile (const std::string& file_name, const pcl::PointCloud<unsigned short>& cloud)
+{
+ saveShortPNGFile(file_name, &cloud.points[0], cloud.width, cloud.height, 1);
+}
+
+void
+pcl::io::savePNGFile (const std::string& file_name, const pcl::PCLImage& image)
+{
+ if (image.encoding == "rgb8")
+ {
+ saveRgbPNGFile(file_name, &image.data[0], image.width, image.height);
+ }
+ else if (image.encoding == "mono8")
+ {
+ saveCharPNGFile(file_name, &image.data[0], image.width, image.height, 1);
+ }
+ else if (image.encoding == "mono16")
+ {
+ saveShortPNGFile(file_name, reinterpret_cast<const unsigned short*>(&image.data[0]), image.width, image.height, 1);
+ }
+ else
+ {
+ PCL_ERROR ("[pcl::io::savePNGFile] Unsupported image encoding \"%s\".\n", image.encoding.c_str ());
+ }
+}
+
+void
+pcl::io::savePNGFile (const std::string& file_name, const pcl::PointCloud<pcl::PointXYZL>& cloud)
+{
+ std::vector<unsigned short> data(cloud.width * cloud.height);
+ for (size_t i = 0; i < cloud.points.size (); ++i)
+ {
+ data[i] = static_cast<unsigned short> (cloud.points[i].label);
+ }
+ saveShortPNGFile(file_name, &data[0], cloud.width, cloud.height,1);
+}
+
const size_t bytesPerPoint = 8;
const size_t totalPoints = length / bytesPerPoint;
- for (int i = 0; i < totalPoints; ++i)
+ for (size_t i = 0; i < totalPoints; ++i)
{
PointXYZI xyzi;
computeXYZI (xyzi, dataPacket + i*bytesPerPoint);
#include <pcl/io/vtk_lib_io.h>
#include <pcl/io/impl/vtk_lib_io.hpp>
#include <pcl/PCLPointCloud2.h>
+#include <vtkVersion.h>
#include <vtkCellArray.h>
#include <vtkCellData.h>
#include <vtkDoubleArray.h>
// TODO: what about sensor position and orientation?!?!?!?
// TODO: how to adequately catch exceptions thrown by the vtk writers?!
std::string extension = file_name.substr (file_name.find_last_of (".") + 1);
- if (extension == ".pcd") // no Polygon, but only a point cloud
+ if (extension == "pcd") // no Polygon, but only a point cloud
{
int error_code = pcl::io::savePCDFile (file_name, mesh.cloud);
if (error_code != 0)
return (0);
return (static_cast<int> (mesh.cloud.width * mesh.cloud.height));
}
- else if (extension == ".vtk")
+ else if (extension == "vtk")
return (pcl::io::savePolygonFileVTK (file_name, mesh));
- else if (extension == ".ply")
+ else if (extension == "ply")
return (pcl::io::savePolygonFilePLY (file_name, mesh));
- else if (extension == ".stl" )
+ else if (extension == "stl" )
return (pcl::io::savePolygonFileSTL (file_name, mesh));
else
{
pcl::io::mesh2vtk (mesh, poly_data);
vtkSmartPointer<vtkPolyDataWriter> poly_writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
poly_writer->SetInput (poly_data);
+#else
+ poly_writer->SetInputData (poly_data);
+#endif
poly_writer->SetFileName (file_name.c_str ());
poly_writer->Write ();
pcl::io::mesh2vtk (mesh, poly_data);
vtkSmartPointer<vtkPLYWriter> poly_writer = vtkSmartPointer<vtkPLYWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
poly_writer->SetInput (poly_data);
+#else
+ poly_writer->SetInputData (poly_data);
+#endif
poly_writer->SetFileName (file_name.c_str ());
poly_writer->SetArrayName ("Colors");
poly_writer->Write ();
vtkSmartPointer<vtkPolyData> poly_data = vtkSmartPointer<vtkPolyData>::New ();
pcl::io::mesh2vtk (mesh, poly_data);
- poly_data->Update ();
vtkSmartPointer<vtkSTLWriter> poly_writer = vtkSmartPointer<vtkSTLWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
poly_writer->SetInput (poly_data);
+#else
+ poly_writer->SetInputData (poly_data);
+#endif
poly_writer->SetFileName (file_name.c_str ());
poly_writer->Write ();
{
vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New();
image->SetDimensions(range_image.width, range_image.height, 1);
+#if VTK_MAJOR_VERSION < 6
image->SetNumberOfScalarComponents(1);
image->SetScalarTypeToFloat();
image->AllocateScalars();
+#else
+ image->AllocateScalars (VTK_FLOAT, 1);
+#endif
int* dims = image->GetDimensions();
vtkSmartPointer<vtkImageShiftScale> shiftScaleFilter = vtkSmartPointer<vtkImageShiftScale>::New();
shiftScaleFilter->SetOutputScalarTypeToUnsignedChar();
+#if VTK_MAJOR_VERSION < 6
shiftScaleFilter->SetInputConnection(image->GetProducerPort());
+#else
+ shiftScaleFilter->SetInputData (image);
+#endif
shiftScaleFilter->SetShift(-1.0f * image->GetScalarRange()[0]); // brings the lower bound to 0
shiftScaleFilter->SetScale(newRange/oldRange);
shiftScaleFilter->Update();
size_t
getTotalSystemMemory ()
{
+ uint64_t memory = std::numeric_limits<size_t>::max ();
+
+#ifdef _SC_AVPHYS_PAGES
uint64_t pages = sysconf (_SC_AVPHYS_PAGES);
uint64_t page_size = sysconf (_SC_PAGE_SIZE);
- print_info ("Total available memory size: %lluMB.\n", (pages * page_size) / 1048576);
- if (pages * page_size > uint64_t (std::numeric_limits<size_t>::max ()))
+
+ memory = pages * page_size;
+
+#elif defined(HAVE_SYSCTL) && defined(HW_PHYSMEM)
+ // This works on *bsd and darwin.
+ unsigned int physmem;
+ size_t len = sizeof physmem;
+ static int mib[2] = { CTL_HW, HW_PHYSMEM };
+
+ if (sysctl (mib, ARRAY_SIZE (mib), &physmem, &len, NULL, 0) == 0 && len == sizeof (physmem))
{
- return std::numeric_limits<size_t>::max ();
+ memory = physmem;
}
- else
+#endif
+
+ if (memory > uint64_t (std::numeric_limits<size_t>::max ()))
{
- return size_t (pages * page_size);
+ memory = std::numeric_limits<size_t>::max ();
}
+
+ print_info ("Total available memory size: %lluMB.\n", memory / 1048576ull);
+ return size_t (memory);
}
-const int BUFFER_SIZE = int (getTotalSystemMemory () / (640 * 480));
+const size_t BUFFER_SIZE = size_t (getTotalSystemMemory () / (640 * 480 * sizeof (pcl::PointXYZRGBA)));
#else
-const int BUFFER_SIZE = 200;
+const size_t BUFFER_SIZE = 200;
#endif
//////////////////////////////////////////////////////////////////////////////////////////
private:
PCDBuffer (const PCDBuffer&); // Disabled copy constructor
- PCDBuffer& operator =(const PCDBuffer&); // Disabled assignment operator
+ PCDBuffer& operator = (const PCDBuffer&); // Disabled assignment operator
boost::mutex bmutex_;
boost::condition_variable buff_empty_;
}
//////////////////////////////////////////////////////////////////////////////////////////
-int
+void
+printHelp (int default_buff_size, int, char **argv)
+{
+ using pcl::console::print_error;
+ using pcl::console::print_info;
+
+ print_error ("Syntax is: %s ((<device_id> | <path-to-oni-file>) [-xyz] [-shift] [-buf X] | -l [<device_id>] | -h | --help)]\n", argv [0]);
+ print_info ("%s -h | --help : shows this help\n", argv [0]);
+ print_info ("%s -xyz : save only XYZ data, even if the device is RGB capable\n", argv [0]);
+ print_info ("%s -shift : use OpenNI shift values rather than 12-bit depth\n", argv [0]);
+ print_info ("%s -buf X ; use a buffer size of X frames (default: ", argv [0]);
+ print_value ("%d", default_buff_size); print_info (")\n");
+ print_info ("%s -l : list all available devices\n", argv [0]);
+ print_info ("%s -l <device-id> :list all available modes for specified device\n", argv [0]);
+ print_info ("\t\t<device_id> may be \"#1\", \"#2\", ... for the first, second etc device in the list\n");
+#ifndef _WIN32
+ print_info ("\t\t bus@address for the device connected to a specific usb-bus / address combination\n");
+ print_info ("\t\t <serial-number>\n");
+#endif
+ print_info ("\n\nexamples:\n");
+ print_info ("%s \"#1\"\n", argv [0]);
+ print_info ("\t\t uses the first device.\n");
+ print_info ("%s \"./temp/test.oni\"\n", argv [0]);
+ print_info ("\t\t uses the oni-player device to play back oni file given by path.\n");
+ print_info ("%s -l\n", argv [0]);
+ print_info ("\t\t list all available devices.\n");
+ print_info ("%s -l \"#2\"\n", argv [0]);
+ print_info ("\t\t list all available modes for the second device.\n");
+ #ifndef _WIN32
+ print_info ("%s A00361800903049A\n", argv [0]);
+ print_info ("\t\t uses the device with the serial number \'A00361800903049A\'.\n");
+ print_info ("%s 1@16\n", argv [0]);
+ print_info ("\t\t uses the device on address 16 at USB bus 1.\n");
+ #endif
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+int
main (int argc, char** argv)
{
print_highlight ("PCL OpenNI Recorder for saving buffered PCD (binary compressed to disk). See %s -h for options.\n", argv[0]);
+ std::string device_id ("");
int buff_size = BUFFER_SIZE;
-
- if (find_switch (argc, argv, "-h") || find_switch (argc, argv, "--help"))
+
+ if (argc >= 2)
{
- print_info ("Options are: \n"
- " -xyz = save only XYZ data, even if the device is RGB capable\n"
- " -shift = use OpenNI shift values rather than 12-bit depth\n"
- " -buf X = use a buffer size of X frames (default: ");
- print_value ("%d", buff_size); print_info (")\n");
- return (0);
- }
+ device_id = argv[1];
+ if (device_id == "--help" || device_id == "-h")
+ {
+ printHelp (buff_size, argc, argv);
+ return 0;
+ }
+ else if (device_id == "-l")
+ {
+ if (argc >= 3)
+ {
+ pcl::OpenNIGrabber grabber (argv[2]);
+ boost::shared_ptr<openni_wrapper::OpenNIDevice> device = grabber.getDevice ();
+ cout << "Supported depth modes for device: " << device->getVendorName () << " , " << device->getProductName () << endl;
+ std::vector<std::pair<int, XnMapOutputMode > > modes = grabber.getAvailableDepthModes ();
+ for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin (); it != modes.end (); ++it)
+ {
+ cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
+ }
+
+ if (device->hasImageStream ())
+ {
+ cout << endl << "Supported image modes for device: " << device->getVendorName () << " , " << device->getProductName () << endl;
+ modes = grabber.getAvailableImageModes ();
+ for (std::vector<std::pair<int, XnMapOutputMode > >::const_iterator it = modes.begin (); it != modes.end (); ++it)
+ {
+ cout << it->first << " = " << it->second.nXRes << " x " << it->second.nYRes << " @ " << it->second.nFPS << endl;
+ }
+ }
+ }
+ else
+ {
+ openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
+ if (driver.getNumberDevices() > 0)
+ {
+ for (unsigned deviceIdx = 0; deviceIdx < driver.getNumberDevices (); ++deviceIdx)
+ {
+ cout << "Device: " << deviceIdx + 1 << ", vendor: " << driver.getVendorName (deviceIdx) << ", product: " << driver.getProductName (deviceIdx)
+ << ", connected: " << driver.getBus(deviceIdx) << " @ " << driver.getAddress (deviceIdx) << ", serial number: \'" << driver.getSerialNumber (deviceIdx) << "\'" << endl;
+ }
+
+ }
+ else
+ cout << "No devices connected." << endl;
+ cout <<"Virtual Devices available: ONI player" << endl;
+ }
+ return 0;
+ }
+ }
+ else
+ {
+ openni_wrapper::OpenNIDriver& driver = openni_wrapper::OpenNIDriver::getInstance ();
+ if (driver.getNumberDevices () > 0)
+ cout << "Device Id not set, using first device." << endl;
+ }
bool just_xyz = find_switch (argc, argv, "-xyz");
openni_wrapper::OpenNIDevice::DepthMode depth_mode = openni_wrapper::OpenNIDevice::OpenNI_12_bit_depth;
else
print_highlight ("Using default buffer size of %d frames.\n", buff_size);
- print_highlight ("Starting the producer and consumer threads... Press Cltr+C to end\n");
+ print_highlight ("Starting the producer and consumer threads... Press Ctrl+C to end\n");
- OpenNIGrabber grabber ("");
+ OpenNIGrabber grabber (device_id);
if (grabber.providesCallback<OpenNIGrabber::sig_cb_openni_point_cloud_rgba> () &&
!just_xyz)
{
ply_parser.element_definition_callback (boost::bind (&ply_to_obj_converter::element_definition_callback, this, _1, _2));
pcl::io::ply::ply_parser::scalar_property_definition_callbacks_type scalar_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::float32> (scalar_property_definition_callbacks) = boost::bind (&ply_to_obj_converter::scalar_property_definition_callback<pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::float32> (scalar_property_definition_callbacks) = boost::bind (&ply_to_obj_converter::scalar_property_definition_callback<pcl::io::ply::float32>, this, _1, _2);
ply_parser.scalar_property_definition_callbacks (scalar_property_definition_callbacks);
pcl::io::ply::ply_parser::list_property_definition_callbacks_type list_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&ply_to_obj_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&ply_to_obj_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
ply_parser.list_property_definition_callbacks (list_property_definition_callbacks);
ostream_ = &ostream;
pcl::io::ply::ply_parser::scalar_property_definition_callbacks_type scalar_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::int8>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::int8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::int16>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::int16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::int32>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::int32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::uint8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::uint16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::uint32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::float32>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::float32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::float64>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::float64>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::int8>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::int8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::int16>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::int16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::int32>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::uint8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::uint16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::uint32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::float32>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::float64>(scalar_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::scalar_property_definition_callback<pcl::io::ply::float64>, this, _1, _2);
ply_parser.scalar_property_definition_callbacks(scalar_property_definition_callbacks);
pcl::io::ply::ply_parser::list_property_definition_callbacks_type list_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::int8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::int16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::int32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::uint8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::uint8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::uint16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::uint16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::uint32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::uint32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::float32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::float32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::float64>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::float64>, this, _1, _2);
-
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::int8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::int8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::int16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::int16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::int32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::int32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::uint8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::uint8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::uint16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::uint16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::uint32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::uint32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::float32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::float32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint16, pcl::io::ply::float64>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::float64>, this, _1, _2);
-
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::int8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::int8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::int16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::int16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::int32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::int32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::uint8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::uint8>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::uint16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::uint16>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::uint32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::uint32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::float32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::float32>, this, _1, _2);
- pcl::io::ply::at<pcl::io::ply::uint32, pcl::io::ply::float64>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::float64>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::int8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::int16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::int32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::uint8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::uint8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::uint16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::uint16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::uint32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::uint32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::float32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::float64>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::float64>, this, _1, _2);
+
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::int8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::int8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::int16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::int16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::int32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::uint8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::uint8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::uint16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::uint16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::uint32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::uint32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::float32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint16, pcl::io::ply::float64>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint16, pcl::io::ply::float64>, this, _1, _2);
+
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::int8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::int8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::int16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::int16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::int32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::uint8>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::uint8>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::uint16>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::uint16>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::uint32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::uint32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::float32>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint32, pcl::io::ply::float64>(list_property_definition_callbacks) = boost::bind(&ply_to_ply_converter::list_property_definition_callback<pcl::io::ply::uint32, pcl::io::ply::float64>, this, _1, _2);
ply_parser.list_property_definition_callbacks(list_property_definition_callbacks);
ply_parser.element_definition_callback (boost::bind (&ply_to_raw_converter::element_definition_callback, this, _1, _2));
pcl::io::ply::ply_parser::scalar_property_definition_callbacks_type scalar_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::float32> (scalar_property_definition_callbacks) = boost::bind (&ply_to_raw_converter::scalar_property_definition_callback<pcl::io::ply::float32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::float32> (scalar_property_definition_callbacks) = boost::bind (&ply_to_raw_converter::scalar_property_definition_callback<pcl::io::ply::float32>, this, _1, _2);
ply_parser.scalar_property_definition_callbacks (scalar_property_definition_callbacks);
pcl::io::ply::ply_parser::list_property_definition_callbacks_type list_property_definition_callbacks;
- pcl::io::ply::at<pcl::io::ply::uint8, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&ply_to_raw_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
+ pcl::io::ply::
ply_parser::at<pcl::io::ply::uint8, pcl::io::ply::int32> (list_property_definition_callbacks) = boost::bind (&ply_to_raw_converter::list_property_definition_callback<pcl::io::ply::uint8, pcl::io::ply::int32>, this, _1, _2);
ply_parser.list_property_definition_callbacks (list_property_definition_callbacks);
ostream_ = &ostream;
set(SUBSYS_DEPS common)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
)
set(incs
- include/pcl/${SUBSYS_NAME}/kdtree.h
- include/pcl/${SUBSYS_NAME}/io.h
- include/pcl/${SUBSYS_NAME}/flann.h
- include/pcl/${SUBSYS_NAME}/kdtree_flann.h
+ "include/pcl/${SUBSYS_NAME}/kdtree.h"
+ "include/pcl/${SUBSYS_NAME}/io.h"
+ "include/pcl/${SUBSYS_NAME}/flann.h"
+ "include/pcl/${SUBSYS_NAME}/kdtree_flann.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/io.hpp
- include/pcl/${SUBSYS_NAME}/impl/kdtree_flann.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/io.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/kdtree_flann.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_common ${FLANN_LIBRARIES})
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common ${FLANN_LIBRARIES})
set(EXT_DEPS flann)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename Point1T, typename Point2T> void
pcl::getApproximateIndices (
- const typename pcl::PointCloud<Point1T>::Ptr &cloud_in,
- const typename pcl::PointCloud<Point2T>::Ptr &cloud_ref,
+ const typename pcl::PointCloud<Point1T>::ConstPtr &cloud_in,
+ const typename pcl::PointCloud<Point2T>::ConstPtr &cloud_ref,
std::vector<int> &indices)
{
pcl::KdTreeFLANN<Point2T> tree;
indices.resize (cloud_in->points.size ());
for (size_t i = 0; i < cloud_in->points.size (); ++i)
{
- tree.nearestKSearch (*cloud_in, i, 1, nn_idx, nn_dists);
+ tree.nearestKSearchT ((*cloud_in)[i], 1, nn_idx, nn_dists);
indices[i] = nn_idx[0];
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::getApproximateIndices (
- const typename pcl::PointCloud<PointT>::Ptr &cloud_in,
- const typename pcl::PointCloud<PointT>::Ptr &cloud_ref,
+ const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
+ const typename pcl::PointCloud<PointT>::ConstPtr &cloud_ref,
std::vector<int> &indices)
{
pcl::KdTreeFLANN<PointT> tree;
template <typename PointT, typename Dist>
pcl::KdTreeFLANN<PointT, Dist>::KdTreeFLANN (bool sorted)
: pcl::KdTree<PointT> (sorted)
- , flann_index_ (), cloud_ (NULL)
+ , flann_index_ (), cloud_ ()
, index_mapping_ (), identity_mapping_ (false)
, dim_ (0), total_nr_points_ (0)
, param_k_ (::flann::SearchParams (-1 , epsilon_))
template <typename PointT, typename Dist>
pcl::KdTreeFLANN<PointT, Dist>::KdTreeFLANN (const KdTreeFLANN<PointT> &k)
: pcl::KdTree<PointT> (false)
- , flann_index_ (), cloud_ (NULL)
+ , flann_index_ (), cloud_ ()
, index_mapping_ (), identity_mapping_ (false)
, dim_ (0), total_nr_points_ (0)
, param_k_ (::flann::SearchParams (-1 , epsilon_))
return;
}
- flann_index_.reset (new FLANNIndex (::flann::Matrix<float> (cloud_,
+ flann_index_.reset (new FLANNIndex (::flann::Matrix<float> (cloud_.get (),
index_mapping_.size (),
dim_),
::flann::KDTreeSingleIndexParams (15))); // max 15 points/leaf
pcl::KdTreeFLANN<PointT, Dist>::cleanup ()
{
// Data array cleanup
- if (cloud_)
- {
- free (cloud_);
- cloud_ = NULL;
- }
index_mapping_.clear ();
if (indices_)
// No point in doing anything if the array is empty
if (cloud.points.empty ())
{
- cloud_ = NULL;
+ cloud_.reset ();
return;
}
int original_no_of_points = static_cast<int> (cloud.points.size ());
- cloud_ = static_cast<float*> (malloc (original_no_of_points * dim_ * sizeof (float)));
- float* cloud_ptr = cloud_;
+ cloud_.reset (new float[original_no_of_points * dim_]);
+ float* cloud_ptr = cloud_.get ();
index_mapping_.reserve (original_no_of_points);
identity_mapping_ = true;
// No point in doing anything if the array is empty
if (cloud.points.empty ())
{
- cloud_ = NULL;
+ cloud_.reset ();
return;
}
int original_no_of_points = static_cast<int> (indices.size ());
- cloud_ = static_cast<float*> (malloc (original_no_of_points * dim_ * sizeof (float)));
- float* cloud_ptr = cloud_;
+ cloud_.reset (new float[original_no_of_points * dim_]);
+ float* cloud_ptr = cloud_.get ();
index_mapping_.reserve (original_no_of_points);
// its a subcloud -> false
// true only identity:
* \param[out] indices the resultant set of nearest neighbor indices of \a cloud_in in \a cloud_ref
* \ingroup kdtree
*/
- template <typename PointT> void
- getApproximateIndices (const typename pcl::PointCloud<PointT>::Ptr &cloud_in,
- const typename pcl::PointCloud<PointT>::Ptr &cloud_ref,
+ template <typename PointT> void
+ getApproximateIndices (const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
+ const typename pcl::PointCloud<PointT>::ConstPtr &cloud_ref,
std::vector<int> &indices);
/** \brief Get a set of approximate indices for a given point cloud into a reference point cloud.
* \param[out] indices the resultant set of nearest neighbor indices of \a cloud_in in \a cloud_ref
* \ingroup kdtree
*/
- template <typename Point1T, typename Point2T> void
- getApproximateIndices (const typename pcl::PointCloud<Point1T>::Ptr &cloud_in,
- const typename pcl::PointCloud<Point2T>::Ptr &cloud_ref,
+ template <typename Point1T, typename Point2T> void
+ getApproximateIndices (const typename pcl::PointCloud<Point1T>::ConstPtr &cloud_in,
+ const typename pcl::PointCloud<Point2T>::ConstPtr &cloud_ref,
std::vector<int> &indices);
}
#include <pcl/point_cloud.h>
#include <pcl/point_representation.h>
#include <pcl/common/io.h>
+#include <pcl/common/copy_point.h>
namespace pcl
{
std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const
{
PointT p;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (point, p));
+ copyPoint (point, p);
return (nearestKSearch (p, k, k_indices, k_sqr_distances));
}
std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const
{
PointT p;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (point, p));
+ copyPoint (point, p);
return (radiusSearch (p, radius, k_indices, k_sqr_distances, max_nn));
}
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/flann.h>
+#include <boost/shared_array.hpp>
+
// Forward declarations
namespace flann
{
KdTreeFLANN (bool sorted = true);
/** \brief Copy constructor
- * \param[in] tree the tree to copy into this
+ * \param[in] k the tree to copy into this
*/
KdTreeFLANN (const KdTreeFLANN<PointT> &k);
/** \brief Copy operator
- * \param[in] tree the tree to copy into this
+ * \param[in] k the tree to copy into this
*/
inline KdTreeFLANN<PointT>&
operator = (const KdTreeFLANN<PointT>& k)
boost::shared_ptr<FLANNIndex> flann_index_;
/** \brief Internal pointer to data. */
- float* cloud_;
+ boost::shared_array<float> cloud_;
/** \brief mapping between internal and external indices. */
std::vector<int> index_mapping_;
\section secKDtreePresentation Overview
The <b>pcl_kdtree</b> library provides the kd-tree data-structure, using
- <a href="http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN">FLANN</a>,
+ <a href="http://www.cs.ubc.ca/research/flann/</a>,
that allows for fast <a href="http://en.wikipedia.org/wiki/Nearest_neighbor_search">nearest neighbor searches</a>.
A <a href="http://en.wikipedia.org/wiki/Kd-tree">Kd-tree</a> (<i>k</i>-dimensional tree) is a space-partitioning data
set(SUBSYS_DEPS common search kdtree octree features filters)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
src/iss_3d.cpp
)
set(incs
- include/pcl/${SUBSYS_NAME}/keypoint.h
- include/pcl/${SUBSYS_NAME}/narf_keypoint.h
- include/pcl/${SUBSYS_NAME}/sift_keypoint.h
- include/pcl/${SUBSYS_NAME}/uniform_sampling.h
- include/pcl/${SUBSYS_NAME}/smoothed_surfaces_keypoint.h
- include/pcl/${SUBSYS_NAME}/agast_2d.h
- include/pcl/${SUBSYS_NAME}/harris_3d.h
- include/pcl/${SUBSYS_NAME}/harris_6d.h
- include/pcl/${SUBSYS_NAME}/susan.h
- include/pcl/${SUBSYS_NAME}/iss_3d.h
+ "include/pcl/${SUBSYS_NAME}/keypoint.h"
+ "include/pcl/${SUBSYS_NAME}/narf_keypoint.h"
+ "include/pcl/${SUBSYS_NAME}/sift_keypoint.h"
+ "include/pcl/${SUBSYS_NAME}/uniform_sampling.h"
+ "include/pcl/${SUBSYS_NAME}/smoothed_surfaces_keypoint.h"
+ "include/pcl/${SUBSYS_NAME}/agast_2d.h"
+ "include/pcl/${SUBSYS_NAME}/harris_3d.h"
+ "include/pcl/${SUBSYS_NAME}/harris_6d.h"
+ "include/pcl/${SUBSYS_NAME}/susan.h"
+ "include/pcl/${SUBSYS_NAME}/iss_3d.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/keypoint.hpp
- include/pcl/${SUBSYS_NAME}/impl/sift_keypoint.hpp
- include/pcl/${SUBSYS_NAME}/impl/uniform_sampling.hpp
- include/pcl/${SUBSYS_NAME}/impl/smoothed_surfaces_keypoint.hpp
- include/pcl/${SUBSYS_NAME}/impl/agast_2d.hpp
- include/pcl/${SUBSYS_NAME}/impl/harris_3d.hpp
- include/pcl/${SUBSYS_NAME}/impl/harris_6d.hpp
- include/pcl/${SUBSYS_NAME}/impl/susan.hpp
- include/pcl/${SUBSYS_NAME}/impl/iss_3d.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/keypoint.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sift_keypoint.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/uniform_sampling.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/smoothed_surfaces_keypoint.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/agast_2d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/harris_3d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/harris_6d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/susan.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/iss_3d.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_features pcl_filters)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_features pcl_filters)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
/** \brief Computes corner score.
* \param[in] im the pixels to compute the score at
- * \param[in] bmax
*/
virtual int
computeCornerScore (const float* im) const = 0;
/** \brief Detects points of interest (i.e., keypoints) in the given image
* \param[in] im the image to detect keypoints in
- * \param[out] corners_all the resultant set of keypoints detected
*/
virtual void
detect (const float* im,
struct CompareScoreIndex
{
/** \brief Comparator
- * \param[i1] the first score index
- * \param[i2] the second score index
+ * \param[in] i1 the first score index
+ * \param[in] i2 the second score index
*/
inline bool
operator() (const ScoreIndex &i1, const ScoreIndex &i2)
using Keypoint<PointInT, PointOutT>::name_;
using Keypoint<PointInT, PointOutT>::input_;
using Keypoint<PointInT, PointOutT>::indices_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
typedef enum {HARRIS = 1, NOBLE, LOWE, TOMASI} ResponseMethod;
/** \brief Constructor
* \param[in] method the method to be used to determine the corner responses
+ * \param window_width
+ * \param window_height
+ * \param min_distance
* \param[in] threshold the threshold to filter out weak corners
*/
HarrisKeypoint2D (ResponseMethod method = HARRIS, int window_width = 3, int window_height = 3, int min_distance = 5, float threshold = 0.0)
detectKeypoints (PointCloudOut &output);
/** \brief gets the corner response for valid input points*/
void
- responseHarris (PointCloudOut &output, float& highest_response) const;
+ responseHarris (PointCloudOut &output) const;
void
- responseNoble (PointCloudOut &output, float& highest_response) const;
+ responseNoble (PointCloudOut &output) const;
void
- responseLowe (PointCloudOut &output, float& highest_response) const;
+ responseLowe (PointCloudOut &output) const;
void
- responseTomasi (PointCloudOut &output, float& highest_response) const;
+ responseTomasi (PointCloudOut &output) const;
// void refineCorners (PointCloudOut &corners) const;
/** \brief calculates the upper triangular part of unnormalized
* covariance matrix over intensities given by the 2D coordinates
using Keypoint<PointInT, PointOutT>::k_;
using Keypoint<PointInT, PointOutT>::search_radius_;
using Keypoint<PointInT, PointOutT>::search_parameter_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
using Keypoint<PointInT, PointOutT>::initCompute;
+ using PCLBase<PointInT>::setInputCloud;
typedef enum {HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE} ResponseMethod;
/** \brief Empty destructor */
virtual ~HarrisKeypoint3D () {}
+ /** \brief Provide a pointer to the input dataset
+ * \param[in] cloud the const boost shared pointer to a PointCloud message
+ */
+ virtual void
+ setInputCloud (const PointCloudInConstPtr &cloud);
+
/** \brief Set the method of the response to be calculated.
* \param[in] type
*/
using Keypoint<PointInT, PointOutT>::k_;
using Keypoint<PointInT, PointOutT>::search_radius_;
using Keypoint<PointInT, PointOutT>::search_parameter_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
/**
* @brief Constructor
- * @param method the method to be used to determine the corner responses
* @param radius the radius for normal estimation as well as for non maxima suppression
* @param threshold the threshold to filter out weak corners
*/
int x = static_cast<int> (index % input_->width);
int y = static_cast<int> (index / input_->width);
- unsigned count = 0;
// indices 0 1 2
// coefficients: ixix ixiy iyiy
memset (coefficients, 0, sizeof (float) * 3);
derivatives_cols_(0,0) = (intensity_ ((*input_) (0,1)) - intensity_ ((*input_) (0,0))) * 0.5;
derivatives_rows_(0,0) = (intensity_ ((*input_) (1,0)) - intensity_ ((*input_) (0,0))) * 0.5;
-// #ifdef _OPENMP
-// //#pragma omp parallel for shared (derivatives_cols_, input_) num_threads (threads_)
-// #pragma omp parallel for num_threads (threads_)
-// #endif
for(int i = 1; i < w; ++i)
{
derivatives_cols_(i,0) = (intensity_ ((*input_) (i,1)) - intensity_ ((*input_) (i,0))) * 0.5;
derivatives_rows_(w,0) = (intensity_ ((*input_) (w,0)) - intensity_ ((*input_) (w-1,0))) * 0.5;
derivatives_cols_(w,0) = (intensity_ ((*input_) (w,1)) - intensity_ ((*input_) (w,0))) * 0.5;
-// #ifdef _OPENMP
-// //#pragma omp parallel for shared (derivatives_cols_, derivatives_rows_, input_) num_threads (threads_)
-// #pragma omp parallel for num_threads (threads_)
-// #endif
for(int j = 1; j < h; ++j)
{
// i = 0 --> i-1 out of range ; use 0
derivatives_cols_(0,h) = (intensity_ ((*input_) (0,h)) - intensity_ ((*input_) (0,h-1))) * 0.5;
derivatives_rows_(0,h) = (intensity_ ((*input_) (1,h)) - intensity_ ((*input_) (0,h))) * 0.5;
-// #ifdef _OPENMP
-// //#pragma omp parallel for shared (derivatives_cols_, input_) num_threads (threads_)
-// #pragma omp parallel for num_threads (threads_)
-// #endif
for(int i = 1; i < w; ++i)
{
derivatives_cols_(i,h) = (intensity_ ((*input_) (i,h)) - intensity_ ((*input_) (i,h-1))) * 0.5;
derivatives_rows_(w,h) = (intensity_ ((*input_) (w,h)) - intensity_ ((*input_) (w-1,h))) * 0.5;
derivatives_cols_(w,h) = (intensity_ ((*input_) (w,h)) - intensity_ ((*input_) (w,h-1))) * 0.5;
- float highest_response_;
-
switch (method_)
{
case HARRIS:
- responseHarris(*response_, highest_response_);
+ responseHarris(*response_);
break;
case NOBLE:
- responseNoble(*response_, highest_response_);
+ responseNoble(*response_);
break;
case LOWE:
- responseLowe(*response_, highest_response_);
+ responseLowe(*response_);
break;
case TOMASI:
- responseTomasi(*response_, highest_response_);
+ responseTomasi(*response_);
break;
}
if (!nonmax_)
+ {
output = *response_;
+ for (size_t i = 0; i < response_->size (); ++i)
+ keypoints_indices_->indices.push_back (i);
+ }
else
{
- threshold_*= highest_response_;
-
std::sort (indices_->begin (), indices_->end (),
boost::bind (&HarrisKeypoint2D::greaterIntensityAtIndices, this, _1, _2));
-
+ float threshold = threshold_ * response_->points[indices_->front ()].intensity;
output.clear ();
output.reserve (response_->size());
std::vector<bool> occupency_map (response_->size (), false);
#ifdef _OPENMP
#pragma omp parallel for shared (output, occupency_map) private (width, height) num_threads(threads_)
#endif
- for (int idx = 0; idx < occupency_map_size; ++idx)
+ for (int i = 0; i < occupency_map_size; ++i)
{
- if (occupency_map[idx] || response_->points [indices_->at (idx)].intensity < threshold_ || !isFinite (response_->points[idx]))
+ int idx = indices_->at (i);
+ const PointOutT& point_out = response_->points [idx];
+ if (occupency_map[idx] || point_out.intensity < threshold || !isFinite (point_out))
continue;
#ifdef _OPENMP
#pragma omp critical
#endif
- output.push_back (response_->at (indices_->at (idx)));
+ {
+ output.push_back (point_out);
+ keypoints_indices_->indices.push_back (idx);
+ }
- int u_end = std::min (width, indices_->at (idx) % width + min_distance_);
- int v_end = std::min (height, indices_->at (idx) / width + min_distance_);
- for(int u = std::max (0, indices_->at (idx) % width - min_distance_); u < u_end; ++u)
- for(int v = std::max (0, indices_->at (idx) / width - min_distance_); v < v_end; ++v)
+ int u_end = std::min (width, idx % width + min_distance_);
+ int v_end = std::min (height, idx / width + min_distance_);
+ for(int u = std::max (0, idx % width - min_distance_); u < u_end; ++u)
+ for(int v = std::max (0, idx / width - min_distance_); v < v_end; ++v)
occupency_map[v*input_->width+u] = true;
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT, typename IntensityT> void
-pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseHarris (PointCloudOut &output, float& highest_response) const
+pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseHarris (PointCloudOut &output) const
{
PCL_ALIGN (16) float covar [3];
output.clear ();
output.resize (input_->size ());
- highest_response = - std::numeric_limits<float>::max ();
const int output_size (output.size ());
#ifdef _OPENMP
-#pragma omp parallel for shared (output, highest_response) private (covar) num_threads(threads_)
+#pragma omp parallel for shared (output) private (covar) num_threads(threads_)
#endif
for (int index = 0; index < output_size; ++index)
{
{
float det = covar[0] * covar[2] - covar[1] * covar[1];
out_point.intensity = 0.04f + det - 0.04f * trace * trace;
-
-#ifdef _OPENMP
-#pragma omp critical
-#endif
- highest_response = (out_point.intensity > highest_response) ? out_point.intensity : highest_response;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT, typename IntensityT> void
-pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseNoble (PointCloudOut &output, float& highest_response) const
+pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseNoble (PointCloudOut &output) const
{
PCL_ALIGN (16) float covar [3];
output.clear ();
output.resize (input_->size ());
- highest_response = - std::numeric_limits<float>::max ();
const int output_size (output.size ());
#ifdef _OPENMP
-#pragma omp parallel for shared (output, highest_response) private (covar) num_threads(threads_)
+#pragma omp parallel for shared (output) private (covar) num_threads(threads_)
#endif
- for (size_t index = 0; index < output_size; ++index)
+ for (int index = 0; index < output_size; ++index)
{
PointOutT &out_point = output.points [index];
const PointInT &in_point = input_->points [index];
{
float det = covar[0] * covar[2] - covar[1] * covar[1];
out_point.intensity = det / trace;
-
-#ifdef _OPENMP
-#pragma omp critical
-#endif
- highest_response = (out_point.intensity > highest_response) ? out_point.intensity : highest_response;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT, typename IntensityT> void
-pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseLowe (PointCloudOut &output, float& highest_response) const
+pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseLowe (PointCloudOut &output) const
{
PCL_ALIGN (16) float covar [3];
output.clear ();
output.resize (input_->size ());
- highest_response = -std::numeric_limits<float>::max ();
const int output_size (output.size ());
#ifdef _OPENMP
-#pragma omp parallel for shared (output, highest_response) private (covar) num_threads(threads_)
+#pragma omp parallel for shared (output) private (covar) num_threads(threads_)
#endif
- for (size_t index = 0; index < output_size; ++index)
+ for (int index = 0; index < output_size; ++index)
{
PointOutT &out_point = output.points [index];
const PointInT &in_point = input_->points [index];
{
float det = covar[0] * covar[2] - covar[1] * covar[1];
out_point.intensity = det / (trace * trace);
-
-#ifdef _OPENMP
-#pragma omp critical
-#endif
- highest_response = (out_point.intensity > highest_response) ? out_point.intensity : highest_response;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT, typename IntensityT> void
-pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseTomasi (PointCloudOut &output, float& highest_response) const
+pcl::HarrisKeypoint2D<PointInT, PointOutT, IntensityT>::responseTomasi (PointCloudOut &output) const
{
PCL_ALIGN (16) float covar [3];
output.clear ();
output.resize (input_->size ());
- highest_response = -std::numeric_limits<float>::max ();
const int output_size (output.size ());
#ifdef _OPENMP
-#pragma omp parallel for shared (output, highest_response) private (covar) num_threads(threads_)
+#pragma omp parallel for shared (output) private (covar) num_threads(threads_)
#endif
- for (size_t index = 0; index < output_size; ++index)
+ for (int index = 0; index < output_size; ++index)
{
PointOutT &out_point = output.points [index];
const PointInT &in_point = input_->points [index];
computeSecondMomentMatrix (index, covar);
// min egenvalue
out_point.intensity = ((covar[0] + covar[2] - sqrt((covar[0] - covar[2])*(covar[0] - covar[2]) + 4 * covar[1] * covar[1])) /2.0f);
-
-#ifdef _OPENMP
-#pragma omp critical
-#endif
- highest_response = (out_point.intensity > highest_response) ? out_point.intensity : highest_response;
}
}
#include <xmmintrin.h>
#endif
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT, typename NormalT> void
+pcl::HarrisKeypoint3D<PointInT, PointOutT, NormalT>::setInputCloud (const PointCloudInConstPtr &cloud)
+{
+ if (normals_ && input_ && (cloud != input_))
+ normals_.reset ();
+ input_ = cloud;
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointOutT, typename NormalT> void
pcl::HarrisKeypoint3D<PointInT, PointOutT, NormalT>::setMethod (ResponseMethod method)
PCL_ERROR ("[pcl::%s::initCompute] normals given, but the number of normals does not match the number of input points!\n", name_.c_str (), method_);
return (false);
}
+
return (true);
}
output = *response;
// we do not change the denseness in this case
output.is_dense = input_->is_dense;
+ for (size_t i = 0; i < response->size (); ++i)
+ keypoints_indices_->indices.push_back (i);
}
else
{
#ifdef _OPENMP
#pragma omp critical
#endif
+ {
output.points.push_back (response->points[idx]);
+ keypoints_indices_->indices.push_back (idx);
+ }
}
if (refine_)
output = *response;
// we do not change the denseness in this case
output.is_dense = input_->is_dense;
+ for (size_t i = 0; i < response->size (); ++i)
+ keypoints_indices_->indices.push_back (i);
}
else
{
#ifdef _OPENMP
#pragma omp critical
#endif
+ {
output.points.push_back (response->points[idx]);
+ keypoints_indices_->indices.push_back (idx);
+ }
}
if (refine_)
output.width = static_cast<uint32_t> (output.points.size());
output.is_dense = true;
}
-
-
}
template <typename PointInT, typename PointOutT, typename NormalT> void
double cov[9];
memset(cov, 0, sizeof(double) * 9);
- for (size_t n_idx = 0; n_idx < n_neighbors; n_idx++)
+ for (int n_idx = 0; n_idx < n_neighbors; n_idx++)
{
const PointInT& n_point = (*input_).points[nn_indices[n_idx]];
this->searchForNeighbors (static_cast<int> (index), border_radius_, nn_indices, nn_distances);
- for (int j = 0 ; j < nn_indices.size (); j++)
+ for (size_t j = 0 ; j < nn_indices.size (); j++)
{
if (edge_points_[nn_indices[j]])
{
Eigen::Vector3d *omp_mem = new Eigen::Vector3d[threads_];
- for (int i = 0; i < threads_; i++)
+ for (size_t i = 0; i < threads_; i++)
omp_mem[i].setZero (3);
double *prg_local_mem = new double[input_->size () * 3];
double **prg_mem = new double * [input_->size ()];
- for (int i = 0; i < input_->size (); i++)
+ for (size_t i = 0; i < input_->size (); i++)
prg_mem[i] = prg_local_mem + 3 * i;
#ifdef _OPENMP
{
is_max = true;
- for (size_t j = 0 ; j < n_neighbors; j++)
+ for (int j = 0 ; j < n_neighbors; j++)
if (third_eigen_value_[index] < third_eigen_value_[nn_indices[j]])
is_max = false;
if (is_max)
#ifdef _OPENMP
#pragma omp critical
#endif
- output.points.push_back(input_->points[index]);
+ {
+ PointOutT p;
+ p.getVector3fMap () = input_->points[index].getVector3fMap ();
+ output.points.push_back(p);
+ keypoints_indices_->indices.push_back (index);
+ }
}
output.header = input_->header;
}
}
+ keypoints_indices_.reset (new pcl::PointIndices);
+ keypoints_indices_->indices.reserve (input_->size ());
+
return (true);
}
// check if point was minimum/maximum over all the scales
if (passed_min || passed_max)
+ {
output.points.push_back (input_->points[point_i]);
+ keypoints_indices_->indices.push_back (point_i);
+ }
}
}
for (size_t i = 0; i < scales_.size (); ++i) PCL_INFO ("(%d %f), ", scales_[i].second, scales_[i].first);
PCL_INFO ("\n");
- return true;
+ return (true);
}
PCL_ERROR ("[pcl::%s::initCompute] normals given, but the number of normals does not match the number of input points!\n", name_.c_str ());
return (false);
}
+
return (true);
}
response->width = static_cast<uint32_t> (response->size ());
if (!nonmax_)
+ {
output = *response;
+ for (size_t i = 0; i < response->size (); ++i)
+ keypoints_indices_->indices.push_back (i);
+ // we don not change the denseness
+ output.is_dense = input_->is_dense;
+ }
else
{
output.points.clear ();
//#ifdef _OPENMP
//#pragma omp critical
//#endif
+ {
output.points.push_back (response->points[idx]);
+ keypoints_indices_->indices.push_back (idx);
+ }
}
output.height = 1;
- output.width = static_cast<uint32_t> (output.points.size());
+ output.width = static_cast<uint32_t> (output.points.size());
+ output.is_dense = true;
}
- // we don not change the denseness
- output.is_dense = input_->is_dense;
}
#define PCL_INSTANTIATE_SUSAN(T,U,N) template class PCL_EXPORTS pcl::SUSANKeypoint<T,U,N>;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception, 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.
+ *
+ */
+
+#ifndef PCL_TRAJKOVIC_KEYPOINT_2D_IMPL_H_
+#define PCL_TRAJKOVIC_KEYPOINT_2D_IMPL_H_
+
+template <typename PointInT, typename PointOutT, typename IntensityT> bool
+pcl::TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT>::initCompute ()
+{
+ if (!PCLBase<PointInT>::initCompute ())
+ return (false);
+
+ keypoints_indices_.reset (new pcl::PointIndices);
+ keypoints_indices_->indices.reserve (input_->size ());
+
+ if (!input_->isOrganized ())
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support non organized clouds!\n", name_.c_str ());
+ return (false);
+ }
+
+ if (indices_->size () != input_->size ())
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support setting indices!\n", name_.c_str ());
+ return (false);
+ }
+
+ if ((window_size_%2) == 0)
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] Window size must be odd!\n", name_.c_str ());
+ return (false);
+ }
+
+ if (window_size_ < 3)
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] Window size must be >= 3x3!\n", name_.c_str ());
+ return (false);
+ }
+
+ half_window_size_ = window_size_ / 2;
+
+ return (true);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT, typename IntensityT> void
+pcl::TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT>::detectKeypoints (PointCloudOut &output)
+{
+ response_.reset (new pcl::PointCloud<float> (input_->width, input_->height));
+ int w = static_cast<int> (input_->width) - half_window_size_;
+ int h = static_cast<int> (input_->height) - half_window_size_;
+
+ if (method_ == pcl::TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT>::FOUR_CORNERS)
+ {
+#ifdef _OPENMP
+#pragma omp parallel for num_threads (threads_)
+#endif
+ for(int j = half_window_size_; j < h; ++j)
+ {
+ for(int i = half_window_size_; i < w; ++i)
+ {
+ float center = intensity_ ((*input_) (i,j));
+ float up = intensity_ ((*input_) (i, j-half_window_size_));
+ float down = intensity_ ((*input_) (i, j+half_window_size_));
+ float left = intensity_ ((*input_) (i-half_window_size_, j));
+ float right = intensity_ ((*input_) (i+half_window_size_, j));
+
+ float up_center = up - center;
+ float r1 = up_center * up_center;
+ float down_center = down - center;
+ r1+= down_center * down_center;
+
+ float right_center = right - center;
+ float r2 = right_center * right_center;
+ float left_center = left - center;
+ r2+= left_center * left_center;
+
+ float d = std::min (r1, r2);
+
+ if (d < first_threshold_)
+ continue;
+
+ float b1 = (right - up) * up_center;
+ b1+= (left - down) * down_center;
+ float b2 = (right - down) * down_center;
+ b2+= (left - up) * up_center;
+ float B = std::min (b1, b2);
+ float A = r2 - r1 - 2*B;
+
+ (*response_) (i,j) = ((B < 0) && ((B + A) > 0)) ? r1 - ((B*B)/A) : d;
+ }
+ }
+ }
+ else
+ {
+#ifdef _OPENMP
+#pragma omp parallel for num_threads (threads_)
+#endif
+ for(int j = half_window_size_; j < h; ++j)
+ {
+ for(int i = half_window_size_; i < w; ++i)
+ {
+ float center = intensity_ ((*input_) (i,j));
+ float up = intensity_ ((*input_) (i, j-half_window_size_));
+ float down = intensity_ ((*input_) (i, j+half_window_size_));
+ float left = intensity_ ((*input_) (i-half_window_size_, j));
+ float right = intensity_ ((*input_) (i+half_window_size_, j));
+ float upleft = intensity_ ((*input_) (i-half_window_size_, j-half_window_size_));
+ float upright = intensity_ ((*input_) (i+half_window_size_, j-half_window_size_));
+ float downleft = intensity_ ((*input_) (i-half_window_size_, j+half_window_size_));
+ float downright = intensity_ ((*input_) (i+half_window_size_, j+half_window_size_));
+ std::vector<float> r (4,0);
+
+ float up_center = up - center;
+ r[0] = up_center * up_center;
+ float down_center = down - center;
+ r[0]+= down_center * down_center;
+
+ float upright_center = upright - center;
+ r[1] = upright_center * upright_center;
+ float downleft_center = downleft - center;
+ r[1]+= downleft_center * downleft_center;
+
+ float right_center = right - center;
+ r[2] = right_center * right_center;
+ float left_center = left - center;
+ r[2]+= left_center * left_center;
+
+ float downright_center = downright - center;
+ r[3] = downright_center * downright_center;
+ float upleft_center = upleft - center;
+ r[3]+= upleft_center * upleft_center;
+
+ float d = *(std::min_element (r.begin (), r.end ()));
+
+ if (d < first_threshold_)
+ continue;
+
+ std::vector<float> B (4,0);
+ std::vector<float> A (4,0);
+ std::vector<float> sumAB (4,0);
+ B[0] = (upright - up) * up_center;
+ B[0]+= (downleft - down) * down_center;
+ B[1] = (right - upright) * upright_center;
+ B[1]+= (left - downleft) * downleft_center;
+ B[2] = (downright - right) * downright_center;
+ B[2]+= (upleft - left) * upleft_center;
+ B[3] = (down - downright) * downright_center;
+ B[3]+= (up - upleft) * upleft_center;
+ A[0] = r[1] - r[0] - B[0] - B[0];
+ A[1] = r[2] - r[1] - B[1] - B[1];
+ A[2] = r[3] - r[2] - B[2] - B[2];
+ A[3] = r[0] - r[3] - B[3] - B[3];
+ sumAB[0] = A[0] + B[0];
+ sumAB[1] = A[1] + B[1];
+ sumAB[2] = A[2] + B[2];
+ sumAB[3] = A[3] + B[3];
+ if ((*std::max_element (B.begin (), B.end ()) < 0) &&
+ (*std::min_element (sumAB.begin (), sumAB.end ()) > 0))
+ {
+ std::vector<float> D (4,0);
+ D[0] = B[0] * B[0] / A[0];
+ D[1] = B[1] * B[1] / A[1];
+ D[2] = B[2] * B[2] / A[2];
+ D[3] = B[3] * B[3] / A[3];
+ (*response_) (i,j) = *(std::min (D.begin (), D.end ()));
+ }
+ else
+ (*response_) (i,j) = d;
+ }
+ }
+ }
+
+ // Non maximas suppression
+ std::vector<int> indices = *indices_;
+ std::sort (indices.begin (), indices.end (),
+ boost::bind (&TrajkovicKeypoint2D::greaterCornernessAtIndices, this, _1, _2));
+
+ output.clear ();
+ output.reserve (input_->size ());
+
+ std::vector<bool> occupency_map (indices.size (), false);
+ const int width (input_->width);
+ const int height (input_->height);
+
+#ifdef _OPENMP
+#pragma omp parallel for shared (output) num_threads (threads_)
+#endif
+ for (int i = 0; i < indices.size (); ++i)
+ {
+ int idx = indices[i];
+ if ((response_->points[idx] < second_threshold_) || occupency_map[idx])
+ continue;
+
+ PointOutT p;
+ p.getVector3fMap () = input_->points[idx].getVector3fMap ();
+ p.intensity = response_->points [idx];
+
+#ifdef _OPENMP
+#pragma omp critical
+#endif
+ {
+ output.push_back (p);
+ keypoints_indices_->indices.push_back (idx);
+ }
+
+ const int x = idx % width;
+ const int y = idx / width;
+ const int u_end = std::min (width, x + half_window_size_);
+ const int v_end = std::min (height, y + half_window_size_);
+ for(int v = std::max (0, y - half_window_size_); v < v_end; ++v)
+ for(int u = std::max (0, x - half_window_size_); u < u_end; ++u)
+ occupency_map[v*width + u] = true;
+ }
+
+ output.height = 1;
+ output.width = static_cast<uint32_t> (output.size());
+ // we don not change the denseness
+ output.is_dense = input_->is_dense;
+}
+
+#define PCL_INSTANTIATE_TrajkovicKeypoint2D(T,U,I) template class PCL_EXPORTS pcl::TrajkovicKeypoint2D<T,U,I>;
+#endif
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception, 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.
+ *
+ */
+
+#ifndef PCL_TRAJKOVIC_KEYPOINT_3D_IMPL_H_
+#define PCL_TRAJKOVIC_KEYPOINT_3D_IMPL_H_
+
+#include <pcl/features/integral_image_normal.h>
+
+template <typename PointInT, typename PointOutT, typename NormalT> bool
+pcl::TrajkovicKeypoint3D<PointInT, PointOutT, NormalT>::initCompute ()
+{
+ if (!PCLBase<PointInT>::initCompute ())
+ return (false);
+
+ keypoints_indices_.reset (new pcl::PointIndices);
+ keypoints_indices_->indices.reserve (input_->size ());
+
+ if (indices_->size () != input_->size ())
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support setting indices!\n", name_.c_str ());
+ return (false);
+ }
+
+ if ((window_size_%2) == 0)
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] Window size must be odd!\n", name_.c_str ());
+ return (false);
+ }
+
+ if (window_size_ < 3)
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] Window size must be >= 3x3!\n", name_.c_str ());
+ return (false);
+ }
+
+ half_window_size_ = window_size_ / 2;
+
+ if (!normals_)
+ {
+ NormalsPtr normals (new Normals ());
+ pcl::IntegralImageNormalEstimation<PointInT, NormalT> normal_estimation;
+ normal_estimation.setNormalEstimationMethod (pcl::IntegralImageNormalEstimation<PointInT, NormalT>::SIMPLE_3D_GRADIENT);
+ normal_estimation.setInputCloud (input_);
+ normal_estimation.setNormalSmoothingSize (5.0);
+ normal_estimation.compute (*normals);
+ normals_ = normals;
+ }
+
+ if (normals_->size () != input_->size ())
+ {
+ PCL_ERROR ("[pcl::%s::initCompute] normals given, but the number of normals does not match the number of input points!\n", name_.c_str ());
+ return (false);
+ }
+
+ return (true);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointOutT, typename NormalT> void
+pcl::TrajkovicKeypoint3D<PointInT, PointOutT, NormalT>::detectKeypoints (PointCloudOut &output)
+{
+ response_.reset (new pcl::PointCloud<float> (input_->width, input_->height));
+ const Normals &normals = *normals_;
+ const PointCloudIn &input = *input_;
+ pcl::PointCloud<float>& response = *response_;
+ const int w = static_cast<int> (input_->width) - half_window_size_;
+ const int h = static_cast<int> (input_->height) - half_window_size_;
+
+ if (method_ == FOUR_CORNERS)
+ {
+#ifdef _OPENMP
+#pragma omp parallel for num_threads (threads_)
+#endif
+ for(int j = half_window_size_; j < h; ++j)
+ {
+ for(int i = half_window_size_; i < w; ++i)
+ {
+ if (!isFinite (input (i,j))) continue;
+ const NormalT ¢er = normals (i,j);
+ if (!isFinite (center)) continue;
+
+ int count = 0;
+ const NormalT &up = getNormalOrNull (i, j-half_window_size_, count);
+ const NormalT &down = getNormalOrNull (i, j+half_window_size_, count);
+ const NormalT &left = getNormalOrNull (i-half_window_size_, j, count);
+ const NormalT &right = getNormalOrNull (i+half_window_size_, j, count);
+ // Get rid of isolated points
+ if (!count) continue;
+
+ float sn1 = squaredNormalsDiff (up, center);
+ float sn2 = squaredNormalsDiff (down, center);
+ float r1 = sn1 + sn2;
+ float r2 = squaredNormalsDiff (right, center) + squaredNormalsDiff (left, center);
+
+ float d = std::min (r1, r2);
+ if (d < first_threshold_) continue;
+
+ sn1 = sqrt (sn1);
+ sn2 = sqrt (sn2);
+ float b1 = normalsDiff (right, up) * sn1;
+ b1+= normalsDiff (left, down) * sn2;
+ float b2 = normalsDiff (right, down) * sn2;
+ b2+= normalsDiff (left, up) * sn1;
+ float B = std::min (b1, b2);
+ float A = r2 - r1 - 2*B;
+
+ response (i,j) = ((B < 0) && ((B + A) > 0)) ? r1 - ((B*B)/A) : d;
+ }
+ }
+ }
+ else
+ {
+#ifdef _OPENMP
+#pragma omp parallel for num_threads (threads_)
+#endif
+ for(int j = half_window_size_; j < h; ++j)
+ {
+ for(int i = half_window_size_; i < w; ++i)
+ {
+ if (!isFinite (input (i,j))) continue;
+ const NormalT ¢er = normals (i,j);
+ if (!isFinite (center)) continue;
+
+ int count = 0;
+ const NormalT &up = getNormalOrNull (i, j-half_window_size_, count);
+ const NormalT &down = getNormalOrNull (i, j+half_window_size_, count);
+ const NormalT &left = getNormalOrNull (i-half_window_size_, j, count);
+ const NormalT &right = getNormalOrNull (i+half_window_size_, j, count);
+ const NormalT &upleft = getNormalOrNull (i-half_window_size_, j-half_window_size_, count);
+ const NormalT &upright = getNormalOrNull (i+half_window_size_, j-half_window_size_, count);
+ const NormalT &downleft = getNormalOrNull (i-half_window_size_, j+half_window_size_, count);
+ const NormalT &downright = getNormalOrNull (i+half_window_size_, j+half_window_size_, count);
+ // Get rid of isolated points
+ if (!count) continue;
+
+ std::vector<float> r (4,0);
+
+ r[0] = squaredNormalsDiff (up, center);
+ r[0]+= squaredNormalsDiff (down, center);
+
+ r[1] = squaredNormalsDiff (upright, center);
+ r[1]+= squaredNormalsDiff (downleft, center);
+
+ r[2] = squaredNormalsDiff (right, center);
+ r[2]+= squaredNormalsDiff (left, center);
+
+ r[3] = squaredNormalsDiff (downright, center);
+ r[3]+= squaredNormalsDiff (upleft, center);
+
+ float d = *(std::min_element (r.begin (), r.end ()));
+
+ if (d < first_threshold_) continue;
+
+ std::vector<float> B (4,0);
+ std::vector<float> A (4,0);
+ std::vector<float> sumAB (4,0);
+ B[0] = normalsDiff (upright, up) * normalsDiff (up, center);
+ B[0]+= normalsDiff (downleft, down) * normalsDiff (down, center);
+ B[1] = normalsDiff (right, upright) * normalsDiff (upright, center);
+ B[1]+= normalsDiff (left, downleft) * normalsDiff (downleft, center);
+ B[2] = normalsDiff (downright, right) * normalsDiff (downright, center);
+ B[2]+= normalsDiff (upleft, left) * normalsDiff (upleft, center);
+ B[3] = normalsDiff (down, downright) * normalsDiff (downright, center);
+ B[3]+= normalsDiff (up, upleft) * normalsDiff (upleft, center);
+ A[0] = r[1] - r[0] - B[0] - B[0];
+ A[1] = r[2] - r[1] - B[1] - B[1];
+ A[2] = r[3] - r[2] - B[2] - B[2];
+ A[3] = r[0] - r[3] - B[3] - B[3];
+ sumAB[0] = A[0] + B[0];
+ sumAB[1] = A[1] + B[1];
+ sumAB[2] = A[2] + B[2];
+ sumAB[3] = A[3] + B[3];
+ if ((*std::max_element (B.begin (), B.end ()) < 0) &&
+ (*std::min_element (sumAB.begin (), sumAB.end ()) > 0))
+ {
+ std::vector<float> D (4,0);
+ D[0] = B[0] * B[0] / A[0];
+ D[1] = B[1] * B[1] / A[1];
+ D[2] = B[2] * B[2] / A[2];
+ D[3] = B[3] * B[3] / A[3];
+ response (i,j) = *(std::min (D.begin (), D.end ()));
+ }
+ else
+ response (i,j) = d;
+ }
+ }
+ }
+ // Non maximas suppression
+ std::vector<int> indices = *indices_;
+ std::sort (indices.begin (), indices.end (),
+ boost::bind (&TrajkovicKeypoint3D::greaterCornernessAtIndices, this, _1, _2));
+
+ output.clear ();
+ output.reserve (input_->size ());
+
+ std::vector<bool> occupency_map (indices.size (), false);
+ const int width (input_->width);
+ const int height (input_->height);
+
+#ifdef _OPENMP
+#pragma omp parallel for shared (output) num_threads (threads_)
+#endif
+ for (int i = 0; i < indices.size (); ++i)
+ {
+ int idx = indices[i];
+ if ((response_->points[idx] < second_threshold_) || occupency_map[idx])
+ continue;
+
+ PointOutT p;
+ p.getVector3fMap () = input_->points[idx].getVector3fMap ();
+ p.intensity = response_->points [idx];
+
+#ifdef _OPENMP
+#pragma omp critical
+#endif
+ {
+ output.push_back (p);
+ keypoints_indices_->indices.push_back (idx);
+ }
+
+ const int x = idx % width;
+ const int y = idx / width;
+ const int u_end = std::min (width, x + half_window_size_);
+ const int v_end = std::min (height, y + half_window_size_);
+ for(int v = std::max (0, y - half_window_size_); v < v_end; ++v)
+ for(int u = std::max (0, x - half_window_size_); u < u_end; ++u)
+ occupency_map[v*width + u] = true;
+ }
+
+ output.height = 1;
+ output.width = static_cast<uint32_t> (output.size());
+ // we don not change the denseness
+ output.is_dense = true;
+}
+
+#define PCL_INSTANTIATE_TrajkovicKeypoint3D(T,U,N) template class PCL_EXPORTS pcl::TrajkovicKeypoint3D<T,U,N>;
+#endif
using Keypoint<PointInT, PointOutT>::tree_;
using Keypoint<PointInT, PointOutT>::search_radius_;
using Keypoint<PointInT, PointOutT>::search_parameter_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
/** \brief Constructor.
* \param[in] salient_radius the radius of the spherical neighborhood used to compute the scatter matrix.
/** \brief Set the radius used for the estimation of the surface normals of the input cloud. If the radius is
* too large, the temporal performances of the detector may degrade significantly.
- * \param[in] normals_radius the radius used to estimate surface normals
+ * \param[in] normal_radius the radius used to estimate surface normals
*/
void
setNormalRadius (double normal_radius);
/** \brief Compute the boundary points for the given input cloud.
* \param[in] input the input cloud
* \param[in] border_radius the radius used to compute the boundary points
- * \param[in] the decision boundary that marks the points as boundary
+ * \param[in] angle_threshold the decision boundary that marks the points as boundary
* \return the vector of boolean values in which the information about the boundary points is stored
*/
bool*
getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold);
/** \brief Compute the scatter matrix for a point index.
- * \param[in] index the index of the point
+ * \param[in] current_index the index of the point
* \param[out] cov_m the point scatter matrix
*/
void
inline double
getRadiusSearch () { return (search_radius_); }
+ /** \brief \return the keypoints indices in the input cloud.
+ * \note not all the daughter classes populate the keypoints indices so check emptiness before use.
+ */
+ pcl::PointIndicesConstPtr
+ getKeypointsIndices () { return (keypoints_indices_); }
+
/** \brief Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using
* the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
* \param output the resultant point cloud model dataset containing the estimated features
/** \brief The number of K nearest neighbors to use for each point. */
int k_;
+ /** \brief Indices of the keypoints in the input cloud. */
+ pcl::PointIndicesPtr keypoints_indices_;
+
/** \brief Get a string representation of the name of this class. */
inline const std::string&
getClassName () const { return (name_); }
using PCLBase<PointT>::input_;
using Keypoint<PointT, PointT>::name_;
using Keypoint<PointT, PointT>::tree_;
+ using Keypoint<PointT, PointT>::keypoints_indices_;
using Keypoint<PointT, PointT>::initCompute;
typedef pcl::PointCloud<PointT> PointCloudT;
using Keypoint<PointInT, PointOutT>::k_;
using Keypoint<PointInT, PointOutT>::search_radius_;
using Keypoint<PointInT, PointOutT>::search_parameter_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
using Keypoint<PointInT, PointOutT>::initCompute;
/** \brief Constructor
detectKeypoints (PointCloudOut &output);
/** \brief return true if a point lies within the line between the nucleus and the centroid
* \param[in] nucleus coordinate of the nucleus
- * \param[in] centroid of the USAN
- * \parma[in] nucleus to centroid vector (used to speed up since it is constant for a given
+ * \param[in] centroid of the SUSAN
+ * \param[in] nc to centroid vector (used to speed up since it is constant for a given
* neighborhood)
* \param[in] point the query point to test against
* \return true if the point lies within [nucleus centroid]
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception 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.
+ *
+ */
+
+#ifndef PCL_TRAJKOVIC_KEYPOINT_2D_H_
+#define PCL_TRAJKOVIC_KEYPOINT_2D_H_
+
+#include <pcl/keypoints/keypoint.h>
+#include <pcl/common/intensity.h>
+
+namespace pcl
+{
+ /** \brief TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on
+ * organized pooint cloud using intensity information.
+ * It uses first order statistics to find variation of intensities in horizontal
+ * or vertical directions.
+ *
+ * \author Nizar Sallem
+ * \ingroup keypoints
+ */
+ template <typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
+ class TrajkovicKeypoint2D : public Keypoint<PointInT, PointOutT>
+ {
+ public:
+ typedef boost::shared_ptr<TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > Ptr;
+ typedef boost::shared_ptr<const TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > ConstPtr;
+ typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
+ typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
+ typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
+
+ using Keypoint<PointInT, PointOutT>::name_;
+ using Keypoint<PointInT, PointOutT>::input_;
+ using Keypoint<PointInT, PointOutT>::indices_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
+
+ typedef enum { FOUR_CORNERS, EIGHT_CORNERS } ComputationMethod;
+
+ /** \brief Constructor
+ * \param[in] method the method to be used to determine the corner responses
+ * \param[in] window_size
+ * \param[in] first_threshold the threshold used in the simple cornerness test.
+ * \param[in] second_threshold the threshold used to reject weak corners.
+ */
+ TrajkovicKeypoint2D (ComputationMethod method = FOUR_CORNERS,
+ int window_size = 3,
+ float first_threshold = 0.1,
+ float second_threshold = 100.0)
+ : method_ (method)
+ , window_size_ (window_size)
+ , first_threshold_ (first_threshold)
+ , second_threshold_ (second_threshold)
+ , threads_ (1)
+ {
+ name_ = "TrajkovicKeypoint2D";
+ }
+
+ /** \brief set the method of the response to be calculated.
+ * \param[in] method either 4 corners or 8 corners
+ */
+ inline void
+ setMethod (ComputationMethod method) { method_ = method; }
+
+ /// \brief \return the computation method
+ inline ComputationMethod
+ getMethod () const { return (method_); }
+
+ /// \brief Set window size
+ inline void
+ setWindowSize (int window_size) { window_size_= window_size; }
+
+ /// \brief \return window size i.e. window width or height
+ inline int
+ getWindowSize () const { return (window_size_); }
+
+ /** \brief set the first_threshold to reject corners in the simple cornerness
+ * computation stage.
+ * \param[in] threshold
+ */
+ inline void
+ setFirstThreshold (float threshold) { first_threshold_= threshold; }
+
+ /// \brief \return first threshold
+ inline float
+ getFirstThreshold () const { return (first_threshold_); }
+
+ /** \brief set the second threshold to reject corners in the final cornerness
+ * computation stage.
+ * \param[in] threshold
+ */
+ inline void
+ setSecondThreshold (float threshold) { second_threshold_= threshold; }
+
+ /// \brief \return second threshold
+ inline float
+ getSecondThreshold () const { return (second_threshold_); }
+
+ /** \brief Initialize the scheduler and set the number of threads to use.
+ * \param nr_threads the number of hardware threads to use, 0 for automatic.
+ */
+ inline void
+ setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+
+ /// \brief \return the number of threads
+ inline unsigned int
+ getNumberOfThreads () const { return (threads_); }
+
+ protected:
+ bool
+ initCompute ();
+
+ void
+ detectKeypoints (PointCloudOut &output);
+
+ private:
+ /// comparator for responses intensity
+ inline bool
+ greaterCornernessAtIndices (int a, int b) const
+ {
+ return (response_->points [a] > response_->points [b]);
+ }
+
+ /// computation method
+ ComputationMethod method_;
+ /// Window size
+ int window_size_;
+ /// half window size
+ int half_window_size_;
+ /// intensity field accessor
+ IntensityT intensity_;
+ /// first threshold for quick rejection
+ float first_threshold_;
+ /// second threshold for corner evaluation
+ float second_threshold_;
+ /// number of threads to be used
+ unsigned int threads_;
+ /// point cloud response
+ pcl::PointCloud<float>::Ptr response_;
+ };
+}
+
+#include <pcl/keypoints/impl/trajkovic_2d.hpp>
+
+#endif // #ifndef PCL_TRAJKOVIC_KEYPOINT_2D_H_
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception 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.
+ *
+ */
+
+#ifndef PCL_TRAJKOVIC_KEYPOINT_3D_H_
+#define PCL_TRAJKOVIC_KEYPOINT_3D_H_
+
+#include <pcl/keypoints/keypoint.h>
+#include <pcl/common/intensity.h>
+
+namespace pcl
+{
+ /** \brief TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on
+ * point cloud using geometric information.
+ * It uses first order statistics to find variation of normals.
+ * This work is part of Nizar Sallem PhD thesis.
+ *
+ * \author Nizar Sallem
+ * \ingroup keypoints
+ */
+ template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
+ class TrajkovicKeypoint3D : public Keypoint<PointInT, PointOutT>
+ {
+ public:
+ typedef boost::shared_ptr<TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> > Ptr;
+ typedef boost::shared_ptr<const TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> > ConstPtr;
+ typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
+ typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
+ typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
+ typedef typename pcl::PointCloud<NormalT> Normals;
+ typedef typename Normals::Ptr NormalsPtr;
+ typedef typename Normals::ConstPtr NormalsConstPtr;
+
+ using Keypoint<PointInT, PointOutT>::name_;
+ using Keypoint<PointInT, PointOutT>::input_;
+ using Keypoint<PointInT, PointOutT>::indices_;
+ using Keypoint<PointInT, PointOutT>::keypoints_indices_;
+ using Keypoint<PointInT, PointOutT>::initCompute;
+
+ typedef enum { FOUR_CORNERS, EIGHT_CORNERS } ComputationMethod;
+
+ /** \brief Constructor
+ * \param[in] method the method to be used to determine the corner responses
+ * \param[in] window_size
+ * \param[in] first_threshold the threshold used in the simple cornerness test.
+ * \param[in] second_threshold the threshold used to reject weak corners.
+ */
+ TrajkovicKeypoint3D (ComputationMethod method = FOUR_CORNERS,
+ int window_size = 3,
+ float first_threshold = 0.00046,
+ float second_threshold = 0.03589)
+ : method_ (method)
+ , window_size_ (window_size)
+ , first_threshold_ (first_threshold)
+ , second_threshold_ (second_threshold)
+ , threads_ (1)
+ {
+ name_ = "TrajkovicKeypoint3D";
+ }
+
+ /** \brief set the method of the response to be calculated.
+ * \param[in] method either 4 corners or 8 corners
+ */
+ inline void
+ setMethod (ComputationMethod method) { method_ = method; }
+
+ /// \brief \return the computation method
+ inline ComputationMethod
+ getMethod () const { return (method_); }
+
+ /// \brief Set window size
+ inline void
+ setWindowSize (int window_size) { window_size_= window_size; }
+
+ /// \brief \return window size i.e. window width or height
+ inline int
+ getWindowSize () const { return (window_size_); }
+
+ /** \brief set the first_threshold to reject corners in the simple cornerness
+ * computation stage.
+ * \param[in] threshold
+ */
+ inline void
+ setFirstThreshold (float threshold) { first_threshold_= threshold; }
+
+ /// \brief \return first threshold
+ inline float
+ getFirstThreshold () const { return (first_threshold_); }
+
+ /** \brief set the second threshold to reject corners in the final cornerness
+ * computation stage.
+ * \param[in] threshold
+ */
+ inline void
+ setSecondThreshold (float threshold) { second_threshold_= threshold; }
+
+ /// \brief \return second threshold
+ inline float
+ getSecondThreshold () const { return (second_threshold_); }
+
+ /** \brief Set normals if precalculated normals are available.
+ * \param normals
+ */
+ inline void
+ setNormals (const NormalsConstPtr &normals) { normals_ = normals; }
+
+ /// \brief \return points normals as calculated or given
+ inline void
+ getNormals (const NormalsConstPtr &normals) const { return (normals_); }
+
+ /** \brief Initialize the scheduler and set the number of threads to use.
+ * \param nr_threads the number of hardware threads to use, 0 for automatic.
+ */
+ inline void
+ setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+
+ /// \brief \return the number of threads
+ inline unsigned int
+ getNumberOfThreads () const { return (threads_); }
+
+ protected:
+ bool
+ initCompute ();
+
+ void
+ detectKeypoints (PointCloudOut &output);
+
+ private:
+ /** Return a const reference to the normal at (i,j) if it is finite else return
+ * a reference to a null normal.
+ * If the returned normal is valid \a counter is incremented.
+ */
+ inline const NormalT&
+ getNormalOrNull (int i, int j, int& counter) const
+ {
+ static const NormalT null;
+ if (!isFinite ((*normals_) (i,j))) return (null);
+ ++counter;
+ return ((*normals_) (i,j));
+ }
+ /// \return difference of two normals vectors
+ inline float
+ normalsDiff (const NormalT& a, const NormalT& b) const
+ {
+ double nx = a.normal_x; double ny = a.normal_y; double nz = a.normal_z;
+ double mx = b.normal_x; double my = b.normal_y; double mz = b.normal_z;
+ return (static_cast<float> (1.0 - (nx*mx + ny*my + nz*mz)));
+ }
+ /// \return squared difference of two normals vectors
+ inline float
+ squaredNormalsDiff (const NormalT& a, const NormalT& b) const
+ {
+ float diff = normalsDiff (a,b);
+ return (diff * diff);
+ }
+ /** Comparator for responses intensity
+ * \return true if \a response_ at index \aa is greater than response at index \ab
+ */
+ inline bool
+ greaterCornernessAtIndices (int a, int b) const
+ {
+ return (response_->points [a] > response_->points [b]);
+ }
+ /// computation method
+ ComputationMethod method_;
+ /// window size
+ int window_size_;
+ /// half window size
+ int half_window_size_;
+ /// first threshold for quick rejection
+ float first_threshold_;
+ /// second threshold for corner evaluation
+ float second_threshold_;
+ /// number of threads to be used
+ unsigned int threads_;
+ /// point cloud normals
+ NormalsConstPtr normals_;
+ /// point cloud response
+ pcl::PointCloud<float>::Ptr response_;
+ };
+}
+
+#include <pcl/keypoints/impl/trajkovic_3d.hpp>
+
+#endif // #ifndef PCL_TRAJKOVIC_KEYPOINT_3D_H_
The <b>pcl_keypoints</b> library contains implementations of two point cloud keypoint detection algorithms.
Keypoints (also referred to as <a href="http://en.wikipedia.org/wiki/Interest_point_detection">interest points</a>)
are points in an image or point cloud that are stable, distinctive, and can be identified using a well-defined
- detection criteron. Typically, the number of interest points in a point cloud will be much smaller than the total
+ detection criterion. Typically, the number of interest points in a point cloud will be much smaller than the total
number of points in the cloud, and when used in combination with local feature descriptors at each keypoint, the
keypoints and descriptors can be used to form a compact—yet descriptive—representation of the original
data.
- \ref search "search"
- \ref kdtree "kdtree"
- \ref octree "octree"
- - \ref range_image "range_image"
+ - \ref pcl::RangeImage "range_image"
- \ref features "features"
- \ref filters "filters"
// Need to copy the points
pcl::PointCloud<pcl::PointUV> best_input;
best_input.resize (nr_max_keypoints_);
- for (int i = 0; i < scores.size (); ++i)
+ for (size_t i = 0; i < scores.size (); ++i)
best_input[i] = input[scores[i].idx];
applyNonMaxSuppression (best_input, scores, output);
}
// Need to copy the points
pcl::PointCloud<pcl::PointUV> best_input;
best_input.resize (nr_max_keypoints_);
- for (int i = 0; i < scores.size (); ++i)
+ for (size_t i = 0; i < scores.size (); ++i)
best_input[i] = input[scores[i].idx];
applyNonMaxSuppression (best_input, scores, output);
}
else
positive_score = surface_change_score * (1.0f-distance_factor);
}
-
- void
- translateDirection180To360 (Eigen::Vector2f& direction_vector)
- {
- // The following code does the equivalent to this:
- // Get the angle of the 2D direction (with positive x) alpha, and return the direction of 2*alpha
- // We do this to create a normal angular wrap-around at -180,180 instead of the one at -90,90,
- // enabling us to calculate the average angle as the direction of the sum of all unit vectors.
- // We use sin (2a)=2*sin (a)*cos (a) and cos (2a)=2cos^2 (a)-1 so that we needn't actually compute the angles,
- // which would be expensive
- float cos_a = direction_vector[0],
- cos_2a = 2*cos_a*cos_a - 1.0f,
- sin_a = direction_vector[1],
- sin_2a = 2.0f*sin_a*cos_a;
- direction_vector[0] = cos_2a;
- direction_vector[1] = sin_2a;
- }
-
- void
- translateDirection360To180 (Eigen::Vector2f& direction_vector)
- {
- // Inverse of the above
- float cos_2a = direction_vector[0],
- cos_a = sqrtf (0.5f* (cos_2a+1.0f)),
- sin_2a = direction_vector[1],
- sin_a = sin_2a / (2.0f*cos_a);
- direction_vector[0] = cos_a;
- direction_vector[1] = sin_a;
- }
-
- inline Eigen::Vector2f
- nkdGetDirectionVector (const Eigen::Vector3f& direction, const Eigen::Affine3f& rotation)
- {
- Eigen::Vector3f rotated_direction = rotation*direction;
- Eigen::Vector2f direction_vector (rotated_direction[0], rotated_direction[1]);
- direction_vector.normalize ();
- if (direction_vector[0]<0.0f)
- direction_vector *= -1.0f;
-
-
-# if USE_BEAM_AVERAGE
- translateDirection180To360 (direction_vector);
-# endif
-
- return direction_vector;
- }
inline float
nkdGetDirectionAngle (const Eigen::Vector3f& direction, const Eigen::Affine3f& rotation)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/keypoints/trajkovic_2d.h>
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+
+// Instantiations of specific point types
+//PCL_INSTANTIATE_PRODUCT(HarrisKeypoint2D, (PCL_XYZ_POINT_TYPES));
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2013-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/keypoints/trajkovic_3d.h>
+#include <pcl/point_types.h>
+#include <pcl/impl/instantiate.hpp>
+
+// Instantiations of specific point types
+//PCL_INSTANTIATE_PRODUCT(HarrisKeypoint2D, (PCL_XYZ_POINT_TYPES));
set(SUBSYS_DEPS common)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs src/octree_inst.cpp
)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/octree_base.h
- include/pcl/${SUBSYS_NAME}/octree_container.h
- include/pcl/${SUBSYS_NAME}/octree_impl.h
- include/pcl/${SUBSYS_NAME}/octree_nodes.h
- include/pcl/${SUBSYS_NAME}/octree_key.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_density.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_occupancy.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_singlepoint.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_pointvector.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_changedetector.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_voxelcentroid.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud.h
- include/pcl/${SUBSYS_NAME}/octree_iterator.h
- include/pcl/${SUBSYS_NAME}/octree_search.h
- include/pcl/${SUBSYS_NAME}/octree.h
- include/pcl/${SUBSYS_NAME}/octree2buf_base.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_adjacency.h
- include/pcl/${SUBSYS_NAME}/octree_pointcloud_adjacency_container.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/octree_base.h"
+ "include/pcl/${SUBSYS_NAME}/octree_container.h"
+ "include/pcl/${SUBSYS_NAME}/octree_impl.h"
+ "include/pcl/${SUBSYS_NAME}/octree_nodes.h"
+ "include/pcl/${SUBSYS_NAME}/octree_key.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_density.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_occupancy.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_singlepoint.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_pointvector.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_changedetector.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_voxelcentroid.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud.h"
+ "include/pcl/${SUBSYS_NAME}/octree_iterator.h"
+ "include/pcl/${SUBSYS_NAME}/octree_search.h"
+ "include/pcl/${SUBSYS_NAME}/octree.h"
+ "include/pcl/${SUBSYS_NAME}/octree2buf_base.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_adjacency.h"
+ "include/pcl/${SUBSYS_NAME}/octree_pointcloud_adjacency_container.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/octree_base.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_pointcloud.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree2buf_base.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_iterator.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_search.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_pointcloud_voxelcentroid.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_pointcloud_adjacency.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/octree_base.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_pointcloud.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree2buf_base.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_iterator.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_search.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_pointcloud_voxelcentroid.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_pointcloud_adjacency.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME})
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}")
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
#include <pcl/common/common.h>
-using namespace std;
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>
min_z_ = min_z_arg;
max_z_ = max_z_arg;
- min_x_ = min (min_x_, max_x_);
- min_y_ = min (min_y_, max_y_);
- min_z_ = min (min_z_, max_z_);
+ min_x_ = std::min (min_x_, max_x_);
+ min_y_ = std::min (min_y_, max_y_);
+ min_z_ = std::min (min_z_, max_z_);
- max_x_ = max (min_x_, max_x_);
- max_y_ = max (min_y_, max_y_);
- max_z_ = max (min_z_, max_z_);
+ max_x_ = std::max (min_x_, max_x_);
+ max_y_ = std::max (min_y_, max_y_);
+ max_z_ = std::max (min_z_, max_z_);
// generate bit masks for octree
getKeyBitSize ();
min_z_ = 0.0f;
max_z_ = max_z_arg;
- min_x_ = min (min_x_, max_x_);
- min_y_ = min (min_y_, max_y_);
- min_z_ = min (min_z_, max_z_);
+ min_x_ = std::min (min_x_, max_x_);
+ min_y_ = std::min (min_y_, max_y_);
+ min_z_ = std::min (min_z_, max_z_);
- max_x_ = max (min_x_, max_x_);
- max_y_ = max (min_y_, max_y_);
- max_z_ = max (min_z_, max_z_);
+ max_x_ = std::max (min_x_, max_x_);
+ max_y_ = std::max (min_y_, max_y_);
+ max_z_ = std::max (min_z_, max_z_);
// generate bit masks for octree
getKeyBitSize ();
min_z_ = 0.0f;
max_z_ = cubeLen_arg;
- min_x_ = min (min_x_, max_x_);
- min_y_ = min (min_y_, max_y_);
- min_z_ = min (min_z_, max_z_);
+ min_x_ = std::min (min_x_, max_x_);
+ min_y_ = std::min (min_y_, max_y_);
+ min_z_ = std::min (min_z_, max_z_);
- max_x_ = max (min_x_, max_x_);
- max_y_ = max (min_y_, max_y_);
- max_z_ = max (min_z_, max_z_);
+ max_x_ = std::max (min_x_, max_x_);
+ max_y_ = std::max (min_y_, max_y_);
+ max_z_ = std::max (min_z_, max_z_);
// generate bit masks for octree
getKeyBitSize ();
max_key_z = static_cast<unsigned int> ((max_z_ - min_z_) / resolution_);
// find maximum amount of keys
- max_voxels = max (max (max (max_key_x, max_key_y), max_key_z), static_cast<unsigned int> (2));
+ max_voxels = std::max (std::max (std::max (max_key_x, max_key_y), max_key_z), static_cast<unsigned int> (2));
// tree depth == amount of bits of max_voxels
- this->octree_depth_ = max ((min (static_cast<unsigned int> (OctreeKey::maxDepth), static_cast<unsigned int> (ceil (this->Log2 (max_voxels)-minValue)))),
+ this->octree_depth_ = std::max ((std::min (static_cast<unsigned int> (OctreeKey::maxDepth), static_cast<unsigned int> (ceil (this->Log2 (max_voxels)-minValue)))),
static_cast<unsigned int> (0));
octree_side_len = static_cast<double> (1 << this->octree_depth_) * resolution_-minValue;
#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithLeafDataT(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty > >;
#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithLeafDataT(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty, pcl::octree::Octree2BufBase<pcl::octree::OctreeContainerPointIndex, pcl::octree::OctreeContainerEmpty > >;
-#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithEmptyLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreeLeafEmpty, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeLeafEmpty, pcl::octree::OctreeContainerEmpty > >;
-#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithEmptyLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreeLeafEmpty, pcl::octree::OctreeContainerEmpty, pcl::octree::Octree2BufBase<pcl::octree::OctreeLeafEmpty, pcl::octree::OctreeContainerEmpty > >;
+#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithEmptyLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeBase<pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty > >;
+#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithEmptyLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty, pcl::octree::Octree2BufBase<pcl::octree::OctreeContainerEmpty, pcl::octree::OctreeContainerEmpty > >;
#endif /* OCTREE_POINTCLOUD_HPP_ */
pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>::addPointsFromInputCloud ()
{
//double t1,t2;
+ float minX = std::numeric_limits<float>::max (), minY = std::numeric_limits<float>::max (), minZ = std::numeric_limits<float>::max ();
+ float maxX = -std::numeric_limits<float>::max(), maxY = -std::numeric_limits<float>::max(), maxZ = -std::numeric_limits<float>::max();
- //t1 = timer_.getTime ();
- OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::addPointsFromInputCloud ();
-
+ for (size_t i = 0; i < input_->size (); ++i)
+ {
+ PointT temp (input_->points[i]);
+ if (transform_func_) //Search for point with
+ transform_func_ (temp);
+ if (!pcl::isFinite (temp)) //Check to make sure transform didn't make point not finite
+ continue;
+ if (temp.x < minX)
+ minX = temp.x;
+ if (temp.y < minY)
+ minY = temp.y;
+ if (temp.z < minZ)
+ minZ = temp.z;
+ if (temp.x > maxX)
+ maxX = temp.x;
+ if (temp.y > maxY)
+ maxY = temp.y;
+ if (temp.z > maxZ)
+ maxZ = temp.z;
+ }
+ this->defineBoundingBox (minX, minY, minZ, maxX, maxY, maxZ);
- //t2 = timer_.getTime ();
- //std::cout << "Add Points:"<<t2-t1<<" ms Num leaves ="<<this->getLeafCount ()<<"\n";
-
- std::list <std::pair<OctreeKey,LeafContainerT*> > delete_list;
- //double t_temp, t_neigh, t_compute, t_getLeaf;
- //t_neigh = t_compute = t_getLeaf = 0;
+ OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::addPointsFromInputCloud ();
+
LeafContainerT *leaf_container;
typename OctreeAdjacencyT::LeafNodeIterator leaf_itr;
leaf_vector_.reserve (this->getLeafCount ());
for ( leaf_itr = this->leaf_begin () ; leaf_itr != this->leaf_end (); ++leaf_itr)
{
- //t_temp = timer_.getTime ();
OctreeKey leaf_key = leaf_itr.getCurrentOctreeKey ();
leaf_container = &(leaf_itr.getLeafContainer ());
- //t_getLeaf += timer_.getTime () - t_temp;
- //t_temp = timer_.getTime ();
//Run the leaf's compute function
leaf_container->computeData ();
- //t_compute += timer_.getTime () - t_temp;
-
- //t_temp = timer_.getTime ();
- // std::cout << "Computing neighbors\n";
+
computeNeighbors (leaf_key, leaf_container);
- //t_neigh += timer_.getTime () - t_temp;
leaf_vector_.push_back (leaf_container);
-
}
- //Go through and delete voxels scheduled
- for (typename std::list<std::pair<OctreeKey,LeafContainerT*> >::iterator delete_itr = delete_list.begin (); delete_itr != delete_list.end (); ++delete_itr)
- {
- leaf_container = delete_itr->second;
- //Remove pointer to it from all neighbors
- typename std::set<LeafContainerT*>::iterator neighbor_itr = leaf_container->begin ();
- typename std::set<LeafContainerT*>::iterator neighbor_end = leaf_container->end ();
- for ( ; neighbor_itr != neighbor_end; ++neighbor_itr)
- {
- //Don't delete self neighbor
- if (*neighbor_itr != leaf_container)
- (*neighbor_itr)->removeNeighbor (leaf_container);
- }
- this->removeLeaf (delete_itr->first);
- }
-
//Make sure our leaf vector is correctly sized
assert (leaf_vector_.size () == this->getLeafCount ());
-
- // std::cout << "Time spent getting leaves ="<<t_getLeaf<<"\n";
- // std::cout << "Time spent computing data in leaves="<<t_compute<<"\n";
- // std::cout << "Time spent computing neighbors="<<t_neigh<<"\n";
-
}
//////////////////////////////////////////////////////////////////////////////////////////////
PointT temp (point_arg);
transform_func_ (temp);
// calculate integer key for transformed point coordinates
- key_arg.x = static_cast<unsigned int> ((temp.x - this->min_x_) / this->resolution_);
- key_arg.y = static_cast<unsigned int> ((temp.y - this->min_y_) / this->resolution_);
- key_arg.z = static_cast<unsigned int> ((temp.z - this->min_z_) / this->resolution_);
-
+ if (pcl::isFinite (temp)) //Make sure transformed point is finite - if it is not, it gets default key
+ {
+ key_arg.x = static_cast<unsigned int> ((temp.x - this->min_x_) / this->resolution_);
+ key_arg.y = static_cast<unsigned int> ((temp.y - this->min_y_) / this->resolution_);
+ key_arg.z = static_cast<unsigned int> ((temp.z - this->min_z_) / this->resolution_);
+ }
+ else
+ {
+ key_arg = OctreeKey ();
+ }
}
else
{
const PointT& point = this->input_->points[pointIdx_arg];
if (!pcl::isFinite (point))
return;
-
- if (transform_func_)
- {
- PointT temp (point);
- transform_func_ (temp);
- this->adoptBoundingBoxToPoint (temp);
- }
- else
- this->adoptBoundingBoxToPoint (point);
-
+
// generate key
this->genOctreeKeyforPoint (point, key);
// add point to octree at key
container->addPoint (point);
}
-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT> void
pcl::octree::OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>::computeNeighbors (OctreeKey &key_arg, LeafContainerT* leaf_container)
{
+ //Make sure requested key is valid
+ if (key_arg.x > this->max_key_.x || key_arg.y > this->max_key_.y || key_arg.z > this->max_key_.z)
+ {
+ PCL_ERROR ("OctreePointCloudAdjacency::computeNeighbors Requested neighbors for invalid octree key\n");
+ return;
+ }
OctreeKey neighbor_key;
-
- for (int dx = -1; dx <= 1; ++dx)
+ int dx_min = (key_arg.x > 0) ? -1 : 0;
+ int dy_min = (key_arg.y > 0) ? -1 : 0;
+ int dz_min = (key_arg.z > 0) ? -1 : 0;
+ int dx_max = (key_arg.x == this->max_key_.x) ? 0 : 1;
+ int dy_max = (key_arg.y == this->max_key_.y) ? 0 : 1;
+ int dz_max = (key_arg.z == this->max_key_.z) ? 0 : 1;
+
+ for (int dx = dx_min; dx <= dx_max; ++dx)
{
- for (int dy = -1; dy <= 1; ++dy)
+ for (int dy = dy_min; dy <= dy_max; ++dy)
{
- for (int dz = -1; dz <= 1; ++dz)
+ for (int dz = dz_min; dz <= dz_max; ++dz)
{
- neighbor_key.x = key_arg.x + dx;
- neighbor_key.y = key_arg.y + dy;
- neighbor_key.z = key_arg.z + dz;
+ neighbor_key.x = static_cast<uint32_t> (key_arg.x + dx);
+ neighbor_key.y = static_cast<uint32_t> (key_arg.y + dy);
+ neighbor_key.z = static_cast<uint32_t> (key_arg.z + dz);
LeafContainerT *neighbor = this->findLeaf (neighbor_key);
if (neighbor)
{
#include <pcl/common/common.h>
#include <assert.h>
-using namespace std;
//////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT, typename BranchContainerT> bool
key.x = key.y = key.z = 0;
// initalize smallest point distance in search with high value
- double smallest_dist = numeric_limits<double>::max ();
+ double smallest_dist = std::numeric_limits<double>::max ();
getKNearestNeighborRecursive (p_q, k, this->root_node_, key, 1, smallest_dist, point_candidates);
}
else
{
- search_heap[child_idx].point_distance = numeric_limits<float>::infinity ();
+ search_heap[child_idx].point_distance = std::numeric_limits<float>::infinity ();
}
}
float squared_dist;
size_t i;
- vector<int> decoded_point_vector;
+ std::vector<int> decoded_point_vector;
const LeafNode* child_leaf = static_cast<const LeafNode*> (child_node);
size_t i;
const LeafNode* child_leaf = static_cast<const LeafNode*> (child_node);
- vector<int> decoded_point_vector;
+ std::vector<int> decoded_point_vector;
// decode leaf node into decoded_point_vector
(*child_leaf)->getPointIndices (decoded_point_vector);
const OctreeNode* child_node;
// set minimum voxel distance to maximum value
- min_voxel_center_distance = numeric_limits<double>::max ();
+ min_voxel_center_distance = std::numeric_limits<double>::max ();
min_child_idx = 0xFF;
double squared_dist;
double smallest_squared_dist;
size_t i;
- vector<int> decoded_point_vector;
+ std::vector<int> decoded_point_vector;
const LeafNode* child_leaf = static_cast<const LeafNode*> (child_node);
- smallest_squared_dist = numeric_limits<double>::max ();
+ smallest_squared_dist = std::numeric_limits<double>::max ();
// decode leaf node into decoded_point_vector
(**child_leaf).getPointIndices (decoded_point_vector);
{
// we reached leaf node level
size_t i;
- vector<int> decoded_point_vector;
+ std::vector<int> decoded_point_vector;
bool bInBox;
const LeafNode* child_leaf = static_cast<const LeafNode*> (child_node);
initIntersectedVoxel (origin, direction, min_x, min_y, min_z, max_x, max_y, max_z, a);
- if (max (max (min_x, min_y), min_z) < min (min (max_x, max_y), max_z))
+ if (std::max (std::max (min_x, min_y), min_z) < std::min (std::min (max_x, max_y), max_z))
return getIntersectedVoxelCentersRecursive (min_x, min_y, min_z, max_x, max_y, max_z, a, this->root_node_, key,
voxel_center_list, max_voxel_count);
initIntersectedVoxel (origin, direction, min_x, min_y, min_z, max_x, max_y, max_z, a);
- if (max (max (min_x, min_y), min_z) < min (min (max_x, max_y), max_z))
+ if (std::max (std::max (min_x, min_y), min_z) < std::min (std::min (max_x, max_y), max_z))
return getIntersectedVoxelIndicesRecursive (min_x, min_y, min_z, max_x, max_y, max_z, a, this->root_node_, key,
k_indices, max_voxel_count);
return (0);
* \param depth_mask_arg: depth mask used for octree key analysis and branch depth indicator
* \param key_arg: reference to an octree key
* \param binary_tree_in_it_arg iterator of binary input data
- * \param leaf_container_vector__it_end_arg end iterator of binary input data
+ * \param binary_tree_in_it_end_arg
* \param leaf_container_vector_it_arg: iterator pointing to leaf containter pointers to be added to a leaf node
* \param leaf_container_vector_it_end_arg: iterator pointing to leaf containter pointers pointing to last object in input container.
* \param branch_reset_arg: Reset pointer array of current branch
* \return number of points/indices stored in leaf node container.
*/
virtual size_t
- getSize ()
+ getSize () const
{
return 0u;
}
OctreeIteratorBase (const OctreeIteratorBase& src, unsigned int max_depth_arg = 0) :
octree_ (src.octree_), current_state_(0), max_octree_depth_(max_depth_arg)
{
- this->reset ();
}
/** \brief Copy operator.
}
/** \brief Equal comparison operator
- * \param[in] OctreeIteratorBase to compare with
+ * \param[in] other OctreeIteratorBase to compare with
*/
bool operator==(const OctreeIteratorBase& other) const
{
}
/** \brief Inequal comparison operator
- * \param[in] OctreeIteratorBase to compare with
+ * \param[in] other OctreeIteratorBase to compare with
*/
bool operator!=(const OctreeIteratorBase& other) const
{
#include <string.h>
+#include <Eigen/Core>
+
#include <pcl/pcl_macros.h>
#include "octree_container.h"
protected:
ContainerT container_;
+
+ public:
+ //Type ContainerT may have fixed-size Eigen objects inside
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
#define PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
+#include <pcl/console/print.h>
#include <pcl/common/geometry.h>
#include <pcl/octree/boost.h>
-#include <pcl/octree/octree_base.h>
-#include <pcl/octree/octree_iterator.h>
-#include <pcl/octree/octree_pointcloud.h>
+#include <pcl/octree/octree_impl.h>
#include <pcl/octree/octree_pointcloud_adjacency_container.h>
#include <set>
#include <list>
-//DEBUG TODO REMOVE
-#include <pcl/common/time.h>
-
-
-
namespace pcl
-{
-
+{
+
namespace octree
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- /** \brief @b Octree pointcloud voxel class used for adjacency calculation
- * \note This pointcloud octree class generate an octree from a point cloud (zero-copy).
- * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
- * \note This class maintains adjacency information for its voxels
- * \note The OctreePointCloudAdjacencyContainer can be used to store data in leaf nodes
- * \note An optional transform function can be provided which changes how the voxel grid is computed - this can be used to, for example, make voxel bins larger as they increase in distance from the origin (camera)
- * \note See SupervoxelClustering for an example of how to provide a transform function
- * \note If used in academic work, please cite:
- *
- * - J. Papon, A. Abramov, M. Schoeler, F. Woergoetter
- * Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds
- * In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013
- * \ingroup octree
- * \author Jeremie Papon (jpapon@gmail.com)
- */
+ /** \brief @b Octree pointcloud voxel class which maintains adjacency information for its voxels.
+ *
+ * This pointcloud octree class generates an octree from a point cloud (zero-copy). The octree pointcloud is
+ * initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
+ *
+ * The OctreePointCloudAdjacencyContainer class can be used to store data in leaf nodes.
+ *
+ * An optional transform function can be provided which changes how the voxel grid is computed - this can be used to,
+ * for example, make voxel bins larger as they increase in distance from the origin (camera).
+ * \note See SupervoxelClustering for an example of how to provide a transform function.
+ *
+ * If used in academic work, please cite:
+ *
+ * - J. Papon, A. Abramov, M. Schoeler, F. Woergoetter
+ * Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds
+ * In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013
+ *
+ * \ingroup octree
+ * \author Jeremie Papon (jpapon@gmail.com) */
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- template< typename PointT,
- typename LeafContainerT = OctreePointCloudAdjacencyContainer <PointT>,
- typename BranchContainerT = OctreeContainerEmpty >
- class OctreePointCloudAdjacency : public OctreePointCloud< PointT, LeafContainerT, BranchContainerT>
-
+ template <typename PointT,
+ typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>,
+ typename BranchContainerT = OctreeContainerEmpty>
+ class OctreePointCloudAdjacency : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
{
-
- public:
- typedef OctreeBase<LeafContainerT, BranchContainerT> OctreeBaseT;
-
- typedef OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT > OctreeAdjacencyT;
- typedef boost::shared_ptr<OctreeAdjacencyT> Ptr;
- typedef boost::shared_ptr<const OctreeAdjacencyT> ConstPtr;
-
- typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT,OctreeBaseT > OctreePointCloudT;
- typedef typename OctreePointCloudT::LeafNode LeafNode;
- typedef typename OctreePointCloudT::BranchNode BranchNode;
-
- typedef pcl::PointCloud<PointT> CloudT;
-
- //So we can access input
- using OctreePointCloudT::input_;
- using OctreePointCloudT::resolution_;
-
- // iterators are friends
- friend class OctreeIteratorBase<OctreeAdjacencyT> ;
- friend class OctreeDepthFirstIterator<OctreeAdjacencyT> ;
- friend class OctreeBreadthFirstIterator<OctreeAdjacencyT> ;
- friend class OctreeLeafNodeIterator<OctreeAdjacencyT> ;
-
- // Octree default iterators
- typedef OctreeDepthFirstIterator<OctreeAdjacencyT> Iterator;
- typedef const OctreeDepthFirstIterator<OctreeAdjacencyT> ConstIterator;
- Iterator depth_begin(unsigned int maxDepth_arg = 0) {return Iterator(this, maxDepth_arg);};
- const Iterator depth_end() {return Iterator();};
-
- // Octree leaf node iterators
- typedef OctreeLeafNodeIterator<OctreeAdjacencyT> LeafNodeIterator;
- typedef const OctreeLeafNodeIterator< OctreeAdjacencyT> ConstLeafNodeIterator;
- LeafNodeIterator leaf_begin(unsigned int maxDepth_arg = 0) {return LeafNodeIterator(this, maxDepth_arg);};
- const LeafNodeIterator leaf_end() {return LeafNodeIterator();};
-
- typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> VoxelAdjacencyList;
- typedef typename VoxelAdjacencyList::vertex_descriptor VoxelID;
- typedef typename VoxelAdjacencyList::edge_descriptor EdgeID;
-
- //Leaf vector - pointers to all leaves
- typedef std::vector <LeafContainerT*> LeafVectorT;
- //Fast leaf iterators that don't require traversing tree
- typedef typename LeafVectorT::iterator iterator;
- typedef typename LeafVectorT::const_iterator const_iterator;
- inline iterator begin () { return (leaf_vector_.begin ()); }
- inline iterator end () { return (leaf_vector_.end ()); }
- //size of neighbors
- inline size_t size () const { return leaf_vector_.size (); }
-
-
- /** \brief Constructor.
- * \param[in] resolution_arg octree resolution at lowest octree level (voxel size)
- **/
- OctreePointCloudAdjacency (const double resolution_arg);
-
-
- /** \brief Empty class destructor. */
- virtual ~OctreePointCloudAdjacency ()
- {
- }
-
- /** \brief Adds points from cloud to the octree
- * \note This overrides the addPointsFromInputCloud from the OctreePointCloud class
- */
- void
- addPointsFromInputCloud ();
-
- /** \brief Gets the leaf container for a given point
- * \param[in] point_arg Point to search for
- * \returns Pointer to the leaf container - null if no leaf container found
- */
- LeafContainerT *
- getLeafContainerAtPoint (const PointT& point_arg) const;
-
- /** \brief Computes an adjacency graph of voxel relations
- * \note WARNING: This slows down rapidly as cloud size increases due number of edges
- * \param[out] voxel_adjacency_graph Boost Graph Library Adjacency graph of the voxel touching relationships - vertices are pointT, edges represent touching, and edge lengths are the distance between the points
- */
- void
- computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph);
-
- /** \brief Sets a point transform (and inverse) used to transform the space of the input cloud
- * This is useful for changing how adjacency is calculated - such as relaxing
- * the adjacency criterion for points further from the camera
- * \param[in] transform_func A boost:function pointer to the transform to be used. The transform must have one parameter (a point) which it modifies in place
- */
- void
- setTransformFunction (boost::function<void (PointT &p)> transform_func)
- {
- transform_func_ = transform_func;
- }
-
- /** \brief Tests whether input point is occluded from specified camera point by other voxels
- \param[in] point_arg Point to test for
- \param[in] camera_pos Position of camera, defaults to origin
- \returns True if path to camera is blocked by a voxel, false otherwise
- */
- bool
- testForOcclusion (const PointT& point_arg, const PointXYZ &camera_pos = PointXYZ (0,0,0));
-
- protected:
-
- /** \brief Add point at index from input pointcloud dataset to octree
- * \param[in] pointIdx_arg the index representing the point in the dataset given by \a setInputCloud to be added
- * \note This virtual implementation allows the use of a transform function to compute keys
- */
- virtual void
- addPointIdx (const int pointIdx_arg);
-
- /** \brief Fills in the neighbors fields for new voxels
- * \param[in] key_arg Key of the voxel to check neighbors for
- * \param[in] leaf_container Pointer to container of the leaf to check neighbors for
- */
- void
- computeNeighbors (OctreeKey &key_arg, LeafContainerT* leaf_container);
-
- /** \brief Generates octree key for specified point (uses transform if provided)
- * \param[in] point_arg Point to generate key for
- * \param[out] key_arg Resulting octree key
- */
- void
- genOctreeKeyforPoint (const PointT& point_arg,OctreeKey & key_arg) const;
-
- private:
-
- StopWatch timer_;
-
- //Local leaf pointer vector used to make iterating through leaves fast
- LeafVectorT leaf_vector_;
-
- boost::function<void (PointT &p)> transform_func_;
- };
-
- }
-
-}
-
-
-
-
+ public:
+
+ typedef OctreeBase<LeafContainerT, BranchContainerT> OctreeBaseT;
+
+ typedef OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT> OctreeAdjacencyT;
+ typedef boost::shared_ptr<OctreeAdjacencyT> Ptr;
+ typedef boost::shared_ptr<const OctreeAdjacencyT> ConstPtr;
+
+ typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBaseT> OctreePointCloudT;
+ typedef typename OctreePointCloudT::LeafNode LeafNode;
+ typedef typename OctreePointCloudT::BranchNode BranchNode;
+
+ typedef pcl::PointCloud<PointT> PointCloud;
+ typedef boost::shared_ptr<PointCloud> PointCloudPtr;
+ typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+
+ // Iterators are friends
+ friend class OctreeIteratorBase<OctreeAdjacencyT>;
+ friend class OctreeDepthFirstIterator<OctreeAdjacencyT>;
+ friend class OctreeBreadthFirstIterator<OctreeAdjacencyT>;
+ friend class OctreeLeafNodeIterator<OctreeAdjacencyT>;
+
+ // Octree default iterators
+ typedef OctreeDepthFirstIterator<OctreeAdjacencyT> Iterator;
+ typedef const OctreeDepthFirstIterator<OctreeAdjacencyT> ConstIterator;
+
+ Iterator depth_begin (unsigned int max_depth_arg = 0) { return Iterator (this, max_depth_arg); }
+ const Iterator depth_end () { return Iterator (); }
+
+ // Octree leaf node iterators
+ typedef OctreeLeafNodeIterator<OctreeAdjacencyT> LeafNodeIterator;
+ typedef const OctreeLeafNodeIterator<OctreeAdjacencyT> ConstLeafNodeIterator;
+
+ LeafNodeIterator leaf_begin (unsigned int max_depth_arg = 0) { return LeafNodeIterator (this, max_depth_arg); }
+ const LeafNodeIterator leaf_end () { return LeafNodeIterator (); }
+
+ // BGL graph
+ typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> VoxelAdjacencyList;
+ typedef typename VoxelAdjacencyList::vertex_descriptor VoxelID;
+ typedef typename VoxelAdjacencyList::edge_descriptor EdgeID;
+
+ // Leaf vector - pointers to all leaves
+ typedef std::vector<LeafContainerT*> LeafVectorT;
+
+ // Fast leaf iterators that don't require traversing tree
+ typedef typename LeafVectorT::iterator iterator;
+ typedef typename LeafVectorT::const_iterator const_iterator;
+
+ inline iterator begin () { return (leaf_vector_.begin ()); }
+ inline iterator end () { return (leaf_vector_.end ()); }
+
+ // Size of neighbors
+ inline size_t size () const { return leaf_vector_.size (); }
+
+ /** \brief Constructor.
+ *
+ * \param[in] resolution_arg Octree resolution at lowest octree level (voxel size) */
+ OctreePointCloudAdjacency (const double resolution_arg);
+
+ /** \brief Empty class destructor. */
+ virtual ~OctreePointCloudAdjacency ()
+ {
+ }
+
+ /** \brief Adds points from cloud to the octree.
+ *
+ * \note This overrides addPointsFromInputCloud() from the OctreePointCloud class. */
+ void
+ addPointsFromInputCloud ();
+
+ /** \brief Gets the leaf container for a given point.
+ *
+ * \param[in] point_arg Point to search for
+ *
+ * \returns Pointer to the leaf container - null if no leaf container found. */
+ LeafContainerT*
+ getLeafContainerAtPoint (const PointT& point_arg) const;
+
+ /** \brief Computes an adjacency graph of voxel relations.
+ *
+ * \warning This slows down rapidly as cloud size increases due to the number of edges.
+ *
+ * \param[out] voxel_adjacency_graph Boost Graph Library Adjacency graph of the voxel touching relationships.
+ * Vertices are PointT, edges represent touching, and edge lengths are the distance between the points. */
+ void
+ computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph);
+
+ /** \brief Sets a point transform (and inverse) used to transform the space of the input cloud.
+ *
+ * This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for
+ * points further from the camera.
+ *
+ * \param[in] transform_func A boost:function pointer to the transform to be used. The transform must have one
+ * parameter (a point) which it modifies in place. */
+ void
+ setTransformFunction (boost::function<void (PointT &p)> transform_func)
+ {
+ transform_func_ = transform_func;
+ }
+
+ /** \brief Tests whether input point is occluded from specified camera point by other voxels.
+ *
+ * \param[in] point_arg Point to test for
+ * \param[in] camera_pos Position of camera, defaults to origin
+ *
+ * \returns True if path to camera is blocked by a voxel, false otherwise. */
+ bool
+ testForOcclusion (const PointT& point_arg, const PointXYZ &camera_pos = PointXYZ (0, 0, 0));
+
+ protected:
+
+ /** \brief Add point at index from input pointcloud dataset to octree.
+ *
+ * \param[in] point_idx_arg The index representing the point in the dataset given by setInputCloud() to be added
+ *
+ * \note This virtual implementation allows the use of a transform function to compute keys. */
+ virtual void
+ addPointIdx (const int point_idx_arg);
+
+ /** \brief Fills in the neighbors fields for new voxels.
+ *
+ * \param[in] key_arg Key of the voxel to check neighbors for
+ * \param[in] leaf_container Pointer to container of the leaf to check neighbors for */
+ void
+ computeNeighbors (OctreeKey &key_arg, LeafContainerT* leaf_container);
+
+ /** \brief Generates octree key for specified point (uses transform if provided).
+ *
+ * \param[in] point_arg Point to generate key for
+ * \param[out] key_arg Resulting octree key */
+ void
+ genOctreeKeyforPoint (const PointT& point_arg, OctreeKey& key_arg) const;
+
+ private:
+
+ /** \brief Add point at given index from input point cloud to octree.
+ *
+ * Index will be also added to indices vector. This functionality is not enabled for adjacency octree. */
+ using OctreePointCloudT::addPointFromCloud;
+
+ /** \brief Add point simultaneously to octree and input point cloud.
+ *
+ * This functionality is not enabled for adjacency octree. */
+ using OctreePointCloudT::addPointToCloud;
+
+ using OctreePointCloudT::input_;
+ using OctreePointCloudT::resolution_;
+ using OctreePointCloudT::min_x_;
+ using OctreePointCloudT::min_y_;
+ using OctreePointCloudT::min_z_;
+ using OctreePointCloudT::max_x_;
+ using OctreePointCloudT::max_y_;
+ using OctreePointCloudT::max_z_;
+
+ /// Local leaf pointer vector used to make iterating through leaves fast.
+ LeafVectorT leaf_vector_;
+
+ boost::function<void (PointT &p)> transform_func_;
+ };
+ }
+}
//#ifdef PCL_NO_PRECOMPILE
#include <pcl/octree/impl/octree_pointcloud_adjacency.hpp>
//#endif
-#endif //PCL_OCTREE_POINTCLOUD_SUPER_VOXEL_H_
+#endif // PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
/** \brief Add new point to container- this just counts points
* \note To actually store data in the leaves, need to specialize this
* for your point and data type as in supervoxel_clustering.hpp
- * \param[in] new_point the new point to add
*/
+ // param[in] new_point the new point to add
void
- addPoint (const PointInT& new_point)
+ addPoint (const PointInT& /*new_point*/)
{
using namespace pcl::common;
++num_points_;
* \return number of points added to leaf node container.
*/
virtual size_t
- getSize ()
+ getSize () const
{
return num_points_;
}
}
}
-#endif
\ No newline at end of file
+#endif
for (it=leaf_containers.begin(); it!=it_end; ++it)
{
- if ((*it)->getSize()>=minPointsPerLeaf_arg)
+ if (static_cast<int> ((*it)->getSize ()) >= minPointsPerLeaf_arg)
(*it)->getPointIndices(indicesVector_arg);
}
genOctreeKeyforPoint (point_arg, key);
// add point to octree at key
- this->addData (key, 0);
+ this->createLeaf (key);
}
/** \brief Set occupied voxels at all points from point cloud.
}
/** \brief Equal comparison operator - set to false
- * \param[in] OctreePointCloudVoxelCentroidContainer to compare with
*/
+ // param[in] OctreePointCloudVoxelCentroidContainer to compare with
virtual bool operator==(const OctreeContainerBase&) const
{
return ( false );
}
/** \brief Add DataT object to leaf node at octree key.
- * \param[in] key_arg octree key addressing a leaf node.
- * \param[in] data_arg DataT object to be added.
+ * \param pointIdx_arg
*/
virtual void
addPointIdx (const int pointIdx_arg)
}
}
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/octree/impl/octree_search.hpp>
+#else
#define PCL_INSTANTIATE_OctreePointCloudSearch(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSearch<T>;
+#endif // PCL_NO_PRECOMPILE
#endif // PCL_OCTREE_SEARCH_H_
The <b>pcl_octree</b> library provides efficient methods for creating a hierarchical tree
data structure from point cloud data. This enables spatial partitioning,
downsampling and search operations on the point data set.
-Each octree node the has either eight children or no children. The root node describes
+Each octree node has either eight children or no children. The root node describes
a cubic bounding box which encapsulates all points. At every tree level, this space
becomes subdivided by a factor of 2 which results in an increased voxel resolution.
* Author: Julius Kammerl (julius@kammerl.de)
*/
-#include <pcl/impl/instantiate.hpp>
-#include <pcl/point_cloud.h>
-#include <pcl/point_types.h>
-
#include <pcl/octree/octree.h>
#include <pcl/octree/octree_impl.h>
template class PCL_EXPORTS pcl::octree::Octree2BufBase<
pcl::octree::OctreeContainerPointIndices,
pcl::octree::OctreeContainerEmpty >;
+
+template class PCL_EXPORTS pcl::octree::OctreeBase<
+ pcl::octree::OctreeContainerEmpty,
+ pcl::octree::OctreeContainerEmpty >;
+
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
PCL_INSTANTIATE(OctreePointCloudSingleBufferWithLeafDataTVector, PCL_XYZ_POINT_TYPES)
PCL_INSTANTIATE(OctreePointCloudDoubleBufferWithLeafDataTVector, PCL_XYZ_POINT_TYPES)
// PCL_INSTANTIATE(OctreePointCloudSingleBufferWithLeafDataT, PCL_XYZ_POINT_TYPES)
-// PCL_INSTANTIATE(OctreePointCloudSingleBufferWithEmptyLeaf, PCL_XYZ_POINT_TYPES)
+PCL_INSTANTIATE(OctreePointCloudSingleBufferWithEmptyLeaf, PCL_XYZ_POINT_TYPES)
// PCL_INSTANTIATE(OctreePointCloudDensity, PCL_XYZ_POINT_TYPES)
// PCL_INSTANTIATE(OctreePointCloudSingleBufferWithDensityLeaf, PCL_XYZ_POINT_TYPES)
// PCL_INSTANTIATE(OctreePointCloudChangeDetector, PCL_XYZ_POINT_TYPES)
// PCL_INSTANTIATE(OctreePointCloudVoxelCentroid, PCL_XYZ_POINT_TYPES)
+#endif // PCL_NO_PRECOMPILE
set(SUBSYS_DEPS common io filters octree visualization)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
)
set(incs
- include/pcl/${SUBSYS_NAME}/metadata.h
- include/pcl/${SUBSYS_NAME}/outofcore_base_data.h
- include/pcl/${SUBSYS_NAME}/outofcore_node_data.h
- include/pcl/${SUBSYS_NAME}/outofcore_iterator_base.h
- include/pcl/${SUBSYS_NAME}/outofcore_breadth_first_iterator.h
- include/pcl/${SUBSYS_NAME}/outofcore_depth_first_iterator.h
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/cJSON.h
- include/pcl/${SUBSYS_NAME}/octree_base.h
- include/pcl/${SUBSYS_NAME}/octree_base_node.h
- include/pcl/${SUBSYS_NAME}/octree_abstract_node_container.h
- include/pcl/${SUBSYS_NAME}/octree_disk_container.h
- include/pcl/${SUBSYS_NAME}/octree_ram_container.h
- include/pcl/${SUBSYS_NAME}/outofcore.h
- include/pcl/${SUBSYS_NAME}/outofcore_impl.h
+ "include/pcl/${SUBSYS_NAME}/metadata.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore_base_data.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore_node_data.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore_iterator_base.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore_breadth_first_iterator.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore_depth_first_iterator.h"
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/cJSON.h"
+ "include/pcl/${SUBSYS_NAME}/octree_base.h"
+ "include/pcl/${SUBSYS_NAME}/octree_base_node.h"
+ "include/pcl/${SUBSYS_NAME}/octree_abstract_node_container.h"
+ "include/pcl/${SUBSYS_NAME}/octree_disk_container.h"
+ "include/pcl/${SUBSYS_NAME}/octree_ram_container.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore.h"
+ "include/pcl/${SUBSYS_NAME}/outofcore_impl.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/outofcore_breadth_first_iterator.hpp
- include/pcl/${SUBSYS_NAME}/impl/outofcore_depth_first_iterator.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_base.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_base_node.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_disk_container.hpp
- include/pcl/${SUBSYS_NAME}/impl/octree_ram_container.hpp
- include/pcl/${SUBSYS_NAME}/impl/monitor_queue.hpp
- include/pcl/${SUBSYS_NAME}/impl/lru_cache.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/outofcore_breadth_first_iterator.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/outofcore_depth_first_iterator.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_base.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_base_node.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_disk_container.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/octree_ram_container.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/monitor_queue.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/lru_cache.hpp"
)
set(visualization_incs
- include/pcl/${SUBSYS_NAME}/visualization/axes.h
- include/pcl/${SUBSYS_NAME}/visualization/camera.h
- include/pcl/${SUBSYS_NAME}/visualization/common.h
- include/pcl/${SUBSYS_NAME}/visualization/geometry.h
- include/pcl/${SUBSYS_NAME}/visualization/grid.h
- include/pcl/${SUBSYS_NAME}/visualization/object.h
- include/pcl/${SUBSYS_NAME}/visualization/outofcore_cloud.h
- include/pcl/${SUBSYS_NAME}/visualization/scene.h
- include/pcl/${SUBSYS_NAME}/visualization/viewport.h
+ "include/pcl/${SUBSYS_NAME}/visualization/axes.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/camera.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/common.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/geometry.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/grid.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/object.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/outofcore_cloud.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/scene.h"
+ "include/pcl/${SUBSYS_NAME}/visualization/viewport.h"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs} ${visualization_incs})
- #PCL_ADD_SSE_FLAGS(${LIB_NAME})
- target_link_libraries(${LIB_NAME} pcl_common pcl_visualization ${Boost_SYSTEM_LIBRARY})
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs} ${visualization_incs})
+ #PCL_ADD_SSE_FLAGS("${LIB_NAME}")
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_visualization ${Boost_SYSTEM_LIBRARY})
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/visualization ${visualization_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/visualization" ${visualization_incs})
- add_subdirectory(tools)
+ if(BUILD_tools)
+ add_subdirectory(tools)
+ endif(BUILD_tools)
endif(build)
* http://www.pointclouds.org/blog/urcs/.
*
* The primary purpose of this class is an interface to the
- * recursive traversal (recursion handled by \ref OutofcoreOctreeBaseNode) of the
+ * recursive traversal (recursion handled by \ref pcl::outofcore::OutofcoreOctreeBaseNode) of the
* in-memory/top-level octree structure. The metadata in each node
* can be loaded entirely into main memory, from which the tree can be traversed
* recursively in this state. This class provides an the interface
*
* The format of the octree is stored on disk in a hierarchical
* octree structure, where .oct_idx are the JSON-based node
- * metadata files managed by \ref OutofcoreOctreeNodeMetadata,
+ * metadata files managed by \ref pcl::outofcore::OutofcoreOctreeNodeMetadata,
* and .octree is the JSON-based octree metadata file managed by
- * \ref OutofcoreOctreeBaseMetadata. Children of each node live
+ * \ref pcl::outofcore::OutofcoreOctreeBaseMetadata. Children of each node live
* in up to eight subdirectories named from 0 to 7, where a
* metadata and optionally a pcd file will exist. The PCD files
* are stored in compressed binary PCD format, containing all of
* otherwise only the root node is actually created, and the rest will be
* generated on insertion or query.
*
- * \param Path to the top-level tree/tree.oct_idx metadata file
+ * \param root_node_name Path to the top-level tree/tree.oct_idx metadata file
* \param load_all Load entire tree metadata (does not load any points from disk)
* \throws PCLException for bad extension (root node metadata must be .oct_idx extension)
*/
*
* \param min Bounding box min
* \param max Bounding box max
- * \param node_dim_meters Node dimension in meters (assuming your point data is in meters)
+ * \param resolution_arg Node dimension in meters (assuming your point data is in meters)
* \param root_node_name must end in ".oct_idx"
* \param coord_sys Coordinate system which is stored in the JSON metadata
- * \throws PCLException if root file extension does not match \ref OutofcoreOctreeBaseNode::node_index_extension
+ * \throws PCLException if root file extension does not match \ref pcl::outofcore::OutofcoreOctreeBaseNode::node_index_extension
*/
OutofcoreOctreeBase (const Eigen::Vector3d& min, const Eigen::Vector3d& max, const double resolution_arg, const boost::filesystem::path &root_node_name, const std::string &coord_sys);
//templated PointT methods
//--------------------------------------------------------------------------------
- /** \brief Get a list of file paths at query_depth that intersect with your bounding box specified by \ref min and \ref max. When querying with this method, you may be stuck with extra data (some outside of your query bounds) that reside in the files.
+ /** \brief Get a list of file paths at query_depth that intersect with your bounding box specified by \c min and \c max.
+ * When querying with this method, you may be stuck with extra data (some outside of your query bounds) that reside in the files.
*
* \param[in] min The minimum corner of the bounding box
* \param[in] max The maximum corner of the bounding box
void
queryBBIncludes (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::uint64_t query_depth, AlignedPointTVector &dst) const;
- /** \brief Query all points falling within the input bounding box at \ref query_depth and return a PCLPointCloud2 object in \ref dst_blob.
+ /** \brief Query all points falling within the input bounding box at \c query_depth and return a PCLPointCloud2 object in \c dst_blob.
*
* \param[in] min The minimum corner of the input bounding box.
* \param[in] max The maximum corner of the input bounding box.
void
queryBBIncludes (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob) const;
- /** \brief Returns a random subsample of points within the given bounding box at \ref query_depth.
+ /** \brief Returns a random subsample of points within the given bounding box at \c query_depth.
*
* \param[in] min The minimum corner of the boudning box to query.
* \param[out] max The maximum corner of the bounding box to query.
- * \param[in] query_depth The depth in the tree at which to look for the points. Only returns points within the given bounding box at the specified \ref query_depth.
+ * \param[in] query_depth The depth in the tree at which to look for the points. Only returns points within the given bounding box at the specified \c query_depth.
* \param[out] dst The destination in which to return the points.
*
*/
//PCLPointCloud2 methods
//--------------------------------------------------------------------------------
- /** \brief Query all points falling within the input bounding box at \ref query_depth and return a PCLPointCloud2 object in \ref dst_blob. If the optional argument for filter is given, points are processed by that filter before returning.
+ /** \brief Query all points falling within the input bounding box at \c query_depth and return a PCLPointCloud2 object in \c dst_blob.
+ * If the optional argument for filter is given, points are processed by that filter before returning.
* \param[in] min The minimum corner of the input bounding box.
* \param[in] max The maximum corner of the input bounding box.
* \param[in] query_depth The depth of tree at which to query; only points at this depth are returned
/** \brief Returns list of pcd files from nodes whose bounding boxes intersect with the input bounding box.
* \param[in] min The minimum corner of the input bounding box.
* \param[in] max The maximum corner of the input bounding box.
+ * \param query_depth
* \param[out] filenames The list of paths to the PCD files which can be loaded and processed.
*/
inline virtual void
// --------------------------------------------------------------------------------
/** \brief Get the overall bounding box of the outofcore
- * octree; this is the same as the bounding box of the \ref root_node_ node */
+ * octree; this is the same as the bounding box of the \c root_node_ node
+ * \param min
+ * \param max
+ */
bool
getBoundingBox (Eigen::Vector3d &min, Eigen::Vector3d &max) const;
/** \brief Get number of points at specified LOD
- * \param[in] depth the level of detail at which we want the number of points (0 is root, 1, 2,...)
+ * \param[in] depth_index the level of detail at which we want the number of points (0 is root, 1, 2,...)
* \return number of points in the tree at \b depth
*/
inline boost::uint64_t
this->printBoundingBox (metadata_->getDepth ());
}
- /** \brief Returns the voxel centers of all existing voxels at \ref query_depth
- \param[in] query_depth: the depth of the tree at which to retrieve occupied/existing voxels
- \param[out] vector of PointXYZ voxel centers for nodes that exist at that depth
+ /** \brief Returns the voxel centers of all existing voxels at \c query_depth
+ \param[out] voxel_centers Vector of PointXYZ voxel centers for nodes that exist at that depth
+ \param[in] query_depth the depth of the tree at which to retrieve occupied/existing voxels
*/
void
getOccupiedVoxelCenters(AlignedPointTVector &voxel_centers, size_t query_depth) const;
- /** \brief Returns the voxel centers of all existing voxels at \ref query_depth
- \param[in] query_depth: the depth of the tree at which to retrieve occupied/existing voxels
- \param[out] vector of PointXYZ voxel centers for nodes that exist at that depth
+ /** \brief Returns the voxel centers of all existing voxels at \c query_depth
+ \param[out] voxel_centers Vector of PointXYZ voxel centers for nodes that exist at that depth
+ \param[in] query_depth the depth of the tree at which to retrieve occupied/existing voxels
*/
void
getOccupiedVoxelCenters(std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > &voxel_centers, size_t query_depth) const;
*
* \brief OutofcoreOctreeBaseNode Class internally representing nodes of an
* outofcore octree, with accessors to its data via the \ref
- * octree_disk_container class or \ref octree_ram_container class,
+ * pcl::outofcore::OutofcoreOctreeDiskContainer class or \ref pcl::outofcore::OutofcoreOctreeRamContainer class,
* whichever it is templated against.
*
* \ingroup outofcore
//query
/** \brief gets the minimum and maximum corner of the bounding box represented by this node
- * \param[out] minCoord returns the minimum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
- * \param[out] maxCoord returns the maximum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
+ * \param[out] min_bb returns the minimum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
+ * \param[out] max_bb returns the maximum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
*/
virtual inline void
getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
* \param[in] min_bb the minimum corner of the bounding box, indexed by X,Y,Z coordinates
* \param[in] max_bb the maximum corner of the bounding box, indexed by X,Y,Z coordinates
* \param[in] query_depth
+ * \param percent
* \param[out] v std::list of points returned by the query
*/
virtual void
virtual void
queryBBIntersects (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const boost::uint32_t query_depth, std::list<std::string> &file_names);
- /** \brief Write the voxel size to stdout at \ref query_depth
+ /** \brief Write the voxel size to stdout at \c query_depth
* \param[in] query_depth The depth at which to print the size of the voxel/bounding boxes
*/
virtual void
/** \brief add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point
* \param[in] p vector of points to add to the leaf
- * \param[in] skipBBCheck whether to check if the point's coordinates fall within the bounding box
+ * \param[in] skip_bb_check whether to check if the point's coordinates fall within the bounding box
*/
virtual boost::uint64_t
addDataToLeaf (const AlignedPointTVector &p, const bool skip_bb_check = true);
* If creating root, path is full name. If creating any other
* node, path is dir; throws exception if directory or metadata not found
*
- * \param[in] Directory pathname
+ * \param[in] directory_path pathname
* \param[in] super
- * \param[in] loadAll
+ * \param[in] load_all
* \throws PCLException if directory is missing
* \throws PCLException if node index is missing
*/
virtual size_t
countNumChildren () const;
- /** \brief Counts the number of loaded chilren by testing the \ref children_ array;
+ /** \brief Counts the number of loaded chilren by testing the \c children_ array;
* used to update num_loaded_chilren_ internally
*/
virtual size_t
countNumLoadedChildren () const;
/** \brief Save node's metadata to file
- * \param[in] recursive: if false, save only this node's metadata to file; if true, recursively
+ * \param[in] recursive if false, save only this node's metadata to file; if true, recursively
* save all children's metadata to files as well
*/
void
addDataAtMaxDepth (const AlignedPointTVector &p, const bool skip_bb_check = true);
/** \brief Add data to the leaf when at max depth of tree. If
- * \ref skip_bb_check is true, adds to the node regardless of the
+ * \c skip_bb_check is true, adds to the node regardless of the
* bounding box it represents; otherwise only adds points that
* fall within the bounding box
*
/** \brief Tests whether the input bounding box intersects with the current node's bounding box
* \param[in] min_bb The minimum corner of the input bounding box
- * \param[in] min_bb The maximum corner of the input bounding box
+ * \param[in] max_bb The maximum corner of the input bounding box
* \return bool True if any portion of the bounding box intersects with this node's bounding box; false otherwise
*/
inline bool
inline bool
inBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const;
- /** \brief Tests whether \ref point falls within the input bounding box
+ /** \brief Tests whether \c point falls within the input bounding box
* \param[in] min_bb The minimum corner of the input bounding box
* \param[in] max_bb The maximum corner of the input bounding box
* \param[in] point The test point
bool
pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Vector3d &point);
- /** \brief Tests whether \ref p falls within the input bounding box
+ /** \brief Tests whether \c p falls within the input bounding box
* \param[in] min_bb The minimum corner of the input bounding box
* \param[in] max_bb The maximum corner of the input bounding box
* \param[in] p The point to be tested
static bool
pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const PointT &p);
- /** \brief Tests whether \ref x, \ref y, and \ref z fall within the input bounding box
+ /** \brief Tests whether \c x, \c y, and \c z fall within the input bounding box
* \param[in] min_bb The minimum corner of the input bounding box
* \param[in] max_bb The maximum corner of the input bounding box
- **/
+ * \param x
+ * \param y
+ * \param z
+ **/
static bool
pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const double x, const double y, const double z);
inline bool
pointInBoundingBox (const PointT &p) const;
- /** \brief Creates child node \ref idx
+ /** \brief Creates child node \c idx
* \param[in] idx Index (0-7) of the child node
*/
void
*
* \param[in] start index of first point to read from disk
* \param[in] count offset of last point to read from disk
- * \param[out] v std::vector as destination for points read from disk into memory
+ * \param[out] dst std::vector as destination for points read from disk into memory
*/
void
readRange (const uint64_t start, const uint64_t count, AlignedPointTVector &dst);
void
readRange (const uint64_t, const uint64_t, pcl::PCLPointCloud2::Ptr &dst);
- /** \brief Reads the entire point contents from disk into \ref output_cloud
+ /** \brief Reads the entire point contents from disk into \c output_cloud
* \param[out] output_cloud
*/
int
* unique (could have multiple identical points!)
*
* \param[in] start The starting index of points to select
- * \param count[in] The length of the range of points from which to randomly sample
+ * \param[in] count The length of the range of points from which to randomly sample
* (i.e. from start to start+count)
- * \param percent[in] The percentage of count that is enough points to make up this random sample
- * \param dst[out] std::vector as destination for randomly sampled points; size will
+ * \param[in] percent The percentage of count that is enough points to make up this random sample
+ * \param[out] dst std::vector as destination for randomly sampled points; size will
* be percentage*count
*/
void
readRangeSubSample_bernoulli (const uint64_t start, const uint64_t count,
const double percent, AlignedPointTVector& dst);
- /** \brief Returns the total number of points for which this container is responsible, \ref filelen_ + points in \ref writebuff_ that have not yet been flushed to the disk
+ /** \brief Returns the total number of points for which this container is responsible, \c filelen_ + points in \c writebuff_ that have not yet been flushed to the disk
*/
uint64_t
size () const
}
/** \brief STL-like empty test
- * \return true if container has no data on disk or waiting to be written in \ref writebuff_ */
+ * \return true if container has no data on disk or waiting to be written in \c writebuff_ */
inline bool
empty () const
{
private:
//no copy construction
- OutofcoreOctreeDiskContainer (const OutofcoreOctreeDiskContainer &rval) { }
+ OutofcoreOctreeDiskContainer (const OutofcoreOctreeDiskContainer& /*rval*/) { }
OutofcoreOctreeDiskContainer&
- operator= (const OutofcoreOctreeDiskContainer &rval) { }
+ operator= (const OutofcoreOctreeDiskContainer& /*rval*/) { }
void
flushWritebuff (const bool force_cache_dealloc);
insertRange (const PointT* const * start, const uint64_t count);
void
- insertRange (AlignedPointTVector &p)
+ insertRange (AlignedPointTVector& /*p*/)
{
PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n");
//insertRange (&(p.begin ()), p.size ());
}
void
- insertRange (const AlignedPointTVector &p)
+ insertRange (const AlignedPointTVector& /*p*/)
{
PCL_ERROR ("[pcl::outofcore::OutofcoreOctreeRamContainer] Inserting eigen-aligned point vectors is not implemented using the ram containers\n");
}
protected:
//no copy construction
- OutofcoreOctreeRamContainer (const OutofcoreOctreeRamContainer &rval) { }
+ OutofcoreOctreeRamContainer (const OutofcoreOctreeRamContainer& /*rval*/) { }
OutofcoreOctreeRamContainer&
- operator= (const OutofcoreOctreeRamContainer& rval) { }
+ operator= (const OutofcoreOctreeRamContainer& /*rval*/) { }
//the actual container
//std::deque<PointT> container;
*
* \ingroup outofcore
* \author Justin Rosen (jmylesrosen@gmail.com)
- * \note Code adapted from \ref octree_iterator.h in Module \ref pcl_octree written by Julius Kammerl
+ * \note Code adapted from \ref octree_iterator.h in Module \ref pcl::octree written by Julius Kammerl
*/
template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
class OutofcoreBreadthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
*
* \ingroup outofcore
* \author Stephen Fox (foxstephend@gmail.com)
- * \note Code adapted from \ref octree_iterator.h in Module \ref pcl_octree written by Julius Kammerl
+ * \note Code adapted from \ref octree_iterator.h in Module \ref pcl::octree written by Julius Kammerl
*/
template<typename PointT=pcl::PointXYZ, typename ContainerT=OutofcoreOctreeDiskContainer<pcl::PointXYZ> >
class OutofcoreDepthFirstIterator : public OutofcoreIteratorBase<PointT, ContainerT>
namespace outofcore
{
/** \brief Abstract octree iterator class
- * \note This class is based on the octree_iterator written by Julius Kammerl adapted to the outofcore octree. The interface is very similar, but it does \b not inherit the \ref pcl_octree iterator base.
+ * \note This class is based on the octree_iterator written by Julius Kammerl adapted to the outofcore octree. The interface is very similar, but it does \b not inherit the \ref pcl::octree iterator base.
* \ingroup outofcore
* \author Stephen Fox (foxstephend@gmail.com)
*/
#include "object.h"
// VTK
+#include <vtkVersion.h>
#include <vtkActor.h>
#include <vtkTubeFilter.h>
#include <vtkAxes.h>
axes_ = vtkSmartPointer<vtkAxes>::New ();
axes_->SetOrigin (0, 0, 0);
axes_->SetScaleFactor (size);
+ axes_->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes_->GetOutput ();
- axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
+#else
+ axes_tubes->SetInputData (axes_data);
+#endif
axes_tubes->SetRadius (axes_->GetScaleFactor () / 100.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+ axes_mapper->SetInputData (axes_tubes->GetOutput ());
+#endif
axes_actor_ = vtkSmartPointer<vtkActor>::New ();
axes_actor_->GetProperty ()->SetLighting (false);
{
displayDepth = 0;
}
- else if (displayDepth > octree_->getDepth ())
+ else if (static_cast<unsigned int> (displayDepth) > octree_->getDepth ())
{
displayDepth = octree_->getDepth ();
}
- if (display_depth_ != displayDepth)
+ if (display_depth_ != static_cast<uint64_t> (displayDepth))
{
display_depth_ = displayDepth;
updateVoxelData ();
//
// vtkSmartPointer<vtkPolyDataMapper> hull_mapper = static_cast<vtkPolyDataMapper*> (hull_actor_->GetMapper ());
//
-//#if VTK_MAJOR_VERSION <= 5
+//#if VTK_MAJOR_VERSION < 6
// hull_mapper->SetInput (hullData);
//#else
// hull_mapper->SetInputData(hullData);
#include <pcl/outofcore/visualization/grid.h>
// VTK
+#include <vtkVersion.h>
#include <vtkActor.h>
#include <vtkRectilinearGrid.h>
#include <vtkDoubleArray.h>
grid_->SetYCoordinates (y_array);
grid_->SetZCoordinates (xz_array);
-#if VTK_MAJOR_VERSION <= 5
+#if VTK_MAJOR_VERSION < 6
grid_mapper->SetInputConnection (grid_->GetProducerPort ());
#else
grid_mapper->SetInputData(grid_);
#include <pcl/visualization/vtk/vtkVertexBufferObjectMapper.h>
// VTK
+#include <vtkVersion.h>
#include <vtkActor.h>
#include <vtkPolyData.h>
#include <vtkProperty.h>
double y = voxel_centers[i].y;
double z = voxel_centers[i].z;
+#if VTK_MAJOR_VERSION < 6
voxel_data->AddInput (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
+#else
+ voxel_data->AddInputData (getVtkCube (x - s, x + s, y - s, y + s, z - s, z + s));
+#endif
}
+#if VTK_MAJOR_VERSION < 6
voxel_mapper->SetInput (voxel_data->GetOutput ());
+#else
+ voxel_mapper->SetInputData (voxel_data->GetOutput ());
+#endif
voxel_actor_->SetMapper (voxel_mapper);
voxel_actor_->GetProperty ()->SetRepresentationToWireframe ();
}
}
- for (int i = 0; i < actors_to_remove.size (); i++)
+ for (size_t i = 0; i < actors_to_remove.size (); i++)
{
points_loaded_ -= actors_to_remove.back ()->GetMapper ()->GetInput ()->GetNumberOfPoints ();
data_loaded_ -= actors_to_remove.back ()->GetMapper ()->GetInput ()->GetActualMemorySize();
Camera*
Scene::getCamera (vtkCamera *camera)
{
- for (int i = 0; i < cameras_.size (); i++)
+ for (size_t i = 0; i < cameras_.size (); i++)
{
if (cameras_[i]->getCamera ().GetPointer () == camera)
{
Camera*
Scene::getCamera (std::string name)
{
- for (int i = 0; i < cameras_.size (); i++)
+ for (size_t i = 0; i < cameras_.size (); i++)
if (cameras_[i]->getName () == name)
return cameras_[i];
Object*
Scene::getObjectByName (std::string name)
{
- for (int i = 0; i < objects_.size (); i++)
+ for (size_t i = 0; i < objects_.size (); i++)
if (objects_[i]->getName () == name)
return objects_[i];
std::vector<Camera*> cameras = scene->getCameras ();
- for (int i = 0; i < cameras.size (); i++)
+ for (size_t i = 0; i < cameras.size (); i++)
{
cameras[i]->render (renderer_);
// if (cameras[i]->getCamera () != renderer_->GetActiveCamera ())
}
std::vector<Object*> objects = scene->getObjects ();
- for (int i = 0; i < objects.size (); i++)
+ for (size_t i = 0; i < objects.size (); i++)
{
//std::cout << objects[i]->getName () << std::endl;
objects[i]->render (renderer_);
uint64_t points_loaded = 0;
uint64_t data_loaded = 0;
- for (int i = 0; i < objects.size (); i++)
+ for (size_t i = 0; i < objects.size (); i++)
{
//TYPE& dynamic_cast<TYPE&> (object);
OutofcoreCloud* cloud = dynamic_cast<OutofcoreCloud*> (objects[i]);
}
char points_loaded_str[50];
- sprintf (points_loaded_str, "%llu points/%llu mb", points_loaded, data_loaded/1024);
+ sprintf (points_loaded_str, "%lu points/%lu mb", points_loaded, data_loaded/1024);
points_hud_actor_->SetInput (points_loaded_str);
}
# pcl_outofcore_process
-PCL_ADD_EXECUTABLE(pcl_outofcore_process ${SUBSYS_NAME} outofcore_process.cpp)
+PCL_ADD_EXECUTABLE(pcl_outofcore_process "${SUBSYS_NAME}" outofcore_process.cpp)
target_link_libraries(pcl_outofcore_process pcl_common pcl_filters pcl_io pcl_octree pcl_outofcore)
-PCL_ADD_EXECUTABLE(pcl_outofcore_print ${SUBSYS_NAME} outofcore_print.cpp)
+PCL_ADD_EXECUTABLE(pcl_outofcore_print "${SUBSYS_NAME}" outofcore_print.cpp)
target_link_libraries(pcl_outofcore_print pcl_common pcl_filters pcl_io pcl_octree pcl_outofcore)
if(NOT VTK_FOUND)
else(NOT VTK_FOUND)
set(DEFAULT TRUE)
set(REASON)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.8")
# pcl_outofcore_viewer uses some functions not present in vtk 5.8
../src/visualization/viewport.cpp)
# pcl_outofcore_viewer
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_outofcore_viewer ${SUBSYS_NAME} ${srcs})
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_outofcore_viewer "${SUBSYS_NAME}" ${srcs})
target_link_libraries(pcl_outofcore_viewer pcl_common pcl_io pcl_outofcore pcl_visualization pcl_octree pcl_filters)
endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.8")
void
printDepth(size_t depth)
{
- for (int i=0; i < depth; i++)
+ for (size_t i = 0; i < depth; i++)
PCL_INFO (" ");
}
#include <boost/filesystem.hpp>
#include <boost/thread.hpp>
-// Definitions
-const int MAX_DEPTH (-1);
-
// Globals
vtkSmartPointer<vtkRenderWindow> window;
}
void
-print_help (int argc, char **argv)
+print_help (int, char **argv)
{
- //suppress unused parameter warning
- assert(argc == argc);
-
print_info ("This program is used to visualize outofcore data structure");
print_info ("%s <options> <input_tree_dir> \n", argv[0]);
print_info ("\n");
#cmakedefine HAVE_OPENNI 1
+#cmakedefine HAVE_OPENNI2 1
+
#cmakedefine HAVE_QHULL 1
#cmakedefine HAVE_QHULL_2011 1
#undef HAVE_OPENNI
#endif
+#ifdef DISABLE_OPENNI2
+#undef HAVE_OPENNI2
+#endif
+
#ifdef DISABLE_QHULL
#undef HAVE_QHULL
#endif
#cmakedefine VERBOSITY_LEVEL_INFO
#cmakedefine VERBOSITY_LEVEL_DEBUG
#cmakedefine VERBOSITY_LEVEL_VERBOSE
+
+/* Address the cases where on MacOS and OpenGL and GLUT are not frameworks */
+#cmakedefine OPENGL_IS_A_FRAMEWORK
+#cmakedefine GLUT_IS_A_FRAMEWORK
else(NOT VTK_FOUND)
set(DEFAULT TRUE)
set(REASON)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
endif(NOT VTK_FOUND)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(incs
- include/pcl/${SUBSYS_NAME}/ground_based_people_detection_app.h
- include/pcl/${SUBSYS_NAME}/head_based_subcluster.h
- include/pcl/${SUBSYS_NAME}/height_map_2d.h
- include/pcl/${SUBSYS_NAME}/person_classifier.h
- include/pcl/${SUBSYS_NAME}/person_cluster.h
- include/pcl/${SUBSYS_NAME}/hog.h
+ "include/pcl/${SUBSYS_NAME}/ground_based_people_detection_app.h"
+ "include/pcl/${SUBSYS_NAME}/head_based_subcluster.h"
+ "include/pcl/${SUBSYS_NAME}/height_map_2d.h"
+ "include/pcl/${SUBSYS_NAME}/person_classifier.h"
+ "include/pcl/${SUBSYS_NAME}/person_cluster.h"
+ "include/pcl/${SUBSYS_NAME}/hog.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/ground_based_people_detection_app.hpp
- include/pcl/${SUBSYS_NAME}/impl/head_based_subcluster.hpp
- include/pcl/${SUBSYS_NAME}/impl/height_map_2d.hpp
- include/pcl/${SUBSYS_NAME}/impl/person_classifier.hpp
- include/pcl/${SUBSYS_NAME}/impl/person_cluster.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/ground_based_people_detection_app.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/head_based_subcluster.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/height_map_2d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/person_classifier.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/person_cluster.hpp"
)
set(srcs
src/hog.cpp)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
- #SET_TARGET_PROPERTIES(pcl_${SUBSYS_NAME} PROPERTIES LINKER_LANGUAGE CXX)
+ #SET_TARGET_PROPERTIES("${LIB_NAME}" PROPERTIES LINKER_LANGUAGE CXX)
if(OPENNI_FOUND AND BUILD_OPENNI)
- PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ground_based_rgbd_people_detector ${SUBSYS_NAME} apps/main_ground_based_people_detection.cpp)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_ground_based_rgbd_people_detector "${SUBSYS_NAME}" apps/main_ground_based_people_detection.cpp)
target_link_libraries(pcl_ground_based_rgbd_people_detector pcl_common pcl_kdtree pcl_search pcl_features pcl_sample_consensus pcl_filters pcl_io pcl_visualization pcl_segmentation pcl_people)
endif()
endif(build)
// Algorithm parameters:
std::string svm_filename = "../../people/data/trainedLinearSVMForPeopleDetectionWithHOG.yaml";
float min_confidence = -1.5;
+ float min_width = 0.1;
+ float max_width = 8.0;
float min_height = 1.3;
float max_height = 2.3;
float voxel_size = 0.06;
people_detector.setVoxelSize(voxel_size); // set the voxel size
people_detector.setIntrinsics(rgb_intrinsics_matrix); // set RGB camera intrinsic parameters
people_detector.setClassifier(person_classifier); // set person classifier
- people_detector.setHeightLimits(min_height, max_height); // set person classifier
+ people_detector.setPersonClusterLimits(min_height, max_height, min_width, max_width);
people_detector.setSamplingFactor(sampling_factor); // set a downsampling factor to the point cloud (for increasing speed)
// people_detector.setSensorPortraitOrientation(true); // set sensor orientation to vertical
#include <pcl/people/person_cluster.h>
#include <pcl/people/head_based_subcluster.h>
#include <pcl/people/person_classifier.h>
+#include <pcl/common/transforms.h>
namespace pcl
{
void
setGround (Eigen::VectorXf& ground_coeffs);
+ /**
+ * \brief Set the transformation matrix, which is used in order to transform the given point cloud, the ground plane and the intrinsics matrix to the internal coordinate frame.
+ *
+ * \param[in] cloud A pointer to the input cloud.
+ */
+ void
+ setTransformation (const Eigen::Matrix3f& transformation);
+
/**
* \brief Set sampling factor.
*
void
setClassifier (pcl::people::PersonClassifier<pcl::RGB> person_classifier);
+ /**
+ * \brief Set the field of view of the point cloud in z direction.
+ *
+ * \param[in] min The beginning of the field of view in z-direction, should be usually set to zero.
+ * \param[in] max The end of the field of view in z-direction.
+ */
+ void
+ setFOV (float min, float max);
+
/**
* \brief Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).
*
setHeadCentroid (bool head_centroid);
/**
- * \brief Set minimum and maximum allowed height for a person cluster.
+ * \brief Set minimum and maximum allowed height and width for a person cluster.
*
* \param[in] min_height Minimum allowed height for a person cluster (default = 1.3).
* \param[in] max_height Maximum allowed height for a person cluster (default = 2.3).
+ * \param[in] min_width Minimum width for a person cluster (default = 0.1).
+ * \param[in] max_width Maximum width for a person cluster (default = 8.0).
*/
void
- setHeightLimits (float min_height, float max_height);
-
- /**
- * \brief Set minimum and maximum allowed number of points for a person cluster.
- *
- * \param[in] min_points Minimum allowed number of points for a person cluster.
- * \param[in] max_points Maximum allowed number of points for a person cluster.
- */
- void
- setDimensionLimits (int min_points, int max_points);
+ setPersonClusterLimits (float min_height, float max_height, float min_width, float max_width);
/**
* \brief Set minimum distance between persons' heads.
setMinimumDistanceBetweenHeads (float heads_minimum_distance);
/**
- * \brief Get minimum and maximum allowed height for a person cluster.
+ * \brief Get the minimum and maximum allowed height and width for a person cluster.
*
* \param[out] min_height Minimum allowed height for a person cluster.
* \param[out] max_height Maximum allowed height for a person cluster.
+ * \param[out] min_width Minimum width for a person cluster.
+ * \param[out] max_width Maximum width for a person cluster.
*/
void
- getHeightLimits (float& min_height, float& max_height);
+ getPersonClusterLimits (float& min_height, float& max_height, float& min_width, float& max_width);
/**
* \brief Get minimum and maximum allowed number of points for a person cluster.
Eigen::VectorXf
getGround ();
+ /**
+ * \brief Get the filtered point cloud.
+ */
+ PointCloudPtr
+ getFilteredCloud ();
+
/**
* \brief Get pointcloud after voxel grid filtering and ground removal.
*/
void
swapDimensions (pcl::PointCloud<pcl::RGB>::Ptr& cloud);
+ /**
+ * \brief Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel size.
+ */
+ void
+ updateMinMaxPoints ();
+
+ /**
+ * \brief Applies the transformation to the input point cloud.
+ */
+ void
+ applyTransformationPointCloud ();
+
+ /**
+ * \brief Applies the transformation to the ground plane.
+ */
+ void
+ applyTransformationGround ();
+
+ /**
+ * \brief Applies the transformation to the intrinsics matrix.
+ */
+ void
+ applyTransformationIntrinsics ();
+
+ /**
+ * \brief Reduces the input cloud to one point per voxel and limits the field of view.
+ */
+ void
+ filter ();
+
/**
* \brief Perform people detection on the input data and return people clusters information.
*
float voxel_size_;
/** \brief ground plane coefficients */
- Eigen::VectorXf ground_coeffs_;
-
+ Eigen::VectorXf ground_coeffs_;
+
+ /** \brief flag stating whether the ground coefficients have been set or not */
+ bool ground_coeffs_set_;
+
+ /** \brief the transformed ground coefficients */
+ Eigen::VectorXf ground_coeffs_transformed_;
+
/** \brief ground plane normalization factor */
- float sqrt_ground_coeffs_;
-
+ float sqrt_ground_coeffs_;
+
+ /** \brief rotation matrix which transforms input point cloud to internal people tracker coordinate frame */
+ Eigen::Matrix3f transformation_;
+
+ /** \brief flag stating whether the transformation matrix has been set or not */
+ bool transformation_set_;
+
/** \brief pointer to the input cloud */
- PointCloudPtr cloud_;
+ PointCloudPtr cloud_;
+
+ /** \brief pointer to the filtered cloud */
+ PointCloudPtr cloud_filtered_;
/** \brief pointer to the cloud after voxel grid filtering and ground removal */
PointCloudPtr no_ground_cloud_;
float max_height_;
/** \brief person clusters minimum height from the ground plane */
- float min_height_;
-
+ float min_height_;
+
+ /** \brief person clusters maximum width, used to estimate how many points maximally represent a person cluster */
+ float max_width_;
+
+ /** \brief person clusters minimum width, used to estimate how many points minimally represent a person cluster */
+ float min_width_;
+
+ /** \brief the beginning of the field of view in z-direction, should be usually set to zero */
+ float min_fov_;
+
+ /** \brief the end of the field of view in z-direction */
+ float max_fov_;
+
/** \brief if true, the sensor is considered to be vertically placed (portrait mode) */
bool vertical_;
/** \brief minimum number of points for a person cluster */
int min_points_;
- /** \brief true if min_points and max_points have been set by the user, false otherwise */
- bool dimension_limits_set_;
-
/** \brief minimum distance between persons' heads */
float heads_minimum_distance_;
/** \brief intrinsic parameters matrix of the RGB camera */
- Eigen::Matrix3f intrinsics_matrix_;
-
+ Eigen::Matrix3f intrinsics_matrix_;
+
+ /** \brief flag stating whether the intrinsics matrix has been set or not */
+ bool intrinsics_matrix_set_;
+
+ /** \brief the transformed intrinsics matrix */
+ Eigen::Matrix3f intrinsics_matrix_transformed_;
+
/** \brief SVM-based person classifier */
pcl::people::PersonClassifier<pcl::RGB> person_classifier_;
/** \brief flag stating if the classifier has been set or not */
- bool person_classifier_set_flag_;
+ bool person_classifier_set_flag_;
};
} /* namespace people */
} /* namespace pcl */
* \brief Create subclusters centered on the heads position from the current cluster.
*
* \param[in] cluster A PersonCluster.
- * \param[in] maxima_number Number of local maxima to use as centers of the new cluster.
- * \param[in] maxima_cloud_indices Cloud indices of local maxima to use as centers of the new cluster.
+ * \param[in] maxima_number_after_filtering Number of local maxima to use as centers of the new cluster.
+ * \param[in] maxima_cloud_indices_filtered Cloud indices of local maxima to use as centers of the new cluster.
* \param[out] subclusters Output vector of PersonCluster objects derived from the input cluster.
*/
void
voxel_size_ = 0.06;
vertical_ = false;
head_centroid_ = true;
+ min_fov_ = 0;
+ max_fov_ = 50;
min_height_ = 1.3;
max_height_ = 2.3;
- min_points_ = 30; // this value is adapted to the voxel size in method "compute"
- max_points_ = 5000; // this value is adapted to the voxel size in method "compute"
- dimension_limits_set_ = false;
+ min_width_ = 0.1;
+ max_width_ = 8.0;
+ updateMinMaxPoints ();
heads_minimum_distance_ = 0.3;
// set flag values for mandatory parameters:
sqrt_ground_coeffs_ = std::numeric_limits<float>::quiet_NaN();
+ ground_coeffs_set_ = false;
+ intrinsics_matrix_set_ = false;
person_classifier_set_flag_ = false;
+
+ // set other flags
+ transformation_set_ = false;
}
template <typename PointT> void
cloud_ = cloud;
}
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::setTransformation (const Eigen::Matrix3f& transformation)
+{
+ if (!transformation.isUnitary())
+ {
+ PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::setCloudTransform] The cloud transformation matrix must be an orthogonal matrix!\n");
+ }
+
+ transformation_ = transformation;
+ transformation_set_ = true;
+ applyTransformationGround();
+ applyTransformationIntrinsics();
+}
+
template <typename PointT> void
pcl::people::GroundBasedPeopleDetectionApp<PointT>::setGround (Eigen::VectorXf& ground_coeffs)
{
ground_coeffs_ = ground_coeffs;
+ ground_coeffs_set_ = true;
sqrt_ground_coeffs_ = (ground_coeffs - Eigen::Vector4f(0.0f, 0.0f, 0.0f, ground_coeffs(3))).norm();
+ applyTransformationGround();
}
template <typename PointT> void
pcl::people::GroundBasedPeopleDetectionApp<PointT>::setVoxelSize (float voxel_size)
{
voxel_size_ = voxel_size;
+ updateMinMaxPoints ();
}
template <typename PointT> void
pcl::people::GroundBasedPeopleDetectionApp<PointT>::setIntrinsics (Eigen::Matrix3f intrinsics_matrix)
{
intrinsics_matrix_ = intrinsics_matrix;
+ intrinsics_matrix_set_ = true;
+ applyTransformationIntrinsics();
}
template <typename PointT> void
person_classifier_set_flag_ = true;
}
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::setFOV (float min_fov, float max_fov)
+{
+ min_fov_ = min_fov;
+ max_fov_ = max_fov;
+}
+
template <typename PointT> void
pcl::people::GroundBasedPeopleDetectionApp<PointT>::setSensorPortraitOrientation (bool vertical)
{
vertical_ = vertical;
}
-template <typename PointT> void
-pcl::people::GroundBasedPeopleDetectionApp<PointT>::setHeightLimits (float min_height, float max_height)
+template<typename PointT>
+void pcl::people::GroundBasedPeopleDetectionApp<PointT>::updateMinMaxPoints ()
{
- min_height_ = min_height;
- max_height_ = max_height;
+ min_points_ = (int) (min_height_ * min_width_ / voxel_size_ / voxel_size_);
+ max_points_ = (int) (max_height_ * max_width_ / voxel_size_ / voxel_size_);
}
template <typename PointT> void
-pcl::people::GroundBasedPeopleDetectionApp<PointT>::setDimensionLimits (int min_points, int max_points)
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::setPersonClusterLimits (float min_height, float max_height, float min_width, float max_width)
{
- min_points_ = min_points;
- max_points_ = max_points;
- dimension_limits_set_ = true;
+ min_height_ = min_height;
+ max_height_ = max_height;
+ min_width_ = min_width;
+ max_width_ = max_width;
+ updateMinMaxPoints ();
}
template <typename PointT> void
}
template <typename PointT> void
-pcl::people::GroundBasedPeopleDetectionApp<PointT>::getHeightLimits (float& min_height, float& max_height)
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::getPersonClusterLimits (float& min_height, float& max_height, float& min_width, float& max_width)
{
min_height = min_height_;
max_height = max_height_;
+ min_width = min_width_;
+ max_width = max_width_;
}
template <typename PointT> void
template <typename PointT> Eigen::VectorXf
pcl::people::GroundBasedPeopleDetectionApp<PointT>::getGround ()
{
- if (sqrt_ground_coeffs_ != sqrt_ground_coeffs_)
+ if (!ground_coeffs_set_)
{
PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::getGround] Floor parameters have not been set or they are not valid!\n");
}
return (ground_coeffs_);
}
+template <typename PointT> typename pcl::people::GroundBasedPeopleDetectionApp<PointT>::PointCloudPtr
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::getFilteredCloud ()
+{
+ return (cloud_filtered_);
+}
+
template <typename PointT> typename pcl::people::GroundBasedPeopleDetectionApp<PointT>::PointCloudPtr
pcl::people::GroundBasedPeopleDetectionApp<PointT>::getNoGroundCloud ()
{
output_cloud->height = input_cloud->height;
pcl::RGB rgb_point;
- for (int j = 0; j < input_cloud->width; j++)
+ for (uint32_t j = 0; j < input_cloud->width; j++)
{
- for (int i = 0; i < input_cloud->height; i++)
+ for (uint32_t i = 0; i < input_cloud->height; i++)
{
rgb_point.r = (*input_cloud)(j,i).r;
rgb_point.g = (*input_cloud)(j,i).g;
output_cloud->points.resize(cloud->height*cloud->width);
output_cloud->width = cloud->height;
output_cloud->height = cloud->width;
- for (int i = 0; i < cloud->width; i++)
+ for (uint32_t i = 0; i < cloud->width; i++)
{
- for (int j = 0; j < cloud->height; j++)
+ for (uint32_t j = 0; j < cloud->height; j++)
{
(*output_cloud)(j,i) = (*cloud)(cloud->width - i - 1, j);
}
cloud = output_cloud;
}
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::applyTransformationPointCloud ()
+{
+ if (transformation_set_)
+ {
+ Eigen::Transform<float, 3, Eigen::Affine> transform;
+ transform = transformation_;
+ pcl::transformPointCloud(*cloud_, *cloud_, transform);
+ }
+}
+
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::applyTransformationGround ()
+{
+ if (transformation_set_ && ground_coeffs_set_)
+ {
+ Eigen::Transform<float, 3, Eigen::Affine> transform;
+ transform = transformation_;
+ ground_coeffs_transformed_ = transform.matrix() * ground_coeffs_;
+ }
+ else
+ {
+ ground_coeffs_transformed_ = ground_coeffs_;
+ }
+}
+
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::applyTransformationIntrinsics ()
+{
+ if (transformation_set_ && intrinsics_matrix_set_)
+ {
+ intrinsics_matrix_transformed_ = intrinsics_matrix_ * transformation_.transpose();
+ }
+ else
+ {
+ intrinsics_matrix_transformed_ = intrinsics_matrix_;
+ }
+}
+
+template <typename PointT> void
+pcl::people::GroundBasedPeopleDetectionApp<PointT>::filter ()
+{
+ cloud_filtered_ = PointCloudPtr (new PointCloud);
+ pcl::VoxelGrid<PointT> grid;
+ grid.setInputCloud(cloud_);
+ grid.setLeafSize(voxel_size_, voxel_size_, voxel_size_);
+ grid.setFilterFieldName("z");
+ grid.setFilterLimits(min_fov_, max_fov_);
+ grid.filter(*cloud_filtered_);
+}
+
template <typename PointT> bool
pcl::people::GroundBasedPeopleDetectionApp<PointT>::compute (std::vector<pcl::people::PersonCluster<PointT> >& clusters)
{
// Check if all mandatory variables have been set:
- if (sqrt_ground_coeffs_ != sqrt_ground_coeffs_)
+ if (!ground_coeffs_set_)
{
PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Floor parameters have not been set or they are not valid!\n");
return (false);
PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Input cloud has not been set!\n");
return (false);
}
- if (intrinsics_matrix_(0) == 0)
+ if (!intrinsics_matrix_set_)
{
PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Camera intrinsic parameters have not been set!\n");
return (false);
return (false);
}
- if (!dimension_limits_set_) // if dimension limits have not been set by the user
- {
- // Adapt thresholds for clusters points number to the voxel size:
- max_points_ = int(float(max_points_) * std::pow(0.06/voxel_size_, 2));
- if (voxel_size_ > 0.06)
- min_points_ = int(float(min_points_) * std::pow(0.06/voxel_size_, 2));
- }
-
// Fill rgb image:
rgb_image_->points.clear(); // clear RGB pointcloud
extractRGBFromPointCloud(cloud_, rgb_image_); // fill RGB pointcloud
-
+
// Downsample of sampling_factor in every dimension:
if (sampling_factor_ != 1)
{
cloud_downsampled->height = (cloud_->height)/sampling_factor_;
cloud_downsampled->points.resize(cloud_downsampled->height*cloud_downsampled->width);
cloud_downsampled->is_dense = cloud_->is_dense;
- for (int j = 0; j < cloud_downsampled->width; j++)
+ for (uint32_t j = 0; j < cloud_downsampled->width; j++)
{
- for (int i = 0; i < cloud_downsampled->height; i++)
+ for (uint32_t i = 0; i < cloud_downsampled->height; i++)
{
(*cloud_downsampled)(j,i) = (*cloud_)(sampling_factor_*j,sampling_factor_*i);
}
(*cloud_) = (*cloud_downsampled);
}
- // Voxel grid filtering:
- PointCloudPtr cloud_filtered(new PointCloud);
- pcl::VoxelGrid<PointT> voxel_grid_filter_object;
- voxel_grid_filter_object.setInputCloud(cloud_);
- voxel_grid_filter_object.setLeafSize (voxel_size_, voxel_size_, voxel_size_);
- voxel_grid_filter_object.filter (*cloud_filtered);
+ applyTransformationPointCloud();
+
+ filter();
// Ground removal and update:
pcl::IndicesPtr inliers(new std::vector<int>);
- boost::shared_ptr<pcl::SampleConsensusModelPlane<PointT> > ground_model(new pcl::SampleConsensusModelPlane<PointT>(cloud_filtered));
- ground_model->selectWithinDistance(ground_coeffs_, voxel_size_, *inliers);
+ boost::shared_ptr<pcl::SampleConsensusModelPlane<PointT> > ground_model(new pcl::SampleConsensusModelPlane<PointT>(cloud_filtered_));
+ ground_model->selectWithinDistance(ground_coeffs_transformed_, 2 * voxel_size_, *inliers);
no_ground_cloud_ = PointCloudPtr (new PointCloud);
pcl::ExtractIndices<PointT> extract;
- extract.setInputCloud(cloud_filtered);
+ extract.setInputCloud(cloud_filtered_);
extract.setIndices(inliers);
extract.setNegative(true);
extract.filter(*no_ground_cloud_);
if (inliers->size () >= (300 * 0.06 / voxel_size_ / std::pow (static_cast<double> (sampling_factor_), 2)))
- ground_model->optimizeModelCoefficients (*inliers, ground_coeffs_, ground_coeffs_);
+ ground_model->optimizeModelCoefficients (*inliers, ground_coeffs_transformed_, ground_coeffs_transformed_);
else
PCL_INFO ("No groundplane update!\n");
typename pcl::search::KdTree<PointT>::Ptr tree (new pcl::search::KdTree<PointT>);
tree->setInputCloud(no_ground_cloud_);
pcl::EuclideanClusterExtraction<PointT> ec;
- ec.setClusterTolerance(2 * 0.06);
+ ec.setClusterTolerance(2 * voxel_size_);
ec.setMinClusterSize(min_points_);
ec.setMaxClusterSize(max_points_);
ec.setSearchMethod(tree);
// Head based sub-clustering //
pcl::people::HeadBasedSubclustering<PointT> subclustering;
subclustering.setInputCloud(no_ground_cloud_);
- subclustering.setGround(ground_coeffs_);
+ subclustering.setGround(ground_coeffs_transformed_);
subclustering.setInitialClusters(cluster_indices);
subclustering.setHeightLimits(min_height_, max_height_);
subclustering.setMinimumDistanceBetweenHeads(heads_minimum_distance_);
for(typename std::vector<pcl::people::PersonCluster<PointT> >::iterator it = clusters.begin(); it != clusters.end(); ++it)
{
//Evaluate confidence for the current PersonCluster:
- Eigen::Vector3f centroid = intrinsics_matrix_ * (it->getTCenter());
+ Eigen::Vector3f centroid = intrinsics_matrix_transformed_ * (it->getTCenter());
centroid /= centroid(2);
- Eigen::Vector3f top = intrinsics_matrix_ * (it->getTTop());
+ Eigen::Vector3f top = intrinsics_matrix_transformed_ * (it->getTTop());
top /= top(2);
- Eigen::Vector3f bottom = intrinsics_matrix_ * (it->getTBottom());
+ Eigen::Vector3f bottom = intrinsics_matrix_transformed_ * (it->getTBottom());
bottom /= bottom(2);
it->setPersonConfidence(person_classifier_.evaluate(rgb_image_, bottom, top, centroid, vertical_));
}
index = int((p->x - cluster.getMin()(0)) / bin_size_);
else // camera vertical
index = int((p->y - cluster.getMin()(1)) / bin_size_);
- if(index > (buckets_.size() - 1))
+ if (index > (static_cast<int> (buckets_.size ()) - 1))
std::cout << "Error: out of array - " << index << " of " << buckets_.size() << std::endl;
else
{
// Main loop:
int i = 1;
- while(i < (buckets_.size()-1))
+ while (i < (static_cast<int> (buckets_.size()) - 1))
{
right = buckets_[i+1];
if ((buckets_[i] > left) && (buckets_[i] > right))
int c1, c2, f1, f2;
PointT g1, g2, g3, g4;
float w1, w2;
- for (unsigned int i = 0; i < height; i++) // for every row
+ for (int i = 0; i < height; i++) // for every row
{
- for (unsigned int j = 0; j < width; j++) // for every column
+ for (int j = 0; j < width; j++) // for every column
{
A = T_inv * Eigen::Vector3f(i, j, 1);
c1 = ceil(A(0));
if ( (f1 < 0) ||
(c1 < 0) ||
- (f1 >= input_image->height) ||
- (c1 >= input_image->height) ||
+ (f1 >= static_cast<int> (input_image->height)) ||
+ (c1 >= static_cast<int> (input_image->height)) ||
(f2 < 0) ||
(c2 < 0) ||
- (f2 >= input_image->width) ||
- (c2 >= input_image->width))
+ (f2 >= static_cast<int> (input_image->width)) ||
+ (c2 >= static_cast<int> (input_image->width)))
{ // if out of range, continue
continue;
}
int y_start_out = std::max(0, -ymin);
//int y_end_out = y_start_out + (y_end_in - y_start_in);
- for (unsigned int i = 0; i < (y_end_in - y_start_in + 1); i++)
+ for (int i = 0; i < (y_end_in - y_start_in + 1); i++)
{
- for (unsigned int j = 0; j < (x_end_in - x_start_in + 1); j++)
- {
- (*output_image)(x_start_out + j, y_start_out + i) = (*input_image)(x_start_in + j, y_start_in + i);
- }
+ for (int j = 0; j < (x_end_in - x_start_in + 1); j++)
+ {
+ (*output_image)(x_start_out + j, y_start_out + i) = (*input_image)(x_start_in + j, y_start_in + i);
+ }
}
}
// Convert the image to array of float:
float* sample_float = new float[sample->width * sample->height * 3];
int delta = sample->height * sample->width;
- for(int row = 0; row < sample->height; row++)
+ for (uint32_t row = 0; row < sample->height; row++)
{
- for(int col = 0; col < sample->width; col++)
+ for (uint32_t col = 0; col < sample->width; col++)
{
sample_float[row + sample->height * col] = ((float) ((*sample)(col, row).r))/255; //ptr[col * 3 + 2];
sample_float[row + sample->height * col + delta] = ((float) ((*sample)(col, row).g))/255; //ptr[col * 3 + 1];
/**
* \brief Draws the theoretical 3D bounding box of the cluster in the PCL visualizer.
* \param[in] viewer PCL visualizer.
- * \param[in] person_numbers progressive number representing the person.
+ * \param[in] person_number progressive number representing the person.
*/
void
drawTBoundingBox (pcl::visualization::PCLVisualizer& viewer, int person_number);
// Select descriptor of internal part of the image (remove borders):
int k = 0;
- for (unsigned int l = 0; l < (n_orients_ * 4); l++)
+ for (int l = 0; l < (n_orients_ * 4); l++)
{
- for (unsigned int j = 1; j < (w_ / bin_size_ - 1); j++)
+ for (int j = 1; j < (w_ / bin_size_ - 1); j++)
{
- for (unsigned int i = 1; i < (h_ / bin_size_ - 1); i++)
+ for (int i = 1; i < (h_ / bin_size_ - 1); i++)
{
descriptor[k] = G[i + j * h_ / bin_size_ + l * (h_ / bin_size_) * (w_ / bin_size_)];
k++;
set(SUBSYS_DEPS common io search kdtree octree features filters registration sample_consensus)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(LINEMOD_INCLUDES
- include/pcl/${SUBSYS_NAME}/linemod/line_rgbd.h
+ "include/pcl/${SUBSYS_NAME}/linemod/line_rgbd.h"
)
set(LINEMOD_IMPLS
- include/pcl/${SUBSYS_NAME}/impl/linemod/line_rgbd.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/linemod/line_rgbd.hpp"
)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/color_gradient_dot_modality.h
- include/pcl/${SUBSYS_NAME}/color_gradient_modality.h
- include/pcl/${SUBSYS_NAME}/color_modality.h
- include/pcl/${SUBSYS_NAME}/crh_alignment.h
- include/pcl/${SUBSYS_NAME}/linemod.h
- include/pcl/${SUBSYS_NAME}/dotmod.h
- include/pcl/${SUBSYS_NAME}/quantizable_modality.h
- include/pcl/${SUBSYS_NAME}/quantized_map.h
- include/pcl/${SUBSYS_NAME}/dot_modality.h
- include/pcl/${SUBSYS_NAME}/region_xy.h
- include/pcl/${SUBSYS_NAME}/mask_map.h
- include/pcl/${SUBSYS_NAME}/point_types.h
- include/pcl/${SUBSYS_NAME}/distance_map.h
- include/pcl/${SUBSYS_NAME}/dense_quantized_multi_mod_template.h
- include/pcl/${SUBSYS_NAME}/sparse_quantized_multi_mod_template.h
- include/pcl/${SUBSYS_NAME}/surface_normal_modality.h
- include/pcl/${SUBSYS_NAME}/linemod/line_rgbd.h
- include/pcl/${SUBSYS_NAME}/implicit_shape_model.h
- include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h
- include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h
- include/pcl/${SUBSYS_NAME}/ransac_based/model_library.h
- include/pcl/${SUBSYS_NAME}/ransac_based/rigid_transform_space.h
- include/pcl/${SUBSYS_NAME}/ransac_based/obj_rec_ransac.h
- include/pcl/${SUBSYS_NAME}/ransac_based/orr_graph.h
- include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree_zprojection.h
- include/pcl/${SUBSYS_NAME}/ransac_based/trimmed_icp.h
- include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree.h
- include/pcl/${SUBSYS_NAME}/ransac_based/simple_octree.h
- include/pcl/${SUBSYS_NAME}/ransac_based/voxel_structure.h
- include/pcl/${SUBSYS_NAME}/ransac_based/bvh.h
-
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/color_gradient_dot_modality.h"
+ "include/pcl/${SUBSYS_NAME}/color_gradient_modality.h"
+ "include/pcl/${SUBSYS_NAME}/color_modality.h"
+ "include/pcl/${SUBSYS_NAME}/crh_alignment.h"
+ "include/pcl/${SUBSYS_NAME}/linemod.h"
+ "include/pcl/${SUBSYS_NAME}/dotmod.h"
+ "include/pcl/${SUBSYS_NAME}/quantizable_modality.h"
+ "include/pcl/${SUBSYS_NAME}/quantized_map.h"
+ "include/pcl/${SUBSYS_NAME}/dot_modality.h"
+ "include/pcl/${SUBSYS_NAME}/region_xy.h"
+ "include/pcl/${SUBSYS_NAME}/mask_map.h"
+ "include/pcl/${SUBSYS_NAME}/point_types.h"
+ "include/pcl/${SUBSYS_NAME}/distance_map.h"
+ "include/pcl/${SUBSYS_NAME}/dense_quantized_multi_mod_template.h"
+ "include/pcl/${SUBSYS_NAME}/sparse_quantized_multi_mod_template.h"
+ "include/pcl/${SUBSYS_NAME}/surface_normal_modality.h"
+ "include/pcl/${SUBSYS_NAME}/linemod/line_rgbd.h"
+ "include/pcl/${SUBSYS_NAME}/implicit_shape_model.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/model_library.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/rigid_transform_space.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/obj_rec_ransac.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/orr_graph.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree_zprojection.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/trimmed_icp.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/simple_octree.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/voxel_structure.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/bvh.h"
)
- set (ransac_based_incs
- include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h
- include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h
- include/pcl/${SUBSYS_NAME}/ransac_based/model_library.h
- include/pcl/${SUBSYS_NAME}/ransac_based/rigid_transform_space.h
- include/pcl/${SUBSYS_NAME}/ransac_based/obj_rec_ransac.h
- include/pcl/${SUBSYS_NAME}/ransac_based/orr_graph.h
- include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree_zprojection.h
- include/pcl/${SUBSYS_NAME}/ransac_based/trimmed_icp.h
- include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree.h
- include/pcl/${SUBSYS_NAME}/ransac_based/simple_octree.h
- include/pcl/${SUBSYS_NAME}/ransac_based/voxel_structure.h
- include/pcl/${SUBSYS_NAME}/ransac_based/bvh.h
+ set(ransac_based_incs
+ "include/pcl/${SUBSYS_NAME}/ransac_based/auxiliary.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/hypothesis.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/model_library.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/rigid_transform_space.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/obj_rec_ransac.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/orr_graph.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree_zprojection.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/trimmed_icp.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/orr_octree.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/simple_octree.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/voxel_structure.h"
+ "include/pcl/${SUBSYS_NAME}/ransac_based/bvh.h"
)
-
set(hv_incs
- include/pcl/${SUBSYS_NAME}/hv/occlusion_reasoning.h
- include/pcl/${SUBSYS_NAME}/hv/hypotheses_verification.h
- include/pcl/${SUBSYS_NAME}/hv/hv_papazov.h
- include/pcl/${SUBSYS_NAME}/hv/hv_go.h
- include/pcl/${SUBSYS_NAME}/hv/greedy_verification.h
- )
-
+ "include/pcl/${SUBSYS_NAME}/hv/occlusion_reasoning.h"
+ "include/pcl/${SUBSYS_NAME}/hv/hypotheses_verification.h"
+ "include/pcl/${SUBSYS_NAME}/hv/hv_papazov.h"
+ "include/pcl/${SUBSYS_NAME}/hv/hv_go.h"
+ "include/pcl/${SUBSYS_NAME}/hv/greedy_verification.h"
+ )
+
set(cg_incs
- include/pcl/${SUBSYS_NAME}/cg/correspondence_grouping.h
- include/pcl/${SUBSYS_NAME}/cg/hough_3d.h
- include/pcl/${SUBSYS_NAME}/cg/geometric_consistency.h
+ "include/pcl/${SUBSYS_NAME}/cg/correspondence_grouping.h"
+ "include/pcl/${SUBSYS_NAME}/cg/hough_3d.h"
+ "include/pcl/${SUBSYS_NAME}/cg/geometric_consistency.h"
)
-
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/linemod/line_rgbd.hpp
- include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp
- include/pcl/${SUBSYS_NAME}/impl/ransac_based/voxel_structure.hpp
- include/pcl/${SUBSYS_NAME}/impl/implicit_shape_model.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/linemod/line_rgbd.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ransac_based/voxel_structure.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/implicit_shape_model.hpp"
)
-
- set(ransac_based_impl_incs
- include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp
- include/pcl/${SUBSYS_NAME}/impl/ransac_based/voxel_structure.hpp
+ set(ransac_based_impl_incs
+ "include/pcl/${SUBSYS_NAME}/impl/ransac_based/simple_octree.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ransac_based/voxel_structure.hpp"
)
-
set(hv_impl_incs
- include/pcl/${SUBSYS_NAME}/impl/hv/occlusion_reasoning.hpp
- include/pcl/${SUBSYS_NAME}/impl/hv/hv_papazov.hpp
- include/pcl/${SUBSYS_NAME}/impl/hv/greedy_verification.hpp
- include/pcl/${SUBSYS_NAME}/impl/hv/hv_go.hpp
- )
-
+ "include/pcl/${SUBSYS_NAME}/impl/hv/occlusion_reasoning.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/hv/hv_papazov.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/hv/greedy_verification.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/hv/hv_go.hpp"
+ )
+
set(cg_impl_incs
- include/pcl/${SUBSYS_NAME}/impl/cg/correspondence_grouping.hpp
- include/pcl/${SUBSYS_NAME}/impl/cg/hough_3d.hpp
- include/pcl/${SUBSYS_NAME}/impl/cg/geometric_consistency.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/cg/correspondence_grouping.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/cg/hough_3d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/cg/geometric_consistency.hpp"
)
set(srcs
src/implicit_shape_model.cpp
)
- set(metslib_incs
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh
- include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh
- )
+ if (HAVE_METSLIB)
+ set(metslib_incs "")
+ else(HAVE_METSLIB)
+ set(metslib_incs
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/abstract-search.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/local-search.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/mets.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/metslib_config.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/model.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/observer.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/simulated-annealing.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/tabu-search.hh"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/metslib/termination-criteria.hh"
+ )
+ endif(HAVE_METSLIB)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
- target_link_libraries(${LIB_NAME} pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_io)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_io)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/ransac_based ${ransac_based_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/hv ${hv_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/cg ${cg_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ransac_based" ${ransac_based_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/hv" ${hv_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/cg" ${cg_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl/ransac_based ${ransac_based_impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl/hv ${hv_impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl/cg ${cg_impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/linemod ${LINEMOD_INCLUDES})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl/linemod ${LINEMOD_IMPLS})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/ransac_based" ${ransac_based_impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/hv" ${hv_impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/cg" ${cg_impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/linemod" ${LINEMOD_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl/linemod" ${LINEMOD_IMPLS})
endif(build)
void
clusterCorrespondences (std::vector<Correspondences> &model_instances);
- ///** \brief Finds the transformation matrix between the input and the scene cloud for a set of correspondences using a RANSAC algorithm.
- // *
- // * \param[in] the scene cloud in which the PointSceneT has been converted to PointModelT.
- // * \param[in] corrs a set of correspondences.
- // * \param[out] transform the transformation matrix between the input cloud and the scene cloud that aligns the found correspondences.
- // * \return true if the recognition had been successful or false if errors have occurred.
- // */
+ /* \brief Finds the transformation matrix between the input and the scene cloud for a set of correspondences using a RANSAC algorithm.
+ * \param[in] the scene cloud in which the PointSceneT has been converted to PointModelT.
+ * \param[in] corrs a set of correspondences.
+ * \param[out] transform the transformation matrix between the input cloud and the scene cloud that aligns the found correspondences.
+ * \return true if the recognition had been successful or false if errors have occurred.
+ */
//bool
//getTransformMatrix (const PointCloudConstPtr &scene_cloud, const Correspondences &corrs, Eigen::Matrix4f &transform);
/** \brief The Hough space voting procedure.
- *
* \return true if the voting had been successful or false if errors have occurred.
*/
bool
houghVoting ();
/** \brief Computes the reference frame for an input cloud.
- *
* \param[in] input the input cloud.
* \param[out] rf the resulting reference frame.
*/
/** \brief Operator for comparing to candidates (by magnitude of the gradient).
* \param[in] rhs the candidate to compare with.
*/
- bool operator< (const Candidate & rhs)
+ bool operator< (const Candidate & rhs) const
{
return (gradient.magnitude > rhs.gradient.magnitude);
}
* \param[in] mask defines the areas where features are searched in.
* \param[in] nr_features defines the number of features to be extracted
* (might be less if not sufficient information is present in the modality).
- * \param[in] modality_index the index which is stored in the extracted features.
+ * \param[in] modalityIndex the index which is stored in the extracted features.
* \param[out] features the destination for the extracted features.
*/
void
/** \brief Extracts all possible features from the modality within the specified mask.
* \param[in] mask defines the areas where features are searched in.
* \param[in] nr_features IGNORED (TODO: remove this parameter).
- * \param[in] modality_index the index which is stored in the extracted features.
+ * \param[in] modalityIndex the index which is stored in the extracted features.
* \param[out] features the destination for the extracted features.
*/
void
}
/** \brief returns the computed transformations
- * \param[out] transformations
+ * \param[out] transforms transformations
*/
void getTransforms(std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > & transforms) {
transforms = transforms_;
}
/** \brief sets model and input views
- * \param[in] model view
* \param[in] input_view
+ * \param[in] target_view
*/
void
setInputAndTargetView (PointTPtr & input_view, PointTPtr & target_view)
}
/** \brief Computes the roll angle that aligns input to modle.
- * \param[in] CRH histogram of the input cloud
- * \param[in] CRH histogram of the target cloud
- * \param[out] Vector containing angles where the histograms correlate
+ * \param[in] input_ftt CRH histogram of the input cloud
+ * \param[in] target_ftt CRH histogram of the target cloud
+ * \param[out] peaks Vector containing angles where the histograms correlate
*/
void
computeRollAngle (pcl::PointCloud<pcl::Histogram<nbins_> > & input_ftt, pcl::PointCloud<pcl::Histogram<nbins_> > & target_ftt,
virtual ~DOTMOD ();
/** \brief Creates a template from the specified data and adds it to the matching queue.
- * \param
- * \param
- * \param
+ * \param modalities
+ * \param masks
+ * \param template_anker_x
+ * \param template_anker_y
+ * \param region
*/
size_t
createAndAddTemplate (const std::vector<DOTModality*> & modalities,
public:
/** \brief Constructor
- * \param[in] Regularizer value
+ * \param[in] reg Regularizer value
**/
GreedyVerification (float reg = 1.5f) :
HypothesisVerification<ModelT, SceneT> ()
#include <pcl/pcl_macros.h>
#include <pcl/recognition/hv/hypotheses_verification.h>
#include <pcl/common/common.h>
-#include "pcl/recognition/3rdparty/metslib/mets.hh"
+#include "metslib/mets.hh"
#include <pcl/features/normal_3d.h>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
* POSSIBILITY OF SUCH DAMAGE.
*/
+#ifndef PCL_RECOGNITION_IMPL_HV_GO_HPP_
+#define PCL_RECOGNITION_IMPL_HV_GO_HPP_
+
#include <pcl/recognition/hv/hv_go.h>
#include <numeric>
#include <pcl/common/time.h>
}
#define PCL_INSTANTIATE_GoHV(T1,T2) template class PCL_EXPORTS pcl::GlobalHypothesesVerification<T1,T2>;
+
+#endif /* PCL_RECOGNITION_IMPL_HV_GO_HPP_ */
+
std::vector<unsigned int> vec;
trained_model->clusters_.resize (number_of_clusters_, vec);
- for (int i_label = 0; i_label < locations.size (); i_label++)
+ for (size_t i_label = 0; i_label < locations.size (); i_label++)
trained_model->clusters_[labels (i_label)].push_back (i_label);
calculateSigmas (trained_model->sigmas_);
trained_model->directions_to_center_.resize (locations.size (), 3);
trained_model->classes_.resize (locations.size ());
- for (int i_dir = 0; i_dir < locations.size (); i_dir++)
+ for (size_t i_dir = 0; i_dir < locations.size (); i_dir++)
{
trained_model->directions_to_center_(i_dir, 0) = locations[i_dir].dir_to_center_.x;
trained_model->directions_to_center_(i_dir, 1) = locations[i_dir].dir_to_center_.y;
{
unsigned int index = model->clusters_[min_dist_idx][i_word];
unsigned int i_class = model->classes_[index];
- if (i_class != in_class_of_interest)
+ if (static_cast<int> (i_class) != in_class_of_interest)
continue;//skip this class
//rotate dir to center as needed
n_vot_2.resize (number_of_clusters_, vect);
n_vot.resize (number_of_clusters_, 0);
n_ftr.resize (number_of_classes, 0);
- for (int i_location = 0; i_location < locations.size (); i_location++)
+ for (size_t i_location = 0; i_location < locations.size (); i_location++)
{
int i_class = training_classes_[locations[i_location].model_num_];
int i_cluster = labels (i_location);
// Search for extension
std::string chunk_name (ltm_header.file_name);
- std::transform (chunk_name.begin (), chunk_name.end (), chunk_name.begin (), tolower);
+ std::transform (chunk_name.begin (), chunk_name.end (), chunk_name.begin (), ::tolower);
std::string::size_type it;
if ((it = chunk_name.find (pcd_ext)) != std::string::npos &&
* \param[out] out_peaks it will contain the strongest peaks
* \param[in] in_class_id class of interest for which peaks are evaluated
* \param[in] in_non_maxima_radius non maxima supression radius. The shapes radius is recommended for this value.
+ * \param in_sigma
*/
void
findStrongestPeaks (std::vector<ISMPeak, Eigen::aligned_allocator<ISMPeak> > &out_peaks, int in_class_id, double in_non_maxima_radius, double in_sigma);
/** \brief This method performs training and forms a visual vocabulary. It returns a trained model that
* can be saved to file for later usage.
- * \param[out] model trained model
+ * \param[out] trained_model trained model
*/
bool
trainISM (ISMModelPtr& trained_model);
/** \brief This method performs descriptor clustering.
* \param[in] histograms descriptors to cluster
* \param[out] labels it contains labels for each descriptor
- * \param[out] cluster_centers stores the centers of clusters
+ * \param[out] clusters_centers stores the centers of clusters
*/
bool
clusterDescriptors (std::vector< pcl::Histogram<FeatureSize> >& histograms, Eigen::MatrixXi& labels, Eigen::MatrixXf& clusters_centers);
/** \brief This function forms a visual vocabulary and evaluates weights
* described in [Knopp et al., 2010, (5)].
- * \param[in] classes classes that we want to learn
* \param[in] locations array containing description of each keypoint: its position, which cloud belongs
* and expected direction to center
* \param[in] labels labels that were obtained during k-means clustering
/** \brief This method estimates features for the given point cloud.
* \param[in] sampled_point_cloud sampled point cloud for which the features must be computed
- * \param[in] point_cloud original point cloud
* \param[in] normal_cloud normals for the original point cloud
* \param[out] feature_cloud it will store the computed histograms (features) for the given cloud
*/
void
loadTemplates (const char * file_name);
+ /** \brief Loads templates from the specified files.
+ * \param[in] file_names vector of files to load the templates from.
+ */
+
+ void
+ loadTemplates (std::vector<std::string> & file_names);
+
/** \brief Serializes the stored templates to the specified stream.
* \param[in] stream the stream the templates will be written to.
*/
* SparseQuantizedMultiModTemplate format.
*
* \param[in] file_name The name of the file that stores the templates.
+ * \param object_id
*
* \return true, if the operation was successful, false otherwise.
*/
}
/** \brief Creates a template from the specified data and adds it to the matching queue.
+ * \param cloud
+ * \param object_id
* \param[in] mask_xyz the mask that determine which parts of the xyz-modality are used for creating the template.
* \param[in] mask_rgb the mask that determine which parts of the rgb-modality are used for creating the template.
* \param[in] region the region which will be associated with the template (can be larger than the actual modality-maps).
removeOverlappingDetections ();
/** \brief Computes the volume of the intersection between two bounding boxes.
- * \param[in] First bounding box.
- * \param[in] Second bounding box.
+ * \param[in] box1 First bounding box.
+ * \param[in] box2 Second bounding box.
*/
static float
computeBoundingBoxIntersectionVolume (const BoundingBoxXYZ &box1, const BoundingBoxXYZ &box2);
a[1] = -a[1];
a[2] = -a[2];
}
-
+
+ /** \brief a = b */
+ template <typename T> bool
+ equal3 (const T a[3], const T b[3])
+ {
+ return (a[0] == b[0] && a[1] == b[1] && a[2] == b[2]);
+ }
+
/** \brief a += b */
template <typename T> void
add3 (T a[3], const T b[3])
max_coplanarity_angle_ = max_coplanarity_angle_degrees*AUX_DEG_TO_RADIANS;
}
- /** \biref Call this method in order NOT to add co-planar point pairs to the hash table. The default behavior
+ /** \brief Call this method in order NOT to add co-planar point pairs to the hash table. The default behavior
* is ignoring co-planar points on. */
inline void
ignoreCoplanarPointPairsOn ()
ignore_coplanar_opps_ = true;
}
- /** \biref Call this method in order to add all point pairs (co-planar as well) to the hash table. The default
+ /** \brief Call this method in order to add all point pairs (co-planar as well) to the hash table. The default
* behavior is ignoring co-planar points on. */
inline void
ignoreCoplanarPointPairsOff ()
* \param[in] points represents the model to be added.
* \param[in] normals are the normals at the model points.
* \param[in] object_name is the unique name of the object to be added.
- * \param[in] num_points_for_registration is the number of points used for fast ICP registration prior to hypothesis testing
+ * \param[in] frac_of_points_for_registration is the number of points used for fast ICP registration prior to hypothesis testing
* \param[in] user_data is a pointer to some data (can be NULL)
*
* Returns true if model successfully added and false otherwise (e.g., if object_name is not unique). */
}
/** \brief Computes the signature of the oriented point pair ((p1, n1), (p2, n2)) consisting of the angles between
- * n1 and (p2-p1),
- * n2 and (p1-p2),
- * n1 and n2
- *
+ * \param p1
+ * \param n1
+ * \param p2
+ * \param n2
* \param[out] signature is an array of three doubles saving the three angles in the order shown above. */
static inline void
compute_oriented_point_pair_signature (const float *p1, const float *n1, const float *p2, const float *n2, float signature[3])
/** \brief Initializes the LUT.
* \param[in] range_x_arg the range of the LUT in x-direction.
* \param[in] range_y_arg the range of the LUT in y-direction.
- * \parma[in] range_z_arg the range of the LUT in z-direction.
+ * \param[in] range_z_arg the range of the LUT in z-direction.
*/
void
initializeLUT (const int range_x_arg, const int range_y_arg, const int range_z_arg)
* \param[in] rhs the candidate to compare with.
*/
bool
- operator< (const Candidate & rhs)
+ operator< (const Candidate & rhs) const
{
return (distance > rhs.distance);
}
*
* Implements section 2.6 "Extension to Dense Depth Sensors."
*
- * \param[in] src The source 16-bit depth image (in mm).
- * \param[out] dst The destination 8-bit image. Each bit represents one bin of
- * the view cone.
- * \param distance_threshold Ignore pixels beyond this distance.
- * \param difference_threshold When computing normals, ignore contributions of pixels whose
- * depth difference with the central pixel is above this threshold.
- *
* \todo Should also need camera model, or at least focal lengths? Replace distance_threshold with mask?
*/
template <typename PointInT> void
surface_normal_orientations_.resize (width, height, 0.0f);
- for (size_t row_index = 0; row_index < height; ++row_index)
+ for (int row_index = 0; row_index < height; ++row_index)
{
- for (size_t col_index = 0; col_index < width; ++col_index)
+ for (int col_index = 0; col_index < width; ++col_index)
{
const float value = input_->points[row_index*width + col_index].z;
if (pcl_isfinite (value))
map[0x1<<7] = 7;
quantized_surface_normals_.resize (width, height);
- for (size_t row_index = 0; row_index < height; ++row_index)
+ for (int row_index = 0; row_index < height; ++row_index)
{
- for (size_t col_index = 0; col_index < width; ++col_index)
+ for (int col_index = 0; col_index < width; ++col_index)
{
quantized_surface_normals_ (col_index, row_index) = map[lp_normals[row_index*width + col_index]];
}
* POSSIBILITY OF SUCH DAMAGE.
*/
-#include <pcl/point_types.h>
-#include <pcl/impl/instantiate.hpp>
-#include <pcl/recognition/hv/hv_go.h>
#include <pcl/recognition/impl/hv/hv_go.hpp>
-//template class PCL_EXPORTS pcl::GlobalHypothesesVerification<pcl::PointXYZ, pcl::PointXYZ>;
-//template class PCL_EXPORTS pcl::GlobalHypothesesVerification<pcl::PointXYZRGB, pcl::PointXYZRGB>;
-
+#ifndef PCL_NO_PRECOMPILE
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
PCL_INSTANTIATE_PRODUCT(GoHV, ((pcl::PointXYZ))((pcl::PointXYZ)))
PCL_INSTANTIATE_PRODUCT(GoHV, ((pcl::PointXYZRGB))((pcl::PointXYZRGB)))
PCL_INSTANTIATE_PRODUCT(GoHV, ((pcl::PointXYZRGBA))((pcl::PointXYZRGBA)))
+#endif // PCL_NO_PRECOMPILE
+
file_stream.close ();
}
+void
+pcl::LINEMOD::loadTemplates (std::vector<std::string> & file_names)
+{
+ templates_.clear ();
+
+ for(size_t i=0; i < file_names.size (); i++)
+ {
+ std::ifstream file_stream;
+ file_stream.open (file_names[i].c_str (), std::ofstream::in | std::ofstream::binary);
+
+ int nr_templates;
+ read (file_stream, nr_templates);
+ SparseQuantizedMultiModTemplate sqmm_template;
+
+ for (int template_index = 0; template_index < nr_templates; ++template_index)
+ {
+ sqmm_template.deserialize (file_stream);
+ templates_.push_back (sqmm_template);
+ }
+
+ file_stream.close ();
+ }
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::LINEMOD::serialize (std::ostream & stream) const
for ( i = 0 ; i < 8 ; ++i )
{
child = node->getChild (i);
- // We do not want to push all children -> only leaves or children with children
- if ( child->hasData () || child->hasChildren () )
+ // We do not want to push all children -> only children with children or leaves
+ if (child->hasChildren ())
+ nodes.push_back(child);
+ // only push back the child if it is not the leaf of p
+ else if (child->hasData () && !aux::equal3 (p, child->getData ()->getPoint ()))
nodes.push_back (child);
}
}
- else if ( node->hasData () )
+ // only push back the node if it is not the leaf of p
+ else if (node->hasData () && !aux::equal3<float> (p, node->getData ()->getPoint ()))
out.push_back (node); // We got a full leaf
}
}
set(SUBSYS_DEPS common octree kdtree search sample_consensus features filters)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(incs
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/boost_graph.h
- include/pcl/${SUBSYS_NAME}/convergence_criteria.h
- include/pcl/${SUBSYS_NAME}/default_convergence_criteria.h
- include/pcl/${SUBSYS_NAME}/correspondence_estimation.h
- include/pcl/${SUBSYS_NAME}/correspondence_estimation_normal_shooting.h
- include/pcl/${SUBSYS_NAME}/correspondence_estimation_backprojection.h
- include/pcl/${SUBSYS_NAME}/correspondence_estimation_organized_projection.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_distance.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_median_distance.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_surface_normal.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_features.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_one_to_one.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_poly.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_sample_consensus.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_sample_consensus_2d.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_trimmed.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_var_trimmed.h
- include/pcl/${SUBSYS_NAME}/correspondence_rejection_organized_boundary.h
- include/pcl/${SUBSYS_NAME}/correspondence_sorting.h
- include/pcl/${SUBSYS_NAME}/correspondence_types.h
- include/pcl/${SUBSYS_NAME}/ia_ransac.h
- include/pcl/${SUBSYS_NAME}/icp.h
- include/pcl/${SUBSYS_NAME}/icp_nl.h
- include/pcl/${SUBSYS_NAME}/lum.h
- include/pcl/${SUBSYS_NAME}/elch.h
- include/pcl/${SUBSYS_NAME}/ndt.h
- include/pcl/${SUBSYS_NAME}/ndt_2d.h
- include/pcl/${SUBSYS_NAME}/ppf_registration.h
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/boost_graph.h"
+ "include/pcl/${SUBSYS_NAME}/convergence_criteria.h"
+ "include/pcl/${SUBSYS_NAME}/default_convergence_criteria.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_estimation.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_estimation_normal_shooting.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_estimation_backprojection.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_estimation_organized_projection.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_distance.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_median_distance.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_surface_normal.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_features.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_one_to_one.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_poly.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_sample_consensus.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_sample_consensus_2d.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_trimmed.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_var_trimmed.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_rejection_organized_boundary.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_sorting.h"
+ "include/pcl/${SUBSYS_NAME}/correspondence_types.h"
+ "include/pcl/${SUBSYS_NAME}/ia_ransac.h"
+ "include/pcl/${SUBSYS_NAME}/icp.h"
+ "include/pcl/${SUBSYS_NAME}/joint_icp.h"
+ "include/pcl/${SUBSYS_NAME}/icp_nl.h"
+ "include/pcl/${SUBSYS_NAME}/lum.h"
+ "include/pcl/${SUBSYS_NAME}/elch.h"
+ "include/pcl/${SUBSYS_NAME}/ndt.h"
+ "include/pcl/${SUBSYS_NAME}/ndt_2d.h"
+ "include/pcl/${SUBSYS_NAME}/ppf_registration.h"
- include/pcl/${SUBSYS_NAME}/impl/pairwise_graph_registration.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/pairwise_graph_registration.hpp"
- include/pcl/${SUBSYS_NAME}/pyramid_feature_matching.h
- include/pcl/${SUBSYS_NAME}/registration.h
- include/pcl/${SUBSYS_NAME}/transforms.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_2D.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_svd.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_svd_scale.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_dual_quaternion.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_lm.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane_weighted.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane_lls.h
- include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane_lls_weighted.h
- include/pcl/${SUBSYS_NAME}/transformation_validation.h
- include/pcl/${SUBSYS_NAME}/transformation_validation_euclidean.h
- include/pcl/${SUBSYS_NAME}/gicp.h
- include/pcl/${SUBSYS_NAME}/bfgs.h
- include/pcl/${SUBSYS_NAME}/warp_point_rigid.h
- include/pcl/${SUBSYS_NAME}/warp_point_rigid_6d.h
- include/pcl/${SUBSYS_NAME}/warp_point_rigid_3d.h
- include/pcl/${SUBSYS_NAME}/distances.h
- include/pcl/${SUBSYS_NAME}/exceptions.h
- include/pcl/${SUBSYS_NAME}/sample_consensus_prerejective.h
+ "include/pcl/${SUBSYS_NAME}/pyramid_feature_matching.h"
+ "include/pcl/${SUBSYS_NAME}/registration.h"
+ "include/pcl/${SUBSYS_NAME}/transforms.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_2D.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_svd.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_svd_scale.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_dual_quaternion.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_lm.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane_weighted.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane_lls.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_estimation_point_to_plane_lls_weighted.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_validation.h"
+ "include/pcl/${SUBSYS_NAME}/transformation_validation_euclidean.h"
+ "include/pcl/${SUBSYS_NAME}/gicp.h"
+ "include/pcl/${SUBSYS_NAME}/gicp6d.h"
+ "include/pcl/${SUBSYS_NAME}/bfgs.h"
+ "include/pcl/${SUBSYS_NAME}/warp_point_rigid.h"
+ "include/pcl/${SUBSYS_NAME}/warp_point_rigid_6d.h"
+ "include/pcl/${SUBSYS_NAME}/warp_point_rigid_3d.h"
+ "include/pcl/${SUBSYS_NAME}/distances.h"
+ "include/pcl/${SUBSYS_NAME}/exceptions.h"
+ "include/pcl/${SUBSYS_NAME}/sample_consensus_prerejective.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/default_convergence_criteria.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_normal_shooting.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_backprojection.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_organized_projection.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_distance.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_median_distance.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_surface_normal.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_features.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_one_to_one.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_poly.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_sample_consensus.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_sample_consensus_2d.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_trimmed.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_var_trimmed.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_organized_boundary.hpp
- include/pcl/${SUBSYS_NAME}/impl/correspondence_types.hpp
- include/pcl/${SUBSYS_NAME}/impl/ia_ransac.hpp
- include/pcl/${SUBSYS_NAME}/impl/icp.hpp
- include/pcl/${SUBSYS_NAME}/impl/icp_nl.hpp
- include/pcl/${SUBSYS_NAME}/impl/elch.hpp
- include/pcl/${SUBSYS_NAME}/impl/lum.hpp
- include/pcl/${SUBSYS_NAME}/impl/ndt.hpp
- include/pcl/${SUBSYS_NAME}/impl/ndt_2d.hpp
- include/pcl/${SUBSYS_NAME}/impl/ppf_registration.hpp
- include/pcl/${SUBSYS_NAME}/impl/pyramid_feature_matching.hpp
- include/pcl/${SUBSYS_NAME}/impl/registration.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_2D.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_svd.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_svd_scale.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_dual_quaternion.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_lm.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_point_to_plane_lls.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_point_to_plane_lls_weighted.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_point_to_plane_weighted.hpp
- include/pcl/${SUBSYS_NAME}/impl/transformation_validation_euclidean.hpp
- include/pcl/${SUBSYS_NAME}/impl/gicp.hpp
- include/pcl/${SUBSYS_NAME}/impl/sample_consensus_prerejective.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/default_convergence_criteria.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_normal_shooting.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_backprojection.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_estimation_organized_projection.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_distance.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_median_distance.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_surface_normal.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_features.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_one_to_one.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_poly.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_sample_consensus.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_sample_consensus_2d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_trimmed.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_var_trimmed.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_rejection_organized_boundary.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/correspondence_types.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ia_ransac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/icp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/joint_icp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/icp_nl.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/elch.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/lum.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ndt.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ndt_2d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ppf_registration.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/pyramid_feature_matching.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/registration.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_2D.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_svd.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_svd_scale.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_dual_quaternion.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_lm.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_point_to_plane_lls.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_point_to_plane_lls_weighted.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_estimation_point_to_plane_weighted.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/transformation_validation_euclidean.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/gicp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sample_consensus_prerejective.hpp"
)
set(srcs
#src/pairwise_graph_registration.cpp
src/ia_ransac.cpp
src/icp.cpp
+ src/joint_icp.cpp
src/gicp.cpp
+ src/gicp6d.cpp
src/icp_nl.cpp
src/elch.cpp
src/lum.cpp
src/sample_consensus_prerejective.cpp
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_kdtree pcl_search pcl_sample_consensus pcl_features pcl_filters)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_kdtree pcl_search pcl_sample_consensus pcl_features pcl_filters)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
*
* \param[in] cloud the input point cloud source
*/
- PCL_DEPRECATED (void setInputCloud (const PointCloudSourceConstPtr &cloud), "[pcl::registration::CorrespondenceEstimationBase::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceEstimationBase::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
+ void
+ setInputCloud (const PointCloudSourceConstPtr &cloud);
/** \brief Get a pointer to the input point cloud dataset target. */
- PCL_DEPRECATED (PointCloudSourceConstPtr const getInputCloud (),
- "[pcl::registration::CorrespondenceEstimationBase::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceEstimationBase::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
+ PointCloudSourceConstPtr const
+ getInputCloud ();
/** \brief Provide a pointer to the input source
* (e.g., the point cloud that we want to align to the target)
inline PointCloudTargetConstPtr const
getInputTarget () { return (target_ ); }
+
+ /** \brief See if this rejector requires source normals */
+ virtual bool
+ requiresSourceNormals () const
+ { return (false); }
+
+ /** \brief Abstract method for setting the source normals */
+ virtual void
+ setSourceNormals (pcl::PCLPointCloud2::ConstPtr /*cloud2*/)
+ {
+ PCL_WARN ("[pcl::registration::%s::setSourceNormals] This class does not require input source normals", getClassName ().c_str ());
+ }
+
+ /** \brief See if this rejector requires target normals */
+ virtual bool
+ requiresTargetNormals () const
+ { return (false); }
+
+ /** \brief Abstract method for setting the target normals */
+ virtual void
+ setTargetNormals (pcl::PCLPointCloud2::ConstPtr /*cloud2*/)
+ {
+ PCL_WARN ("[pcl::registration::%s::setTargetNormals] This class does not require input target normals", getClassName ().c_str ());
+ }
+
/** \brief Provide a pointer to the vector of indices that represent the
* input source point cloud.
* \param[in] indices a pointer to the vector of indices
point_representation_ = point_representation;
}
+ /** \brief Clone and cast to CorrespondenceEstimationBase */
+ virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> > clone () const = 0;
+
protected:
/** \brief The correspondence estimation method name. */
std::string corr_name_;
virtual void
determineReciprocalCorrespondences (pcl::Correspondences &correspondences,
double max_distance = std::numeric_limits<double>::max ());
+
+
+ /** \brief Clone and cast to CorrespondenceEstimationBase */
+ virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >
+ clone () const
+ {
+ Ptr copy (new CorrespondenceEstimation<PointSource, PointTarget, Scalar> (*this));
+ return (copy);
+ }
};
}
}
inline NormalsConstPtr
getTargetNormals () const { return (target_normals_); }
+
+ /** \brief See if this rejector requires source normals */
+ bool
+ requiresSourceNormals () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source normals */
+ void
+ setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ NormalsPtr cloud (new PointCloudNormals);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setSourceNormals (cloud);
+ }
+
+ /** \brief See if this rejector requires target normals*/
+ bool
+ requiresTargetNormals () const
+ { return (true); }
+
+ /** \brief Method for setting the target normals */
+ void
+ setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ NormalsPtr cloud (new PointCloudNormals);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setTargetNormals (cloud);
+ }
+
/** \brief Determine the correspondences between input and target cloud.
* \param[out] correspondences the found correspondences (index of query point, index of target point, distance)
* \param[in] max_distance maximum distance between the normal on the source point cloud and the corresponding point in the target
*/
inline void
getKSearch () const { return (k_); }
+
+ /** \brief Clone and cast to CorrespondenceEstimationBase */
+ virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >
+ clone () const
+ {
+ Ptr copy (new CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar> (*this));
+ return (copy);
+ }
protected:
inline NormalsConstPtr
getSourceNormals () const { return (source_normals_); }
+
+ /** \brief See if this rejector requires source normals */
+ bool
+ requiresSourceNormals () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source normals */
+ void
+ setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ NormalsPtr cloud (new PointCloudNormals);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setSourceNormals (cloud);
+ }
+
/** \brief Determine the correspondences between input and target cloud.
* \param[out] correspondences the found correspondences (index of query point, index of target point, distance)
* \param[in] max_distance maximum distance between the normal on the source point cloud and the corresponding point in the target
inline void
getKSearch () const { return (k_); }
+ /** \brief Clone and cast to CorrespondenceEstimationBase */
+ virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >
+ clone () const
+ {
+ Ptr copy (new CorrespondenceEstimationNormalShooting<PointSource, PointTarget, NormalT, Scalar> (*this));
+ return (copy);
+ }
+
protected:
using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::corr_name_;
/** \brief Reads back the transformation from the source point cloud to the target point cloud.
* \note The target point cloud must be in its local camera coordinates, so use this transformation to correct
* for that.
- * \param[out] src_to_tgt_transformation the transformation
+ * \return the transformation
*/
inline Eigen::Matrix4f
getSourceTransformation () const
/** \brief Reads back the depth threshold; after projecting the source points in the image space of the target
* camera, this threshold is applied on the depths of corresponding dexels to eliminate the ones that are too
* far from each other.
- * \param[out] depth_threshold the depth threshold
+ * \return the depth threshold
*/
inline float
getDepthThreshold () const
{ return (depth_threshold_); }
/** \brief Computes the correspondences, applying a maximum Euclidean distance threshold.
+ * \param correspondences
* \param[in] max_distance Euclidean distance threshold above which correspondences will be rejected
*/
void
determineCorrespondences (Correspondences &correspondences, double max_distance);
/** \brief Computes the correspondences, applying a maximum Euclidean distance threshold.
+ * \param correspondences
* \param[in] max_distance Euclidean distance threshold above which correspondences will be rejected
*/
void
determineReciprocalCorrespondences (Correspondences &correspondences, double max_distance);
+
+ /** \brief Clone and cast to CorrespondenceEstimationBase */
+ virtual boost::shared_ptr< CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> >
+ clone () const
+ {
+ Ptr copy (new CorrespondenceEstimationOrganizedProjection<PointSource, PointTarget, Scalar> (*this));
+ return (copy);
+ }
protected:
using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_;
inline const std::string&
getClassName () const { return (rejection_name_); }
+
+ /** \brief See if this rejector requires source points */
+ virtual bool
+ requiresSourcePoints () const
+ { return (false); }
+
+ /** \brief Abstract method for setting the source cloud */
+ virtual void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr /*cloud2*/)
+ {
+ PCL_WARN ("[pcl::registration::%s::setSourcePoints] This class does not require an input source cloud", getClassName ().c_str ());
+ }
+
+ /** \brief See if this rejector requires source normals */
+ virtual bool
+ requiresSourceNormals () const
+ { return (false); }
+
+ /** \brief Abstract method for setting the source normals */
+ virtual void
+ setSourceNormals (pcl::PCLPointCloud2::ConstPtr /*cloud2*/)
+ {
+ PCL_WARN ("[pcl::registration::%s::setSourceNormals] This class does not require input source normals", getClassName ().c_str ());
+ }
+ /** \brief See if this rejector requires a target cloud */
+ virtual bool
+ requiresTargetPoints () const
+ { return (false); }
+
+ /** \brief Abstract method for setting the target cloud */
+ virtual void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr /*cloud2*/)
+ {
+ PCL_WARN ("[pcl::registration::%s::setTargetPoints] This class does not require an input target cloud", getClassName ().c_str ());
+ }
+
+ /** \brief See if this rejector requires target normals */
+ virtual bool
+ requiresTargetNormals () const
+ { return (false); }
+
+ /** \brief Abstract method for setting the target normals */
+ virtual void
+ setTargetNormals (pcl::PCLPointCloud2::ConstPtr /*cloud2*/)
+ {
+ PCL_WARN ("[pcl::registration::%s::setTargetNormals] This class does not require input target normals", getClassName ().c_str ());
+ }
+
protected:
/** \brief The name of the rejection method. */
* data!), used to compute the correspondence distance.
* \param[in] cloud a cloud containing XYZ data
*/
- PCL_DEPRECATED (void setInputCloud (const PointCloudConstPtr &cloud), "[pcl::registration::DataContainer::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::DataContainer::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
+ void
+ setInputCloud (const PointCloudConstPtr &cloud);
/** \brief Get a pointer to the input point cloud dataset target. */
- PCL_DEPRECATED (PointCloudConstPtr const getInputCloud (), "[pcl::registration::DataContainer::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::DataContainer::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
+ PointCloudConstPtr const
+ getInputCloud ();
/** \brief Provide a source point cloud dataset (must contain XYZ
* data!), used to compute the correspondence distance.
boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
}
+
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource<PointXYZ> (cloud);
+ }
+
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget<PointXYZ> (cloud);
+ }
+
/** \brief Provide a pointer to the search object used to find correspondences in
* the target cloud.
* \param[in] tree a pointer to the spatial search object.
}
/** \brief Obtain a score between a pair of correspondences.
- * \param[in] the index to check in the list of correspondences
+ * \param[in] index the index to check in the list of correspondences
* \return score the resultant computed score
*/
virtual inline double
/** \brief Check whether the correspondence pair at the given index is valid
* by computing the score and testing it against the user given threshold
- * \param[in] the index to check in the list of correspondences
+ * \param[in] index the index to check in the list of correspondences
* \return true if the correspondence is good, false otherwise
*/
virtual inline bool
data_container_.reset (new DataContainer<PointT>);
boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
}
+
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource<PointXYZ> (cloud);
+ }
+
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget<PointXYZ> (cloud);
+ }
/** \brief Provide a pointer to the search object used to find correspondences in
* the target cloud.
boost::static_pointer_cast<pcl::registration::DataContainer<PointT> > (data_container_)->setInputTarget (cloud);
}
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource<PointXYZ> (cloud);
+ }
+
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget<PointXYZ> (cloud);
+ }
+
virtual bool
updateSource (const Eigen::Matrix4d &)
{ return (true); }
target_ = target;
}
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloudSourcePtr cloud (new PointCloudSource);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource (cloud);
+ }
+
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloudTargetPtr cloud (new PointCloudTarget);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget (cloud);
+ }
+
/** \brief Set the polygon cardinality
* \param cardinality polygon cardinality
*/
/** \brief Set the similarity threshold in [0,1[ between edge lengths,
* where 1 is a perfect match
- * \param similarity similarity threshold
+ * \param similarity_threshold similarity threshold
*/
inline void
setSimilarityThreshold (float similarity_threshold)
/** \brief Provide a source point cloud dataset (must contain XYZ data!)
* \param[in] cloud a cloud containing XYZ data
*/
- PCL_DEPRECATED (virtual void setInputCloud (const PointCloudConstPtr &cloud),
- "[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceRejectorSampleConsensus::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
+ virtual void
+ setInputCloud (const PointCloudConstPtr &cloud);
/** \brief Get a pointer to the input point cloud dataset target. */
- PCL_DEPRECATED (PointCloudConstPtr const getInputCloud (), "[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceRejectorSampleConsensus::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
+ PointCloudConstPtr const
+ getInputCloud ();
/** \brief Provide a source point cloud dataset (must contain XYZ data!)
* \param[in] cloud a cloud containing XYZ data
/** \brief Provide a target point cloud dataset (must contain XYZ data!)
* \param[in] cloud a cloud containing XYZ data
*/
- PCL_DEPRECATED (virtual void setTargetCloud (const PointCloudConstPtr &cloud), "[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceRejectorSampleConsensus::setTargetCloud] setTargetCloud is deprecated. Please use setInputTarget instead.")
+ virtual void
+ setTargetCloud (const PointCloudConstPtr &cloud);
/** \brief Provide a target point cloud dataset (must contain XYZ data!)
* \param[in] cloud a cloud containing XYZ data
inline PointCloudConstPtr const
getInputTarget () { return (target_ ); }
+
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloudPtr cloud (new PointCloud);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource (cloud);
+ }
+
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloudPtr cloud (new PointCloud);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget (cloud);
+ }
+
/** \brief Set the maximum distance between corresponding points.
* Correspondences with distances below the threshold are considered as inliers.
* \param[in] threshold Distance threshold in the same dimension as source and target data sets.
* \return Distance threshold in the same dimension as source and target data sets.
*/
inline double
- getInlierThreshold() { return inlier_threshold_; };
+ getInlierThreshold () { return inlier_threshold_; };
/** \brief Set the maximum number of iterations.
* \param[in] max_iterations Maximum number if iterations to run
*/
- PCL_DEPRECATED (void setMaxIterations (int max_iterations), "[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceRejectorSampleConsensus::setMaxIterations] setMaxIterations is deprecated. Please use setMaximumIterations instead.")
+ void
+ setMaxIterations (int max_iterations);
/** \brief Set the maximum number of iterations.
* \param[in] max_iterations Maximum number if iterations to run
/** \brief Get the maximum number of iterations.
* \return max_iterations Maximum number if iterations to run
*/
- PCL_DEPRECATED (int getMaxIterations (), "[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.");
+ PCL_DEPRECATED ("[pcl::registration::CorrespondenceRejectorSampleConsensus::getMaxIterations] getMaxIterations is deprecated. Please use getMaximumIterations instead.")
+ int
+ getMaxIterations ();
/** \brief Get the maximum number of iterations.
* \return max_iterations Maximum number if iterations to run
}
/** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
- * \param[in] cloud a cloud containing XYZ data
+ * \param[in] input a cloud containing XYZ data
*/
template <typename PointT> inline void
setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr &input)
}
/** \brief Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance.
- * \param[in] cloud a cloud containing XYZ data
+ * \param[in] input a cloud containing XYZ data
*/
template <typename PointT> inline void
setInputSource (const typename pcl::PointCloud<PointT>::ConstPtr &input)
return (boost::static_pointer_cast<DataContainer<pcl::PointXYZ, NormalT> > (data_container_)->getTargetNormals ());
}
+
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ if (!data_container_)
+ initializeDataContainer<PointXYZ, Normal> ();
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource<PointXYZ> (cloud);
+ }
+
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ if (!data_container_)
+ initializeDataContainer<PointXYZ, Normal> ();
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget<PointXYZ> (cloud);
+ }
+
+ /** \brief See if this rejector requires source normals */
+ bool
+ requiresSourceNormals () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source normals */
+ void
+ setSourceNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ if (!data_container_)
+ initializeDataContainer<PointXYZ, Normal> ();
+ PointCloud<Normal>::Ptr cloud (new PointCloud<Normal>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputNormals<PointXYZ, Normal> (cloud);
+ }
+
+ /** \brief See if this rejector requires target normals*/
+ bool
+ requiresTargetNormals () const
+ { return (true); }
+
+ /** \brief Method for setting the target normals */
+ void
+ setTargetNormals (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ if (!data_container_)
+ initializeDataContainer<PointXYZ, Normal> ();
+ PointCloud<Normal>::Ptr cloud (new PointCloud<Normal>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setTargetNormals<PointXYZ, Normal> (cloud);
+ }
+
protected:
/** \brief Apply the rejection algorithm.
data_container_.reset (new DataContainer<PointT>);
boost::static_pointer_cast<DataContainer<PointT> > (data_container_)->setInputTarget (target);
}
+
+
+
+ /** \brief See if this rejector requires source points */
+ bool
+ requiresSourcePoints () const
+ { return (true); }
+
+ /** \brief Blob method for setting the source cloud */
+ void
+ setSourcePoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputSource<PointXYZ> (cloud);
+ }
+ /** \brief See if this rejector requires a target cloud */
+ bool
+ requiresTargetPoints () const
+ { return (true); }
+
+ /** \brief Method for setting the target cloud */
+ void
+ setTargetPoints (pcl::PCLPointCloud2::ConstPtr cloud2)
+ {
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+ fromPCLPointCloud2 (*cloud2, *cloud);
+ setInputTarget<PointXYZ> (cloud);
+ }
+
/** \brief Provide a pointer to the search object used to find correspondences in
* the target cloud.
* \param[in] tree a pointer to the spatial search object.
{
Vertex () : cloud () {}
PointCloudPtr cloud;
+ Eigen::Affine3f transform;
};
/** \brief graph structure to hold the SLAM graph */
compute_loop_ = false;
}
- /** \brief Computes now poses for all point clouds by closing the loop
+ /** \brief Computes new poses for all point clouds by closing the loop
* between start and end point cloud. This will transform all given point
* clouds for now!
*/
/** \brief Provide a pointer to the input dataset
* \param cloud the const boost shared pointer to a PointCloud message
*/
- PCL_DEPRECATED (void setInputCloud (const PointCloudSourceConstPtr &cloud), "[pcl::registration::GeneralizedIterativeClosestPoint::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::GeneralizedIterativeClosestPoint::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
+ void
+ setInputCloud (const PointCloudSourceConstPtr &cloud);
/** \brief Provide a pointer to the input dataset
* \param cloud the const boost shared pointer to a PointCloud message
* neighbors. K is set via setCorrespondenceRandomness() methode.
* \param cloud pointer to point cloud
* \param tree KD tree performer for nearest neighbors search
- * \return cloud_covariance covariances matrices for each point in the cloud
+ * \param[out] cloud_covariances covariances matrices for each point in the cloud
*/
template<typename PointT>
void computeCovariances(typename pcl::PointCloud<PointT>::ConstPtr cloud,
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_GICP6D_H_
+#define PCL_GICP6D_H_
+
+#include <pcl/registration/gicp.h>
+#include <pcl/kdtree/impl/kdtree_flann.hpp>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_representation.h>
+
+namespace pcl
+{
+ struct EIGEN_ALIGN16 _PointXYZLAB
+ {
+ PCL_ADD_POINT4D; // this adds the members x,y,z
+ union
+ {
+ struct
+ {
+ float L;
+ float a;
+ float b;
+ };
+ float data_lab[4];
+ };
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ };
+
+ /** \brief A custom point type for position and CIELAB color value */
+ struct PointXYZLAB : public _PointXYZLAB
+ {
+ inline PointXYZLAB ()
+ {
+ x = y = z = 0.0f; data[3] = 1.0f; // important for homogeneous coordinates
+ L = a = b = 0.0f; data_lab[3] = 0.0f;
+ }
+ };
+}
+
+// register the custom point type in PCL
+POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::_PointXYZLAB,
+ (float, x, x)
+ (float, y, y)
+ (float, z, z)
+ (float, L, L)
+ (float, a, a)
+ (float, b, b)
+)
+POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZLAB, pcl::_PointXYZLAB)
+
+namespace pcl
+{
+ /** \brief GeneralizedIterativeClosestPoint6D integrates L*a*b* color space information into the
+ * Generalized Iterative Closest Point (GICP) algorithm.
+ *
+ * The suggested input is PointXYZRGBA.
+ *
+ * \note If you use this code in any academic work, please cite:
+ *
+ * - M. Korn, M. Holzkothen, J. Pauli
+ * Color Supported Generalized-ICP.
+ * In Proceedings of VISAPP 2014 - International Conference on Computer Vision Theory and Applications,
+ * Lisbon, Portugal, January 2014.
+ *
+ * \author Martin Holzkothen, Michael Korn
+ * \ingroup registration
+ */
+ class GeneralizedIterativeClosestPoint6D : public GeneralizedIterativeClosestPoint<PointXYZRGBA, PointXYZRGBA>
+ {
+ typedef PointXYZRGBA PointSource;
+ typedef PointXYZRGBA PointTarget;
+
+ public:
+
+ /** \brief constructor.
+ *
+ * \param[in] lab_weight the color weight
+ */
+ GeneralizedIterativeClosestPoint6D (float lab_weight = 0.032f);
+
+ /** \brief Provide a pointer to the input source
+ * (e.g., the point cloud that we want to align to the target)
+ *
+ * \param[in] cloud the input point cloud source
+ */
+ void
+ setInputSource (const PointCloudSourceConstPtr& cloud);
+
+ /** \brief Provide a pointer to the input target
+ * (e.g., the point cloud that we want to align the input source to)
+ *
+ * \param[in] cloud the input point cloud target
+ */
+ void
+ setInputTarget (const PointCloudTargetConstPtr& target);
+
+ protected:
+
+ /** \brief Rigid transformation computation method with initial guess.
+ * \param output the transformed input point cloud dataset using the rigid transformation found
+ * \param guess the initial guess of the transformation to compute
+ */
+ void
+ computeTransformation (PointCloudSource& output,
+ const Eigen::Matrix4f& guess);
+
+ /** \brief Search for the closest nearest neighbor of a given point.
+ * \param query the point to search a nearest neighbour for
+ * \param index vector of size 1 to store the index of the nearest neighbour found
+ * \param distance vector of size 1 to store the distance to nearest neighbour found
+ */
+ inline bool
+ searchForNeighbors (const PointXYZLAB& query, std::vector<int>& index, std::vector<float>& distance);
+
+ protected:
+ /** \brief Holds the converted (LAB) data cloud. */
+ pcl::PointCloud<PointXYZLAB>::Ptr cloud_lab_;
+
+ /** \brief Holds the converted (LAB) model cloud. */
+ pcl::PointCloud<PointXYZLAB>::Ptr target_lab_;
+
+ /** \brief 6d-tree to search in model cloud. */
+ KdTreeFLANN<PointXYZLAB> target_tree_lab_;
+
+ /** \brief The color weight. */
+ float lab_weight_;
+
+ /** \brief Custom point representation to perform kdtree searches in more than 3 (i.e. in all 6) dimensions. */
+ class MyPointRepresentation : public PointRepresentation<PointXYZLAB>
+ {
+ using PointRepresentation<PointXYZLAB>::nr_dimensions_;
+ using PointRepresentation<PointXYZLAB>::trivial_;
+
+ public:
+ typedef boost::shared_ptr<MyPointRepresentation> Ptr;
+ typedef boost::shared_ptr<const MyPointRepresentation> ConstPtr;
+
+ MyPointRepresentation ()
+ {
+ nr_dimensions_ = 6;
+ trivial_ = false;
+ }
+
+ virtual
+ ~MyPointRepresentation ()
+ {
+ }
+
+ inline Ptr
+ makeShared () const
+ {
+ return Ptr (new MyPointRepresentation (*this));
+ }
+
+ virtual void
+ copyToFloatArray (const PointXYZLAB &p, float * out) const
+ {
+ // copy all of the six values
+ out[0] = p.x;
+ out[1] = p.y;
+ out[2] = p.z;
+ out[3] = p.L;
+ out[4] = p.a;
+ out[5] = p.b;
+ }
+ };
+
+ /** \brief Enables 6d searches with kd-tree class using the color weight. */
+ MyPointRepresentation point_rep_;
+ };
+}
+
+#endif //#ifndef PCL_GICP6D_H_
using Registration<PointSource, PointTarget>::max_iterations_;
using Registration<PointSource, PointTarget>::tree_;
using Registration<PointSource, PointTarget>::transformation_estimation_;
+ using Registration<PointSource, PointTarget>::converged_;
using Registration<PointSource, PointTarget>::getClassName;
typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
/** \brief Rigid transformation computation method.
* \param output the transformed input point cloud dataset using the rigid transformation found
+ * \param guess The computed transforamtion
*/
virtual void
computeTransformation (PointCloudSource &output, const Eigen::Matrix4f& guess);
* method is called. Please note that the align method sets max_iterations_,
* euclidean_fitness_epsilon_ and transformation_epsilon_ and therefore overrides the default / set
* values of the DefaultConvergenceCriteria instance.
- * \param[out] Pointer to the IterativeClosestPoint's DefaultConvergenceCriteria.
+ * \return Pointer to the IterativeClosestPoint's DefaultConvergenceCriteria.
*/
inline typename pcl::registration::DefaultConvergenceCriteria<Scalar>::Ptr
getConvergeCriteria ()
virtual void
computeTransformation (PointCloudSource &output, const Matrix4 &guess);
+ /** \brief Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called */
+ virtual void
+ determineRequiredBlobData ();
+
/** \brief XYZ fields offset. */
size_t x_idx_offset_, y_idx_offset_, z_idx_offset_;
bool source_has_normals_;
/** \brief Internal check whether target dataset has normals or not. */
bool target_has_normals_;
+
+ /** \brief Checks for whether estimators and rejectors need various data */
+ bool need_source_blob_, need_target_blob_;
};
/** \brief @b IterativeClosestPointWithNormals is a special case of
#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_H_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_H_
-#include <pcl/common/concatenate.h>
#include <pcl/common/io.h>
+#include <pcl/common/copy_point.h>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> void
double max_dist_sqr = max_distance * max_distance;
- typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
correspondences.resize (indices_->size ());
std::vector<int> index (1);
for (std::vector<int>::const_iterator idx = indices_->begin (); idx != indices_->end (); ++idx)
{
// Copy the source data to a target PointTarget format so we can search in the tree
- pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
- input_->points[*idx],
- pt));
+ copyPoint (input_->points[*idx], pt);
tree_->nearestKSearch (pt, 1, index, distance);
if (distance[0] > max_dist_sqr)
{
if (!initCompute ())
return;
-
- typedef typename pcl::traits::fieldList<PointSource>::type FieldListSource;
- typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
- typedef typename pcl::intersect<FieldListSource, FieldListTarget>::type FieldList;
-
+
// setup tree for reciprocal search
// Set the internal point representation of choice
if (!initComputeReciprocal())
for (std::vector<int>::const_iterator idx = indices_->begin (); idx != indices_->end (); ++idx)
{
// Copy the source data to a target PointTarget format so we can search in the tree
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
- input_->points[*idx],
- pt_src));
+ copyPoint (input_->points[*idx], pt_src);
tree_->nearestKSearch (pt_src, 1, index, distance);
if (distance[0] > max_dist_sqr)
target_idx = index[0];
// Copy the target data to a target PointSource format so we can search in the tree_reciprocal
- pcl::for_each_type<FieldList> (pcl::NdConcatenateFunctor <PointTarget, PointSource> (
- target_->points[target_idx],
- pt_tgt));
+ copyPoint (target_->points[target_idx], pt_tgt);
tree_reciprocal_->nearestKSearch (pt_tgt, 1, index_reciprocal, distance_reciprocal);
if (distance_reciprocal[0] > max_dist_sqr || *idx != index_reciprocal[0])
#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_BACK_PROJECTION_HPP_
+#include <pcl/common/copy_point.h>
+
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> bool
pcl::registration::CorrespondenceEstimationBackProjection<PointSource, PointTarget, NormalT, Scalar>::initCompute ()
if (!initCompute ())
return;
- typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
correspondences.resize (indices_->size ());
std::vector<int> nn_indices (k_);
{
PointSource pt_src;
// Copy the source data to a target PointTarget format so we can search in the tree
- pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
- input_->points[*idx_i],
- pt_src));
+ copyPoint (input_->points[*idx_i], pt_src);
float cos_angle = source_normals_->points[*idx_i].normal_x * target_normals_->points[nn_indices[j]].normal_x +
source_normals_->points[*idx_i].normal_y * target_normals_->points[nn_indices[j]].normal_y +
if (!initCompute ())
return;
- typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
-
// Set the internal point representation of choice
if(!initComputeReciprocal())
return;
{
PointSource pt_src;
// Copy the source data to a target PointTarget format so we can search in the tree
- pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
- input_->points[*idx_i],
- pt_src));
+ copyPoint (input_->points[*idx_i], pt_src);
float cos_angle = source_normals_->points[*idx_i].normal_x * target_normals_->points[nn_indices[j]].normal_x +
source_normals_->points[*idx_i].normal_y * target_normals_->points[nn_indices[j]].normal_y +
#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_ESTIMATION_NORMAL_SHOOTING_H_
+#include <pcl/common/copy_point.h>
+
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> bool
pcl::registration::CorrespondenceEstimationNormalShooting<PointSource, PointTarget, NormalT, Scalar>::initCompute ()
if (!initCompute ())
return;
- typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
correspondences.resize (indices_->size ());
std::vector<int> nn_indices (k_);
{
PointSource pt_src;
// Copy the source data to a target PointTarget format so we can search in the tree
- pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
- input_->points[*idx_i],
- pt_src));
+ copyPoint (input_->points[*idx_i], pt_src);
// computing the distance between a point and a line in 3d.
// Reference - http://mathworld.wolfram.com/Point-LineDistance3-Dimensional.html
if (!initCompute ())
return;
- typedef typename pcl::traits::fieldList<PointTarget>::type FieldListTarget;
-
// setup tree for reciprocal search
// Set the internal point representation of choice
if (!initComputeReciprocal ())
{
PointSource pt_src;
// Copy the source data to a target PointTarget format so we can search in the tree
- pcl::for_each_type <FieldListTarget> (pcl::NdConcatenateFunctor <PointSource, PointTarget> (
- input_->points[*idx_i],
- pt_src));
+ copyPoint (input_->points[*idx_i], pt_src);
// computing the distance between a point and a line in 3d.
// Reference - http://mathworld.wolfram.com/Point-LineDistance3-Dimensional.html
return;
}
+ if (save_inliers_)
+ inlier_indices_.clear ();
+
int nr_correspondences = static_cast<int> (original_correspondences.size ());
std::vector<int> source_indices (nr_correspondences);
std::vector<int> target_indices (nr_correspondences);
//a = aend * a * aendI;
pcl::transformPointCloud (*(*loop_graph_)[i].cloud, *(*loop_graph_)[i].cloud, a);
+ (*loop_graph_)[i].transform = a;
}
add_edge (loop_start_, loop_end_, *loop_graph_);
{
if (k_correspondences_ > int (cloud->size ()))
{
- PCL_ERROR ("[pcl::GeneralizedIterativeClosestPoint::computeCovariances] Number or points in cloud (%zu) is less than k_correspondences_ (%zu)!\n", cloud->size (), k_correspondences_);
+ PCL_ERROR ("[pcl::GeneralizedIterativeClosestPoint::computeCovariances] Number or points in cloud (%lu) is less than k_correspondences_ (%lu)!\n", cloud->size (), k_correspondences_);
return;
}
int inner_iterations_ = 0;
int result = bfgs.minimizeInit (x);
+ result = BFGSSpace::Running;
do
{
inner_iterations_++;
if (nr_samples > static_cast<int> (cloud.points.size ()))
{
PCL_ERROR ("[pcl::%s::selectSamples] ", getClassName ().c_str ());
- PCL_ERROR ("The number of samples (%d) must not be greater than the number of points (%zu)!\n",
+ PCL_ERROR ("The number of samples (%d) must not be greater than the number of points (%lu)!\n",
nr_samples, cloud.points.size ());
return;
}
final_transformation_ = guess;
int i_iter = 0;
+ converged_ = false;
if (!guess.isApprox (Eigen::Matrix4f::Identity (), 0.01f))
{
// If guess is not the Identity matrix we check it.
{
lowest_error = error;
final_transformation_ = transformation_;
+ converged_=true;
}
}
transformation_ = Matrix4::Identity ();
+ // Make blobs if necessary
+ determineRequiredBlobData ();
+ PCLPointCloud2::Ptr target_blob (new PCLPointCloud2);
+ if (need_target_blob_)
+ pcl::toPCLPointCloud2 (*target_, *target_blob);
+
// Pass in the default target for the Correspondence Estimation/Rejection code
correspondence_estimation_->setInputTarget (target_);
- // We should be doing something like this
- // for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
- // {
- // correspondence_rejectors_[i]->setTargetCloud (target_);
- // if (target_has_normals_)
- // correspondence_rejectors_[i]->setTargetNormals (target_);
- // }
+ if (correspondence_estimation_->requiresTargetNormals ())
+ correspondence_estimation_->setTargetNormals (target_blob);
+ // Correspondence Rejectors need a binary blob
+ for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
+ {
+ registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
+ if (rej->requiresTargetPoints ())
+ rej->setTargetPoints (target_blob);
+ if (rej->requiresTargetNormals () && target_has_normals_)
+ rej->setTargetNormals (target_blob);
+ }
convergence_criteria_->setMaximumIterations (max_iterations_);
convergence_criteria_->setRelativeMSE (euclidean_fitness_epsilon_);
// Repeat until convergence
do
{
+ // Get blob data if needed
+ PCLPointCloud2::Ptr input_transformed_blob;
+ if (need_source_blob_)
+ {
+ input_transformed_blob.reset (new PCLPointCloud2);
+ toPCLPointCloud2 (*input_transformed, *input_transformed_blob);
+ }
// Save the previously estimated transformation
previous_transformation_ = transformation_;
// Set the source each iteration, to ensure the dirty flag is updated
correspondence_estimation_->setInputSource (input_transformed);
+ if (correspondence_estimation_->requiresSourceNormals ())
+ correspondence_estimation_->setSourceNormals (input_transformed_blob);
// Estimate correspondences
if (use_reciprocal_correspondence_)
correspondence_estimation_->determineReciprocalCorrespondences (*correspondences_, corr_dist_threshold_);
CorrespondencesPtr temp_correspondences (new Correspondences (*correspondences_));
for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
{
- PCL_DEBUG ("Applying a correspondence rejector method: %s.\n", correspondence_rejectors_[i]->getClassName ().c_str ());
- // We should be doing something like this
- // correspondence_rejectors_[i]->setInputSource (input_transformed);
- // if (source_has_normals_)
- // correspondence_rejectors_[i]->setInputNormals (input_transformed);
- correspondence_rejectors_[i]->setInputCorrespondences (temp_correspondences);
- correspondence_rejectors_[i]->getCorrespondences (*correspondences_);
+ registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
+ PCL_DEBUG ("Applying a correspondence rejector method: %s.\n", rej->getClassName ().c_str ());
+ if (rej->requiresSourcePoints ())
+ rej->setSourcePoints (input_transformed_blob);
+ if (rej->requiresSourceNormals () && source_has_normals_)
+ rej->setSourceNormals (input_transformed_blob);
+ rej->setInputCorrespondences (temp_correspondences);
+ rej->getCorrespondences (*correspondences_);
// Modify input for the next iteration
if (i < correspondence_rejectors_.size () - 1)
*temp_correspondences = *correspondences_;
size_t cnt = correspondences_->size ();
// Check whether we have enough correspondences
- if (cnt < min_number_correspondences_)
+ if (static_cast<int> (cnt) < min_number_correspondences_)
{
PCL_ERROR ("[pcl::%s::computeTransformation] Not enough correspondences found. Relax your threshold parameters.\n", getClassName ().c_str ());
convergence_criteria_->setConvergenceState(pcl::registration::DefaultConvergenceCriteria<Scalar>::CONVERGENCE_CRITERIA_NO_CORRESPONDENCES);
transformCloud (*input_, output, final_transformation_);
}
+template <typename PointSource, typename PointTarget, typename Scalar> void
+pcl::IterativeClosestPoint<PointSource, PointTarget, Scalar>::determineRequiredBlobData ()
+{
+ need_source_blob_ = false;
+ need_target_blob_ = false;
+ // Check estimator
+ need_source_blob_ |= correspondence_estimation_->requiresSourceNormals ();
+ need_target_blob_ |= correspondence_estimation_->requiresTargetNormals ();
+ // Add warnings if necessary
+ if (correspondence_estimation_->requiresSourceNormals () && !source_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Estimator expects source normals, but we can't provide them.\n", getClassName ().c_str ());
+ }
+ if (correspondence_estimation_->requiresTargetNormals () && !target_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Estimator expects target normals, but we can't provide them.\n", getClassName ().c_str ());
+ }
+ // Check rejectors
+ for (size_t i = 0; i < correspondence_rejectors_.size (); i++)
+ {
+ registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
+ need_source_blob_ |= rej->requiresSourcePoints ();
+ need_source_blob_ |= rej->requiresSourceNormals ();
+ need_target_blob_ |= rej->requiresTargetPoints ();
+ need_target_blob_ |= rej->requiresTargetNormals ();
+ if (rej->requiresSourceNormals () && !source_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Rejector %s expects source normals, but we can't provide them.\n", getClassName ().c_str (), rej->getClassName ().c_str ());
+ }
+ if (rej->requiresTargetNormals () && !target_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Rejector %s expects target normals, but we can't provide them.\n", getClassName ().c_str (), rej->getClassName ().c_str ());
+ }
+ }
+}
+
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename Scalar> void
pcl::IterativeClosestPointWithNormals<PointSource, PointTarget, Scalar>::transformCloud (
{
pcl::transformPointCloudWithNormals (input, output, transform);
}
+
#endif /* PCL_REGISTRATION_IMPL_ICP_HPP_ */
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_REGISTRATION_IMPL_JOINT_ICP_HPP_
+#define PCL_REGISTRATION_IMPL_JOINT_ICP_HPP_
+
+#include <pcl/registration/boost.h>
+#include <pcl/correspondence.h>
+#include <pcl/console/print.h>
+
+
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointSource, typename PointTarget, typename Scalar> void
+pcl::JointIterativeClosestPoint<PointSource, PointTarget, Scalar>::computeTransformation (
+ PointCloudSource &output, const Matrix4 &guess)
+{
+ // Point clouds containing the correspondences of each point in <input, indices>
+ if (sources_.size () != targets_.size () || sources_.empty () || targets_.empty ())
+ {
+ PCL_ERROR ("[pcl::%s::computeTransformation] Must set InputSources and InputTargets to the same, nonzero size!\n",
+ getClassName ().c_str ());
+ return;
+ }
+ bool manual_correspondence_estimations_set = true;
+ if (correspondence_estimations_.empty ())
+ {
+ manual_correspondence_estimations_set = false;
+ correspondence_estimations_.resize (sources_.size ());
+ for (size_t i = 0; i < sources_.size (); i++)
+ {
+ correspondence_estimations_[i] = correspondence_estimation_->clone ();
+ KdTreeReciprocalPtr src_tree (new KdTreeReciprocal);
+ KdTreePtr tgt_tree (new KdTree);
+ correspondence_estimations_[i]->setSearchMethodTarget (tgt_tree);
+ correspondence_estimations_[i]->setSearchMethodSource (src_tree);
+ }
+ }
+ if (correspondence_estimations_.size () != sources_.size ())
+ {
+ PCL_ERROR ("[pcl::%s::computeTransform] Must set CorrespondenceEstimations to be the same size as the joint\n",
+ getClassName ().c_str ());
+ return;
+ }
+ std::vector<PointCloudSourcePtr> inputs_transformed (sources_.size ());
+ for (size_t i = 0; i < sources_.size (); i++)
+ {
+ inputs_transformed[i].reset (new PointCloudSource);
+ }
+
+ nr_iterations_ = 0;
+ converged_ = false;
+
+ // Initialise final transformation to the guessed one
+ final_transformation_ = guess;
+
+ // Make a combined transformed input and output
+ std::vector<size_t> input_offsets (sources_.size ());
+ std::vector<size_t> target_offsets (targets_.size ());
+ PointCloudSourcePtr sources_combined (new PointCloudSource);
+ PointCloudSourcePtr inputs_transformed_combined (new PointCloudSource);
+ PointCloudTargetPtr targets_combined (new PointCloudTarget);
+ size_t input_offset = 0;
+ size_t target_offset = 0;
+ for (size_t i = 0; i < sources_.size (); i++)
+ {
+ // If the guessed transformation is non identity
+ if (guess != Matrix4::Identity ())
+ {
+ // Apply guessed transformation prior to search for neighbours
+ this->transformCloud (*sources_[i], *inputs_transformed[i], guess);
+ }
+ else
+ {
+ *inputs_transformed[i] = *sources_[i];
+ }
+ *sources_combined += *sources_[i];
+ *inputs_transformed_combined += *inputs_transformed[i];
+ *targets_combined += *targets_[i];
+ input_offsets[i] = input_offset;
+ target_offsets[i] = target_offset;
+ input_offset += inputs_transformed[i]->size ();
+ target_offset += targets_[i]->size ();
+ }
+
+
+
+ transformation_ = Matrix4::Identity ();
+ // Make blobs if necessary
+ determineRequiredBlobData ();
+ // Pass in the default target for the Correspondence Estimation/Rejection code
+ for (size_t i = 0; i < sources_.size (); i++)
+ {
+ correspondence_estimations_[i]->setInputTarget (targets_[i]);
+ if (correspondence_estimations_[i]->requiresTargetNormals ())
+ {
+ PCLPointCloud2::Ptr target_blob (new PCLPointCloud2);
+ pcl::toPCLPointCloud2 (*targets_[i], *target_blob);
+ correspondence_estimations_[i]->setTargetNormals (target_blob);
+ }
+ }
+
+ PCLPointCloud2::Ptr targets_combined_blob (new PCLPointCloud2);
+ if (!correspondence_rejectors_.empty () && need_target_blob_)
+ pcl::toPCLPointCloud2 (*targets_combined, *targets_combined_blob);
+
+ for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
+ {
+ registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
+ if (rej->requiresTargetPoints ())
+ rej->setTargetPoints (targets_combined_blob);
+ if (rej->requiresTargetNormals () && target_has_normals_)
+ rej->setTargetNormals (targets_combined_blob);
+ }
+
+ convergence_criteria_->setMaximumIterations (max_iterations_);
+ convergence_criteria_->setRelativeMSE (euclidean_fitness_epsilon_);
+ convergence_criteria_->setTranslationThreshold (transformation_epsilon_);
+ convergence_criteria_->setRotationThreshold (1.0 - transformation_epsilon_);
+
+ // Repeat until convergence
+ std::vector<CorrespondencesPtr> partial_correspondences_ (sources_.size ());
+ for (size_t i = 0; i < sources_.size (); i++)
+ {
+ partial_correspondences_[i].reset (new pcl::Correspondences);
+ }
+
+ do
+ {
+ // Save the previously estimated transformation
+ previous_transformation_ = transformation_;
+
+ // Set the source each iteration, to ensure the dirty flag is updated
+ correspondences_->clear ();
+ for (size_t i = 0; i < correspondence_estimations_.size (); i++)
+ {
+ correspondence_estimations_[i]->setInputSource (inputs_transformed[i]);
+ // Get blob data if needed
+ if (correspondence_estimations_[i]->requiresSourceNormals ())
+ {
+ PCLPointCloud2::Ptr input_transformed_blob (new PCLPointCloud2);
+ toPCLPointCloud2 (*inputs_transformed[i], *input_transformed_blob);
+ correspondence_estimations_[i]->setSourceNormals (input_transformed_blob);
+ }
+
+ // Estimate correspondences on each cloud pair separately
+ if (use_reciprocal_correspondence_)
+ {
+ correspondence_estimations_[i]->determineReciprocalCorrespondences (*partial_correspondences_[i], corr_dist_threshold_);
+ }
+ else
+ {
+ correspondence_estimations_[i]->determineCorrespondences (*partial_correspondences_[i], corr_dist_threshold_);
+ }
+ PCL_DEBUG ("[pcl::%s::computeTransformation] Found %d partial correspondences for cloud [%d]\n",
+ getClassName ().c_str (),
+ partial_correspondences_[i]->size (), i);
+ for (size_t j = 0; j < partial_correspondences_[i]->size (); j++)
+ {
+ pcl::Correspondence corr = partial_correspondences_[i]->at (j);
+ // Update the offsets to be for the combined clouds
+ corr.index_query += input_offsets[i];
+ corr.index_match += target_offsets[i];
+ correspondences_->push_back (corr);
+ }
+ }
+ PCL_DEBUG ("[pcl::%s::computeTransformation] Total correspondences: %d\n", getClassName ().c_str (), correspondences_->size ());
+
+ PCLPointCloud2::Ptr inputs_transformed_combined_blob;
+ if (need_source_blob_)
+ {
+ inputs_transformed_combined_blob.reset (new PCLPointCloud2);
+ toPCLPointCloud2 (*inputs_transformed_combined, *inputs_transformed_combined_blob);
+ }
+ CorrespondencesPtr temp_correspondences (new Correspondences (*correspondences_));
+ for (size_t i = 0; i < correspondence_rejectors_.size (); ++i)
+ {
+ PCL_DEBUG ("Applying a correspondence rejector method: %s.\n", correspondence_rejectors_[i]->getClassName ().c_str ());
+ registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
+ PCL_DEBUG ("Applying a correspondence rejector method: %s.\n", rej->getClassName ().c_str ());
+ if (rej->requiresSourcePoints ())
+ rej->setSourcePoints (inputs_transformed_combined_blob);
+ if (rej->requiresSourceNormals () && source_has_normals_)
+ rej->setSourceNormals (inputs_transformed_combined_blob);
+ rej->setInputCorrespondences (temp_correspondences);
+ rej->getCorrespondences (*correspondences_);
+ // Modify input for the next iteration
+ if (i < correspondence_rejectors_.size () - 1)
+ *temp_correspondences = *correspondences_;
+ }
+
+ int cnt = correspondences_->size ();
+ // Check whether we have enough correspondences
+ if (cnt < min_number_correspondences_)
+ {
+ PCL_ERROR ("[pcl::%s::computeTransformation] Not enough correspondences found. Relax your threshold parameters.\n", getClassName ().c_str ());
+ convergence_criteria_->setConvergenceState(pcl::registration::DefaultConvergenceCriteria<Scalar>::CONVERGENCE_CRITERIA_NO_CORRESPONDENCES);
+ converged_ = false;
+ break;
+ }
+
+ // Estimate the transform jointly, on a combined correspondence set
+ transformation_estimation_->estimateRigidTransformation (*inputs_transformed_combined, *targets_combined, *correspondences_, transformation_);
+
+ // Tranform the combined data
+ this->transformCloud (*inputs_transformed_combined, *inputs_transformed_combined, transformation_);
+ // And all its components
+ for (size_t i = 0; i < sources_.size (); i++)
+ {
+ this->transformCloud (*inputs_transformed[i], *inputs_transformed[i], transformation_);
+ }
+
+ // Obtain the final transformation
+ final_transformation_ = transformation_ * final_transformation_;
+
+ ++nr_iterations_;
+
+ // Update the vizualization of icp convergence
+ //if (update_visualizer_ != 0)
+ // update_visualizer_(output, source_indices_good, *target_, target_indices_good );
+
+ converged_ = static_cast<bool> ((*convergence_criteria_));
+ }
+ while (!converged_);
+
+ PCL_DEBUG ("Transformation is:\n\t%5f\t%5f\t%5f\t%5f\n\t%5f\t%5f\t%5f\t%5f\n\t%5f\t%5f\t%5f\t%5f\n\t%5f\t%5f\t%5f\t%5f\n",
+ final_transformation_ (0, 0), final_transformation_ (0, 1), final_transformation_ (0, 2), final_transformation_ (0, 3),
+ final_transformation_ (1, 0), final_transformation_ (1, 1), final_transformation_ (1, 2), final_transformation_ (1, 3),
+ final_transformation_ (2, 0), final_transformation_ (2, 1), final_transformation_ (2, 2), final_transformation_ (2, 3),
+ final_transformation_ (3, 0), final_transformation_ (3, 1), final_transformation_ (3, 2), final_transformation_ (3, 3));
+
+ // For fitness checks, etc, we'll use an aggregated cloud for now (should be evaluating independently for correctness, but this requires propagating a few virtual methods from Registration)
+ IterativeClosestPoint<PointSource, PointTarget, Scalar>::setInputSource (sources_combined);
+ IterativeClosestPoint<PointSource, PointTarget, Scalar>::setInputTarget (targets_combined);
+
+ // If we automatically set the correspondence estimators, we should clear them now
+ if (!manual_correspondence_estimations_set)
+ {
+ correspondence_estimations_.clear ();
+ }
+
+
+ // By definition, this method will return an empty cloud (for compliance with the ICP API).
+ // We can figure out a better solution, if necessary.
+ output = PointCloudSource ();
+}
+
+ template <typename PointSource, typename PointTarget, typename Scalar> void
+pcl::JointIterativeClosestPoint<PointSource, PointTarget, Scalar>::determineRequiredBlobData ()
+{
+ need_source_blob_ = false;
+ need_target_blob_ = false;
+ // Check estimators
+ for (size_t i = 0; i < correspondence_estimations_.size (); i++)
+ {
+ CorrespondenceEstimationPtr& ce = correspondence_estimations_[i];
+
+ need_source_blob_ |= ce->requiresSourceNormals ();
+ need_target_blob_ |= ce->requiresTargetNormals ();
+ // Add warnings if necessary
+ if (ce->requiresSourceNormals () && !source_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Estimator expects source normals, but we can't provide them.\n", getClassName ().c_str ());
+ }
+ if (ce->requiresTargetNormals () && !target_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Estimator expects target normals, but we can't provide them.\n", getClassName ().c_str ());
+ }
+ }
+ // Check rejectors
+ for (size_t i = 0; i < correspondence_rejectors_.size (); i++)
+ {
+ registration::CorrespondenceRejector::Ptr& rej = correspondence_rejectors_[i];
+ need_source_blob_ |= rej->requiresSourcePoints ();
+ need_source_blob_ |= rej->requiresSourceNormals ();
+ need_target_blob_ |= rej->requiresTargetPoints ();
+ need_target_blob_ |= rej->requiresTargetNormals ();
+ if (rej->requiresSourceNormals () && !source_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Rejector %s expects source normals, but we can't provide them.\n", getClassName ().c_str (), rej->getClassName ().c_str ());
+ }
+ if (rej->requiresTargetNormals () && !target_has_normals_)
+ {
+ PCL_WARN("[pcl::%s::determineRequiredBlobData] Rejector %s expects target normals, but we can't provide them.\n", getClassName ().c_str (), rej->getClassName ().c_str ());
+ }
+ }
+}
+
+
+#endif /* PCL_REGISTRATION_IMPL_JOINT_ICP_HPP_ */
+
+
#ifndef PCL_REGISTRATION_IMPL_PPF_REGISTRATION_H_
#define PCL_REGISTRATION_IMPL_PPF_REGISTRATION_H_
+#include <pcl/registration/ppf_registration.h>
#include <pcl/features/ppf.h>
#include <pcl/common/transforms.h>
scene_search_tree_->setInputCloud (target_);
}
-
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget> void
pcl::PPFRegistration<PointSource, PointTarget>::computeTransformation (PointCloudSource &output, const Eigen::Matrix4f& guess)
Eigen::Vector3f scene_reference_point = target_->points[scene_reference_index].getVector3fMap (),
scene_reference_normal = target_->points[scene_reference_index].getNormalVector3fMap ();
- Eigen::AngleAxisf rotation_sg (acosf (scene_reference_normal.dot (Eigen::Vector3f::UnitX ())),
- scene_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
- Eigen::Affine3f transform_sg (Eigen::Translation3f (rotation_sg * ((-1) * scene_reference_point)) * rotation_sg);
+ float rotation_angle_sg = acosf (scene_reference_normal.dot (Eigen::Vector3f::UnitX ()));
+ bool parallel_to_x_sg = (scene_reference_normal.y() == 0.0f && scene_reference_normal.z() == 0.0f);
+ Eigen::Vector3f rotation_axis_sg = (parallel_to_x_sg)?(Eigen::Vector3f::UnitY ()):(scene_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
+ Eigen::AngleAxisf rotation_sg (rotation_angle_sg, rotation_axis_sg);
+ Eigen::Affine3f transform_sg (Eigen::Translation3f ( rotation_sg * ((-1) * scene_reference_point)) * rotation_sg);
// For every other point in the scene => now have pair (s_r, s_i) fixed
std::vector<int> indices;
// Compute alpha_s angle
Eigen::Vector3f scene_point = target_->points[scene_point_index].getVector3fMap ();
- Eigen::AngleAxisf rotation_sg (acosf (scene_reference_normal.dot (Eigen::Vector3f::UnitX ())),
- scene_reference_normal.cross (Eigen::Vector3f::UnitX ()).normalized ());
- Eigen::Affine3f transform_sg = Eigen::Translation3f ( rotation_sg * ((-1) * scene_reference_point)) * rotation_sg;
-// float alpha_s = acos (Eigen::Vector3f::UnitY ().dot ((transform_sg * scene_point).normalized ()));
Eigen::Vector3f scene_point_transformed = transform_sg * scene_point;
float alpha_s = atan2f ( -scene_point_transformed(2), scene_point_transformed(1));
- if ( alpha_s != alpha_s)
- {
- PCL_ERROR ("alpha_s is nan\n");
- continue;
- }
if (sin (alpha_s) * scene_point_transformed(2) < 0.0f)
alpha_s *= (-1);
alpha_s *= (-1);
accumulator_array[model_reference_index][alpha_discretized] ++;
}
}
- else PCL_ERROR ("[pcl::PPFRegistration::computeTransformation] Computing pair feature vector between points %zu and %zu went wrong.\n", scene_reference_index, scene_point_index);
+ else PCL_ERROR ("[pcl::PPFRegistration::computeTransformation] Computing pair feature vector between points %u and %u went wrong.\n", scene_reference_index, scene_point_index);
}
}
Eigen::Vector3f model_reference_point = input_->points[max_votes_i].getVector3fMap (),
model_reference_normal = input_->points[max_votes_i].getNormalVector3fMap ();
- Eigen::AngleAxisf rotation_mg (acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ())), model_reference_normal.cross (Eigen::Vector3f::UnitX ()).normalized ());
- Eigen::Affine3f transform_mg = Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg;
+ float rotation_angle_mg = acosf (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));
+ bool parallel_to_x_mg = (model_reference_normal.y() == 0.0f && model_reference_normal.z() == 0.0f);
+ Eigen::Vector3f rotation_axis_mg = (parallel_to_x_mg)?(Eigen::Vector3f::UnitY ()):(model_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
+ Eigen::AngleAxisf rotation_mg (rotation_angle_mg, rotation_axis_mg);
+ Eigen::Affine3f transform_mg (Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg);
Eigen::Affine3f max_transform =
transform_sg.inverse () *
Eigen::AngleAxisf ((static_cast<float> (max_votes_j) - floorf (static_cast<float> (M_PI) / search_method_->getAngleDiscretizationStep ())) * search_method_->getAngleDiscretizationStep (), Eigen::Vector3f::UnitX ()) *
// Transform the input dataset using the final transformation
PointCloudSource input_transformed;
- //transformPointCloud (*input_, input_transformed, final_transformation_);
- input_transformed.resize (input_->size ());
- for (size_t i = 0; i < input_->size (); ++i)
- {
- const PointSource &src = input_->points[i];
- PointTarget &tgt = input_transformed.points[i];
- tgt.x = static_cast<float> (final_transformation_ (0, 0) * src.x + final_transformation_ (0, 1) * src.y + final_transformation_ (0, 2) * src.z + final_transformation_ (0, 3));
- tgt.y = static_cast<float> (final_transformation_ (1, 0) * src.x + final_transformation_ (1, 1) * src.y + final_transformation_ (1, 2) * src.z + final_transformation_ (1, 3));
- tgt.z = static_cast<float> (final_transformation_ (2, 0) * src.x + final_transformation_ (2, 1) * src.y + final_transformation_ (2, 2) * src.z + final_transformation_ (2, 3));
- }
+ transformPointCloud (*input_, input_transformed, final_transformation_);
std::vector<int> nn_indices (1);
std::vector<float> nn_dists (1);
int nr = 0;
for (size_t i = 0; i < input_transformed.points.size (); ++i)
{
- Eigen::Vector4f p1 = Eigen::Vector4f (input_transformed.points[i].x,
- input_transformed.points[i].y,
- input_transformed.points[i].z, 0);
// Find its nearest neighbor in the target
tree_->nearestKSearch (input_transformed.points[i], 1, nn_indices, nn_dists);
// Deal with occlusions (incomplete targets)
- if (nn_dists[0] > max_range)
- continue;
-
- Eigen::Vector4f p2 = Eigen::Vector4f (target_->points[nn_indices[0]].x,
- target_->points[nn_indices[0]].y,
- target_->points[nn_indices[0]].z, 0);
- // Calculate the fitness score
- fitness_score += fabs ((p1-p2).squaredNorm ());
- nr++;
+ if (nn_dists[0] <= max_range)
+ {
+ // Add to the fitness score
+ fitness_score += nn_dists[0];
+ nr++;
+ }
}
if (nr > 0)
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename FeatureT> void
pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::selectSamples (
- const PointCloudSource &cloud, int nr_samples,
- std::vector<int> &sample_indices)
+ const PointCloudSource &cloud, int nr_samples, std::vector<int> &sample_indices)
{
if (nr_samples > static_cast<int> (cloud.points.size ()))
{
PCL_ERROR ("[pcl::%s::selectSamples] ", getClassName ().c_str ());
- PCL_ERROR ("The number of samples (%d) must not be greater than the number of points (%zu)!\n",
+ PCL_ERROR ("The number of samples (%d) must not be greater than the number of points (%lu)!\n",
nr_samples, cloud.points.size ());
return;
}
+
+ sample_indices.resize (nr_samples);
+ int temp_sample;
- // Iteratively draw random samples until nr_samples is reached
- sample_indices.clear ();
- std::vector<bool> sampled_indices (cloud.points.size (), false);
- while (static_cast<int> (sample_indices.size ()) < nr_samples)
+ // Draw random samples until n samples is reached
+ for (int i = 0; i < nr_samples; i++)
{
- // Choose a unique sample at random
- int sample_index;
- do
+ // Select a random number
+ sample_indices[i] = getRandomIndex (static_cast<int> (cloud.points.size ()) - i);
+
+ // Run trough list of numbers, starting at the lowest, to avoid duplicates
+ for (int j = 0; j < i; j++)
{
- sample_index = getRandomIndex (static_cast<int> (cloud.points.size ()));
+ // Move value up if it is higher than previous selections to ensure true randomness
+ if (sample_indices[i] >= sample_indices[j])
+ {
+ sample_indices[i]++;
+ }
+ else
+ {
+ // The new number is lower, place it at the correct point and break for a sorted list
+ temp_sample = sample_indices[i];
+ for (int k = i; k > j; k--)
+ sample_indices[k] = sample_indices[k - 1];
+
+ sample_indices[j] = temp_sample;
+ break;
+ }
}
- while (sampled_indices[sample_index]);
-
- // Mark index as sampled
- sampled_indices[sample_index] = true;
-
- // Store
- sample_indices.push_back (sample_index);
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointSource, typename PointTarget, typename FeatureT> void
pcl::SampleConsensusPrerejective<PointSource, PointTarget, FeatureT>::findSimilarFeatures (
- const FeatureCloud &input_features, const std::vector<int> &sample_indices,
- std::vector<int> &corresponding_indices)
+ const std::vector<int> &sample_indices,
+ std::vector<std::vector<int> >& similar_features,
+ std::vector<int> &corresponding_indices)
{
- std::vector<int> nn_indices (k_correspondences_);
- std::vector<float> nn_distances (k_correspondences_);
-
+ // Allocate results
corresponding_indices.resize (sample_indices.size ());
+ std::vector<float> nn_distances (k_correspondences_);
+
+ // Loop over the sampled features
for (size_t i = 0; i < sample_indices.size (); ++i)
{
- // Find the k features nearest to input_features.points[sample_indices[i]]
- feature_tree_->nearestKSearch (input_features, sample_indices[i], k_correspondences_, nn_indices, nn_distances);
+ // Current feature index
+ const int idx = sample_indices[i];
+
+ // Find the k nearest feature neighbors to the sampled input feature if they are not in the cache already
+ if (similar_features[idx].empty ())
+ feature_tree_->nearestKSearch (*input_features_, idx, k_correspondences_, similar_features[idx], nn_distances);
// Select one at random and add it to corresponding_indices
if (k_correspondences_ == 1)
- {
- corresponding_indices[i] = nn_indices[0];
- }
+ corresponding_indices[i] = similar_features[idx][0];
else
- {
- int random_correspondence = getRandomIndex (k_correspondences_);
- corresponding_indices[i] = nn_indices[random_correspondence];
- }
+ corresponding_indices[i] = similar_features[idx][getRandomIndex (k_correspondences_)];
}
}
return;
}
+ if (k_correspondences_ <= 0)
+ {
+ PCL_ERROR ("[pcl::%s::computeTransformation] ", getClassName ().c_str ());
+ PCL_ERROR ("Illegal correspondence randomness %d, must be > 0!\n",
+ k_correspondences_);
+ return;
+ }
+
// Initialize prerejector (similarity threshold already set to default value in constructor)
correspondence_rejector_poly_->setInputSource (input_);
correspondence_rejector_poly_->setInputTarget (target_);
correspondence_rejector_poly_->setCardinality (nr_samples_);
- std::vector<bool> accepted (input_->size (), false); // Indices of sampled points that passed prerejection
int num_rejections = 0; // For debugging
// Initialize results
}
}
+ // Feature correspondence cache
+ std::vector<std::vector<int> > similar_features (input_->size ());
+
// Start
for (int i = 0; i < max_iterations_; ++i)
{
// Temporary containers
- std::vector<int> sample_indices (nr_samples_);
- std::vector<int> corresponding_indices (nr_samples_);
+ std::vector<int> sample_indices;
+ std::vector<int> corresponding_indices;
// Draw nr_samples_ random samples
selectSamples (*input_, nr_samples_, sample_indices);
- // Check if all sampled points already been accepted
- bool samples_accepted = true;
- for (unsigned int j = 0; j < sample_indices.size(); ++j) {
- if (!accepted[j]) {
- samples_accepted = false;
- break;
- }
- }
-
- // All points have already been accepted, avoid
- if (samples_accepted)
- continue;
-
// Find corresponding features in the target cloud
- findSimilarFeatures (*input_features_, sample_indices, corresponding_indices);
+ findSimilarFeatures (sample_indices, similar_features, corresponding_indices);
// Apply prerejection
- if (!correspondence_rejector_poly_->thresholdPolygon (sample_indices, corresponding_indices)) {
+ if (!correspondence_rejector_poly_->thresholdPolygon (sample_indices, corresponding_indices))
+ {
++num_rejections;
continue;
}
// If the new fit is better, update results
inlier_fraction = static_cast<float> (inliers.size ()) / static_cast<float> (input_->size ());
-
- if (inlier_fraction >= inlier_fraction_) {
- // Mark the sampled points accepted
- for (int j = 0; j < nr_samples_; ++j)
- accepted[j] = true;
-
- // Update result if pose hypothesis is better
- if (error < lowest_error) {
- inliers_ = inliers;
- lowest_error = error;
- converged_ = true;
- final_transformation_ = transformation_;
- }
+
+ // Update result if pose hypothesis is better
+ if (inlier_fraction >= inlier_fraction_ && error < lowest_error)
+ {
+ inliers_ = inliers;
+ lowest_error = error;
+ converged_ = true;
+ final_transformation_ = transformation_;
}
}
// Check if point is an inlier
if (nn_dists[0] < max_range)
{
- // Errors
- const float dx = input_transformed.points[i].x - target_->points[nn_indices[0]].x;
- const float dy = input_transformed.points[i].y - target_->points[nn_indices[0]].y;
- const float dz = input_transformed.points[i].z - target_->points[nn_indices[0]].z;
-
// Update inliers
inliers.push_back (static_cast<int> (i));
// Update fitness score
- fitness_score += dx*dx + dy*dy + dz*dz;
+ fitness_score += nn_dists[0];
}
}
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != cloud_tgt.points.size ())
{
- PCL_ERROR ("[pcl::Transformation2D::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::Transformation2D::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != indices_tgt.size ())
{
- PCL_ERROR ("[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::TransformationEstimation2D::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != cloud_tgt.points.size ())
{
- PCL_ERROR ("[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != indices_tgt.size ())
{
- PCL_ERROR ("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != cloud_tgt.points.size ())
{
- PCL_ERROR ("[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationDQ::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != indices_tgt.size ())
{
- PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationDualQuaternion::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
if (cloud_src.points.size () != cloud_tgt.points.size ())
{
PCL_ERROR ("[pcl::registration::TransformationEstimationLM::estimateRigidTransformation] ");
- PCL_ERROR ("Number or points in source (%zu) differs than target (%zu)!\n",
+ PCL_ERROR ("Number or points in source (%lu) differs than target (%lu)!\n",
cloud_src.points.size (), cloud_tgt.points.size ());
return;
}
if (cloud_src.points.size () < 4) // need at least 4 samples
{
PCL_ERROR ("[pcl::registration::TransformationEstimationLM::estimateRigidTransformation] ");
- PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %zu points!\n",
+ PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %lu points!\n",
cloud_src.points.size ());
return;
}
{
if (indices_src.size () != cloud_tgt.points.size ())
{
- PCL_ERROR ("[pcl::registration::TransformationEstimationLM::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::registration::TransformationEstimationLM::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != indices_tgt.size ())
{
- PCL_ERROR ("[pcl::registration::TransformationEstimationLM::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::registration::TransformationEstimationLM::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
if (indices_src.size () < 4) // need at least 4 samples
{
PCL_ERROR ("[pcl::IterativeClosestPointNonLinear::estimateRigidTransformationLM] ");
- PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %zu points!",
+ PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %lu points!",
indices_src.size ());
return;
}
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
return;
}
size_t nr_points = indices_src.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
size_t nr_points = indices_src.size ();
if (indices_tgt.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLS::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
if (!pcl_isfinite (source_it->x) ||
!pcl_isfinite (source_it->y) ||
!pcl_isfinite (source_it->z) ||
- !pcl_isfinite (source_it->normal_x) ||
- !pcl_isfinite (source_it->normal_y) ||
- !pcl_isfinite (source_it->normal_z) ||
!pcl_isfinite (target_it->x) ||
!pcl_isfinite (target_it->y) ||
!pcl_isfinite (target_it->z) ||
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
return;
}
size_t nr_points = indices_src.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
size_t nr_points = indices_src.size ();
if (indices_tgt.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationPointToPlaneLLSWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
if (!pcl_isfinite (source_it->x) ||
!pcl_isfinite (source_it->y) ||
!pcl_isfinite (source_it->z) ||
- !pcl_isfinite (source_it->normal_x) ||
- !pcl_isfinite (source_it->normal_y) ||
- !pcl_isfinite (source_it->normal_z) ||
!pcl_isfinite (target_it->x) ||
!pcl_isfinite (target_it->y) ||
!pcl_isfinite (target_it->z) ||
if (cloud_src.points.size () != cloud_tgt.points.size ())
{
PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] ");
- PCL_ERROR ("Number or points in source (%zu) differs than target (%zu)!\n",
+ PCL_ERROR ("Number or points in source (%lu) differs than target (%lu)!\n",
cloud_src.points.size (), cloud_tgt.points.size ());
return;
}
if (cloud_src.points.size () < 4) // need at least 4 samples
{
PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] ");
- PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %zu points!\n",
+ PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %lu points!\n",
cloud_src.points.size ());
return;
}
if (correspondence_weights_.size () != cloud_src.size ())
{
PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] ");
- PCL_ERROR ("Number of weights (%zu) differs than number of points (%zu)!\n",
+ PCL_ERROR ("Number of weights (%lu) differs than number of points (%lu)!\n",
correspondence_weights_.size (), cloud_src.points.size ());
return;
}
{
if (indices_src.size () != cloud_tgt.points.size ())
{
- PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
if (correspondence_weights_.size () != indices_src.size ())
{
PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] ");
- PCL_ERROR ("Number of weights (%zu) differs than number of points (%zu)!\n",
+ PCL_ERROR ("Number of weights (%lu) differs than number of points (%lu)!\n",
correspondence_weights_.size (), indices_src.size ());
return;
}
{
if (indices_src.size () != indices_tgt.size ())
{
- PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
if (indices_src.size () < 4) // need at least 4 samples
{
PCL_ERROR ("[pcl::IterativeClosestPointNonLinear::estimateRigidTransformationLM] ");
- PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %zu points!",
+ PCL_ERROR ("Need at least 4 points to estimate a transform! Source and target have %lu points!",
indices_src.size ());
return;
}
if (correspondence_weights_.size () != indices_src.size ())
{
PCL_ERROR ("[pcl::registration::TransformationEstimationPointToPlaneWeighted::estimateRigidTransformation] ");
- PCL_ERROR ("Number of weights (%zu) differs than number of points (%zu)!\n",
+ PCL_ERROR ("Number of weights (%lu) differs than number of points (%lu)!\n",
correspondence_weights_.size (), indices_src.size ());
return;
}
size_t nr_points = cloud_src.points.size ();
if (cloud_tgt.points.size () != nr_points)
{
- PCL_ERROR ("[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", nr_points, cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", nr_points, cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != cloud_tgt.points.size ())
{
- PCL_ERROR ("[pcl::TransformationSVD::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), cloud_tgt.points.size ());
+ PCL_ERROR ("[pcl::TransformationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), cloud_tgt.points.size ());
return;
}
{
if (indices_src.size () != indices_tgt.size ())
{
- PCL_ERROR ("[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%zu) differs than target (%zu)!\n", indices_src.size (), indices_tgt.size ());
+ PCL_ERROR ("[pcl::TransformationEstimationSVD::estimateRigidTransformation] Number or points in source (%lu) differs than target (%lu)!\n", indices_src.size (), indices_tgt.size ());
return;
}
// Convert to Eigen format
const int npts = static_cast <int> (source_it.size ());
- Eigen::Matrix<Scalar, 3, Eigen::Dynamic> cloud_src (3, npts);
- Eigen::Matrix<Scalar, 3, Eigen::Dynamic> cloud_tgt (3, npts);
- for (int i = 0; i < npts; ++i)
- {
- cloud_src (0, i) = source_it->x;
- cloud_src (1, i) = source_it->y;
- cloud_src (2, i) = source_it->z;
- ++source_it;
-
- cloud_tgt (0, i) = target_it->x;
- cloud_tgt (1, i) = target_it->y;
- cloud_tgt (2, i) = target_it->z;
- ++target_it;
- }
if (use_umeyama_)
{
+ Eigen::Matrix<Scalar, 3, Eigen::Dynamic> cloud_src (3, npts);
+ Eigen::Matrix<Scalar, 3, Eigen::Dynamic> cloud_tgt (3, npts);
+
+ for (int i = 0; i < npts; ++i)
+ {
+ cloud_src (0, i) = source_it->x;
+ cloud_src (1, i) = source_it->y;
+ cloud_src (2, i) = source_it->z;
+ ++source_it;
+
+ cloud_tgt (0, i) = target_it->x;
+ cloud_tgt (1, i) = target_it->y;
+ cloud_tgt (2, i) = target_it->z;
+ ++target_it;
+ }
+
// Call Umeyama directly from Eigen (PCL patched version until Eigen is released)
transformation_matrix = pcl::umeyama (cloud_src, cloud_tgt, false);
}
scale2 = sum_tt_ / sum_ss;
float scale = scale2;
transformation_matrix.topLeftCorner (3, 3) = scale * R;
- const Eigen::Matrix<Scalar, 3, 1> Rc (R * centroid_src.head (3));
+ const Eigen::Matrix<Scalar, 3, 1> Rc (scale * R * centroid_src.head (3));
transformation_matrix.block (0, 3, 3, 1) = centroid_tgt. head (3) - Rc;
}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#ifndef PCL_JOINT_ICP_H_
+#define PCL_JOINT_ICP_H_
+
+// PCL includes
+#include <pcl/registration/icp.h>
+namespace pcl
+{
+ /** \brief @b JointIterativeClosestPoint extends ICP to multiple frames which
+ * share the same transform. This is particularly useful when solving for
+ * camera extrinsics using multiple observations. When given a single pair of
+ * clouds, this reduces to vanilla ICP.
+ *
+ * \author Stephen Miller
+ * \ingroup registration
+ */
+ template <typename PointSource, typename PointTarget, typename Scalar = float>
+ class JointIterativeClosestPoint : public IterativeClosestPoint<PointSource, PointTarget, Scalar>
+ {
+ public:
+ typedef typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudSource PointCloudSource;
+ typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
+ typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
+
+ typedef typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::PointCloudTarget PointCloudTarget;
+ typedef typename PointCloudTarget::Ptr PointCloudTargetPtr;
+ typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;
+
+ typedef pcl::search::KdTree<PointTarget> KdTree;
+ typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
+
+ typedef pcl::search::KdTree<PointSource> KdTreeReciprocal;
+ typedef typename KdTree::Ptr KdTreeReciprocalPtr;
+
+
+ typedef PointIndices::Ptr PointIndicesPtr;
+ typedef PointIndices::ConstPtr PointIndicesConstPtr;
+
+ typedef boost::shared_ptr<JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > Ptr;
+ typedef boost::shared_ptr<const JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > ConstPtr;
+
+ typedef typename pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> CorrespondenceEstimation;
+ typedef typename CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr;
+ typedef typename CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr;
+
+
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::reg_name_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::getClassName;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::setInputSource;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::input_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::indices_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::target_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::nr_iterations_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::max_iterations_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::previous_transformation_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::final_transformation_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformation_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformation_epsilon_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::converged_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::corr_dist_threshold_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::inlier_threshold_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::min_number_correspondences_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::update_visualizer_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::euclidean_fitness_epsilon_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::correspondences_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::transformation_estimation_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::correspondence_estimation_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::correspondence_rejectors_;
+
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::use_reciprocal_correspondence_;
+
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::convergence_criteria_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::source_has_normals_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::target_has_normals_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::need_source_blob_;
+ using IterativeClosestPoint<PointSource, PointTarget, Scalar>::need_target_blob_;
+
+
+ typedef typename IterativeClosestPoint<PointSource, PointTarget, Scalar>::Matrix4 Matrix4;
+
+ /** \brief Empty constructor. */
+ JointIterativeClosestPoint ()
+ {
+ IterativeClosestPoint<PointSource, PointTarget, Scalar> ();
+ reg_name_ = "JointIterativeClosestPoint";
+ };
+
+ /** \brief Empty destructor */
+ virtual ~JointIterativeClosestPoint () {}
+
+
+ /** \brief Provide a pointer to the input source
+ * (e.g., the point cloud that we want to align to the target)
+ */
+ virtual void
+ setInputSource (const PointCloudSourceConstPtr& /*cloud*/)
+ {
+ PCL_WARN ("[pcl::%s::setInputSource] Warning; JointIterativeClosestPoint expects multiple clouds. Please use addInputSource.",
+ getClassName ().c_str ());
+ return;
+ }
+
+ /** \brief Add a source cloud to the joint solver
+ *
+ * \param[in] cloud source cloud
+ */
+ inline void
+ addInputSource (const PointCloudSourceConstPtr &cloud)
+ {
+ // Set the parent InputSource, just to get all cached values (e.g. the existence of normals).
+ if (sources_.empty ())
+ IterativeClosestPoint<PointSource, PointTarget, Scalar>::setInputSource (cloud);
+ sources_.push_back (cloud);
+ }
+
+ /** \brief Provide a pointer to the input target
+ * (e.g., the point cloud that we want to align to the target)
+ */
+ virtual void
+ setInputTarget (const PointCloudTargetConstPtr& /*cloud*/)
+ {
+ PCL_WARN ("[pcl::%s::setInputTarget] Warning; JointIterativeClosestPoint expects multiple clouds. Please use addInputTarget.",
+ getClassName ().c_str ());
+ return;
+ }
+
+ /** \brief Add a target cloud to the joint solver
+ *
+ * \param[in] cloud target cloud
+ */
+ inline void
+ addInputTarget (const PointCloudTargetConstPtr &cloud)
+ {
+ // Set the parent InputTarget, just to get all cached values (e.g. the existence of normals).
+ if (targets_.empty ())
+ IterativeClosestPoint<PointSource, PointTarget, Scalar>::setInputTarget (cloud);
+ targets_.push_back (cloud);
+ }
+
+ /** \brief Add a manual correspondence estimator
+ * If you choose to do this, you must add one for each
+ * input source / target pair. They do not need to have trees
+ * or input clouds set ahead of time.
+ *
+ * \param[in] ce Correspondence estimation
+ */
+ inline void
+ addCorrespondenceEstimation (CorrespondenceEstimationPtr ce)
+ {
+ correspondence_estimations_.push_back (ce);
+ }
+
+ /** \brief Reset my list of input sources
+ */
+ inline void
+ clearInputSources ()
+ { sources_.clear (); }
+
+ /** \brief Reset my list of input targets
+ */
+ inline void
+ clearInputTargets ()
+ { targets_.clear (); }
+
+ /** \brief Reset my list of correspondence estimation methods.
+ */
+ inline void
+ clearCorrespondenceEstimations ()
+ { correspondence_estimations_.clear (); }
+
+
+ protected:
+
+ /** \brief Rigid transformation computation method with initial guess.
+ * \param output the transformed input point cloud dataset using the rigid transformation found
+ * \param guess the initial guess of the transformation to compute
+ */
+ virtual void
+ computeTransformation (PointCloudSource &output, const Matrix4 &guess);
+
+ /** \brief Looks at the Estimators and Rejectors and determines whether their blob-setter methods need to be called */
+ void
+ determineRequiredBlobData ();
+
+ std::vector<PointCloudSourceConstPtr> sources_;
+ std::vector<PointCloudTargetConstPtr> targets_;
+ std::vector<CorrespondenceEstimationPtr> correspondence_estimations_;
+ };
+
+}
+
+#include <pcl/registration/impl/joint_icp.hpp>
+
+#endif //#ifndef PCL_JOINT_ICP_H_
+
+
* \note Trial Value Selection [More, Thuente 1994], \f$ \psi(\alpha_k) \f$ is used for \f$ f_k \f$ and \f$ g_k \f$
* until some value satifies the test \f$ \psi(\alpha_k) \leq 0 \f$ and \f$ \phi'(\alpha_k) \geq 0 \f$
* then \f$ \phi(\alpha_k) \f$ is used from then on.
- * \note Interpolation Minimizer equations from Optimization Theory and Methods: Nonlinear Programming By Wenyu Sun, Ya-xiang Yuan (89-100).<\b>
+ * \note Interpolation Minimizer equations from Optimization Theory and Methods: Nonlinear Programming By Wenyu Sun, Ya-xiang Yuan (89-100).
* \param[in] a_l first endpoint of interval \f$ I \f$, \f$ \alpha_l \f$ in Moore-Thuente (1994)
* \param[in] f_l value at first endpoint, \f$ f_l \f$ in Moore-Thuente (1994)
* \param[in] g_l derivative at first endpoint, \f$ g_l \f$ in Moore-Thuente (1994)
*
* \param[in] cloud the input point cloud source
*/
- PCL_DEPRECATED (void setInputCloud (const PointCloudSourceConstPtr &cloud), "[pcl::registration::Registration::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::Registration::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.")
+ void
+ setInputCloud (const PointCloudSourceConstPtr &cloud);
/** \brief Get a pointer to the input point cloud dataset target. */
- PCL_DEPRECATED (PointCloudSourceConstPtr const getInputCloud (), "[pcl::registration::Registration::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.");
+ PCL_DEPRECATED ("[pcl::registration::Registration::getInputCloud] getInputCloud is deprecated. Please use getInputSource instead.")
+ PointCloudSourceConstPtr const
+ getInputCloud ();
/** \brief Provide a pointer to the input source
* (e.g., the point cloud that we want to align to the target)
* \param sample_indices the resulting sample indices
*/
void
- selectSamples (const PointCloudSource &cloud, int nr_samples,
- std::vector<int> &sample_indices);
+ selectSamples (const PointCloudSource &cloud, int nr_samples, std::vector<int> &sample_indices);
/** \brief For each of the sample points, find a list of points in the target cloud whose features are similar to
* the sample points' features. From these, select one randomly which will be considered that sample point's
- * correspondence.
- * \param input_features a cloud of feature descriptors
+ * correspondence.
* \param sample_indices the indices of each sample point
+ * \param similar_features correspondence cache, which is used to read/write already computed correspondences
* \param corresponding_indices the resulting indices of each sample's corresponding point in the target cloud
*/
void
- findSimilarFeatures (const FeatureCloud &input_features, const std::vector<int> &sample_indices,
- std::vector<int> &corresponding_indices);
+ findSimilarFeatures (const std::vector<int> &sample_indices,
+ std::vector<std::vector<int> >& similar_features,
+ std::vector<int> &corresponding_indices);
/** \brief Rigid transformation computation method.
* \param output the transformed input point cloud dataset using the rigid transformation found
+ * \param guess The computed transformation
*/
void
computeTransformation (PointCloudSource &output, const Eigen::Matrix4f& guess);
{}
/** Copy constructor
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctor (const OptimizationFunctor &src) :
Functor<MatScalar> (src.m_data_points_), estimator_ ()
}
/** Copy operator
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctor&
operator = (const OptimizationFunctor &src)
{}
/** Copy constructor
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctorWithIndices (const OptimizationFunctorWithIndices &src)
: Functor<MatScalar> (src.m_data_points_), estimator_ ()
}
/** Copy operator
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctorWithIndices&
operator = (const OptimizationFunctorWithIndices &src)
* \param[in] tx the x translation
* \param[in] ty the y translation
* \param[in] tz the z translation
- * \param[out] transformation the resultant transformation matrix
+ * \param[out] transformation_matrix the resultant transformation matrix
*/
inline void
constructTransformationMatrix (const double & alpha, const double & beta, const double & gamma,
/** \brief Estimate a rigid rotation transformation between a source and a target
* \param[in] source_it an iterator over the source point cloud dataset
* \param[in] target_it an iterator over the target point cloud dataset
+ * \param weights_it
* \param[out] transformation_matrix the resultant transformation matrix
*/
void
* \param[in] tx the x translation
* \param[in] ty the y translation
* \param[in] tz the z translation
- * \param[out] transformation the resultant transformation matrix
+ * \param[out] transformation_matrix the resultant transformation matrix
*/
inline void
constructTransformationMatrix (const double & alpha, const double & beta, const double & gamma,
{}
/** Copy constructor
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctor (const OptimizationFunctor &src) :
Functor<MatScalar> (src.m_data_points_), estimator_ ()
}
/** Copy operator
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctor&
operator = (const OptimizationFunctor &src)
{}
/** Copy constructor
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctorWithIndices (const OptimizationFunctorWithIndices &src)
: Functor<MatScalar> (src.m_data_points_), estimator_ ()
}
/** Copy operator
- * \param[in] the optimization functor to copy into this
+ * \param[in] src the optimization functor to copy into this
*/
inline OptimizationFunctorWithIndices&
operator = (const OptimizationFunctorWithIndices &src)
int nan_count_tgt = 0;
for (int x_d = -window_size_/2; x_d <= window_size_/2; ++x_d)
for (int y_d = -window_size_/2; y_d <= window_size_/2; ++y_d)
- if (x + x_d >= 0 && x + x_d < cloud->width &&
- y + y_d >= 0 && y + y_d < cloud->height)
+ if (x + x_d >= 0 && x + x_d < static_cast<int> (cloud->width) &&
+ y + y_d >= 0 && y + y_d < static_cast<int> (cloud->height))
{
if (!pcl_isfinite ((*cloud)(x + x_d, y + y_d).z) ||
fabs ((*cloud)(x, y).z - (*cloud)(x + x_d, y + y_d).z) > depth_step_threshold_)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/registration/gicp6d.h>
+
+namespace pcl
+{
+ // convert sRGB to CIELAB
+ Eigen::Vector3f
+ RGB2Lab (const Eigen::Vector3i& colorRGB)
+ {
+ // for sRGB -> CIEXYZ see http://www.easyrgb.com/index.php?X=MATH&H=02#text2
+ // for CIEXYZ -> CIELAB see http://www.easyrgb.com/index.php?X=MATH&H=07#text7
+
+ double R, G, B, X, Y, Z;
+
+ // map sRGB values to [0, 1]
+ R = colorRGB[0] / 255.0;
+ G = colorRGB[1] / 255.0;
+ B = colorRGB[2] / 255.0;
+
+ // linearize sRGB values
+ if (R > 0.04045)
+ R = pow ( (R + 0.055) / 1.055, 2.4);
+ else
+ R = R / 12.92;
+
+ if (G > 0.04045)
+ G = pow ( (G + 0.055) / 1.055, 2.4);
+ else
+ G = G / 12.92;
+
+ if (B > 0.04045)
+ B = pow ( (B + 0.055) / 1.055, 2.4);
+ else
+ B = B / 12.92;
+
+ // postponed:
+ // R *= 100.0;
+ // G *= 100.0;
+ // B *= 100.0;
+
+ // linear sRGB -> CIEXYZ
+ X = R * 0.4124 + G * 0.3576 + B * 0.1805;
+ Y = R * 0.2126 + G * 0.7152 + B * 0.0722;
+ Z = R * 0.0193 + G * 0.1192 + B * 0.9505;
+
+ // *= 100.0 including:
+ X /= 0.95047; //95.047;
+ // Y /= 1;//100.000;
+ Z /= 1.08883; //108.883;
+
+ // CIEXYZ -> CIELAB
+ if (X > 0.008856)
+ X = pow (X, 1.0 / 3.0);
+ else
+ X = 7.787 * X + 16.0 / 116.0;
+
+ if (Y > 0.008856)
+ Y = pow (Y, 1.0 / 3.0);
+ else
+ Y = 7.787 * Y + 16.0 / 116.0;
+
+ if (Z > 0.008856)
+ Z = pow (Z, 1.0 / 3.0);
+ else
+ Z = 7.787 * Z + 16.0 / 116.0;
+
+ Eigen::Vector3f colorLab;
+ colorLab[0] = static_cast<float> (116.0 * Y - 16.0);
+ colorLab[1] = static_cast<float> (500.0 * (X - Y));
+ colorLab[2] = static_cast<float> (200.0 * (Y - Z));
+
+ return colorLab;
+ }
+
+ // convert a PointXYZRGBA cloud to a PointXYZLAB cloud
+ void
+ convertRGBAToLAB (const PointCloud<pcl::PointXYZRGBA>& in, PointCloud<PointXYZLAB>& out)
+ {
+ out.resize (in.size ());
+
+ for (size_t i = 0; i < in.size (); ++i)
+ {
+ out[i].x = in[i].x;
+ out[i].y = in[i].y;
+ out[i].z = in[i].z;
+ out[i].data[3] = 1.0; // important for homogeneous coordinates
+
+ Eigen::Vector3f lab = RGB2Lab (in[i].getRGBVector3i ());
+ out[i].L = lab[0];
+ out[i].a = lab[1];
+ out[i].b = lab[2];
+ }
+ }
+
+ GeneralizedIterativeClosestPoint6D::GeneralizedIterativeClosestPoint6D (float lab_weight) :
+ cloud_lab_ (new pcl::PointCloud<PointXYZLAB>), target_lab_ (new pcl::PointCloud<PointXYZLAB>), lab_weight_ (lab_weight)
+ {
+ // set rescale mask (leave x,y,z unchanged, scale L,a,b by lab_weight)
+ float alpha[6] = { 1.0, 1.0, 1.0, lab_weight_, lab_weight_, lab_weight_ };
+ point_rep_.setRescaleValues (alpha);
+ }
+
+ void
+ GeneralizedIterativeClosestPoint6D::setInputSource (const PointCloudSourceConstPtr& cloud)
+ {
+ // call corresponding base class method
+ GeneralizedIterativeClosestPoint<PointSource, PointTarget>::setInputSource (cloud);
+
+ // in addition, convert colors of the cloud to CIELAB
+ convertRGBAToLAB (*cloud, *cloud_lab_);
+ }
+
+ void
+ GeneralizedIterativeClosestPoint6D::setInputTarget (const PointCloudTargetConstPtr& target)
+ {
+ // call corresponding base class method
+ GeneralizedIterativeClosestPoint<PointSource, PointTarget>::setInputTarget (
+ target);
+
+ // in addition, convert colors of the cloud to CIELAB...
+ convertRGBAToLAB (*target, *target_lab_);
+
+ // ...and build 6d-tree
+ target_tree_lab_.setInputCloud (target_lab_);
+ target_tree_lab_.setPointRepresentation (
+ boost::make_shared<MyPointRepresentation> (point_rep_));
+ }
+
+ bool
+ GeneralizedIterativeClosestPoint6D::searchForNeighbors (const PointXYZLAB& query, std::vector<int>& index,
+ std::vector<float>& distance)
+ {
+ int k = target_tree_lab_.nearestKSearch (query, 1, index, distance);
+
+ // check if neighbor was found
+ return (k != 0);
+ }
+
+// taken from the original GICP class and modified slightly to make use of color values
+ void
+ GeneralizedIterativeClosestPoint6D::computeTransformation (PointCloudSource& output, const Eigen::Matrix4f& guess)
+ {
+ using namespace pcl;
+ using namespace std;
+
+ IterativeClosestPoint<PointSource, PointTarget>::initComputeReciprocal ();
+
+ // Difference between consecutive transforms
+ double delta = 0;
+ // Get the size of the target
+ const size_t N = indices_->size ();
+
+ // Set the mahalanobis matrices to identity
+ mahalanobis_.resize (N, Eigen::Matrix3d::Identity ());
+
+ // Compute target cloud covariance matrices
+ computeCovariances<PointTarget> (target_, tree_, target_covariances_);
+ // Compute input cloud covariance matrices
+ computeCovariances<PointSource> (input_, tree_reciprocal_,
+ input_covariances_);
+
+ base_transformation_ = guess;
+ nr_iterations_ = 0;
+ converged_ = false;
+ double dist_threshold = corr_dist_threshold_ * corr_dist_threshold_;
+ std::vector<int> nn_indices (1);
+ std::vector<float> nn_dists (1);
+
+ while (!converged_)
+ {
+ size_t cnt = 0;
+ std::vector<int> source_indices (indices_->size ());
+ std::vector<int> target_indices (indices_->size ());
+
+ // guess corresponds to base_t and transformation_ to t
+ Eigen::Matrix4d transform_R = Eigen::Matrix4d::Zero ();
+ for (size_t i = 0; i < 4; i++)
+ for (size_t j = 0; j < 4; j++)
+ for (size_t k = 0; k < 4; k++)
+ transform_R (i, j) += double (transformation_ (i, k))
+ * double (guess (k, j));
+
+ Eigen::Matrix3d R = transform_R.topLeftCorner<3, 3> ();
+
+ for (size_t i = 0; i < N; i++)
+ {
+ // MODIFICATION: take point from the CIELAB cloud instead
+ PointXYZLAB query = (*cloud_lab_)[i];
+ query.getVector4fMap () = guess * query.getVector4fMap ();
+ query.getVector4fMap () = transformation_ * query.getVector4fMap ();
+
+ if (!searchForNeighbors (query, nn_indices, nn_dists))
+ {
+ PCL_ERROR(
+ "[pcl::%s::computeTransformation] Unable to find a nearest neighbor in the target dataset for point %d in the source!\n",
+ getClassName ().c_str (), (*indices_)[i]);
+ return;
+ }
+
+ // Check if the distance to the nearest neighbor is smaller than the user imposed threshold
+ if (nn_dists[0] < dist_threshold)
+ {
+ Eigen::Matrix3d &C1 = input_covariances_[i];
+ Eigen::Matrix3d &C2 = target_covariances_[nn_indices[0]];
+ Eigen::Matrix3d &M = mahalanobis_[i];
+ // M = R*C1
+ M = R * C1;
+ // temp = M*R' + C2 = R*C1*R' + C2
+ Eigen::Matrix3d temp = M * R.transpose ();
+ temp += C2;
+ // M = temp^-1
+ M = temp.inverse ();
+ source_indices[cnt] = static_cast<int> (i);
+ target_indices[cnt] = nn_indices[0];
+ cnt++;
+ }
+ }
+ // Resize to the actual number of valid correspondences
+ source_indices.resize (cnt);
+ target_indices.resize (cnt);
+ /* optimize transformation using the current assignment and Mahalanobis metrics*/
+ previous_transformation_ = transformation_;
+ //optimization right here
+ try
+ {
+ rigid_transformation_estimation_ (output, source_indices, *target_,
+ target_indices, transformation_);
+ /* compute the delta from this iteration */
+ delta = 0.;
+ for (int k = 0; k < 4; k++)
+ {
+ for (int l = 0; l < 4; l++)
+ {
+ double ratio = 1;
+ if (k < 3 && l < 3) // rotation part of the transform
+ ratio = 1. / rotation_epsilon_;
+ else
+ ratio = 1. / transformation_epsilon_;
+ double c_delta = ratio
+ * fabs (
+ previous_transformation_ (k, l) - transformation_ (k, l));
+ if (c_delta > delta)
+ delta = c_delta;
+ }
+ }
+ }
+ catch (PCLException &e)
+ {
+ PCL_DEBUG("[pcl::%s::computeTransformation] Optimization issue %s\n",
+ getClassName ().c_str (), e.what ());
+ break;
+ }
+
+ nr_iterations_++;
+ // Check for convergence
+ if (nr_iterations_ >= max_iterations_ || delta < 1)
+ {
+ converged_ = true;
+ previous_transformation_ = transformation_;
+ PCL_DEBUG(
+ "[pcl::%s::computeTransformation] Convergence reached. Number of iterations: %d out of %d. Transformation difference: %f\n",
+ getClassName ().c_str (), nr_iterations_, max_iterations_,
+ (transformation_ - previous_transformation_).array ().abs ().sum ());
+ }
+ else
+ PCL_DEBUG("[pcl::%s::computeTransformation] Convergence failed\n",
+ getClassName ().c_str ());
+ }
+ //for some reason the static equivalent methode raises an error
+ // final_transformation_.block<3,3> (0,0) = (transformation_.block<3,3> (0,0)) * (guess.block<3,3> (0,0));
+ // final_transformation_.block <3, 1> (0, 3) = transformation_.block <3, 1> (0, 3) + guess.rightCols<1>.block <3, 1> (0, 3);
+ final_transformation_.topLeftCorner (3, 3) =
+ previous_transformation_.topLeftCorner (3, 3)
+ * guess.topLeftCorner (3, 3);
+ final_transformation_ (0, 3) = previous_transformation_ (0, 3) + guess (0, 3);
+ final_transformation_ (1, 3) = previous_transformation_ (1, 3) + guess (1, 3);
+ final_transformation_ (2, 3) = previous_transformation_ (2, 3) + guess (2, 3);
+ }
+
+}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <pcl/registration/joint_icp.h>
set(SUBSYS_DEPS common search)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/lmeds.h
- include/pcl/${SUBSYS_NAME}/method_types.h
- include/pcl/${SUBSYS_NAME}/mlesac.h
- include/pcl/${SUBSYS_NAME}/model_types.h
- include/pcl/${SUBSYS_NAME}/msac.h
- include/pcl/${SUBSYS_NAME}/ransac.h
- include/pcl/${SUBSYS_NAME}/rmsac.h
- include/pcl/${SUBSYS_NAME}/rransac.h
- include/pcl/${SUBSYS_NAME}/prosac.h
- include/pcl/${SUBSYS_NAME}/sac.h
- include/pcl/${SUBSYS_NAME}/sac_model.h
- include/pcl/${SUBSYS_NAME}/sac_model_circle.h
- include/pcl/${SUBSYS_NAME}/sac_model_circle3d.h
- include/pcl/${SUBSYS_NAME}/sac_model_cylinder.h
- include/pcl/${SUBSYS_NAME}/sac_model_cone.h
- include/pcl/${SUBSYS_NAME}/sac_model_line.h
- include/pcl/${SUBSYS_NAME}/sac_model_stick.h
- include/pcl/${SUBSYS_NAME}/sac_model_normal_parallel_plane.h
- include/pcl/${SUBSYS_NAME}/sac_model_normal_plane.h
- include/pcl/${SUBSYS_NAME}/sac_model_normal_sphere.h
- include/pcl/${SUBSYS_NAME}/sac_model_parallel_line.h
- include/pcl/${SUBSYS_NAME}/sac_model_parallel_plane.h
- include/pcl/${SUBSYS_NAME}/sac_model_perpendicular_plane.h
- include/pcl/${SUBSYS_NAME}/sac_model_plane.h
- include/pcl/${SUBSYS_NAME}/sac_model_registration.h
- include/pcl/${SUBSYS_NAME}/sac_model_registration_2d.h
- include/pcl/${SUBSYS_NAME}/sac_model_sphere.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/lmeds.h"
+ "include/pcl/${SUBSYS_NAME}/method_types.h"
+ "include/pcl/${SUBSYS_NAME}/mlesac.h"
+ "include/pcl/${SUBSYS_NAME}/model_types.h"
+ "include/pcl/${SUBSYS_NAME}/msac.h"
+ "include/pcl/${SUBSYS_NAME}/ransac.h"
+ "include/pcl/${SUBSYS_NAME}/rmsac.h"
+ "include/pcl/${SUBSYS_NAME}/rransac.h"
+ "include/pcl/${SUBSYS_NAME}/prosac.h"
+ "include/pcl/${SUBSYS_NAME}/sac.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_circle.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_circle3d.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_cylinder.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_cone.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_line.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_stick.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_normal_parallel_plane.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_normal_plane.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_normal_sphere.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_parallel_line.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_parallel_plane.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_perpendicular_plane.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_plane.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_registration.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_registration_2d.h"
+ "include/pcl/${SUBSYS_NAME}/sac_model_sphere.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/lmeds.hpp
- include/pcl/${SUBSYS_NAME}/impl/mlesac.hpp
- include/pcl/${SUBSYS_NAME}/impl/msac.hpp
- include/pcl/${SUBSYS_NAME}/impl/ransac.hpp
- include/pcl/${SUBSYS_NAME}/impl/rmsac.hpp
- include/pcl/${SUBSYS_NAME}/impl/rransac.hpp
- include/pcl/${SUBSYS_NAME}/impl/prosac.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_circle.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_circle3d.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_cylinder.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_cone.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_line.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_stick.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_normal_parallel_plane.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_normal_plane.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_normal_sphere.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_parallel_line.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_parallel_plane.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_perpendicular_plane.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_plane.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_registration.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_registration_2d.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_model_sphere.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/lmeds.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/mlesac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/msac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/ransac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/rmsac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/rransac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/prosac.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_circle.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_circle3d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_cylinder.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_cone.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_line.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_stick.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_normal_parallel_plane.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_normal_plane.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_normal_sphere.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_parallel_line.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_parallel_plane.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_perpendicular_plane.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_plane.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_registration.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_registration_2d.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_model_sphere.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_common)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
if (distances.size () != indices.size ())
{
- PCL_ERROR ("[pcl::LeastMedianSquares::computeModel] Estimated distances (%zu) differs than the normal of indices (%zu).\n", distances.size (), indices.size ());
+ PCL_ERROR ("[pcl::LeastMedianSquares::computeModel] Estimated distances (%lu) differs than the normal of indices (%lu).\n", distances.size (), indices.size ());
return (false);
}
inliers_.resize (n_inliers_count);
if (debug_verbosity_level > 0)
- PCL_DEBUG ("[pcl::LeastMedianSquares::computeModel] Model: %zu size, %d inliers.\n", model_.size (), n_inliers_count);
+ PCL_DEBUG ("[pcl::LeastMedianSquares::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_inliers_count);
return (true);
}
std::vector<int> &indices = *sac_model_->getIndices ();
if (distances.size () != indices.size ())
{
- PCL_ERROR ("[pcl::MaximumLikelihoodSampleConsensus::computeModel] Estimated distances (%zu) differs than the normal of indices (%zu).\n", distances.size (), indices.size ());
+ PCL_ERROR ("[pcl::MaximumLikelihoodSampleConsensus::computeModel] Estimated distances (%lu) differs than the normal of indices (%lu).\n", distances.size (), indices.size ());
return (false);
}
inliers_.resize (n_inliers_count);
if (debug_verbosity_level > 0)
- PCL_DEBUG ("[pcl::MaximumLikelihoodSampleConsensus::computeModel] Model: %zu size, %d inliers.\n", model_.size (), n_inliers_count);
+ PCL_DEBUG ("[pcl::MaximumLikelihoodSampleConsensus::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_inliers_count);
return (true);
}
if (distances.size () != indices.size ())
{
- PCL_ERROR ("[pcl::MEstimatorSampleConsensus::computeModel] Estimated distances (%zu) differs than the normal of indices (%zu).\n", distances.size (), indices.size ());
+ PCL_ERROR ("[pcl::MEstimatorSampleConsensus::computeModel] Estimated distances (%lu) differs than the normal of indices (%lu).\n", distances.size (), indices.size ());
return (false);
}
inliers_.resize (n_inliers_count);
if (debug_verbosity_level > 0)
- PCL_DEBUG ("[pcl::MEstimatorSampleConsensus::computeModel] Model: %zu size, %d inliers.\n", model_.size (), n_inliers_count);
+ PCL_DEBUG ("[pcl::MEstimatorSampleConsensus::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_inliers_count);
return (true);
}
}
if (debug_verbosity_level > 0)
- PCL_DEBUG ("[pcl::ProgressiveSampleConsensus::computeModel] Model: %zu size, %d inliers.\n", model_.size (), I_N_best);
+ PCL_DEBUG ("[pcl::ProgressiveSampleConsensus::computeModel] Model: %lu size, %d inliers.\n", model_.size (), I_N_best);
if (model_.empty ())
{
}
}
- PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Model: %zu size, %d inliers.\n", model_.size (), n_best_inliers_count);
+ PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_best_inliers_count);
if (model_.empty ())
{
std::vector<int> &indices = *sac_model_->getIndices ();
if (distances.size () != indices.size ())
{
- PCL_ERROR ("[pcl::RandomizedMEstimatorSampleConsensus::computeModel] Estimated distances (%zu) differs than the normal of indices (%zu).\n", distances.size (), indices.size ());
+ PCL_ERROR ("[pcl::RandomizedMEstimatorSampleConsensus::computeModel] Estimated distances (%lu) differs than the normal of indices (%lu).\n", distances.size (), indices.size ());
return (false);
}
inliers_.resize (n_inliers_count);
if (debug_verbosity_level > 0)
- PCL_DEBUG ("[pcl::RandomizedMEstimatorSampleConsensus::computeModel] Model: %zu size, %d inliers.\n", model_.size (), n_inliers_count);
+ PCL_DEBUG ("[pcl::RandomizedMEstimatorSampleConsensus::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_inliers_count);
return (true);
}
}
if (debug_verbosity_level > 0)
- PCL_DEBUG ("[pcl::RandomizedRandomSampleConsensus::computeModel] Model: %zu size, %d inliers.\n", model_.size (), n_best_inliers_count);
+ PCL_DEBUG ("[pcl::RandomizedRandomSampleConsensus::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_best_inliers_count);
if (model_.empty ())
{
// Need 3 samples
if (samples.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Needs a set of valid model coefficients
if (model_coefficients.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Need at least 3 samples
if (inliers.size () <= 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Not enough inliers found to support a model (%zu)! Returning the same coefficients.\n", inliers.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::optimizeModelCoefficients] Not enough inliers found to support a model (%lu)! Returning the same coefficients.\n", inliers.size ());
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::projectPoints] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::projectPoints] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid model coefficients
if (model_coefficients.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::doSamplesVerifyModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle2D::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Need 3 samples
if (samples.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Needs a set of valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Need at least 3 samples
if (inliers.size () <= 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients] Not enough inliers found to support a model (%zu)! Returning the same coefficients.\n", inliers.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::optimizeModelCoefficients] Not enough inliers found to support a model (%lu)! Returning the same coefficients.\n", inliers.size ());
return;
}
Eigen::LevenbergMarquardt<Eigen::NumericalDiff<OptimizationFunctor>, double> lm (num_diff);
Eigen::VectorXd coeff;
int info = lm.minimize (coeff);
- for (size_t i = 0; i < coeff.size (); ++i)
+ for (int i = 0; i < coeff.size (); ++i)
optimized_coefficients[i] = static_cast<float> (coeff[i]);
// Compute the L2 norm of the residuals
// Needs a valid set of model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::projectPoints] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::projectPoints] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::doSamplesVerifyModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCircle3D::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Need 3 samples
if (samples.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCone::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Needs a set of valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCone::optimizeModelCoefficients] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCone::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCone::projectPoints] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCone::projectPoints] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCone::doSamplesVerifyModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCone::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCone::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCone::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Need 2 samples
if (samples.size () != 2)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCylinder::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Needs a set of valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCylinder::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCylinder::projectPoints] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCylinder::projectPoints] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCylinder::doSamplesVerifyModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCylinder::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelCylinder::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelCylinder::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Need 2 samples
if (samples.size () != 2)
{
- PCL_ERROR ("[pcl::SampleConsensusModelLine::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelLine::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Need at least 2 points to estimate a line
if (inliers.size () <= 2)
{
- PCL_ERROR ("[pcl::SampleConsensusModelLine::optimizeModelCoefficients] Not enough inliers found to support a model (%zu)! Returning the same coefficients.\n", inliers.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelLine::optimizeModelCoefficients] Not enough inliers found to support a model (%lu)! Returning the same coefficients.\n", inliers.size ());
optimized_coefficients = model_coefficients;
return;
}
#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT, typename PointNT> void
-pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::selectWithinDistance (
- const Eigen::VectorXf &model_coefficients, const double threshold, std::vector<int> &inliers)
-{
- if (!normals_)
- {
- PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::selectWithinDistance] No input dataset containing normals was given!\n");
- return;
- }
-
- // Check if the model is valid given the user constraints
- if (!isModelValid (model_coefficients))
- {
- inliers.clear ();
- return;
- }
-
- // Obtain the plane normal
- Eigen::Vector4f coeff = model_coefficients;
-
- int nr_p = 0;
- inliers.resize (indices_->size ());
- error_sqr_dists_.resize (indices_->size ());
-
- // Iterate through the 3d points and calculate the distances from them to the plane
- for (size_t i = 0; i < indices_->size (); ++i)
- {
- // Calculate the distance from the point to the plane normal as the dot product
- // D = (P-A).N/|N|
- Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 1);
- Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
- double d_euclid = fabs (coeff.dot (p));
-
- // Calculate the angular distance between the point normal and the plane normal
- double d_normal = getAngle3D (n, coeff);
- d_normal = (std::min) (d_normal, fabs(M_PI - d_normal));
-
- double distance = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid);
- if (distance < threshold)
- {
- // Returns the indices of the points whose distances are smaller than the threshold
- inliers[nr_p] = (*indices_)[i];
- error_sqr_dists_[nr_p] = distance;
- ++nr_p;
- }
- }
- inliers.resize (nr_p);
- error_sqr_dists_.resize (nr_p);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT, typename PointNT> int
-pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::countWithinDistance (
- const Eigen::VectorXf &model_coefficients, const double threshold)
-{
- if (!normals_)
- {
- PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::countWithinDistance] No input dataset containing normals was given!\n");
- return (0);
- }
-
- // Check if the model is valid given the user constraints
- if (!isModelValid (model_coefficients))
- return (0);
-
- // Obtain the plane normal
- Eigen::Vector4f coeff = model_coefficients;
-
- int nr_p = 0;
-
- // Iterate through the 3d points and calculate the distances from them to the plane
- for (size_t i = 0; i < indices_->size (); ++i)
- {
- // Calculate the distance from the point to the plane normal as the dot product
- // D = (P-A).N/|N|
- Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 1);
- Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
- double d_euclid = fabs (coeff.dot (p));
-
- // Calculate the angular distance between the point normal and the plane normal
- double d_normal = fabs (getAngle3D (n, coeff));
- d_normal = (std::min) (d_normal, fabs(M_PI - d_normal));
-
- if (fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid) < threshold)
- nr_p++;
- }
- return (nr_p);
-}
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT, typename PointNT> void
-pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::getDistancesToModel (
- const Eigen::VectorXf &model_coefficients, std::vector<double> &distances)
-{
- if (!normals_)
- {
- PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::getDistancesToModel] No input dataset containing normals was given!\n");
- return;
- }
-
- // Check if the model is valid given the user constraints
- if (!isModelValid (model_coefficients))
- {
- distances.clear ();
- return;
- }
-
- // Obtain the plane normal
- Eigen::Vector4f coeff = model_coefficients;
-
- distances.resize (indices_->size ());
-
- // Iterate through the 3d points and calculate the distances from them to the plane
- for (size_t i = 0; i < indices_->size (); ++i)
- {
- // Calculate the distance from the point to the plane normal as the dot product
- // D = (P-A).N/|N|
- Eigen::Vector4f p (input_->points[(*indices_)[i]].x, input_->points[(*indices_)[i]].y, input_->points[(*indices_)[i]].z, 1);
- Eigen::Vector4f n (normals_->points[(*indices_)[i]].normal[0], normals_->points[(*indices_)[i]].normal[1], normals_->points[(*indices_)[i]].normal[2], 0);
- double d_euclid = fabs (coeff.dot (p));
-
- // Calculate the angular distance between the point normal and the plane normal
- double d_normal = getAngle3D (n, coeff);
- d_normal = (std::min) (d_normal, fabs (M_PI - d_normal));
-
- distances[i] = fabs (normal_distance_weight_ * d_normal + (1 - normal_distance_weight_) * d_euclid);
- }
-}
-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename PointNT> bool
pcl::SampleConsensusModelNormalParallelPlane<PointT, PointNT>::isModelValid (const Eigen::VectorXf &model_coefficients)
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelNormalParallelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelNormalSphere::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelNormalSphere::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 6)
{
- PCL_ERROR ("[pcl::SampleConsensusParallelLine::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusParallelLine::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelParallelPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelParallelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPerpendicularPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Need 3 samples
if (samples.size () != 3)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::getDistancesToModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::getDistancesToModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::countWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::countWithinDistance] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (0);
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
optimized_coefficients = model_coefficients;
return;
}
// Need at least 3 points to estimate a plane
if (inliers.size () < 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to support a model (%zu)! Returning the same coefficients.\n", inliers.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to support a model (%lu)! Returning the same coefficients.\n", inliers.size ());
optimized_coefficients = model_coefficients;
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::projectPoints] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::projectPoints] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid set of model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::doSamplesVerifyModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
{
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration::getDistancesToModel] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration::getDistancesToModel] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
distances.clear ();
return;
}
{
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration::selectWithinDistance] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration::selectWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
inliers.clear ();
return;
}
{
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration::countWithinDistance] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration::countWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
return (0);
}
if (!target_)
{
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration::optimizeModelCoefficients] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration::optimizeModelCoefficients] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
optimized_coefficients = model_coefficients;
return;
}
//////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
-pcl::SampleConsensusModelRegistration2D<PointT>::isSampleGood (const std::vector<int> &samples) const
+pcl::SampleConsensusModelRegistration2D<PointT>::isSampleGood (const std::vector<int>&) const
{
return (true);
//using namespace pcl::common;
PCL_INFO ("[pcl::SampleConsensusModelRegistration2D<PointT>::getDistancesToModel]\n");
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration2D::getDistancesToModel] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration2D::getDistancesToModel] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
distances.clear ();
return;
}
Eigen::Vector4f pt_src (input_->points[(*indices_)[i]].x,
input_->points[(*indices_)[i]].y,
input_->points[(*indices_)[i]].z, 1);
- Eigen::Vector4f pt_tgt (target_->points[(*indices_tgt_)[i]].x,
- target_->points[(*indices_tgt_)[i]].y,
- target_->points[(*indices_tgt_)[i]].z, 1);
Eigen::Vector4f p_tr (transform * pt_src);
{
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration2D::selectWithinDistance] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration2D::selectWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
inliers.clear ();
return;
}
Eigen::Vector4f pt_src (input_->points[(*indices_)[i]].x,
input_->points[(*indices_)[i]].y,
input_->points[(*indices_)[i]].z, 1);
- Eigen::Vector4f pt_tgt (target_->points[(*indices_tgt_)[i]].x,
- target_->points[(*indices_tgt_)[i]].y,
- target_->points[(*indices_tgt_)[i]].z, 1);
Eigen::Vector4f p_tr (transform * pt_src);
{
if (indices_->size () != indices_tgt_->size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModelRegistration2D::countWithinDistance] Number of source indices (%zu) differs than number of target indices (%zu)!\n", indices_->size (), indices_tgt_->size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelRegistration2D::countWithinDistance] Number of source indices (%lu) differs than number of target indices (%lu)!\n", indices_->size (), indices_tgt_->size ());
return (0);
}
if (!target_)
Eigen::Vector4f pt_src (input_->points[(*indices_)[i]].x,
input_->points[(*indices_)[i]].y,
input_->points[(*indices_)[i]].z, 1);
- Eigen::Vector4f pt_tgt (target_->points[(*indices_tgt_)[i]].x,
- target_->points[(*indices_tgt_)[i]].y,
- target_->points[(*indices_tgt_)[i]].z, 1);
Eigen::Vector4f p_tr (transform * pt_src);
// Need 4 samples
if (samples.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelSphere::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelSphere::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Needs a set of valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelSphere::optimizeModelCoefficients] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelSphere::optimizeModelCoefficients] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Need at least 4 samples
if (inliers.size () <= 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelSphere::optimizeModelCoefficients] Not enough inliers found to support a model (%zu)! Returning the same coefficients.\n", inliers.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelSphere::optimizeModelCoefficients] Not enough inliers found to support a model (%lu)! Returning the same coefficients.\n", inliers.size ());
return;
}
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelSphere::projectPoints] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelSphere::projectPoints] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return;
}
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelSphere::doSamplesVerifyModel] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelSphere::doSamplesVerifyModel] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
// Need 2 samples
if (samples.size () != 2)
{
- PCL_ERROR ("[pcl::SampleConsensusModelStick::computeModelCoefficients] Invalid set of samples given (%zu)!\n", samples.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelStick::computeModelCoefficients] Invalid set of samples given (%lu)!\n", samples.size ());
return (false);
}
// Need at least 2 points to estimate a line
if (inliers.size () <= 2)
{
- PCL_ERROR ("[pcl::SampleConsensusModelStick::optimizeModelCoefficients] Not enough inliers found to support a model (%zu)! Returning the same coefficients.\n", inliers.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelStick::optimizeModelCoefficients] Not enough inliers found to support a model (%lu)! Returning the same coefficients.\n", inliers.size ());
optimized_coefficients = model_coefficients;
return;
}
// Select the new inliers based on the optimized coefficients and new threshold
sac_model_->selectWithinDistance (new_model_coefficients, error_threshold, new_inliers);
- PCL_DEBUG ("[pcl::SampleConsensus::refineModel] Number of inliers found (before/after): %zu/%zu, with an error threshold of %g.\n", prev_inliers.size (), new_inliers.size (), error_threshold);
+ PCL_DEBUG ("[pcl::SampleConsensus::refineModel] Number of inliers found (before/after): %lu/%lu, with an error threshold of %g.\n", prev_inliers.size (), new_inliers.size (), error_threshold);
if (new_inliers.empty ())
{
getInliers (std::vector<int> &inliers) { inliers = inliers_; }
/** \brief Return the model coefficients of the best model found so far.
- * \param[out] model_coefficients the resultant model coefficients
+ * \param[out] model_coefficients the resultant model coefficients, as documented in \ref sample_consensus
*/
inline void
getModelCoefficients (Eigen::VectorXf &model_coefficients) { model_coefficients = model_coefficients_; }
if (indices_->size () > input_->points.size ())
{
- PCL_ERROR ("[pcl::SampleConsensusModel] Invalid index vector given with size %zu while the input PointCloud has size %zu!\n", indices_->size (), input_->points.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModel] Invalid index vector given with size %lu while the input PointCloud has size %lu!\n", indices_->size (), input_->points.size ());
indices_->clear ();
}
shuffled_indices_ = *indices_;
// We're assuming that indices_ have already been set in the constructor
if (indices_->size () < getSampleSize ())
{
- PCL_ERROR ("[pcl::SampleConsensusModel::getSamples] Can not select %zu unique points out of %zu!\n",
+ PCL_ERROR ("[pcl::SampleConsensusModel::getSamples] Can not select %lu unique points out of %lu!\n",
samples.size (), indices_->size ());
// one of these will make it stop :)
samples.clear ();
// If it's a good sample, stop here
if (isSampleGood (samples))
{
- PCL_DEBUG ("[pcl::SampleConsensusModel::getSamples] Selected %zu samples.\n", samples.size ());
+ PCL_DEBUG ("[pcl::SampleConsensusModel::getSamples] Selected %lu samples.\n", samples.size ());
return;
}
}
/** \brief Set the maximum distance allowed when drawing random samples
* \param[in] radius the maximum distance (L2 norm)
+ * \param search
*/
inline void
setSamplesMaxDist (const double &radius, SearchPtr search)
};
}
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/sample_consensus/impl/sac_model_circle3d.hpp>
+#endif
+
#endif //#ifndef PCL_SAMPLE_CONSENSUS_MODEL_CIRCLE3D_H_
{
if (model_coefficients.size () != 6)
{
- PCL_ERROR ("[pcl::SampleConsensusModelLine::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelLine::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
#ifndef PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
#define PCL_SAMPLE_CONSENSUS_MODEL_NORMALPARALLELPLANE_H_
-#include <pcl/sample_consensus/sac_model.h>
-#include <pcl/sample_consensus/sac_model_plane.h>
-#include <pcl/sample_consensus/sac_model_perpendicular_plane.h>
+#include <pcl/sample_consensus/sac_model_normal_plane.h>
#include <pcl/sample_consensus/model_types.h>
namespace pcl
* \ingroup sample_consensus
*/
template <typename PointT, typename PointNT>
- class SampleConsensusModelNormalParallelPlane : public SampleConsensusModel
Plane<PointT>, public SampleConsensusModelFromNormals<PointT, PointNT>
+ class SampleConsensusModelNormalParallelPlane : public SampleConsensusModel
NormalPlane<PointT, PointNT>
{
public:
using SampleConsensusModel<PointT>::input_;
*/
SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud,
bool random = false)
- : SampleConsensusModelPlane<PointT> (cloud, random)
- , SampleConsensusModelFromNormals<PointT, PointNT> ()
+ : SampleConsensusModelNormalPlane<PointT, PointNT> (cloud, random)
, axis_ (Eigen::Vector4f::Zero ())
, distance_from_origin_ (0)
, eps_angle_ (-1.0)
SampleConsensusModelNormalParallelPlane (const PointCloudConstPtr &cloud,
const std::vector<int> &indices,
bool random = false)
- : SampleConsensusModelPlane<PointT> (cloud, indices, random)
- , SampleConsensusModelFromNormals<PointT, PointNT> ()
+ : SampleConsensusModelNormalPlane<PointT, PointNT> (cloud, indices, random)
, axis_ (Eigen::Vector4f::Zero ())
, distance_from_origin_ (0)
, eps_angle_ (-1.0)
inline double
getEpsDist () { return (eps_dist_); }
- /** \brief Select all the points which respect the given model coefficients as inliers.
- * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
- * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
- * \param[out] inliers the resultant model inliers
- */
- void
- selectWithinDistance (const Eigen::VectorXf &model_coefficients,
- const double threshold,
- std::vector<int> &inliers);
-
- /** \brief Count all the points which respect the given model coefficients as inliers.
- *
- * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
- * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
- * \return the resultant number of inliers
- */
- virtual int
- countWithinDistance (const Eigen::VectorXf &model_coefficients,
- const double threshold);
-
- /** \brief Compute all distances from the cloud data to a given plane model.
- * \param[in] model_coefficients the coefficients of a plane model that we need to compute distances to
- * \param[out] distances the resultant estimated distances
- */
- void
- getDistancesToModel (const Eigen::VectorXf &model_coefficients,
- std::vector<double> &distances);
-
/** \brief Return an unique id for this model (SACMODEL_NORMAL_PARALLEL_PLANE). */
inline pcl::SacModel
getModelType () const { return (SACMODEL_NORMAL_PARALLEL_PLANE); }
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelPlane::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelPlane::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
return (true);
/** \brief Computes an "optimal" sample distance threshold based on the
* principal directions of the input cloud.
* \param[in] cloud the const boost shared pointer to a PointCloud message
+ * \param indices
*/
inline void
computeSampleDistanceThreshold (const PointCloudConstPtr &cloud,
/** \brief Computes an "optimal" sample distance threshold based on the
* principal directions of the input cloud.
- * \param[in] cloud the const boost shared pointer to a PointCloud message
*/
inline void
- computeSampleDistanceThreshold (const PointCloudConstPtr &cloud)
+ computeSampleDistanceThreshold (const PointCloudConstPtr&)
{
//// Compute the principal directions via PCA
//Eigen::Vector4f xyz_centroid;
/** \brief Computes an "optimal" sample distance threshold based on the
* principal directions of the input cloud.
- * \param[in] cloud the const boost shared pointer to a PointCloud message
*/
inline void
- computeSampleDistanceThreshold (const PointCloudConstPtr &cloud,
- const std::vector<int> &indices)
+ computeSampleDistanceThreshold (const PointCloudConstPtr&,
+ const std::vector<int>&)
{
//// Compute the principal directions via PCA
//Eigen::Vector4f xyz_centroid;
// Needs a valid model coefficients
if (model_coefficients.size () != 4)
{
- PCL_ERROR ("[pcl::SampleConsensusModelSphere::isModelValid] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelSphere::isModelValid] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
{
if (model_coefficients.size () != 7)
{
- PCL_ERROR ("[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%zu)!\n", model_coefficients.size ());
+ PCL_ERROR ("[pcl::SampleConsensusModelStick::selectWithinDistance] Invalid number of model coefficients given (%lu)!\n", model_coefficients.size ());
return (false);
}
The <b>pcl_sample_consensus</b> library holds SAmple Consensus (SAC) methods like
<a href="http://en.wikipedia.org/wiki/RANSAC">RANSAC</a> and models like planes and cylinders. These can
- combined freely in order to detect specific models and their paramters in point clouds.
+ combined freely in order to detect specific models and their parameters in point clouds.
Some of the models implemented in this library include: lines, planes, cylinders, and spheres. Plane fitting
is often applied to the task of detecting common indoor surfaces, such as walls, floors, and table tops.
\image html http://www.pointclouds.org/assets/images/contents/documentation/sample_consensus_planes_cylinders.png
- As of PCL 1.0, the following models are supported:
+ The following models are supported:
<ul>
- <li>
<a href="classpcl_1_1_sample_consensus_model_plane.html">SACMODEL_PLANE</a> - used to determine plane models. The <b>four</b> coefficients of the plane are its <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian Normal form</a>: [<b>normal_x normal_y normal_z d</b>]</li>
- <li><a href="classpcl_1_1_sample_consensus_model_line.html">SACMODEL_LINE</a> - used to determine line models. The <b>six</b> coefficients of the line are given by a point on the line and the direction of the line as: [<b>point_on_line.x point_on_line.y point_on_line.z line_direction.x line_direction.y line_direction.z</b>]</li>
- <li><a href="classpcl_1_1_sample_consensus_model_circle2_d.html">SACMODEL_CIRCLE2D</a> - used to determine 2D circles in a plane. The circle's <b>three</b> coefficients are given by its center and radius as: [<b>center.x center.y radius</b>]</li>
- <li>SACMODEL_CIRCLE3D - not implemented yet</li>
- <li><a href="classpcl_1_1_sample_consensus_model_sphere.html">SACMODEL_SPHERE</a> - used to determine sphere models. The <b>four</b> coefficients of the sphere are given by its 3D center and radius as: [<b>center.x center.y center.z radius</b>]</li>
- <li><a href="classpcl_1_1_sample_consensus_model_cylinder.html">SACMODEL_CYLINDER</a> - used to determine cylinder models. The <b>seven</b> coefficients of the cylinder are given by a point on its axis, the axis direction, and a radius, as: [<b>point_on_axis.x point_on_axis.y point_on_axis.z axis_direction.x axis_direction.y axis_direction.z radius</b>]</li>
- <li>SACMODEL_CONE - not implemented yet</li>
+ <li>
\link pcl::SampleConsensusModelPlane SACMODEL_PLANE \endlink - used to determine plane models. The <b>four</b> coefficients of the plane are its <a href="http://mathworld.wolfram.com/HessianNormalForm.html">Hessian Normal form</a>: [<b>normal_x normal_y normal_z d</b>]</li>
+ <li>\link pcl::SampleConsensusModelLine SACMODEL_LINE \endlink - used to determine line models. The <b>six</b> coefficients of the line are given by a point on the line and the direction of the line as: [<b>point_on_line.x point_on_line.y point_on_line.z line_direction.x line_direction.y line_direction.z</b>]</li>
+ <li>\link pcl::SampleConsensusModelCircle2D SACMODEL_CIRCLE2D \endlink - used to determine 2D circles in a plane. The circle's <b>three</b> coefficients are given by its center and radius as: [<b>center.x center.y radius</b>]</li>
+ <li>\link pcl::SampleConsensusModelCircle3D SACMODEL_CIRCLE3D \endlink - used to determine 3D circles in a plane. The circle's <b>seven</b> coefficients are given by its center, radius and normal as: [<b>center.x, center.y, center.z, radius, normal.x, normal.y, normal.z</b>]</li>
+ <li>\link pcl::SampleConsensusModelSphere SACMODEL_SPHERE \endlink - used to determine sphere models. The <b>four</b> coefficients of the sphere are given by its 3D center and radius as: [<b>center.x center.y center.z radius</b>]</li>
+ <li>\link pcl::SampleConsensusModelCylinder SACMODEL_CYLINDER \endlink - used to determine cylinder models. The <b>seven</b> coefficients of the cylinder are given by a point on its axis, the axis direction, and a radius, as: [<b>point_on_axis.x point_on_axis.y point_on_axis.z axis_direction.x axis_direction.y axis_direction.z radius</b>]</li>
+ <li>\link pcl::SampleConsensusModelCone SACMODEL_CONE \endlink - used to determine cone models. The <b>seven</b> coefficients of the cone are given by a point of its apex, the axis direction and the opening angle, as: [<b>apex.x, apex.y, apex.z, axis_direction.x, axis_direction.y, axis_direction.z, opening_angle</b>]</li>
<li>SACMODEL_TORUS - not implemented yet</li>
- <li><a href="classpcl_1_1_sample_consensus_model_parallel_line.html">SACMODEL_PARALLEL_LINE</a> - a model for determining a line <b>parallel</b> with a given axis, within a maximum specified angular deviation. The line coefficients are similar to <a href="classpcl_1_1_sample_consensus_model_line.html">SACMODEL_LINE</a>.</li>
- <li><a href="classpcl_1_1_sample_consensus_model_perpendicular_plane.html">SACMODEL_PERPENDICULAR_PLANE</a> - a model for determining a plane <b>perpendicular</b> to an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to <a href="classpcl_1_1_sample_consensus_model_plane.html">SACMODEL_PLANE</a>.</li>
+ <li>\link pcl::SampleConsensusModelParallelLine SACMODEL_PARALLEL_LINE \endlink - a model for determining a line <b>parallel</b> with a given axis, within a maximum specified angular deviation. The line coefficients are similar to \link pcl::SampleConsensusModelLine SACMODEL_LINE \endlink.</li>
+ <li>\link pcl::SampleConsensusModelPerpendicularPlane SACMODEL_PERPENDICULAR_PLANE \endlink - a model for determining a plane <b>perpendicular</b> to an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to \link pcl::SampleConsensusModelPlane SACMODEL_PLANE \endlink.</li>
<li>SACMODEL_PARALLEL_LINES - not implemented yet</li>
- <li><a href="classpcl_1_1_sample_consensus_model_normal_plane.html">SACMODEL_NORMAL_PLANE</a> - a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar to <a href="classpcl_1_1_sample_consensus_model_plane.html">SACMODEL_PLANE</a>.</li>
- <li><a href="classpcl_1_1_sample_consensus_model_parallel_plane.html">SACMODEL_PARALLEL_PLANE</a> - a model for determining a plane <b>parallel</b> to an user-specified axis, within a maximim specified angular deviation. <a href="../classpcl_1_1_sample_consensus_model_plane.html">SACMODEL_PLANE</a>.</li>
- <li><a href="classpcl_1_1_sample_consensus_model_normal_parallel_plane.html">SACMODEL_NORMAL_PARALLEL_PLANE</a> defines a model for 3D plane segmentation using additional surface normal constraints. The plane must lie <b>parallel</b> to a user-specified axis. SACMODEL_NORMAL_PARALLEL_PLANE therefore is equivallent to SACMODEL_NORMAL_PLANE + SACMODEL_PARALLEL_PLANE. The plane coefficients are similar to <a href="classpcl_1_1_sample_consensus_model_plane.html">SACMODEL_PLANE</a>.</li>
+ <li>\link pcl::SampleConsensusModelNormalPlane SACMODEL_NORMAL_PLANE \endlink - a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar to \link pcl::SampleConsensusModelPlane SACMODEL_PLANE \endlink.</li>
+ <li>\link pcl::SampleConsensusModelParallelPlane SACMODEL_PARALLEL_PLANE \endlink - a model for determining a plane <b>parallel</b> to an user-specified axis, within a maximum specified angular deviation. \link pcl::SampleConsensusModelPlane SACMODEL_PLANE \endlink.</li>
+ <li>\link pcl::SampleConsensusModelNormalParallelPlane SACMODEL_NORMAL_PARALLEL_PLANE \endlink defines a model for 3D plane segmentation using additional surface normal constraints. The plane must lie <b>parallel</b> to a user-specified axis. SACMODEL_NORMAL_PARALLEL_PLANE therefore is equivalent to SACMODEL_NORMAL_PLANE + SACMODEL_PARALLEL_PLANE. The plane coefficients are similar to \link pcl::SampleConsensusModelPlane SACMODEL_PLANE \endlink.</li>
</ul>
The following list describes the robust sample consensus estimators implemented:
set(SUBSYS_DEPS common kdtree octree)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
)
set(incs
- include/pcl/${SUBSYS_NAME}/search.h
- include/pcl/${SUBSYS_NAME}/kdtree.h
- include/pcl/${SUBSYS_NAME}/brute_force.h
- include/pcl/${SUBSYS_NAME}/organized.h
- include/pcl/${SUBSYS_NAME}/octree.h
- include/pcl/${SUBSYS_NAME}/flann_search.h
- include/pcl/${SUBSYS_NAME}/pcl_search.h
+ "include/pcl/${SUBSYS_NAME}/search.h"
+ "include/pcl/${SUBSYS_NAME}/kdtree.h"
+ "include/pcl/${SUBSYS_NAME}/brute_force.h"
+ "include/pcl/${SUBSYS_NAME}/organized.h"
+ "include/pcl/${SUBSYS_NAME}/octree.h"
+ "include/pcl/${SUBSYS_NAME}/flann_search.h"
+ "include/pcl/${SUBSYS_NAME}/pcl_search.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/search.hpp
- include/pcl/${SUBSYS_NAME}/impl/kdtree.hpp
- include/pcl/${SUBSYS_NAME}/impl/flann_search.hpp
- include/pcl/${SUBSYS_NAME}/impl/brute_force.hpp
- include/pcl/${SUBSYS_NAME}/impl/organized.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/search.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/kdtree.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/flann_search.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/brute_force.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/organized.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_common ${FLANN_LIBRARIES} pcl_octree pcl_kdtree)
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common ${FLANN_LIBRARIES} pcl_octree pcl_kdtree)
list(APPEND EXT_DEPS flann)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
/** \brief @b search::FlannSearch is a generic FLANN wrapper class for the new search interface.
* It is able to wrap any FLANN index type, e.g. the kd tree as well as indices for high-dimensional
* searches and intended as a more powerful and cleaner successor to KdTreeFlann.
+ *
+ * By default, this class creates a single kd tree for indexing the input data. However, for high dimensions
+ * (> 10), it is often better to use the multiple randomized kd tree index provided by FLANN in combination with
+ * the \ref flann::L2 distance functor. During search in this type of index, the number of checks to perform before
+ * terminating the search can be controlled. Here is a code example if a high-dimensional 2-NN search:
+ *
+ * \code
+ * // Feature and distance type
+ * typedef SHOT352 FeatureT;
+ * typedef flann::L2<float> DistanceT;
+ *
+ * // Search and index types
+ * typedef search::FlannSearch<FeatureT, DistanceT> SearchT;
+ * typedef typename SearchT::FlannIndexCreatorPtr CreatorPtrT;
+ * typedef typename SearchT::KdTreeMultiIndexCreator IndexT;
+ * typedef typename SearchT::PointRepresentationPtr RepresentationPtrT;
+ *
+ * // Features
+ * PointCloud<FeatureT>::Ptr query, target;
+ *
+ * // Fill query and target with calculated features...
+ *
+ * // Instantiate search object with 4 randomized trees and 256 checks
+ * SearchT search (true, CreatorPtrT (new IndexT (4)));
+ * search.setPointRepresentation (RepresentationPtrT (new DefaultFeatureRepresentation<FeatureT>));
+ * search.setChecks (256);
+ * search.setInputCloud (target);
+ *
+ * // Do search
+ * std::vector<std::vector<int> > k_indices;
+ * std::vector<std::vector<float> > k_sqr_distances;
+ * search.nearestKSearch (*query, std::vector<int> (), 2, k_indices, k_sqr_distances);
+ * \endcode
*
* \author Andreas Muetzel
+ * \author Anders Glent Buch (multiple randomized kd tree interface)
* \ingroup search
*/
template<typename PointT, typename FlannDistance=flann::L2_Simple <float> >
class FlannSearch: public Search<PointT>
{
- typedef typename Search<PointT>::PointCloud PointCloud;
- typedef typename Search<PointT>::PointCloudConstPtr PointCloudConstPtr;
-
- typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
- typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;
- typedef flann::NNIndex< FlannDistance > Index;
- typedef boost::shared_ptr<flann::NNIndex <FlannDistance > > IndexPtr;
- typedef boost::shared_ptr<flann::Matrix <float> > MatrixPtr;
- typedef boost::shared_ptr<const flann::Matrix <float> > MatrixConstPtr;
-
- typedef pcl::PointRepresentation<PointT> PointRepresentation;
- //typedef boost::shared_ptr<PointRepresentation> PointRepresentationPtr;
- typedef boost::shared_ptr<const PointRepresentation> PointRepresentationConstPtr;
-
using Search<PointT>::input_;
using Search<PointT>::indices_;
using Search<PointT>::sorted_results_;
public:
typedef boost::shared_ptr<FlannSearch<PointT, FlannDistance> > Ptr;
typedef boost::shared_ptr<const FlannSearch<PointT, FlannDistance> > ConstPtr;
+
+ typedef typename Search<PointT>::PointCloud PointCloud;
+ typedef typename Search<PointT>::PointCloudConstPtr PointCloudConstPtr;
+
+ typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
+ typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;
+
+ typedef boost::shared_ptr<flann::Matrix <float> > MatrixPtr;
+ typedef boost::shared_ptr<const flann::Matrix <float> > MatrixConstPtr;
+
+ typedef flann::NNIndex< FlannDistance > Index;
+ typedef boost::shared_ptr<flann::NNIndex <FlannDistance > > IndexPtr;
+
+ typedef pcl::PointRepresentation<PointT> PointRepresentation;
+ typedef boost::shared_ptr<PointRepresentation> PointRepresentationPtr;
+ typedef boost::shared_ptr<const PointRepresentation> PointRepresentationConstPtr;
/** \brief Helper class that creates a FLANN index from a given FLANN matrix. To
* use a FLANN index type with FlannSearch, implement this interface and
class KMeansIndexCreator: public FlannIndexCreator
{
public:
- /** \param[in] max_leaf_size All FLANN kd trees created by this class will have
+ /** \brief All FLANN kd trees created by this class will have
* a maximum of max_leaf_size points per leaf node. Higher values make index creation
* cheaper, but search more costly (and the other way around).
*/
private:
};
+ /** \brief Creates a FLANN KdTreeIndex of multiple randomized trees from the given input data,
+ * suitable for feature matching. Note that in this case, it is often more efficient to use the
+ * \ref flann::L2 distance functor.
+ */
+ class KdTreeMultiIndexCreator: public FlannIndexCreator
+ {
+ public:
+ /** \param[in] trees Number of randomized trees to create.
+ */
+ KdTreeMultiIndexCreator (int trees = 4) : trees_ (trees) {}
+
+ /** \brief Empty destructor */
+ virtual ~KdTreeMultiIndexCreator () {}
+
+ /** \brief Create a FLANN Index from the input data.
+ * \param[in] data The FLANN matrix containing the input.
+ * \return The FLANN index.
+ */
+ virtual IndexPtr createIndex (MatrixConstPtr data);
+ private:
+ int trees_;
+ };
+
FlannSearch (bool sorted = true, FlannIndexCreatorPtr creator = FlannIndexCreatorPtr (new KdTreeIndexCreator ()));
/** \brief Destructor for FlannSearch. */
return (eps_);
}
+ /** \brief Set the number of checks to perform during approximate searches in multiple randomized trees.
+ * \param[in] checks number of checks to perform during approximate searches in multiple randomized trees.
+ */
+ inline void
+ setChecks (int checks)
+ {
+ checks_ = checks;
+ }
+
+ /** \brief Get the number of checks to perform during approximate searches in multiple randomized trees. */
+ inline int
+ getChecks ()
+ {
+ return (checks_);
+ }
+
/** \brief Provide a pointer to the input dataset.
* \param[in] cloud the const boost shared pointer to a PointCloud message
* \param[in] indices the point indices subset that is to be used from \a cloud
/** Epsilon for approximate NN search.
*/
float eps_;
+
+ /** Number of checks to perform for approximate NN search using the multiple randomized tree index
+ */
+ int checks_;
+
bool input_copied_for_flann_;
PointRepresentationConstPtr point_representation_;
return (IndexPtr (new flann::KMeansIndex<FlannDistance> (*data,flann::KMeansIndexParams ())));
}
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT, typename FlannDistance>
+typename pcl::search::FlannSearch<PointT, FlannDistance>::IndexPtr
+pcl::search::FlannSearch<PointT, FlannDistance>::KdTreeMultiIndexCreator::createIndex (MatrixConstPtr data)
+{
+ return (IndexPtr (new flann::KDTreeIndex<FlannDistance> (*data, flann::KDTreeIndexParams (trees_))));
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, typename FlannDistance>
pcl::search::FlannSearch<PointT, FlannDistance>::FlannSearch(bool sorted, FlannIndexCreatorPtr creator) : pcl::search::Search<PointT> ("FlannSearch",sorted),
- index_(), creator_ (creator), input_flann_(), eps_ (0), input_copied_for_flann_ (false), point_representation_ (new DefaultPointRepresentation<PointT>),
+ index_(), creator_ (creator), input_flann_(), eps_ (0),
checks_ (32), input_copied_for_flann_ (false), point_representation_ (new DefaultPointRepresentation<PointT>),
dim_ (0), index_mapping_(), identity_mapping_()
{
dim_ = point_representation_->getNumberOfDimensions ();
float* cdata = can_cast ? const_cast<float*> (reinterpret_cast<const float*> (&point)): data;
const flann::Matrix<float> m (cdata ,1, point_representation_->getNumberOfDimensions ());
- flann::SearchParams p(-1);
+ flann::SearchParams p;
p.eps = eps_;
p.sorted = sorted_results_;
+ p.checks = checks_;
if (indices.size() != static_cast<unsigned int> (k))
indices.resize (k,-1);
if (dists.size() != static_cast<unsigned int> (k))
flann::SearchParams p;
p.sorted = sorted_results_;
p.eps = eps_;
+ p.checks = checks_;
index_->knnSearch (m,k_indices,k_sqr_distances,k, p);
delete [] data;
flann::SearchParams p;
p.sorted = sorted_results_;
p.eps = eps_;
+ p.checks = checks_;
index_->knnSearch (m,k_indices,k_sqr_distances,k, p);
delete[] data;
p.sorted = sorted_results_;
p.eps = eps_;
p.max_neighbors = max_nn > 0 ? max_nn : -1;
+ p.checks = checks_;
std::vector<std::vector<int> > i (1);
std::vector<std::vector<float> > d (1);
int result = index_->radiusSearch (m,i,d,static_cast<float> (radius * radius), p);
flann::SearchParams p;
p.sorted = sorted_results_;
p.eps = eps_;
+ p.checks = checks_;
// here: max_nn==0: take all neighbors. flann: max_nn==0: return no neighbors, only count them. max_nn==-1: return all neighbors
p.max_neighbors = max_nn != 0 ? max_nn : -1;
index_->radiusSearch (m,k_indices,k_sqr_distances,static_cast<float> (radius * radius), p);
flann::SearchParams p;
p.sorted = sorted_results_;
p.eps = eps_;
+ p.checks = checks_;
// here: max_nn==0: take all neighbors. flann: max_nn==0: return no neighbors, only count them. max_nn==-1: return all neighbors
p.max_neighbors = max_nn != 0 ? max_nn : -1;
index_->radiusSearch (m, k_indices, k_sqr_distances, static_cast<float> (radius * radius), p);
#include <pcl/search/impl/search.hpp>
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT>
-pcl::search::KdTree<PointT>::KdTree (bool sorted)
+template <typename PointT, class Tree>
+pcl::search::KdTree<PointT,Tree>::KdTree (bool sorted)
: pcl::search::Search<PointT> ("KdTree", sorted)
- , tree_ (new pcl::KdTreeFLANN<PointT> (sorted))
+ , tree_ (new Tree (sorted))
{
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> void
-pcl::search::KdTree<PointT>::setPointRepresentation (
+template <typename PointT, class Tree> void
+pcl::search::KdTree<PointT,Tree>::setPointRepresentation (
const PointRepresentationConstPtr &point_representation)
{
tree_->setPointRepresentation (point_representation);
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> void
-pcl::search::KdTree<PointT>::setSortedResults (bool sorted_results)
+template <typename PointT, class Tree> void
+pcl::search::KdTree<PointT,Tree>::setSortedResults (bool sorted_results)
{
sorted_results_ = sorted_results;
tree_->setSortedResults (sorted_results);
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> void
-pcl::search::KdTree<PointT>::setEpsilon (float eps)
+template <typename PointT, class Tree> void
+pcl::search::KdTree<PointT,Tree>::setEpsilon (float eps)
{
tree_->setEpsilon (eps);
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> void
-pcl::search::KdTree<PointT>::setInputCloud (
+template <typename PointT, class Tree> void
+pcl::search::KdTree<PointT,Tree>::setInputCloud (
const PointCloudConstPtr& cloud,
const IndicesConstPtr& indices)
{
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> int
-pcl::search::KdTree<PointT>::nearestKSearch (
+template <typename PointT, class Tree> int
+pcl::search::KdTree<PointT,Tree>::nearestKSearch (
const PointT &point, int k, std::vector<int> &k_indices,
std::vector<float> &k_sqr_distances) const
{
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> int
-pcl::search::KdTree<PointT>::radiusSearch (
+template <typename PointT, class Tree> int
+pcl::search::KdTree<PointT,Tree>::radiusSearch (
const PointT& point, double radius,
std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
unsigned int max_nn) const
* \author Radu B. Rusu
* \ingroup search
*/
- template<typename PointT>
+ template<typename PointT, class Tree = pcl::KdTreeFLANN<PointT> >
class KdTree: public Search<PointT>
{
public:
using pcl::search::Search<PointT>::radiusSearch;
using pcl::search::Search<PointT>::sorted_results_;
- typedef boost::shared_ptr<KdTree<PointT> > Ptr;
- typedef boost::shared_ptr<const KdTree<PointT> > ConstPtr;
+ typedef boost::shared_ptr<KdTree<PointT, Tree> > Ptr;
+ typedef boost::shared_ptr<const KdTree<PointT, Tree> > ConstPtr;
- typedef boost::shared_ptr<pcl::KdTreeFLANN<PointT> > KdTreeFLANNPtr;
- typedef boost::shared_ptr<const pcl::KdTreeFLANN<PointT> > KdTreeFLANNConstPtr;
+ typedef boost::shared_ptr<Tree> KdTreePtr;
+ typedef boost::shared_ptr<const Tree> KdTreeConstPtr;
typedef boost::shared_ptr<const PointRepresentation<PointT> > PointRepresentationConstPtr;
/** \brief Constructor for KdTree.
std::vector<float> &k_sqr_distances,
unsigned int max_nn = 0) const;
protected:
- /** \brief A pointer to the internal KdTreeFLANN object. */
- KdTreeFLANNPtr tree_;
+ /** \brief A pointer to the internal KdTree object. */
+ KdTreePtr tree_;
};
}
}
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/search/impl/kdtree.hpp>
+#else
#define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;
+#endif
#endif // PCL_SEARCH_KDTREE_H_
#include <pcl/point_cloud.h>
#include <pcl/for_each_type.h>
#include <pcl/common/concatenate.h>
+#include <pcl/common/copy_point.h>
namespace pcl
{
std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const
{
PointT p;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (point, p));
+ copyPoint (point, p);
return (nearestKSearch (p, k, k_indices, k_sqr_distances));
}
std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const
{
PointT p;
- // Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
- typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
- typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (point, p));
+ copyPoint (point, p);
return (radiusSearch (p, radius, k_indices, k_sqr_distances, max_nn));
}
set(SUBSYS_DEPS common geometry search sample_consensus kdtree octree features filters)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
src/crf_normal_segmentation.cpp
src/conditional_euclidean_clustering.cpp
src/supervoxel_clustering.cpp
+ src/grabcut_segmentation.cpp
+ src/progressive_morphological_filter.cpp
+ src/approximate_progressive_morphological_filter.cpp
)
# NOTE: boost/graph/boykov_kolmogorov_max_flow.hpp only exists for versions > 1.43
if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 43)
- set(srcs
- ${srcs}
+ list(APPEND srcs
src/min_cut_segmentation.cpp
)
endif()
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/extract_clusters.h
- include/pcl/${SUBSYS_NAME}/extract_labeled_clusters.h
- include/pcl/${SUBSYS_NAME}/extract_polygonal_prism_data.h
- include/pcl/${SUBSYS_NAME}/sac_segmentation.h
- include/pcl/${SUBSYS_NAME}/seeded_hue_segmentation.h
- include/pcl/${SUBSYS_NAME}/segment_differences.h
- include/pcl/${SUBSYS_NAME}/region_growing.h
- include/pcl/${SUBSYS_NAME}/region_growing_rgb.h
- include/pcl/${SUBSYS_NAME}/comparator.h
- include/pcl/${SUBSYS_NAME}/plane_coefficient_comparator.h
- include/pcl/${SUBSYS_NAME}/euclidean_plane_coefficient_comparator.h
- include/pcl/${SUBSYS_NAME}/edge_aware_plane_comparator.h
- include/pcl/${SUBSYS_NAME}/rgb_plane_coefficient_comparator.h
- include/pcl/${SUBSYS_NAME}/plane_refinement_comparator.h
- include/pcl/${SUBSYS_NAME}/euclidean_cluster_comparator.h
- include/pcl/${SUBSYS_NAME}/ground_plane_comparator.h
- include/pcl/${SUBSYS_NAME}/organized_connected_component_segmentation.h
- include/pcl/${SUBSYS_NAME}/organized_multi_plane_segmentation.h
- include/pcl/${SUBSYS_NAME}/region_3d.h
- include/pcl/${SUBSYS_NAME}/planar_region.h
- include/pcl/${SUBSYS_NAME}/planar_polygon_fusion.h
- include/pcl/${SUBSYS_NAME}/crf_normal_segmentation.h
- include/pcl/${SUBSYS_NAME}/conditional_euclidean_clustering.h
- include/pcl/${SUBSYS_NAME}/supervoxel_clustering.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/extract_clusters.h"
+ "include/pcl/${SUBSYS_NAME}/extract_labeled_clusters.h"
+ "include/pcl/${SUBSYS_NAME}/extract_polygonal_prism_data.h"
+ "include/pcl/${SUBSYS_NAME}/sac_segmentation.h"
+ "include/pcl/${SUBSYS_NAME}/seeded_hue_segmentation.h"
+ "include/pcl/${SUBSYS_NAME}/segment_differences.h"
+ "include/pcl/${SUBSYS_NAME}/region_growing.h"
+ "include/pcl/${SUBSYS_NAME}/region_growing_rgb.h"
+ "include/pcl/${SUBSYS_NAME}/comparator.h"
+ "include/pcl/${SUBSYS_NAME}/plane_coefficient_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/euclidean_plane_coefficient_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/edge_aware_plane_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/rgb_plane_coefficient_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/plane_refinement_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/euclidean_cluster_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/ground_plane_comparator.h"
+ "include/pcl/${SUBSYS_NAME}/organized_connected_component_segmentation.h"
+ "include/pcl/${SUBSYS_NAME}/organized_multi_plane_segmentation.h"
+ "include/pcl/${SUBSYS_NAME}/region_3d.h"
+ "include/pcl/${SUBSYS_NAME}/planar_region.h"
+ "include/pcl/${SUBSYS_NAME}/planar_polygon_fusion.h"
+ "include/pcl/${SUBSYS_NAME}/crf_normal_segmentation.h"
+ "include/pcl/${SUBSYS_NAME}/conditional_euclidean_clustering.h"
+ "include/pcl/${SUBSYS_NAME}/supervoxel_clustering.h"
+ "include/pcl/${SUBSYS_NAME}/grabcut_segmentation.h"
+ "include/pcl/${SUBSYS_NAME}/progressive_morphological_filter.h"
+ "include/pcl/${SUBSYS_NAME}/approximate_progressive_morphological_filter.h"
)
# NOTE: boost/graph/boykov_kolmogorov_max_flow.hpp only exists for versions > 1.43
if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 43)
- set(incs
- ${incs}
- include/pcl/${SUBSYS_NAME}/min_cut_segmentation.h
+ list(APPEND incs
+ "include/pcl/${SUBSYS_NAME}/min_cut_segmentation.h"
)
endif()
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/extract_clusters.hpp
- include/pcl/${SUBSYS_NAME}/impl/extract_labeled_clusters.hpp
- include/pcl/${SUBSYS_NAME}/impl/extract_polygonal_prism_data.hpp
- include/pcl/${SUBSYS_NAME}/impl/sac_segmentation.hpp
- include/pcl/${SUBSYS_NAME}/impl/seeded_hue_segmentation.hpp
- include/pcl/${SUBSYS_NAME}/impl/segment_differences.hpp
- include/pcl/${SUBSYS_NAME}/impl/region_growing.hpp
- include/pcl/${SUBSYS_NAME}/impl/region_growing_rgb.hpp
- include/pcl/${SUBSYS_NAME}/impl/organized_connected_component_segmentation.hpp
- include/pcl/${SUBSYS_NAME}/impl/organized_multi_plane_segmentation.hpp
- include/pcl/${SUBSYS_NAME}/impl/planar_polygon_fusion.hpp
- include/pcl/${SUBSYS_NAME}/impl/crf_normal_segmentation.hpp
- include/pcl/${SUBSYS_NAME}/impl/conditional_euclidean_clustering.hpp
- include/pcl/${SUBSYS_NAME}/impl/supervoxel_clustering.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/extract_clusters.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/extract_labeled_clusters.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/extract_polygonal_prism_data.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/sac_segmentation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/seeded_hue_segmentation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/segment_differences.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/region_growing.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/region_growing_rgb.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/organized_connected_component_segmentation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/organized_multi_plane_segmentation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/planar_polygon_fusion.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/crf_normal_segmentation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/conditional_euclidean_clustering.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/supervoxel_clustering.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/grabcut_segmentation.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/progressive_morphological_filter.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/approximate_progressive_morphological_filter.hpp"
)
# NOTE: boost/graph/boykov_kolmogorov_max_flow.hpp only exists for versions > 1.43
if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 43)
- set(impl_incs
- ${impl_incs}
- include/pcl/${SUBSYS_NAME}/impl/min_cut_segmentation.hpp
+ list(APPEND impl_incs
+ "include/pcl/${SUBSYS_NAME}/impl/min_cut_segmentation.hpp"
)
endif()
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_search pcl_sample_consensus pcl_filters pcl_features)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_search pcl_sample_consensus pcl_filters pcl_features)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
+#define PCL_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
+
+#include <pcl/pcl_base.h>
+#include <pcl/search/search.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+namespace pcl
+{
+ /** \brief
+ * Implements the Progressive Morphological Filter for segmentation of ground points.
+ * Description can be found in the article
+ * "A Progressive Morphological Filter for Removing Nonground Measurements from
+ * Airborne LIDAR Data"
+ * by K. Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang.
+ */
+ template <typename PointT>
+ class PCL_EXPORTS ApproximateProgressiveMorphologicalFilter : public pcl::PCLBase<PointT>
+ {
+ public:
+
+ typedef pcl::PointCloud <PointT> PointCloud;
+
+ using PCLBase <PointT>::input_;
+ using PCLBase <PointT>::indices_;
+ using PCLBase <PointT>::initCompute;
+ using PCLBase <PointT>::deinitCompute;
+
+ public:
+
+ /** \brief Constructor that sets default values for member variables. */
+ ApproximateProgressiveMorphologicalFilter ();
+
+ virtual
+ ~ApproximateProgressiveMorphologicalFilter ();
+
+ /** \brief Get the maximum window size to be used in filtering ground returns. */
+ inline int
+ getMaxWindowSize () const { return (max_window_size_); }
+
+ /** \brief Set the maximum window size to be used in filtering ground returns. */
+ inline void
+ setMaxWindowSize (int max_window_size) { max_window_size_ = max_window_size; }
+
+ /** \brief Get the slope value to be used in computing the height threshold. */
+ inline float
+ getSlope () const { return (slope_); }
+
+ /** \brief Set the slope value to be used in computing the height threshold. */
+ inline void
+ setSlope (float slope) { slope_ = slope; }
+
+ /** \brief Get the maximum height above the parameterized ground surface to be considered a ground return. */
+ inline float
+ getMaxDistance () const { return (max_distance_); }
+
+ /** \brief Set the maximum height above the parameterized ground surface to be considered a ground return. */
+ inline void
+ setMaxDistance (float max_distance) { max_distance_ = max_distance; }
+
+ /** \brief Get the initial height above the parameterized ground surface to be considered a ground return. */
+ inline float
+ getInitialDistance () const { return (initial_distance_); }
+
+ /** \brief Set the initial height above the parameterized ground surface to be considered a ground return. */
+ inline void
+ setInitialDistance (float initial_distance) { initial_distance_ = initial_distance; }
+
+ /** \brief Get the cell size. */
+ inline float
+ getCellSize () const { return (cell_size_); }
+
+ /** \brief Set the cell size. */
+ inline void
+ setCellSize (float cell_size) { cell_size_ = cell_size; }
+
+ /** \brief Get the base to be used in computing progressive window sizes. */
+ inline float
+ getBase () const { return (base_); }
+
+ /** \brief Set the base to be used in computing progressive window sizes. */
+ inline void
+ setBase (float base) { base_ = base; }
+
+ /** \brief Get flag indicating whether or not to exponentially grow window sizes? */
+ inline bool
+ getExponential () const { return (exponential_); }
+
+ /** \brief Set flag indicating whether or not to exponentially grow window sizes? */
+ inline void
+ setExponential (bool exponential) { exponential_ = exponential; }
+
+ /** \brief Initialize the scheduler and set the number of threads to use.
+ * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
+ */
+ inline void
+ setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+
+ /** \brief This method launches the segmentation algorithm and returns indices of
+ * points determined to be ground returns.
+ * \param[out] ground indices of points determined to be ground returns.
+ */
+ virtual void
+ extract (std::vector<int>& ground);
+
+ protected:
+
+ /** \brief Maximum window size to be used in filtering ground returns. */
+ int max_window_size_;
+
+ /** \brief Slope value to be used in computing the height threshold. */
+ float slope_;
+
+ /** \brief Maximum height above the parameterized ground surface to be considered a ground return. */
+ float max_distance_;
+
+ /** \brief Initial height above the parameterized ground surface to be considered a ground return. */
+ float initial_distance_;
+
+ /** \brief Cell size. */
+ float cell_size_;
+
+ /** \brief Base to be used in computing progressive window sizes. */
+ float base_;
+
+ /** \brief Exponentially grow window sizes? */
+ bool exponential_;
+
+ /** \brief Number of threads to be used. */
+ unsigned int threads_;
+ };
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp>
+#endif
+
+#endif
+
}
/** \brief Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.
- * \param[in] distance_threshold the tolerance in meters
+ * \param[in] distance_threshold the tolerance in meters
+ * \param depth_dependent
*/
inline void
setDistanceThreshold (float distance_threshold, bool depth_dependent)
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
if (cloud.points.size () != normals.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%zu) different than normals (%zu)!\n", cloud.points.size (), normals.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%lu) different than normals (%lu)!\n", cloud.points.size (), normals.points.size ());
return;
}
//and indices[i]
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
if (tree->getIndices ()->size () != indices.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different set of indices (%zu) than the input set (%zu)!\n", tree->getIndices ()->size (), indices.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different set of indices (%lu) than the input set (%lu)!\n", tree->getIndices ()->size (), indices.size ());
return;
}
if (cloud.points.size () != normals.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%zu) different than normals (%zu)!\n", cloud.points.size (), normals.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Number of points in the input point cloud (%lu) different than normals (%lu)!\n", cloud.points.size (), normals.points.size ());
return;
}
// Create a bool vector of processed point indices, and initialize it to false
+++ /dev/null
-/*
- * Software License Agreement (BSD License)
- *
- * Point Cloud Library (PCL) - www.pointclouds.org
- * Copyright (c) 2012-, Open Perception, 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.
- *
- * $Id$
- *
- */
-
-#ifndef PCL_SEGMENTATION_GRABCUT
-#define PCL_SEGMENTATION_GRABCUT
-
-#include <pcl/point_cloud.h>
-#include <pcl/pcl_base.h>
-#include <pcl/point_types.h>
-#include <pcl/segmentation/boost.h>
-#include <pcl/search/search.h>
-
-namespace pcl
-{
- namespace segmentation
- {
- namespace grabcut
- {
- /** boost implementation of Boykov and Kolmogorov's maxflow algorithm doesn't support
- * negative flows which makes it inappropriate for this conext.
- * This implementation of Boykov and Kolmogorov's maxflow algorithm by Stephen Gould
- * <stephen.gould@anu.edu.au> in DARWIN under BSD does the trick however solwer than original
- * implementation.
- */
- class BoykovKolmogorov
- {
- public:
- typedef int vertex_descriptor;
- typedef double edge_capacity_type;
-
- /// construct a maxflow/mincut problem with estimated max_nodes
- BoykovKolmogorov (std::size_t max_nodes = 0);
- /// destructor
- virtual ~BoykovKolmogorov () {}
- /// get number of nodes in the graph
- size_t
- numNodes () const { return nodes_.size (); }
- /// reset all edge capacities to zero (but don't free the graph)
- void
- reset ();
- /// clear the graph and internal datastructures
- void
- clear ();
- /// add nodes to the graph (returns the id of the first node added)
- int
- addNodes (std::size_t n = 1);
- /// add constant flow to graph
- void
- addConstant (double c) { flow_value_ += c; }
- /// add edge from s to nodeId
- void
- addSourceEdge (int u, double cap);
- /// add edge from nodeId to t
- void
- addTargetEdge (int u, double cap);
- /// add edge from u to v and edge from v to u
- /// (requires cap_uv + cap_vu >= 0)
- void
- addEdge (int u, int v, double cap_uv, double cap_vu = 0.0);
- /// solve the max-flow problem and return the flow
- double
- solve ();
- /// return true if \p u is in the s-set after calling \ref solve.
- bool
- inSourceTree (int u) const { return (cut_[u] == SOURCE); }
- /// return true if \p u is in the t-set after calling \ref solve
- bool
- inSinkTree (int u) const { return (cut_[u] == TARGET); }
- /// returns the residual capacity for an edge (use -1 for terminal (-1,-1) is the current flow
- double
- operator() (int u, int v) const;
-
- protected:
- /// tree states
- typedef enum { FREE = 0x00, SOURCE = 0x01, TARGET = 0x02 } nodestate;
- /// capacitated edge
- typedef std::map<int, double> capacitated_edge;
- /// edge pair
- typedef std::pair<capacitated_edge::iterator, capacitated_edge::iterator> edge_pair;
- /// pre-augment s-u-t and s-u-v-t paths
- void
- preAugmentPaths ();
- /// initialize trees from source and target
- void
- initializeTrees ();
- /// expand trees until a path is found (or no path (-1, -1))
- std::pair<int, int>
- expandTrees ();
- /// augment the path found by expandTrees; return orphaned subtrees
- void
- augmentPath (const std::pair<int, int>& path, std::deque<int>& orphans);
- /// adopt orphaned subtrees
- void
- adoptOrphans (std::deque<int>& orphans);
- /// clear active set
- void clearActive ();
- /// \return true if active set is empty
- inline bool
- isActiveSetEmpty () const { return (active_head_ == TERMINAL); }
- /// active if head or previous node is not the terminal
- inline bool
- isActive (int u) const { return ((u == active_head_) || (active_list_[u].first != TERMINAL)); }
- /// mark vertex as active
- void
- markActive (int u);
- /// mark vertex as inactive
- void
- markInactive (int u);
- /// edges leaving the source
- std::vector<double> source_edges_;
- /// edges entering the target
- std::vector<double> target_edges_;
- /// nodes and their outgoing internal edges
- std::vector<capacitated_edge> nodes_;
- /// current flow value (includes constant)
- double flow_value_;
- /// identifies which side of the cut a node falls
- std::vector<unsigned char> cut_;
-
- private:
- /// parents_ flag for terminal state
- static const int TERMINAL = -1;
- /// search tree (also uses cut_)
- std::vector<std::pair<int, edge_pair> > parents_;
- /// doubly-linked list (prev, next)
- std::vector<std::pair<int, int> > active_list_;
- int active_head_, active_tail_;
- };
-
- /**\brief Structure to save RGB colors into floats */
- struct Color
- {
- Color () : r (0), g (0), b (0) {}
- Color (float _r, float _g, float _b) : r(_r), g(_g), b(_b) {}
- Color (const pcl::RGB& color) : r (color.r), g (color.g), b (color.b) {}
-
- template<typename PointT>
- Color (const PointT& p)
- {
- r = static_cast<float> (p.r);
- g = static_cast<float> (p.g);
- b = static_cast<float> (p.b);
- }
-
- template<typename PointT>
- operator PointT () const
- {
- PointT p;
- p.r = static_cast<uint32_t> (r);
- p.g = static_cast<uint32_t> (g);
- p.b = static_cast<uint32_t> (b);
- return (p);
- }
-
- float r, g, b;
- };
- /// An Image is a point cloud of Color
- typedef pcl::PointCloud<Color> Image;
- /** \brief Compute squared distance between two colors
- * \param[in] c1 first color
- * \param[in] c2 second color
- * \return the squared distance measure in RGB space
- */
- float
- colorDistance (const Color& c1, const Color& c2);
- /// User supplied Trimap values
- enum TrimapValue { TrimapUnknown = -1, TrimapForeground, TrimapBackground };
- /// Grabcut derived hard segementation values
- enum SegmentationValue { SegmentationForeground = 0, SegmentationBackground };
- /// Gaussian structure
- struct Gaussian
- {
- Gaussian () {}
- /// mean of the gaussian
- Color mu;
- /// covariance matrix of the gaussian
- Eigen::Matrix3f covariance;
- /// determinant of the covariance matrix
- float determinant;
- /// inverse of the covariance matrix
- Eigen::Matrix3f inverse;
- /// weighting of this gaussian in the GMM.
- float pi;
- /// heighest eigenvalue of covariance matrix
- float eigenvalue;
- /// eigenvector corresponding to the heighest eigenvector
- Eigen::Vector3f eigenvector;
- };
-
- class GMM
- {
- public:
- /// Initialize GMM with ddesired number of gaussians.
- GMM () : gaussians_ (0) {}
- /// Initialize GMM with ddesired number of gaussians.
- GMM (std::size_t K) : gaussians_ (K) {}
- /// Destructor
- ~GMM () {}
- /// \return K
- std::size_t
- getK () const { return gaussians_.size (); }
- /// resize gaussians
- void
- resize (std::size_t K) { gaussians_.resize (K); }
- /// \return a reference to the gaussian at a given position
- Gaussian&
- operator[] (std::size_t pos) { return (gaussians_[pos]); }
- /// \return a const reference to the gaussian at a given position
- const Gaussian&
- operator[] (std::size_t pos) const { return (gaussians_[pos]); }
- /// \brief \return the computed probability density of a color in this GMM
- float
- probabilityDensity (const Color &c);
- /// \brief \return the computed probability density of a color in just one Gaussian
- float
- probabilityDensity(std::size_t i, const Color &c);
-
- private:
- /// array of gaussians
- std::vector<Gaussian> gaussians_;
- };
-
- /** Helper class that fits a single Gaussian to color samples */
- class GaussianFitter
- {
- public:
- GaussianFitter (float epsilon = 0.0001)
- : sum_ (Eigen::Vector3f::Zero ())
- , accumulator_ (Eigen::Matrix3f::Zero ())
- , count_ (0)
- , epsilon_ (epsilon)
- { }
-
- /// Add a color sample
- void
- add (const Color &c);
- /// Build the gaussian out of all the added color samples
- void
- fit (Gaussian& g, std::size_t total_count, bool compute_eigens = false) const;
- /// \return epsilon
- float
- getEpsilon () { return (epsilon_); }
- /** set epsilon which will be added to the covariance matrix diagonal which avoids singular
- * covariance matrix
- * \param[in] epsilon user defined epsilon
- */
- void
- setEpsilon (float epsilon) { epsilon_ = epsilon; }
-
- private:
- /// sum of r,g, and b
- Eigen::Vector3f sum_;
- /// matrix of products (i.e. r*r, r*g, r*b), some values are duplicated.
- Eigen::Matrix3f accumulator_;
- /// count of color samples added to the gaussian
- uint32_t count_;
- /// small value to add to covariance matrix diagonal to avoid singular values
- float epsilon_;
- };
-
- /** Build the initial GMMs using the Orchard and Bouman color clustering algorithm */
- void
- buildGMMs (const Image &image,
- const std::vector<int>& indices,
- const std::vector<SegmentationValue> &hardSegmentation,
- std::vector<std::size_t> &components,
- GMM &background_GMM, GMM &foreground_GMM);
- /** Iteratively learn GMMs using GrabCut updating algorithm */
- void
- learnGMMs (const Image& image,
- const std::vector<int>& indices,
- const std::vector<SegmentationValue>& hard_segmentation,
- std::vector<std::size_t>& components,
- GMM& background_GMM, GMM& foreground_GMM);
- }
- };
-
- /** \brief Implementation of the GrabCut segmentation in
- * "GrabCut — Interactive Foreground Extraction using Iterated Graph Cuts" by
- * Carsten Rother, Vladimir Kolmogorov and Andrew Blake.
- *
- * \author Justin Talbot, jtalbot@stanford.edu placed in Public Domain, 2010
- * \author Nizar Sallem port to PCL and adaptation of original code.
- * \ingroup segmentation
- */
- template <typename PointT>
- class GrabCut : public pcl::PCLBase<PointT>
- {
- public:
- typedef typename pcl::search::Search<PointT> KdTree;
- typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
- typedef typename PCLBase<PointT>::PointCloudConstPtr PointCloudConstPtr;
- typedef typename PCLBase<PointT>::PointCloudPtr PointCloudPtr;
- using PCLBase<PointT>::input_;
- using PCLBase<PointT>::indices_;
- using PCLBase<PointT>::fake_indices_;
-
- /// Constructor
- GrabCut (uint32_t K = 5, float lambda = 50.f)
- : K_ (K)
- , lambda_ (lambda)
- , initialized_ (false)
- , nb_neighbours_ (9)
- {}
- /// Desctructor
- virtual ~GrabCut () {};
- // /// Set input cloud
- void
- setInputCloud (const PointCloudConstPtr& cloud);
- /// Set background points, foreground points = points \ background points
- void
- setBackgroundPoints (const PointCloudConstPtr& background_points);
- /// Set background indices, foreground indices = indices \ background indices
- void
- setBackgroundPointsIndices (int x1, int y1, int x2, int y2);
- /// Set background indices, foreground indices = indices \ background indices
- void
- setBackgroundPointsIndices (const PointIndicesConstPtr& indices);
- /// Run Grabcut refinement on the hard segmentation
- virtual void
- refine ();
- /// \return the number of pixels that have changed from foreground to background or vice versa
- virtual int
- refineOnce ();
- /// \return lambda
- float
- getLambda () { return (lambda_); }
- /** Set lambda parameter to user given value. Suggested value by the authors is 50
- * \param[in] lambda
- */
- void
- setLambda (float lambda) { lambda_ = lambda; }
- /// \return the number of components in the GMM
- uint32_t
- getK () { return (K_); }
- /** Set K parameter to user given value. Suggested value by the authors is 5
- * \param[in] K the number of components used in GMM
- */
- void
- setK (uint32_t K) { K_ = K; }
- /** \brief Provide a pointer to the search object.
- * \param tree a pointer to the spatial search object.
- */
- inline void
- setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
- /** \brief Get a pointer to the search method used. */
- inline KdTreePtr
- getSearchMethod () { return (tree_); }
- /** \brief Allows to set the number of neighbours to find.
- * \param[in] number_of_neighbours new number of neighbours
- */
- void
- setNumberOfNeighbours (int nb_neighbours) { nb_neighbours_ = nb_neighbours; }
- /** \brief Returns the number of neighbours to find. */
- int
- getNumberOfNeighbours () const { return (nb_neighbours_); }
- /** \brief This method launches the segmentation algorithm and returns the clusters that were
- * obtained during the segmentation. The indices of points belonging to the object will be stored
- * in the cluster with index 1, other indices will be stored in the cluster with index 0.
- * \param[out] clusters clusters that were obtained. Each cluster is an array of point indices.
- */
- void
- extract (std::vector<pcl::PointIndices>& clusters);
-
- protected:
- // Storage for N-link weights, each pixel stores links to nb_neighbours
- struct NLinks
- {
- NLinks () : nb_links (0), indices (0), dists (0), weights (0) {}
-
- int nb_links;
- std::vector<int> indices;
- std::vector<float> dists;
- std::vector<float> weights;
- };
- bool
- initCompute ();
- typedef pcl::segmentation::grabcut::BoykovKolmogorov::vertex_descriptor vertex_descriptor;
- // /** Update hard segmentation after running GraphCut, \return the number of pixels that have
- // * changed from foreground to background or vice versa.
- // */
- // int
- // updateHardSegmentation ();
- /// Compute beta from image
- void
- computeBeta ();
- /// Compute L parameter from given lambda
- void
- computeL ();
- /// Compute NLinks
- void
- computeNLinks ();
- /// Compute NLinks at a specific rectangular location
- float
- computeNLink (uint32_t x1, uint32_t y1, uint32_t x2, uint32_t y2);
- /// Edit Trimap
- void
- setTrimap (const PointIndicesConstPtr &indices, segmentation::grabcut::TrimapValue t);
- int
- updateHardSegmentation ();
- /// Fit Gaussian Multi Models
- virtual void
- fitGMMs ();
- /// Build the graph for GraphCut
- void
- initGraph ();
- /// Add an edge to the graph, graph must be oriented so we add the edge and its reverse
- void
- addEdge (vertex_descriptor v1, vertex_descriptor v2, float capacity, float rev_capacity);
- /// Set the weights of SOURCE --> v and v --> SINK
- void
- setTerminalWeights (vertex_descriptor v, float source_capacity, float sink_capacity);
- /// \return true if v is in source tree
- inline bool
- isSource (vertex_descriptor v) { return (graph_.inSourceTree (v)); }
- /// image width
- uint32_t width_;
- /// image height
- uint32_t height_;
- // Variables used in formulas from the paper.
- /// Number of GMM components
- uint32_t K_;
- /// lambda = 50. This value was suggested the GrabCut paper.
- float lambda_;
- /// beta = 1/2 * average of the squared color distances between all pairs of 8-neighboring pixels.
- float beta_;
- /// L = a large value to force a pixel to be foreground or background
- float L_;
- /// Pointer to the spatial search object.
- KdTreePtr tree_;
- /// Number of neighbours
- int nb_neighbours_;
- /// is segmentation initialized
- bool initialized_;
- /// Precomputed N-link weights
- std::vector<NLinks> n_links_;
- /// Converted input
- segmentation::grabcut::Image::Ptr image_;
- std::vector<segmentation::grabcut::TrimapValue> trimap_;
- std::vector<std::size_t> GMM_component_;
- std::vector<segmentation::grabcut::SegmentationValue> hard_segmentation_;
- // Not yet implemented (this would be interpreted as alpha)
- std::vector<float> soft_segmentation_;
- segmentation::grabcut::GMM background_GMM_, foreground_GMM_;
- // Graph part
- /// Graph for Graphcut
- pcl::segmentation::grabcut::BoykovKolmogorov graph_;
- /// Graph nodes
- std::vector<vertex_descriptor> graph_nodes_;
- };
-}
-
-#include <pcl/segmentation/impl/grabcut.hpp>
-
-#endif
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, Open Perception, 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.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef PCL_SEGMENTATION_GRABCUT
+#define PCL_SEGMENTATION_GRABCUT
+
+#include <pcl/point_cloud.h>
+#include <pcl/pcl_base.h>
+#include <pcl/point_types.h>
+#include <pcl/segmentation/boost.h>
+#include <pcl/search/search.h>
+
+namespace pcl
+{
+ namespace segmentation
+ {
+ namespace grabcut
+ {
+ /** boost implementation of Boykov and Kolmogorov's maxflow algorithm doesn't support
+ * negative flows which makes it inappropriate for this conext.
+ * This implementation of Boykov and Kolmogorov's maxflow algorithm by Stephen Gould
+ * <stephen.gould@anu.edu.au> in DARWIN under BSD does the trick however solwer than original
+ * implementation.
+ */
+ class PCL_EXPORTS BoykovKolmogorov
+ {
+ public:
+ typedef int vertex_descriptor;
+ typedef double edge_capacity_type;
+
+ /// construct a maxflow/mincut problem with estimated max_nodes
+ BoykovKolmogorov (std::size_t max_nodes = 0);
+ /// destructor
+ virtual ~BoykovKolmogorov () {}
+ /// get number of nodes in the graph
+ size_t
+ numNodes () const { return nodes_.size (); }
+ /// reset all edge capacities to zero (but don't free the graph)
+ void
+ reset ();
+ /// clear the graph and internal datastructures
+ void
+ clear ();
+ /// add nodes to the graph (returns the id of the first node added)
+ int
+ addNodes (std::size_t n = 1);
+ /// add constant flow to graph
+ void
+ addConstant (double c) { flow_value_ += c; }
+ /// add edge from s to nodeId
+ void
+ addSourceEdge (int u, double cap);
+ /// add edge from nodeId to t
+ void
+ addTargetEdge (int u, double cap);
+ /// add edge from u to v and edge from v to u
+ /// (requires cap_uv + cap_vu >= 0)
+ void
+ addEdge (int u, int v, double cap_uv, double cap_vu = 0.0);
+ /// solve the max-flow problem and return the flow
+ double
+ solve ();
+ /// return true if \p u is in the s-set after calling \ref solve.
+ bool
+ inSourceTree (int u) const { return (cut_[u] == SOURCE); }
+ /// return true if \p u is in the t-set after calling \ref solve
+ bool
+ inSinkTree (int u) const { return (cut_[u] == TARGET); }
+ /// returns the residual capacity for an edge (use -1 for terminal (-1,-1) is the current flow
+ double
+ operator() (int u, int v) const;
+
+ double
+ getSourceEdgeCapacity (int u) const;
+
+ double
+ getTargetEdgeCapacity (int u) const;
+
+ protected:
+ /// tree states
+ typedef enum { FREE = 0x00, SOURCE = 0x01, TARGET = 0x02 } nodestate;
+ /// capacitated edge
+ typedef std::map<int, double> capacitated_edge;
+ /// edge pair
+ typedef std::pair<capacitated_edge::iterator, capacitated_edge::iterator> edge_pair;
+ /// pre-augment s-u-t and s-u-v-t paths
+ void
+ preAugmentPaths ();
+ /// initialize trees from source and target
+ void
+ initializeTrees ();
+ /// expand trees until a path is found (or no path (-1, -1))
+ std::pair<int, int>
+ expandTrees ();
+ /// augment the path found by expandTrees; return orphaned subtrees
+ void
+ augmentPath (const std::pair<int, int>& path, std::deque<int>& orphans);
+ /// adopt orphaned subtrees
+ void
+ adoptOrphans (std::deque<int>& orphans);
+ /// clear active set
+ void clearActive ();
+ /// \return true if active set is empty
+ inline bool
+ isActiveSetEmpty () const { return (active_head_ == TERMINAL); }
+ /// active if head or previous node is not the terminal
+ inline bool
+ isActive (int u) const { return ((u == active_head_) || (active_list_[u].first != TERMINAL)); }
+ /// mark vertex as active
+ void
+ markActive (int u);
+ /// mark vertex as inactive
+ void
+ markInactive (int u);
+ /// edges leaving the source
+ std::vector<double> source_edges_;
+ /// edges entering the target
+ std::vector<double> target_edges_;
+ /// nodes and their outgoing internal edges
+ std::vector<capacitated_edge> nodes_;
+ /// current flow value (includes constant)
+ double flow_value_;
+ /// identifies which side of the cut a node falls
+ std::vector<unsigned char> cut_;
+
+ private:
+ /// parents_ flag for terminal state
+ static const int TERMINAL = -1;
+ /// search tree (also uses cut_)
+ std::vector<std::pair<int, edge_pair> > parents_;
+ /// doubly-linked list (prev, next)
+ std::vector<std::pair<int, int> > active_list_;
+ int active_head_, active_tail_;
+ };
+
+ /**\brief Structure to save RGB colors into floats */
+ struct Color
+ {
+ Color () : r (0), g (0), b (0) {}
+ Color (float _r, float _g, float _b) : r(_r), g(_g), b(_b) {}
+ Color (const pcl::RGB& color) : r (color.r), g (color.g), b (color.b) {}
+
+ template<typename PointT>
+ Color (const PointT& p);
+
+ template<typename PointT>
+ operator PointT () const;
+
+ float r, g, b;
+ };
+ /// An Image is a point cloud of Color
+ typedef pcl::PointCloud<Color> Image;
+ /** \brief Compute squared distance between two colors
+ * \param[in] c1 first color
+ * \param[in] c2 second color
+ * \return the squared distance measure in RGB space
+ */
+ float
+ colorDistance (const Color& c1, const Color& c2);
+ /// User supplied Trimap values
+ enum TrimapValue { TrimapUnknown = -1, TrimapForeground, TrimapBackground };
+ /// Grabcut derived hard segementation values
+ enum SegmentationValue { SegmentationForeground = 0, SegmentationBackground };
+ /// Gaussian structure
+ struct Gaussian
+ {
+ Gaussian () {}
+ /// mean of the gaussian
+ Color mu;
+ /// covariance matrix of the gaussian
+ Eigen::Matrix3f covariance;
+ /// determinant of the covariance matrix
+ float determinant;
+ /// inverse of the covariance matrix
+ Eigen::Matrix3f inverse;
+ /// weighting of this gaussian in the GMM.
+ float pi;
+ /// heighest eigenvalue of covariance matrix
+ float eigenvalue;
+ /// eigenvector corresponding to the heighest eigenvector
+ Eigen::Vector3f eigenvector;
+ };
+
+ class PCL_EXPORTS GMM
+ {
+ public:
+ /// Initialize GMM with ddesired number of gaussians.
+ GMM () : gaussians_ (0) {}
+ /// Initialize GMM with ddesired number of gaussians.
+ GMM (std::size_t K) : gaussians_ (K) {}
+ /// Destructor
+ ~GMM () {}
+ /// \return K
+ std::size_t
+ getK () const { return gaussians_.size (); }
+ /// resize gaussians
+ void
+ resize (std::size_t K) { gaussians_.resize (K); }
+ /// \return a reference to the gaussian at a given position
+ Gaussian&
+ operator[] (std::size_t pos) { return (gaussians_[pos]); }
+ /// \return a const reference to the gaussian at a given position
+ const Gaussian&
+ operator[] (std::size_t pos) const { return (gaussians_[pos]); }
+ /// \brief \return the computed probability density of a color in this GMM
+ float
+ probabilityDensity (const Color &c);
+ /// \brief \return the computed probability density of a color in just one Gaussian
+ float
+ probabilityDensity(std::size_t i, const Color &c);
+
+ private:
+ /// array of gaussians
+ std::vector<Gaussian> gaussians_;
+ };
+
+ /** Helper class that fits a single Gaussian to color samples */
+ class GaussianFitter
+ {
+ public:
+ GaussianFitter (float epsilon = 0.0001)
+ : sum_ (Eigen::Vector3f::Zero ())
+ , accumulator_ (Eigen::Matrix3f::Zero ())
+ , count_ (0)
+ , epsilon_ (epsilon)
+ { }
+
+ /// Add a color sample
+ void
+ add (const Color &c);
+ /// Build the gaussian out of all the added color samples
+ void
+ fit (Gaussian& g, std::size_t total_count, bool compute_eigens = false) const;
+ /// \return epsilon
+ float
+ getEpsilon () { return (epsilon_); }
+ /** set epsilon which will be added to the covariance matrix diagonal which avoids singular
+ * covariance matrix
+ * \param[in] epsilon user defined epsilon
+ */
+ void
+ setEpsilon (float epsilon) { epsilon_ = epsilon; }
+
+ private:
+ /// sum of r,g, and b
+ Eigen::Vector3f sum_;
+ /// matrix of products (i.e. r*r, r*g, r*b), some values are duplicated.
+ Eigen::Matrix3f accumulator_;
+ /// count of color samples added to the gaussian
+ uint32_t count_;
+ /// small value to add to covariance matrix diagonal to avoid singular values
+ float epsilon_;
+ };
+
+ /** Build the initial GMMs using the Orchard and Bouman color clustering algorithm */
+ PCL_EXPORTS void
+ buildGMMs (const Image &image,
+ const std::vector<int>& indices,
+ const std::vector<SegmentationValue> &hardSegmentation,
+ std::vector<std::size_t> &components,
+ GMM &background_GMM, GMM &foreground_GMM);
+ /** Iteratively learn GMMs using GrabCut updating algorithm */
+ PCL_EXPORTS void
+ learnGMMs (const Image& image,
+ const std::vector<int>& indices,
+ const std::vector<SegmentationValue>& hard_segmentation,
+ std::vector<std::size_t>& components,
+ GMM& background_GMM, GMM& foreground_GMM);
+ }
+ };
+
+ /** \brief Implementation of the GrabCut segmentation in
+ * "GrabCut — Interactive Foreground Extraction using Iterated Graph Cuts" by
+ * Carsten Rother, Vladimir Kolmogorov and Andrew Blake.
+ *
+ * \author Justin Talbot, jtalbot@stanford.edu placed in Public Domain, 2010
+ * \author Nizar Sallem port to PCL and adaptation of original code.
+ * \ingroup segmentation
+ */
+ template <typename PointT>
+ class GrabCut : public pcl::PCLBase<PointT>
+ {
+ public:
+ typedef typename pcl::search::Search<PointT> KdTree;
+ typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
+ typedef typename PCLBase<PointT>::PointCloudConstPtr PointCloudConstPtr;
+ typedef typename PCLBase<PointT>::PointCloudPtr PointCloudPtr;
+ using PCLBase<PointT>::input_;
+ using PCLBase<PointT>::indices_;
+ using PCLBase<PointT>::fake_indices_;
+
+ /// Constructor
+ GrabCut (uint32_t K = 5, float lambda = 50.f)
+ : K_ (K)
+ , lambda_ (lambda)
+ , nb_neighbours_ (9)
+ , initialized_ (false)
+ {}
+ /// Desctructor
+ virtual ~GrabCut () {};
+ // /// Set input cloud
+ void
+ setInputCloud (const PointCloudConstPtr& cloud);
+ /// Set background points, foreground points = points \ background points
+ void
+ setBackgroundPoints (const PointCloudConstPtr& background_points);
+ /// Set background indices, foreground indices = indices \ background indices
+ void
+ setBackgroundPointsIndices (int x1, int y1, int x2, int y2);
+ /// Set background indices, foreground indices = indices \ background indices
+ void
+ setBackgroundPointsIndices (const PointIndicesConstPtr& indices);
+ /// Run Grabcut refinement on the hard segmentation
+ virtual void
+ refine ();
+ /// \return the number of pixels that have changed from foreground to background or vice versa
+ virtual int
+ refineOnce ();
+ /// \return lambda
+ float
+ getLambda () { return (lambda_); }
+ /** Set lambda parameter to user given value. Suggested value by the authors is 50
+ * \param[in] lambda
+ */
+ void
+ setLambda (float lambda) { lambda_ = lambda; }
+ /// \return the number of components in the GMM
+ uint32_t
+ getK () { return (K_); }
+ /** Set K parameter to user given value. Suggested value by the authors is 5
+ * \param[in] K the number of components used in GMM
+ */
+ void
+ setK (uint32_t K) { K_ = K; }
+ /** \brief Provide a pointer to the search object.
+ * \param tree a pointer to the spatial search object.
+ */
+ inline void
+ setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
+ /** \brief Get a pointer to the search method used. */
+ inline KdTreePtr
+ getSearchMethod () { return (tree_); }
+ /** \brief Allows to set the number of neighbours to find.
+ * \param[in] nb_neighbours new number of neighbours
+ */
+ void
+ setNumberOfNeighbours (int nb_neighbours) { nb_neighbours_ = nb_neighbours; }
+ /** \brief Returns the number of neighbours to find. */
+ int
+ getNumberOfNeighbours () const { return (nb_neighbours_); }
+ /** \brief This method launches the segmentation algorithm and returns the clusters that were
+ * obtained during the segmentation. The indices of points belonging to the object will be stored
+ * in the cluster with index 1, other indices will be stored in the cluster with index 0.
+ * \param[out] clusters clusters that were obtained. Each cluster is an array of point indices.
+ */
+ void
+ extract (std::vector<pcl::PointIndices>& clusters);
+
+ protected:
+ // Storage for N-link weights, each pixel stores links to nb_neighbours
+ struct NLinks
+ {
+ NLinks () : nb_links (0), indices (0), dists (0), weights (0) {}
+
+ int nb_links;
+ std::vector<int> indices;
+ std::vector<float> dists;
+ std::vector<float> weights;
+ };
+ bool
+ initCompute ();
+ typedef pcl::segmentation::grabcut::BoykovKolmogorov::vertex_descriptor vertex_descriptor;
+ /// Compute beta from image
+ void
+ computeBetaOrganized ();
+ /// Compute beta from cloud
+ void
+ computeBetaNonOrganized ();
+ /// Compute L parameter from given lambda
+ void
+ computeL ();
+ /// Compute NLinks from image
+ void
+ computeNLinksOrganized ();
+ /// Compute NLinks from cloud
+ void
+ computeNLinksNonOrganized ();
+ /// Edit Trimap
+ void
+ setTrimap (const PointIndicesConstPtr &indices, segmentation::grabcut::TrimapValue t);
+ int
+ updateHardSegmentation ();
+ /// Fit Gaussian Multi Models
+ virtual void
+ fitGMMs ();
+ /// Build the graph for GraphCut
+ void
+ initGraph ();
+ /// Add an edge to the graph, graph must be oriented so we add the edge and its reverse
+ void
+ addEdge (vertex_descriptor v1, vertex_descriptor v2, float capacity, float rev_capacity);
+ /// Set the weights of SOURCE --> v and v --> SINK
+ void
+ setTerminalWeights (vertex_descriptor v, float source_capacity, float sink_capacity);
+ /// \return true if v is in source tree
+ inline bool
+ isSource (vertex_descriptor v) { return (graph_.inSourceTree (v)); }
+ /// image width
+ uint32_t width_;
+ /// image height
+ uint32_t height_;
+ // Variables used in formulas from the paper.
+ /// Number of GMM components
+ uint32_t K_;
+ /// lambda = 50. This value was suggested the GrabCut paper.
+ float lambda_;
+ /// beta = 1/2 * average of the squared color distances between all pairs of 8-neighboring pixels.
+ float beta_;
+ /// L = a large value to force a pixel to be foreground or background
+ float L_;
+ /// Pointer to the spatial search object.
+ KdTreePtr tree_;
+ /// Number of neighbours
+ int nb_neighbours_;
+ /// is segmentation initialized
+ bool initialized_;
+ /// Precomputed N-link weights
+ std::vector<NLinks> n_links_;
+ /// Converted input
+ segmentation::grabcut::Image::Ptr image_;
+ std::vector<segmentation::grabcut::TrimapValue> trimap_;
+ std::vector<std::size_t> GMM_component_;
+ std::vector<segmentation::grabcut::SegmentationValue> hard_segmentation_;
+ // Not yet implemented (this would be interpreted as alpha)
+ std::vector<float> soft_segmentation_;
+ segmentation::grabcut::GMM background_GMM_, foreground_GMM_;
+ // Graph part
+ /// Graph for Graphcut
+ pcl::segmentation::grabcut::BoykovKolmogorov graph_;
+ /// Graph nodes
+ std::vector<vertex_descriptor> graph_nodes_;
+ };
+}
+
+#include <pcl/segmentation/impl/grabcut_segmentation.hpp>
+
+#endif
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
+#define PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
+
+#include <pcl/common/common.h>
+#include <pcl/common/io.h>
+#include <pcl/filters/morphological_filter.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/segmentation/approximate_progressive_morphological_filter.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT>
+pcl::ApproximateProgressiveMorphologicalFilter<PointT>::ApproximateProgressiveMorphologicalFilter () :
+ max_window_size_ (33),
+ slope_ (0.7f),
+ max_distance_ (10.0f),
+ initial_distance_ (0.15f),
+ cell_size_ (1.0f),
+ base_ (2.0f),
+ exponential_ (true),
+ threads_ (0)
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT>
+pcl::ApproximateProgressiveMorphologicalFilter<PointT>::~ApproximateProgressiveMorphologicalFilter ()
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::ApproximateProgressiveMorphologicalFilter<PointT>::extract (std::vector<int>& ground)
+{
+ bool segmentation_is_possible = initCompute ();
+ if (!segmentation_is_possible)
+ {
+ deinitCompute ();
+ return;
+ }
+
+ // Compute the series of window sizes and height thresholds
+ std::vector<float> height_thresholds;
+ std::vector<float> window_sizes;
+ std::vector<int> half_sizes;
+ int iteration = 0;
+ int half_size = 0.0f;
+ float window_size = 0.0f;
+ float height_threshold = 0.0f;
+
+ while (window_size < max_window_size_)
+ {
+ // Determine the initial window size.
+ if (exponential_)
+ half_size = static_cast<int> (std::pow (static_cast<float> (base_), iteration));
+ else
+ half_size = (iteration+1) * base_;
+
+ window_size = 2 * half_size + 1;
+
+ // Calculate the height threshold to be used in the next iteration.
+ if (iteration == 0)
+ height_threshold = initial_distance_;
+ else
+ height_threshold = slope_ * (window_size - window_sizes[iteration-1]) * cell_size_ + initial_distance_;
+
+ // Enforce max distance on height threshold
+ if (height_threshold > max_distance_)
+ height_threshold = max_distance_;
+
+ half_sizes.push_back (half_size);
+ window_sizes.push_back (window_size);
+ height_thresholds.push_back (height_threshold);
+
+ iteration++;
+ }
+
+ // setup grid based on scale and extents
+ Eigen::Vector4f global_max, global_min;
+ pcl::getMinMax3D<PointT> (*input_, global_min, global_max);
+
+ float xextent = global_max.x () - global_min.x ();
+ float yextent = global_max.y () - global_min.y ();
+
+ int rows = static_cast<int> (std::floor (yextent / cell_size_) + 1);
+ int cols = static_cast<int> (std::floor (xextent / cell_size_) + 1);
+
+ Eigen::MatrixXf A (rows, cols);
+ A.setConstant (std::numeric_limits<float>::quiet_NaN ());
+
+ Eigen::MatrixXf Z (rows, cols);
+ Z.setConstant (std::numeric_limits<float>::quiet_NaN ());
+
+ Eigen::MatrixXf Zf (rows, cols);
+ Zf.setConstant (std::numeric_limits<float>::quiet_NaN ());
+
+#ifdef _OPENMP
+#pragma omp parallel for num_threads(threads_)
+#endif
+ for (int i = 0; i < (int)input_->points.size (); ++i)
+ {
+ // ...then test for lower points within the cell
+ PointT p = input_->points[i];
+ int row = std::floor(p.y - global_min.y ());
+ int col = std::floor(p.x - global_min.x ());
+
+ if (p.z < A (row, col) || pcl_isnan (A (row, col)))
+ {
+ A (row, col) = p.z;
+ }
+ }
+
+ // Ground indices are initially limited to those points in the input cloud we
+ // wish to process
+ ground = *indices_;
+
+ // Progressively filter ground returns using morphological open
+ for (size_t i = 0; i < window_sizes.size (); ++i)
+ {
+ PCL_DEBUG (" Iteration %d (height threshold = %f, window size = %f, half size = %d)...",
+ i, height_thresholds[i], window_sizes[i], half_sizes[i]);
+
+ // Limit filtering to those points currently considered ground returns
+ typename pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
+ pcl::copyPointCloud<PointT> (*input_, ground, *cloud);
+
+ // Apply the morphological opening operation at the current window size.
+#ifdef _OPENMP
+#pragma omp parallel for num_threads(threads_)
+#endif
+ for (int row = 0; row < rows; ++row)
+ {
+ int rs, re;
+ rs = ((row - half_sizes[i]) < 0) ? 0 : row - half_sizes[i];
+ re = ((row + half_sizes[i]) > (rows-1)) ? (rows-1) : row + half_sizes[i];
+
+ for (int col = 0; col < cols; ++col)
+ {
+ int cs, ce;
+ cs = ((col - half_sizes[i]) < 0) ? 0 : col - half_sizes[i];
+ ce = ((col + half_sizes[i]) > (cols-1)) ? (cols-1) : col + half_sizes[i];
+
+ float min_coeff = std::numeric_limits<float>::max ();
+
+ for (int j = rs; j < (re + 1); ++j)
+ {
+ for (int k = cs; k < (ce + 1); ++k)
+ {
+ if (A (j, k) != std::numeric_limits<float>::quiet_NaN ())
+ {
+ if (A (j, k) < min_coeff)
+ min_coeff = A (j, k);
+ }
+ }
+ }
+
+ if (min_coeff != std::numeric_limits<float>::max ())
+ Z(row, col) = min_coeff;
+ }
+ }
+
+#ifdef _OPENMP
+#pragma omp parallel for num_threads(threads_)
+#endif
+ for (int row = 0; row < rows; ++row)
+ {
+ int rs, re;
+ rs = ((row - half_sizes[i]) < 0) ? 0 : row - half_sizes[i];
+ re = ((row + half_sizes[i]) > (rows-1)) ? (rows-1) : row + half_sizes[i];
+
+ for (int col = 0; col < cols; ++col)
+ {
+ int cs, ce;
+ cs = ((col - half_sizes[i]) < 0) ? 0 : col - half_sizes[i];
+ ce = ((col + half_sizes[i]) > (cols-1)) ? (cols-1) : col + half_sizes[i];
+
+ float max_coeff = -std::numeric_limits<float>::max ();
+
+ for (int j = rs; j < (re + 1); ++j)
+ {
+ for (int k = cs; k < (ce + 1); ++k)
+ {
+ if (Z (j, k) != std::numeric_limits<float>::quiet_NaN ())
+ {
+ if (Z (j, k) > max_coeff)
+ max_coeff = Z (j, k);
+ }
+ }
+ }
+
+ if (max_coeff != -std::numeric_limits<float>::max ())
+ Zf (row, col) = max_coeff;
+ }
+ }
+
+ // Find indices of the points whose difference between the source and
+ // filtered point clouds is less than the current height threshold.
+ std::vector<int> pt_indices;
+ for (size_t p_idx = 0; p_idx < ground.size (); ++p_idx)
+ {
+ PointT p = cloud->points[p_idx];
+ int erow = static_cast<int> (std::floor ((p.y - global_min.y ()) / cell_size_));
+ int ecol = static_cast<int> (std::floor ((p.x - global_min.x ()) / cell_size_));
+
+ float diff = p.z - Zf (erow, ecol);
+ if (diff < height_thresholds[i])
+ pt_indices.push_back (ground[p_idx]);
+ }
+
+ A.swap (Zf);
+
+ // Ground is now limited to pt_indices
+ ground.swap (pt_indices);
+
+ PCL_DEBUG ("ground now has %d points\n", ground.size ());
+ }
+
+ deinitCompute ();
+}
+
+
+#define PCL_INSTANTIATE_ApproximateProgressiveMorphologicalFilter(T) template class pcl::ApproximateProgressiveMorphologicalFilter<T>;
+
+#endif // PCL_SEGMENTATION_APPROXIMATE_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
+
}
// If extracting removed clusters, all clusters need to be saved, otherwise only the ones within the given cluster size range
- if (extract_removed_clusters_ || (current_cluster.size () >= min_cluster_size_ && current_cluster.size () <= max_cluster_size_))
+ if (extract_removed_clusters_ ||
+ (static_cast<int> (current_cluster.size ()) >= min_cluster_size_ &&
+ static_cast<int> (current_cluster.size ()) <= max_cluster_size_))
{
pcl::PointIndices pi;
pi.header = input_->header;
for (int ii = 0; ii < static_cast<int> (current_cluster.size ()); ++ii) // ii = indices iterator
pi.indices[ii] = current_cluster[ii];
- if (extract_removed_clusters_ && current_cluster.size () < min_cluster_size_)
+ if (extract_removed_clusters_ && static_cast<int> (current_cluster.size ()) < min_cluster_size_)
small_clusters_->push_back (pi);
- else if (extract_removed_clusters_ && current_cluster.size () > max_cluster_size_)
+ else if (extract_removed_clusters_ && static_cast<int> (current_cluster.size ()) > max_cluster_size_)
large_clusters_->push_back (pi);
else
clusters.push_back (pi);
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
// Check if the tree is sorted -- if it is we don't need to check the first element
//and indices[i]
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
if (tree->getIndices ()->size () != indices.size ())
{
- PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different set of indices (%zu) than the input set (%zu)!\n", tree->getIndices ()->size (), indices.size ());
+ PCL_ERROR ("[pcl::extractEuclideanClusters] Tree built for a different set of indices (%lu) than the input set (%lu)!\n", tree->getIndices ()->size (), indices.size ());
return;
}
// Check if the tree is sorted -- if it is we don't need to check the first element
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::extractLabeledEuclideanClusters] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::extractLabeledEuclideanClusters] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
// Create a bool vector of processed point indices, and initialize it to false
if (static_cast<int> (planar_hull_->points.size ()) < min_pts_hull_)
{
- PCL_ERROR ("[pcl::%s::segment] Not enough points (%zu) in the hull!\n", getClassName ().c_str (), planar_hull_->points.size ());
+ PCL_ERROR ("[pcl::%s::segment] Not enough points (%lu) in the hull!\n", getClassName ().c_str (), planar_hull_->points.size ());
output.indices.clear ();
return;
}
+++ /dev/null
-///////////////////////////////////////////////////////
-// grabCut->initialize (xstart, ystart, xend, yend); //
-// grabCut->fitGMMs (); //
-///////////////////////////////////////////////////////
-#ifndef PCL_SEGMENTATION_IMPL_GRABCUT_HPP
-#define PCL_SEGMENTATION_IMPL_GRABCUT_HPP
-
-#include <pcl/search/organized.h>
-#include <pcl/search/kdtree.h>
-#include <pcl/common/distances.h>
-
-namespace pcl
-{
- template <>
- float squaredEuclideanDistance (const pcl::segmentation::grabcut::Color &c1,
- const pcl::segmentation::grabcut::Color &c2)
- {
- return ((c1.r-c2.r)*(c1.r-c2.r)+(c1.g-c2.g)*(c1.g-c2.g)+(c1.b-c2.b)*(c1.b-c2.b));
- }
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::setInputCloud (const PointCloudConstPtr &cloud)
-{
- input_ = cloud;
-}
-
-template <typename PointT> bool
-pcl::GrabCut<PointT>::initCompute ()
-{
- using namespace pcl::segmentation::grabcut;
- if (!pcl::PCLBase<PointT>::initCompute ())
- {
- PCL_ERROR ("[pcl::GrabCut::initCompute ()] Init failed!");
- return (false);
- }
-
- if (!input_->isOrganized ())
- {
- PCL_ERROR ("[pcl::GrabCut::initCompute ()] Need an organized point cloud to proceed!");
- return (false);
- }
-
- std::vector<pcl::PCLPointField> in_fields_;
- if ((pcl::getFieldIndex<PointT> (*input_, "rgb", in_fields_) == -1) &&
- (pcl::getFieldIndex<PointT> (*input_, "rgba", in_fields_) == -1))
- {
- PCL_ERROR ("[pcl::GrabCut::initCompute ()] No RGB data available, aborting!");
- return (false);
- }
-
- // Initialize the working image
- image_.reset (new Image (input_->width, input_->height));
- for (std::size_t i = 0; i < input_->size (); ++i)
- {
- (*image_) [i] = Color (input_->points[i]);
- }
- width_ = image_->width;
- height_ = image_->height;
-
- // Initialize the spatial locator
- if (!tree_)
- {
- if (input_->isOrganized ())
- tree_.reset (new pcl::search::OrganizedNeighbor<PointT> ());
- else
- tree_.reset (new pcl::search::KdTree<PointT> (false));
- tree_->setInputCloud (input_);
- }
- const std::size_t indices_size = indices_->size ();
- trimap_ = std::vector<segmentation::grabcut::TrimapValue> (indices_size, TrimapUnknown);
- hard_segmentation_ = std::vector<segmentation::grabcut::SegmentationValue> (indices_size,
- SegmentationBackground);
- GMM_component_.resize (indices_size);
- n_links_.resize (indices_size);
- // soft_segmentation_ = 0; // Not yet implemented
- foreground_GMM_.resize (K_);
- background_GMM_.resize (K_);
- //set some constants
- computeL ();
- computeBeta ();
- computeNLinks ();
-
- initialized_ = false;
- return (true);
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::addEdge (vertex_descriptor v1, vertex_descriptor v2, float capacity, float rev_capacity)
-{
- graph_.addEdge (v1, v2, capacity, rev_capacity);
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::setTerminalWeights (vertex_descriptor v, float source_capacity, float sink_capacity)
-{
- graph_.addSourceEdge (v, source_capacity);
- graph_.addTargetEdge (v, sink_capacity);
-}
-
-// template <typename PointT> void
-// pcl::GrabCut<PointT>::setBackgroundPointsIndices (int x1, int y1, int x2, int y2)
-// {
-// using namespace pcl::segmentation::grabcut;
-
-// // Step 1: User creates inital Trimap with rectangle, Background outside, Unknown inside
-// fill (trimap_.begin (), trimap_.end (), TrimapBackground);
-// fillRectangle (trimap_, width_, height_, x1, y1, x2, y2, TrimapUnknown);
-
-// // Step 2: Initial segmentation, Background where Trimap is Background, Foreground where Trimap is Unknown.
-// fill (hard_segmentation_.begin (), hard_segmentation_.end (), SegmentationBackground);
-// fillRectangle (hard_segmentation_, width_, height_, x1, y1, x2, y2, SegmentationForeground);
-// if (!initialized_)
-// {
-// fitGMMs ();
-// initialized_ = true;
-// }
-// }
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::setBackgroundPointsIndices (const PointIndicesConstPtr &indices)
-{
- using namespace pcl::segmentation::grabcut;
- if (!initCompute ())
- return;
-
- std::fill (trimap_.begin (), trimap_.end (), TrimapBackground);
- std::fill (hard_segmentation_.begin (), hard_segmentation_.end (), SegmentationBackground);
- for (std::vector<int>::const_iterator idx = indices->indices.begin (); idx != indices->indices.end (); ++idx)
- {
- trimap_[*idx] = TrimapUnknown;
- hard_segmentation_[*idx] = SegmentationForeground;
- }
-
- if (!initialized_)
- {
- fitGMMs ();
- initialized_ = true;
- }
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::fitGMMs ()
-{
- // Step 3: Build GMMs using Orchard-Bouman clustering algorithm
- buildGMMs (*image_, *indices_, hard_segmentation_, GMM_component_, background_GMM_, foreground_GMM_);
-
- // Initialize the graph for graphcut (do this here so that the T-Link debugging image will be initialized)
- initGraph ();
-}
-
-template <typename PointT> int
-pcl::GrabCut<PointT>::refineOnce ()
-{
- // Steps 4 and 5: Learn new GMMs from current segmentation
- learnGMMs (*image_, *indices_, hard_segmentation_, GMM_component_, background_GMM_, foreground_GMM_);
-
- // Step 6: Run GraphCut and update segmentation
- initGraph ();
-
- float flow = graph_.solve ();
-
- int changed = updateHardSegmentation ();
- PCL_INFO ("%d pixels changed segmentation (max flow = %f)\n", changed, flow);
-
- return (changed);
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::refine ()
-{
- std::size_t changed = indices_->size ();
-
- while (changed)
- changed = refineOnce ();
-}
-
-template <typename PointT> int
-pcl::GrabCut<PointT>::updateHardSegmentation ()
-{
- using namespace pcl::segmentation::grabcut;
-
- int changed = 0;
-
- const int number_of_indices = static_cast<int> (indices_->size ());
- for (int i_point = 0; i_point < number_of_indices; ++i_point)
- {
- SegmentationValue old_value = hard_segmentation_ [i_point];
-
- if (trimap_ [i_point] == TrimapBackground)
- hard_segmentation_ [i_point] = SegmentationBackground;
- else
- if (trimap_ [i_point] == TrimapForeground)
- hard_segmentation_ [i_point] = SegmentationForeground;
- else // TrimapUnknown
- {
- if (isSource (graph_nodes_[i_point]))
- hard_segmentation_ [i_point] = SegmentationForeground;
- else
- hard_segmentation_ [i_point] = SegmentationBackground;
- }
-
- if (old_value != hard_segmentation_ [i_point])
- ++changed;
- }
- return (changed);
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::setTrimap (const PointIndicesConstPtr &indices, segmentation::grabcut::TrimapValue t)
-{
- using namespace pcl::segmentation::grabcut;
- std::vector<int>::const_iterator idx = indices->indices.begin ();
- for (; idx != indices->indices.end (); ++idx)
- trimap_[*idx] = t;
-
- // Immediately set the hard segmentation as well so that the display will update.
- if (t == TrimapForeground)
- for (idx = indices->indices.begin (); idx != indices->indices.end (); ++idx)
- hard_segmentation_[*idx] = SegmentationForeground;
- else
- if (t == TrimapBackground)
- for (idx = indices->indices.begin (); idx != indices->indices.end (); ++idx)
- hard_segmentation_[*idx] = SegmentationBackground;
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::initGraph ()
-{
- using namespace pcl::segmentation::grabcut;
- const int number_of_indices = static_cast<int> (indices_->size ());
- // Set up the graph (it can only be used once, so we have to recreate it each time the graph is updated)
- graph_.clear ();
- graph_nodes_.clear ();
- graph_nodes_.resize (indices_->size ());
- int start = graph_.addNodes (indices_->size ());
- for (int idx = 0; idx < indices_->size (); ++idx)
- {
- graph_nodes_[idx] = start;
- ++start;
- }
-
- // Set T-Link weights
- for (int i_point = 0; i_point < number_of_indices; ++i_point)
- {
- int point_index = (*indices_) [i_point];
- float back, fore;
-
- switch (trimap_[point_index])
- {
- case TrimapUnknown :
- {
- fore = static_cast<float> (-log (background_GMM_.probabilityDensity (image_->points[point_index])));
- back = static_cast<float> (-log (foreground_GMM_.probabilityDensity (image_->points[point_index])));
- break;
- }
- case TrimapBackground :
- {
- fore = 0;
- back = L_;
- break;
- }
- default :
- {
- fore = L_;
- back = 0;
- }
- }
-
- setTerminalWeights (graph_nodes_[i_point], fore, back);
- }
-
- // Set N-Link weights from precomputed values
- for (int i_point = 0; i_point < number_of_indices; ++i_point)
- {
- const NLinks &n_link = n_links_[i_point];
- if (n_link.nb_links > 0)
- {
- int point_index = (*indices_) [i_point];
- std::vector<int>::const_iterator indices_it = n_link.indices.begin ();
- std::vector<float>::const_iterator weights_it = n_link.weights.begin ();
- for (; indices_it != n_link.indices.end (); ++indices_it, ++weights_it)
- {
- if (*indices_it != point_index)
- {
- addEdge (graph_nodes_[i_point], graph_nodes_[*indices_it], *weights_it, *weights_it);
- }
- }
- }
- }
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::computeNLinks ()
-{
- const int number_of_indices = static_cast<int> (indices_->size ());
- for (int i_point = 0; i_point < number_of_indices; ++i_point)
- {
- NLinks &n_link = n_links_[i_point];
- if (n_link.nb_links > 0)
- {
- int point_index = (*indices_) [i_point];
- std::vector<int>::const_iterator indices_it = n_link.indices.begin ();
- std::vector<float>::const_iterator dists_it = n_link.dists.begin ();
- std::vector<float>::iterator weights_it = n_link.weights.begin ();
- for (; indices_it != n_link.indices.end (); ++indices_it, ++dists_it, ++weights_it)
- {
- if (*indices_it != point_index)
- {
- // We saved the color distance previously at the computeBeta stage for optimization purpose
- float color_distance = *weights_it;
- // Set the real weight
- *weights_it = static_cast<float> (lambda_ * exp (-beta_ * color_distance) / sqrt (*dists_it));
- }
- }
- }
- }
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::computeBeta ()
-{
- float result = 0;
- std::size_t edges = 0;
-
- const int number_of_indices = static_cast<int> (indices_->size ());
-
- for (int i_point = 0; i_point < number_of_indices; i_point++)
- {
- int point_index = (*indices_)[i_point];
- const PointT& point = input_->points [point_index];
- if (pcl::isFinite (point))
- {
- NLinks &links = n_links_[i_point];
- int found = tree_->nearestKSearch (point, nb_neighbours_, links.indices, links.dists);
- if (found > 1)
- {
- links.nb_links = found - 1;
- links.weights.reserve (links.nb_links);
- for (std::vector<int>::const_iterator nn_it = links.indices.begin (); nn_it != links.indices.end (); ++nn_it)
- {
- if (*nn_it != point_index)
- {
- float color_distance = squaredEuclideanDistance (image_->points[point_index], image_->points[*nn_it]);
- links.weights.push_back (color_distance);
- result+= color_distance;
- ++edges;
- }
- else
- links.weights.push_back (0.f);
- }
- }
- }
- }
- std::cout << "result " << result << std::endl;
- std::cout << "edges " << edges << std::endl;
- beta_ = 1e5 / (2*result / edges);
- std::cout << "beta " << beta_ << std::endl;
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::computeL ()
-{
- L_ = 8*lambda_ + 1;
-}
-
-template <typename PointT> void
-pcl::GrabCut<PointT>::extract (std::vector<pcl::PointIndices>& clusters)
-{
- using namespace pcl::segmentation::grabcut;
- clusters.clear ();
- clusters.resize (2);
- clusters[0].indices.reserve (indices_->size ());
- clusters[1].indices.reserve (indices_->size ());
- refine ();
- assert (hard_segmentation_.size () == indices_->size ());
- const int indices_size = static_cast<int> (indices_->size ());
- for (int i = 0; i < indices_size; ++i)
- if (hard_segmentation_[i] == SegmentationForeground)
- clusters[1].indices.push_back (i);
- else
- clusters[0].indices.push_back (i);
-}
-
-#endif
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, Open Perception, 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.
+ *
+ */
+
+#ifndef PCL_SEGMENTATION_IMPL_GRABCUT_HPP
+#define PCL_SEGMENTATION_IMPL_GRABCUT_HPP
+
+#include <pcl/search/organized.h>
+#include <pcl/search/kdtree.h>
+#include <pcl/common/distances.h>
+
+namespace pcl
+{
+ template <>
+ float squaredEuclideanDistance (const pcl::segmentation::grabcut::Color &c1,
+ const pcl::segmentation::grabcut::Color &c2)
+ {
+ return ((c1.r-c2.r)*(c1.r-c2.r)+(c1.g-c2.g)*(c1.g-c2.g)+(c1.b-c2.b)*(c1.b-c2.b));
+ }
+}
+
+template <typename PointT>
+pcl::segmentation::grabcut::Color::Color (const PointT& p)
+{
+ r = static_cast<float> (p.r) / 255.0;
+ g = static_cast<float> (p.g) / 255.0;
+ b = static_cast<float> (p.b) / 255.0;
+}
+
+template <typename PointT>
+pcl::segmentation::grabcut::Color::operator PointT () const
+{
+ PointT p;
+ p.r = static_cast<uint32_t> (r * 255);
+ p.g = static_cast<uint32_t> (g * 255);
+ p.b = static_cast<uint32_t> (b * 255);
+ return (p);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::setInputCloud (const PointCloudConstPtr &cloud)
+{
+ input_ = cloud;
+}
+
+template <typename PointT> bool
+pcl::GrabCut<PointT>::initCompute ()
+{
+ using namespace pcl::segmentation::grabcut;
+ if (!pcl::PCLBase<PointT>::initCompute ())
+ {
+ PCL_ERROR ("[pcl::GrabCut::initCompute ()] Init failed!");
+ return (false);
+ }
+
+ std::vector<pcl::PCLPointField> in_fields_;
+ if ((pcl::getFieldIndex<PointT> (*input_, "rgb", in_fields_) == -1) &&
+ (pcl::getFieldIndex<PointT> (*input_, "rgba", in_fields_) == -1))
+ {
+ PCL_ERROR ("[pcl::GrabCut::initCompute ()] No RGB data available, aborting!");
+ return (false);
+ }
+
+ // Initialize the working image
+ image_.reset (new Image (input_->width, input_->height));
+ for (std::size_t i = 0; i < input_->size (); ++i)
+ {
+ (*image_) [i] = Color (input_->points[i]);
+ }
+ width_ = image_->width;
+ height_ = image_->height;
+
+ // Initialize the spatial locator
+ if (!tree_ && !input_->isOrganized ())
+ {
+ tree_.reset (new pcl::search::KdTree<PointT> (true));
+ tree_->setInputCloud (input_);
+ }
+
+ const std::size_t indices_size = indices_->size ();
+ trimap_ = std::vector<segmentation::grabcut::TrimapValue> (indices_size, TrimapUnknown);
+ hard_segmentation_ = std::vector<segmentation::grabcut::SegmentationValue> (indices_size,
+ SegmentationBackground);
+ GMM_component_.resize (indices_size);
+ n_links_.resize (indices_size);
+
+ // soft_segmentation_ = 0; // Not yet implemented
+ foreground_GMM_.resize (K_);
+ background_GMM_.resize (K_);
+
+ //set some constants
+ computeL ();
+
+ if (image_->isOrganized ())
+ {
+ computeBetaOrganized ();
+ computeNLinksOrganized ();
+ }
+ else
+ {
+ computeBetaNonOrganized ();
+ computeNLinksNonOrganized ();
+ }
+
+ initialized_ = false;
+ return (true);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::addEdge (vertex_descriptor v1, vertex_descriptor v2, float capacity, float rev_capacity)
+{
+ graph_.addEdge (v1, v2, capacity, rev_capacity);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::setTerminalWeights (vertex_descriptor v, float source_capacity, float sink_capacity)
+{
+ graph_.addSourceEdge (v, source_capacity);
+ graph_.addTargetEdge (v, sink_capacity);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::setBackgroundPointsIndices (const PointIndicesConstPtr &indices)
+{
+ using namespace pcl::segmentation::grabcut;
+ if (!initCompute ())
+ return;
+
+ std::fill (trimap_.begin (), trimap_.end (), TrimapBackground);
+ std::fill (hard_segmentation_.begin (), hard_segmentation_.end (), SegmentationBackground);
+ for (std::vector<int>::const_iterator idx = indices->indices.begin (); idx != indices->indices.end (); ++idx)
+ {
+ trimap_[*idx] = TrimapUnknown;
+ hard_segmentation_[*idx] = SegmentationForeground;
+ }
+
+ if (!initialized_)
+ {
+ fitGMMs ();
+ initialized_ = true;
+ }
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::fitGMMs ()
+{
+ // Step 3: Build GMMs using Orchard-Bouman clustering algorithm
+ buildGMMs (*image_, *indices_, hard_segmentation_, GMM_component_, background_GMM_, foreground_GMM_);
+
+ // Initialize the graph for graphcut (do this here so that the T-Link debugging image will be initialized)
+ initGraph ();
+}
+
+template <typename PointT> int
+pcl::GrabCut<PointT>::refineOnce ()
+{
+ // Steps 4 and 5: Learn new GMMs from current segmentation
+ learnGMMs (*image_, *indices_, hard_segmentation_, GMM_component_, background_GMM_, foreground_GMM_);
+
+ // Step 6: Run GraphCut and update segmentation
+ initGraph ();
+
+ float flow = graph_.solve ();
+
+ int changed = updateHardSegmentation ();
+ PCL_INFO ("%d pixels changed segmentation (max flow = %f)\n", changed, flow);
+
+ return (changed);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::refine ()
+{
+ std::size_t changed = indices_->size ();
+
+ while (changed)
+ changed = refineOnce ();
+}
+
+template <typename PointT> int
+pcl::GrabCut<PointT>::updateHardSegmentation ()
+{
+ using namespace pcl::segmentation::grabcut;
+
+ int changed = 0;
+
+ const int number_of_indices = static_cast<int> (indices_->size ());
+ for (int i_point = 0; i_point < number_of_indices; ++i_point)
+ {
+ SegmentationValue old_value = hard_segmentation_ [i_point];
+
+ if (trimap_ [i_point] == TrimapBackground)
+ hard_segmentation_ [i_point] = SegmentationBackground;
+ else
+ if (trimap_ [i_point] == TrimapForeground)
+ hard_segmentation_ [i_point] = SegmentationForeground;
+ else // TrimapUnknown
+ {
+ if (isSource (graph_nodes_[i_point]))
+ hard_segmentation_ [i_point] = SegmentationForeground;
+ else
+ hard_segmentation_ [i_point] = SegmentationBackground;
+ }
+
+ if (old_value != hard_segmentation_ [i_point])
+ ++changed;
+ }
+ return (changed);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::setTrimap (const PointIndicesConstPtr &indices, segmentation::grabcut::TrimapValue t)
+{
+ using namespace pcl::segmentation::grabcut;
+ std::vector<int>::const_iterator idx = indices->indices.begin ();
+ for (; idx != indices->indices.end (); ++idx)
+ trimap_[*idx] = t;
+
+ // Immediately set the hard segmentation as well so that the display will update.
+ if (t == TrimapForeground)
+ for (idx = indices->indices.begin (); idx != indices->indices.end (); ++idx)
+ hard_segmentation_[*idx] = SegmentationForeground;
+ else
+ if (t == TrimapBackground)
+ for (idx = indices->indices.begin (); idx != indices->indices.end (); ++idx)
+ hard_segmentation_[*idx] = SegmentationBackground;
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::initGraph ()
+{
+ using namespace pcl::segmentation::grabcut;
+ const int number_of_indices = static_cast<int> (indices_->size ());
+ // Set up the graph (it can only be used once, so we have to recreate it each time the graph is updated)
+ graph_.clear ();
+ graph_nodes_.clear ();
+ graph_nodes_.resize (indices_->size ());
+ int start = graph_.addNodes (indices_->size ());
+ for (int idx = 0; idx < indices_->size (); ++idx)
+ {
+ graph_nodes_[idx] = start;
+ ++start;
+ }
+
+ // Set T-Link weights
+ for (int i_point = 0; i_point < number_of_indices; ++i_point)
+ {
+ int point_index = (*indices_) [i_point];
+ float back, fore;
+
+ switch (trimap_[point_index])
+ {
+ case TrimapUnknown :
+ {
+ fore = static_cast<float> (-log (background_GMM_.probabilityDensity (image_->points[point_index])));
+ back = static_cast<float> (-log (foreground_GMM_.probabilityDensity (image_->points[point_index])));
+ break;
+ }
+ case TrimapBackground :
+ {
+ fore = 0;
+ back = L_;
+ break;
+ }
+ default :
+ {
+ fore = L_;
+ back = 0;
+ }
+ }
+
+ setTerminalWeights (graph_nodes_[i_point], fore, back);
+ }
+
+ // Set N-Link weights from precomputed values
+ for (int i_point = 0; i_point < number_of_indices; ++i_point)
+ {
+ const NLinks &n_link = n_links_[i_point];
+ if (n_link.nb_links > 0)
+ {
+ int point_index = (*indices_) [i_point];
+ std::vector<int>::const_iterator indices_it = n_link.indices.begin ();
+ std::vector<float>::const_iterator weights_it = n_link.weights.begin ();
+ for (; indices_it != n_link.indices.end (); ++indices_it, ++weights_it)
+ {
+ if ((*indices_it != point_index) && (*indices_it > -1))
+ {
+ addEdge (graph_nodes_[i_point], graph_nodes_[*indices_it], *weights_it, *weights_it);
+ }
+ }
+ }
+ }
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::computeNLinksNonOrganized ()
+{
+ const int number_of_indices = static_cast<int> (indices_->size ());
+ for (int i_point = 0; i_point < number_of_indices; ++i_point)
+ {
+ NLinks &n_link = n_links_[i_point];
+ if (n_link.nb_links > 0)
+ {
+ int point_index = (*indices_) [i_point];
+ std::vector<int>::const_iterator indices_it = n_link.indices.begin ();
+ std::vector<float>::const_iterator dists_it = n_link.dists.begin ();
+ std::vector<float>::iterator weights_it = n_link.weights.begin ();
+ for (; indices_it != n_link.indices.end (); ++indices_it, ++dists_it, ++weights_it)
+ {
+ if (*indices_it != point_index)
+ {
+ // We saved the color distance previously at the computeBeta stage for optimization purpose
+ float color_distance = *weights_it;
+ // Set the real weight
+ *weights_it = static_cast<float> (lambda_ * exp (-beta_ * color_distance) / sqrt (*dists_it));
+ }
+ }
+ }
+ }
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::computeNLinksOrganized ()
+{
+ for( unsigned int y = 0; y < image_->height; ++y )
+ {
+ for( unsigned int x = 0; x < image_->width; ++x )
+ {
+ // We saved the color and euclidean distance previously at the computeBeta stage for
+ // optimization purpose but here we compute the real weight
+ std::size_t point_index = y * input_->width + x;
+ NLinks &links = n_links_[point_index];
+
+ if( x > 0 && y < image_->height-1 )
+ links.weights[0] = lambda_ * exp (-beta_ * links.weights[0]) / links.dists[0];
+
+ if( y < image_->height-1 )
+ links.weights[1] = lambda_ * exp (-beta_ * links.weights[1]) / links.dists[1];
+
+ if( x < image_->width-1 && y < image_->height-1 )
+ links.weights[2] = lambda_ * exp (-beta_ * links.weights[2]) / links.dists[2];
+
+ if( x < image_->width-1 )
+ links.weights[3] = lambda_ * exp (-beta_ * links.weights[3]) / links.dists[3];
+ }
+ }
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::computeBetaNonOrganized ()
+{
+ float result = 0;
+ std::size_t edges = 0;
+
+ const int number_of_indices = static_cast<int> (indices_->size ());
+
+ for (int i_point = 0; i_point < number_of_indices; i_point++)
+ {
+ int point_index = (*indices_)[i_point];
+ const PointT& point = input_->points [point_index];
+ if (pcl::isFinite (point))
+ {
+ NLinks &links = n_links_[i_point];
+ int found = tree_->nearestKSearch (point, nb_neighbours_, links.indices, links.dists);
+ if (found > 1)
+ {
+ links.nb_links = found - 1;
+ links.weights.reserve (links.nb_links);
+ for (std::vector<int>::const_iterator nn_it = links.indices.begin (); nn_it != links.indices.end (); ++nn_it)
+ {
+ if (*nn_it != point_index)
+ {
+ float color_distance = squaredEuclideanDistance (image_->points[point_index], image_->points[*nn_it]);
+ links.weights.push_back (color_distance);
+ result+= color_distance;
+ ++edges;
+ }
+ else
+ links.weights.push_back (0.f);
+ }
+ }
+ }
+ }
+
+ beta_ = 1e5 / (2*result / edges);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::computeBetaOrganized ()
+{
+ float result = 0;
+ std::size_t edges = 0;
+
+ for (unsigned int y = 0; y < input_->height; ++y)
+ {
+ for (unsigned int x = 0; x < input_->width; ++x)
+ {
+ std::size_t point_index = y * input_->width + x;
+ NLinks &links = n_links_[point_index];
+ links.nb_links = 4;
+ links.weights.resize (links.nb_links, 0);
+ links.dists.resize (links.nb_links, 0);
+ links.indices.resize (links.nb_links, -1);
+
+ if (x > 0 && y < input_->height-1)
+ {
+ std::size_t upleft = (y+1) * input_->width + x - 1;
+ links.indices[0] = upleft;
+ links.dists[0] = sqrt (2.f);
+ float color_dist = squaredEuclideanDistance (image_->points[point_index],
+ image_->points[upleft]);
+ links.weights[0] = color_dist;
+ result+= color_dist;
+ edges++;
+ }
+
+ if (y < input_->height-1)
+ {
+ std::size_t up = (y+1) * input_->width + x;
+ links.indices[1] = up;
+ links.dists[1] = 1;
+ float color_dist = squaredEuclideanDistance (image_->points[point_index],
+ image_->points[up]);
+ links.weights[1] = color_dist;
+ result+= color_dist;
+ edges++;
+ }
+
+ if (x < input_->width-1 && y < input_->height-1)
+ {
+ std::size_t upright = (y+1) * input_->width + x + 1;
+ links.indices[2] = upright;
+ links.dists[2] = sqrt (2.f);
+ float color_dist = squaredEuclideanDistance (image_->points[point_index],
+ image_->points [upright]);
+ links.weights[2] = color_dist;
+ result+= color_dist;
+ edges++;
+ }
+
+ if (x < input_->width-1)
+ {
+ std::size_t right = y * input_->width + x + 1;
+ links.indices[3] = right;
+ links.dists[3] = 1;
+ float color_dist = squaredEuclideanDistance (image_->points[point_index],
+ image_->points[right]);
+ links.weights[3] = color_dist;
+ result+= color_dist;
+ edges++;
+ }
+ }
+ }
+
+ beta_ = 1e5 / (2*result / edges);
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::computeL ()
+{
+ L_ = 8*lambda_ + 1;
+}
+
+template <typename PointT> void
+pcl::GrabCut<PointT>::extract (std::vector<pcl::PointIndices>& clusters)
+{
+ using namespace pcl::segmentation::grabcut;
+ clusters.clear ();
+ clusters.resize (2);
+ clusters[0].indices.reserve (indices_->size ());
+ clusters[1].indices.reserve (indices_->size ());
+ refine ();
+ assert (hard_segmentation_.size () == indices_->size ());
+ const int indices_size = static_cast<int> (indices_->size ());
+ for (int i = 0; i < indices_size; ++i)
+ if (hard_segmentation_[i] == SegmentationForeground)
+ clusters[1].indices.push_back (i);
+ else
+ clusters[0].indices.push_back (i);
+}
+
+#endif
{
if (labels[current_row + colIdx].label == invalid_label)
labels[current_row + colIdx].label = labels[previous_row + colIdx].label;
- else
+ else if (labels[previous_row + colIdx].label != invalid_label)
{
unsigned root1 = findRoot (run_ids, labels[current_row + colIdx].label);
unsigned root2 = findRoot (run_ids, labels[previous_row + colIdx].label);
// Check that we got the same number of points and normals
if (static_cast<int> (normals_->points.size ()) != static_cast<int> (input_->points.size ()))
{
- PCL_ERROR ("[pcl::%s::segment] Number of points in input cloud (%zu) and normal cloud (%zu) do not match!\n",
+ PCL_ERROR ("[pcl::%s::segment] Number of points in input cloud (%lu) and normal cloud (%lu) do not match!\n",
getClassName ().c_str (), input_->points.size (),
normals_->points.size ());
return;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
+#define PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
+
+#include <pcl/common/common.h>
+#include <pcl/common/io.h>
+#include <pcl/filters/morphological_filter.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/segmentation/progressive_morphological_filter.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT>
+pcl::ProgressiveMorphologicalFilter<PointT>::ProgressiveMorphologicalFilter () :
+ max_window_size_ (33),
+ slope_ (0.7f),
+ max_distance_ (10.0f),
+ initial_distance_ (0.15f),
+ cell_size_ (1.0f),
+ base_ (2.0f),
+ exponential_ (true)
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT>
+pcl::ProgressiveMorphologicalFilter<PointT>::~ProgressiveMorphologicalFilter ()
+{
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::ProgressiveMorphologicalFilter<PointT>::extract (std::vector<int>& ground)
+{
+ bool segmentation_is_possible = initCompute ();
+ if (!segmentation_is_possible)
+ {
+ deinitCompute ();
+ return;
+ }
+
+ // Compute the series of window sizes and height thresholds
+ std::vector<float> height_thresholds;
+ std::vector<float> window_sizes;
+ int iteration = 0;
+ float window_size = 0.0f;
+ float height_threshold = 0.0f;
+
+ while (window_size < max_window_size_)
+ {
+ // Determine the initial window size.
+ if (exponential_)
+ window_size = cell_size_ * (2.0f * std::pow (base_, iteration) + 1.0f);
+ else
+ window_size = cell_size_ * (2.0f * (iteration+1) * base_ + 1.0f);
+
+ // Calculate the height threshold to be used in the next iteration.
+ if (iteration == 0)
+ height_threshold = initial_distance_;
+ else
+ height_threshold = slope_ * (window_size - window_sizes[iteration-1]) * cell_size_ + initial_distance_;
+
+ // Enforce max distance on height threshold
+ if (height_threshold > max_distance_)
+ height_threshold = max_distance_;
+
+ window_sizes.push_back (window_size);
+ height_thresholds.push_back (height_threshold);
+
+ iteration++;
+ }
+
+ // Ground indices are initially limited to those points in the input cloud we
+ // wish to process
+ ground = *indices_;
+
+ // Progressively filter ground returns using morphological open
+ for (size_t i = 0; i < window_sizes.size (); ++i)
+ {
+ PCL_DEBUG (" Iteration %d (height threshold = %f, window size = %f)...",
+ i, height_thresholds[i], window_sizes[i]);
+
+ // Limit filtering to those points currently considered ground returns
+ typename pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
+ pcl::copyPointCloud<PointT> (*input_, ground, *cloud);
+
+ // Create new cloud to hold the filtered results. Apply the morphological
+ // opening operation at the current window size.
+ typename pcl::PointCloud<PointT>::Ptr cloud_f (new pcl::PointCloud<PointT>);
+ pcl::applyMorphologicalOperator<PointT> (cloud, window_sizes[i], MORPH_OPEN, *cloud_f);
+
+ // Find indices of the points whose difference between the source and
+ // filtered point clouds is less than the current height threshold.
+ std::vector<int> pt_indices;
+ for (size_t p_idx = 0; p_idx < ground.size (); ++p_idx)
+ {
+ float diff = cloud->points[p_idx].z - cloud_f->points[p_idx].z;
+ if (diff < height_thresholds[i])
+ pt_indices.push_back (ground[p_idx]);
+ }
+
+ // Ground is now limited to pt_indices
+ ground.swap (pt_indices);
+
+ PCL_DEBUG ("ground now has %d points\n", ground.size ());
+ }
+
+ deinitCompute ();
+}
+
+#define PCL_INSTANTIATE_ProgressiveMorphologicalFilter(T) template class pcl::ProgressiveMorphologicalFilter<T>;
+
+#endif // PCL_SEGMENTATION_PROGRESSIVE_MORPHOLOGICAL_FILTER_HPP_
+
std::vector<pcl::PointIndices>::iterator cluster_iter_input = clusters.begin ();
for (std::vector<pcl::PointIndices>::const_iterator cluster_iter = clusters_.begin (); cluster_iter != clusters_.end (); cluster_iter++)
{
- if ((cluster_iter->indices.size () >= min_pts_per_cluster_) &&
- (cluster_iter->indices.size () <= max_pts_per_cluster_))
+ if ((static_cast<int> (cluster_iter->indices.size ()) >= min_pts_per_cluster_) &&
+ (static_cast<int> (cluster_iter->indices.size ()) <= max_pts_per_cluster_))
{
*cluster_iter_input = *cluster_iter;
cluster_iter_input++;
std::vector<float> distances;
point_neighbours_.resize (input_->points.size (), neighbours);
-
- for (int i_point = 0; i_point < point_number; i_point++)
+ if (input_->is_dense)
{
- int point_index = (*indices_)[i_point];
- neighbours.clear ();
- search_->nearestKSearch (i_point, neighbour_number_, neighbours, distances);
- point_neighbours_[point_index].swap (neighbours);
+ for (int i_point = 0; i_point < point_number; i_point++)
+ {
+ int point_index = (*indices_)[i_point];
+ neighbours.clear ();
+ search_->nearestKSearch (i_point, neighbour_number_, neighbours, distances);
+ point_neighbours_[point_index].swap (neighbours);
+ }
+ }
+ else
+ {
+ for (int i_point = 0; i_point < point_number; i_point++)
+ {
+ neighbours.clear ();
+ int point_index = (*indices_)[i_point];
+ if (!pcl::isFinite (input_->points[point_index]))
+ continue;
+ search_->nearestKSearch (i_point, neighbour_number_, neighbours, distances);
+ point_neighbours_[point_index].swap (neighbours);
+ }
}
}
// first of all we need to find out if this point belongs to cloud
bool point_was_found = false;
int number_of_points = static_cast <int> (indices_->size ());
- for (size_t point = 0; point < number_of_points; point++)
+ for (int point = 0; point < number_of_points; point++)
if ( (*indices_)[point] == index)
{
point_was_found = true;
std::vector<pcl::PointIndices>::iterator cluster_iter = clusters_.begin ();
while (cluster_iter != clusters_.end ())
{
- if (cluster_iter->indices.size () < min_pts_per_cluster_ || cluster_iter->indices.size () > max_pts_per_cluster_)
+ if (static_cast<int> (cluster_iter->indices.size ()) < min_pts_per_cluster_ ||
+ static_cast<int> (cluster_iter->indices.size ()) > max_pts_per_cluster_)
{
cluster_iter = clusters_.erase (cluster_iter);
}
- else
+ else
cluster_iter++;
}
int final_segment_number = homogeneous_region_number;
for (int i_reg = 0; i_reg < homogeneous_region_number; i_reg++)
{
- if (num_pts_in_homogeneous_region[i_reg] < min_pts_per_cluster_)
+ if (static_cast<int> (num_pts_in_homogeneous_region[i_reg]) < min_pts_per_cluster_)
{
if ( region_neighbours[i_reg].empty () )
continue;
}
// now we need to erase empty regions
- std::vector< pcl::PointIndices >::iterator i_region;
- i_region = clusters_.begin ();
- while(i_region != clusters_.end ())
+ if (clusters_.empty ())
+ return;
+
+ std::vector<pcl::PointIndices>::iterator itr1, itr2;
+ itr1 = clusters_.begin ();
+ itr2 = clusters_.end () - 1;
+
+ while (itr1 < itr2)
{
- if ( i_region->indices.empty () )
- i_region = clusters_.erase (i_region);
- else
- i_region++;
+ while (!(itr1->indices.empty ()) && itr1 < itr2)
+ itr1++;
+ while ( itr2->indices.empty () && itr1 < itr2)
+ itr2--;
+
+ if (itr1 != itr2)
+ itr1->indices.swap (itr2->indices);
}
+
+ if (itr2->indices.empty ())
+ clusters_.erase (itr2, clusters_.end ());
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// first of all we need to find out if this point belongs to cloud
bool point_was_found = false;
int number_of_points = static_cast <int> (indices_->size ());
- for (size_t point = 0; point < number_of_points; point++)
+ for (int point = 0; point < number_of_points; point++)
if ( (*indices_)[point] == index)
{
point_was_found = true;
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::seededHueSegmentation] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::seededHueSegmentation] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
// Create a bool vector of processed point indices, and initialize it to false
{
if (tree->getInputCloud ()->points.size () != cloud.points.size ())
{
- PCL_ERROR ("[pcl::seededHueSegmentation] Tree built for a different point cloud dataset (%zu) than the input cloud (%zu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
+ PCL_ERROR ("[pcl::seededHueSegmentation] Tree built for a different point cloud dataset (%lu) than the input cloud (%lu)!\n", tree->getInputCloud ()->points.size (), cloud.points.size ());
return;
}
// Create a bool vector of processed point indices, and initialize it to false
#define PCL_SEGMENTATION_IMPL_SEGMENT_DIFFERENCES_H_
#include <pcl/segmentation/segment_differences.h>
-#include <pcl/common/concatenate.h>
+#include <pcl/common/io.h>
//////////////////////////////////////////////////////////////////////////
template <typename PointT> void
// Search for the closest point in the target data set (number of neighbors to find = 1)
if (!tree->nearestKSearch (src.points[i], 1, nn_indices, nn_distances))
{
- PCL_WARN ("No neighbor found for point %zu (%f %f %f)!\n", i, src.points[i].x, src.points[i].y, src.points[i].z);
+ PCL_WARN ("No neighbor found for point %lu (%f %f %f)!\n", i, src.points[i].x, src.points[i].y, src.points[i].z);
continue;
}
//output.is_dense = false;
// Copy all the data fields from the input cloud to the output one
- typedef typename pcl::traits::fieldList<PointT>::type FieldList;
- // Iterate over each point
- for (size_t i = 0; i < src_indices.size (); ++i)
- // Iterate over each dimension
- pcl::for_each_type <FieldList> (NdConcatenateFunctor <PointT, PointT> (src.points[src_indices[i]], output.points[i]));
+ copyPointCloud (src, src_indices, output);
}
//////////////////////////////////////////////////////////////////////////
normal_importance_(1.0f),
label_colors_ (0)
{
- adjacency_octree_ = boost::make_shared <OctreeAdjacencyT> (resolution_);
+ adjacency_octree_.reset (new OctreeAdjacencyT (resolution_));
if (use_single_camera_transform)
adjacency_octree_->setTransformFunction (boost::bind (&SupervoxelClustering::transformFunction, this, _1));
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
-pcl::SupervoxelClustering<PointT>::setInputCloud (typename pcl::PointCloud<PointT>::ConstPtr cloud)
+pcl::SupervoxelClustering<PointT>::setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr& cloud)
{
if ( cloud->size () == 0 )
{
template <typename PointT> void
pcl::SupervoxelClustering<PointT>::computeVoxelData ()
{
- voxel_centroid_cloud_ = boost::make_shared<PointCloudT> ();
+ voxel_centroid_cloud_.reset (new PointCloudT);
voxel_centroid_cloud_->resize (adjacency_octree_->getLeafCount ());
typename LeafVectorT::iterator leaf_itr = adjacency_octree_->begin ();
typename PointCloudT::iterator cent_cloud_itr = voxel_centroid_cloud_->begin ();
for (typename HelperListT::iterator sv_itr = supervoxel_helpers_.begin (); sv_itr != supervoxel_helpers_.end (); ++sv_itr)
{
uint32_t label = sv_itr->getLabel ();
- supervoxel_clusters[label] = boost::make_shared<Supervoxel<PointT> > ();
+ supervoxel_clusters[label].reset (new Supervoxel<PointT>);
sv_itr->getXYZ (supervoxel_clusters[label]->centroid_.x,supervoxel_clusters[label]->centroid_.y,supervoxel_clusters[label]->centroid_.z);
sv_itr->getRGB (supervoxel_clusters[label]->centroid_.rgba);
sv_itr->getNormal (supervoxel_clusters[label]->normal_);
{
supervoxel_helpers_.clear ();
- for (int i = 0; i < seed_points.size (); ++i)
+ for (size_t i = 0; i < seed_points.size (); ++i)
{
supervoxel_helpers_.push_back (new SupervoxelHelper(i+1,this));
//Find which leaf corresponds to this seed index
distance.resize(1,0);
if (voxel_kdtree_ == 0)
{
- voxel_kdtree_ = boost::make_shared< pcl::search::KdTree<PointT> >();
+ voxel_kdtree_.reset (new pcl::search::KdTree<PointT>);
voxel_kdtree_ ->setInputCloud (voxel_centroid_cloud_);
}
// This is number of voxels which fit in a planar slice through search volume
// Area of planar slice / area of voxel side
float min_points = 0.05f * (search_radius)*(search_radius) * 3.1415926536f / (resolution_*resolution_);
- for (int i = 0; i < seed_indices_orig.size (); ++i)
+ for (size_t i = 0; i < seed_indices_orig.size (); ++i)
{
int num = voxel_kdtree_->radiusSearch (seed_indices_orig[i], search_radius , neighbors, sqr_distances);
int min_index = seed_indices_orig[i];
template <typename PointT> pcl::PointCloud<pcl::PointXYZRGBA>::Ptr
pcl::SupervoxelClustering<PointT>::getColoredCloud () const
{
- pcl::PointCloud<pcl::PointXYZRGBA>::Ptr colored_cloud = boost::make_shared <pcl::PointCloud<pcl::PointXYZRGBA> >();
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr colored_cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::copyPointCloud (*input_,*colored_cloud);
pcl::PointCloud <pcl::PointXYZRGBA>::iterator i_colored;
template <typename PointT> pcl::PointCloud<pcl::PointXYZRGBA>::Ptr
pcl::SupervoxelClustering<PointT>::getColoredVoxelCloud () const
{
- pcl::PointCloud<pcl::PointXYZRGBA>::Ptr colored_cloud = boost::make_shared< pcl::PointCloud<pcl::PointXYZRGBA> > ();
+ pcl::PointCloud<pcl::PointXYZRGBA>::Ptr colored_cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
typename PointCloudT::Ptr voxels;
template <typename PointT> typename pcl::PointCloud<PointT>::Ptr
pcl::SupervoxelClustering<PointT>::getVoxelCentroidCloud () const
{
- typename PointCloudT::Ptr centroid_copy = boost::make_shared<PointCloudT> ();
+ typename PointCloudT::Ptr centroid_copy (new PointCloudT);
copyPointCloud (*voxel_centroid_cloud_, *centroid_copy);
return centroid_copy;
}
template <typename PointT> pcl::PointCloud<pcl::PointXYZL>::Ptr
pcl::SupervoxelClustering<PointT>::getLabeledVoxelCloud () const
{
- pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_voxel_cloud = boost::make_shared< pcl::PointCloud<pcl::PointXYZL> > ();
+ pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_voxel_cloud (new pcl::PointCloud<pcl::PointXYZL>);
for (typename HelperListT::const_iterator sv_itr = supervoxel_helpers_.cbegin (); sv_itr != supervoxel_helpers_.cend (); ++sv_itr)
{
typename PointCloudT::Ptr voxels;
template <typename PointT> pcl::PointCloud<pcl::PointXYZL>::Ptr
pcl::SupervoxelClustering<PointT>::getLabeledCloud () const
{
- pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_cloud = boost::make_shared <pcl::PointCloud<pcl::PointXYZL> >();
+ pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_cloud (new pcl::PointCloud<pcl::PointXYZL>);
pcl::copyPointCloud (*input_,*labeled_cloud);
pcl::PointCloud <pcl::PointXYZL>::iterator i_labeled;
template <typename PointT> pcl::PointCloud<pcl::PointNormal>::Ptr
pcl::SupervoxelClustering<PointT>::makeSupervoxelNormalCloud (std::map<uint32_t,typename Supervoxel<PointT>::Ptr > &supervoxel_clusters)
{
- pcl::PointCloud<pcl::PointNormal>::Ptr normal_cloud = boost::make_shared<pcl::PointCloud<pcl::PointNormal> > ();
+ pcl::PointCloud<pcl::PointNormal>::Ptr normal_cloud (new pcl::PointCloud<pcl::PointNormal>);
normal_cloud->resize (supervoxel_clusters.size ());
typename std::map <uint32_t, typename pcl::Supervoxel<PointT>::Ptr>::iterator sv_itr,sv_itr_end;
sv_itr = supervoxel_clusters.begin ();
template <typename PointT> void
pcl::SupervoxelClustering<PointT>::initializeLabelColors ()
{
- int max_label = getMaxLabel ();
+ uint32_t max_label = static_cast<uint32_t> (getMaxLabel ());
//If we already have enough colors, return
- if (label_colors_.size () > max_label)
+ if (label_colors_.size () > max_label)
return;
//Otherwise, generate new colors until we have enough
data_.xyz_[1] /= (static_cast<float> (num_points_));
data_.xyz_[2] /= (static_cast<float> (num_points_));
}
-
+
+ //Explicit overloads for XYZ types
+ template<>
+ void
+ pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ,pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData>::addPoint (const pcl::PointXYZ &new_point)
+ {
+ ++num_points_;
+ //Same as before here
+ data_.xyz_[0] += new_point.x;
+ data_.xyz_[1] += new_point.y;
+ data_.xyz_[2] += new_point.z;
+ }
+
+ template<> void
+ pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ,pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData>::computeData ()
+ {
+ data_.xyz_[0] /= (static_cast<float> (num_points_));
+ data_.xyz_[1] /= (static_cast<float> (num_points_));
+ data_.xyz_[2] /= (static_cast<float> (num_points_));
+ }
+
}
}
+
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::SupervoxelClustering<PointT>::SupervoxelHelper::getVoxels (typename pcl::PointCloud<PointT>::Ptr &voxels) const
{
- voxels = boost::make_shared<pcl::PointCloud<PointT> > ();
+ voxels.reset (new pcl::PointCloud<PointT>);
voxels->clear ();
voxels->resize (leaves_.size ());
typename pcl::PointCloud<PointT>::iterator voxel_itr = voxels->begin ();
- typename std::set<LeafContainerT*>::iterator leaf_itr;
- for (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr, ++voxel_itr)
+ //typename std::set<LeafContainerT*>::iterator leaf_itr;
+ for (typename std::set<LeafContainerT*>::const_iterator leaf_itr = leaves_.begin ();
+ leaf_itr != leaves_.end ();
+ ++leaf_itr, ++voxel_itr)
{
const VoxelData& leaf_data = (*leaf_itr)->getData ();
leaf_data.getPoint (*voxel_itr);
template <typename PointT> void
pcl::SupervoxelClustering<PointT>::SupervoxelHelper::getNormals (typename pcl::PointCloud<Normal>::Ptr &normals) const
{
- normals = boost::make_shared<pcl::PointCloud<Normal> > ();
+ normals.reset (new pcl::PointCloud<Normal>);
normals->clear ();
normals->resize (leaves_.size ());
- typename std::set<LeafContainerT*>::iterator leaf_itr;
+ typename std::set<LeafContainerT*>::const_iterator leaf_itr;
typename pcl::PointCloud<Normal>::iterator normal_itr = normals->begin ();
for (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr, ++normal_itr)
{
{
neighbor_labels.clear ();
//For each leaf belonging to this supervoxel
- typename std::set<LeafContainerT*>::iterator leaf_itr;
+ typename std::set<LeafContainerT*>::const_iterator leaf_itr;
for (leaf_itr = leaves_.begin (); leaf_itr != leaves_.end (); ++leaf_itr)
{
//for each neighbor of the leaf
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ */
+
+#ifndef PCL_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
+#define PCL_PROGRESSIVE_MORPHOLOGICAL_FILTER_H_
+
+#include <pcl/pcl_base.h>
+#include <pcl/search/search.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+namespace pcl
+{
+ /** \brief
+ * Implements the Progressive Morphological Filter for segmentation of ground points.
+ * Description can be found in the article
+ * "A Progressive Morphological Filter for Removing Nonground Measurements from
+ * Airborne LIDAR Data"
+ * by K. Zhang, S. Chen, D. Whitman, M. Shyu, J. Yan, and C. Zhang.
+ */
+ template <typename PointT>
+ class PCL_EXPORTS ProgressiveMorphologicalFilter : public pcl::PCLBase<PointT>
+ {
+ public:
+
+ typedef pcl::PointCloud <PointT> PointCloud;
+
+ using PCLBase <PointT>::input_;
+ using PCLBase <PointT>::indices_;
+ using PCLBase <PointT>::initCompute;
+ using PCLBase <PointT>::deinitCompute;
+
+ public:
+
+ /** \brief Constructor that sets default values for member variables. */
+ ProgressiveMorphologicalFilter ();
+
+ virtual
+ ~ProgressiveMorphologicalFilter ();
+
+ /** \brief Get the maximum window size to be used in filtering ground returns. */
+ inline int
+ getMaxWindowSize () const { return (max_window_size_); }
+
+ /** \brief Set the maximum window size to be used in filtering ground returns. */
+ inline void
+ setMaxWindowSize (int max_window_size) { max_window_size_ = max_window_size; }
+
+ /** \brief Get the slope value to be used in computing the height threshold. */
+ inline float
+ getSlope () const { return (slope_); }
+
+ /** \brief Set the slope value to be used in computing the height threshold. */
+ inline void
+ setSlope (float slope) { slope_ = slope; }
+
+ /** \brief Get the maximum height above the parameterized ground surface to be considered a ground return. */
+ inline float
+ getMaxDistance () const { return (max_distance_); }
+
+ /** \brief Set the maximum height above the parameterized ground surface to be considered a ground return. */
+ inline void
+ setMaxDistance (float max_distance) { max_distance_ = max_distance; }
+
+ /** \brief Get the initial height above the parameterized ground surface to be considered a ground return. */
+ inline float
+ getInitialDistance () const { return (initial_distance_); }
+
+ /** \brief Set the initial height above the parameterized ground surface to be considered a ground return. */
+ inline void
+ setInitialDistance (float initial_distance) { initial_distance_ = initial_distance; }
+
+ /** \brief Get the cell size. */
+ inline float
+ getCellSize () const { return (cell_size_); }
+
+ /** \brief Set the cell size. */
+ inline void
+ setCellSize (float cell_size) { cell_size_ = cell_size; }
+
+ /** \brief Get the base to be used in computing progressive window sizes. */
+ inline float
+ getBase () const { return (base_); }
+
+ /** \brief Set the base to be used in computing progressive window sizes. */
+ inline void
+ setBase (float base) { base_ = base; }
+
+ /** \brief Get flag indicating whether or not to exponentially grow window sizes? */
+ inline bool
+ getExponential () const { return (exponential_); }
+
+ /** \brief Set flag indicating whether or not to exponentially grow window sizes? */
+ inline void
+ setExponential (bool exponential) { exponential_ = exponential; }
+
+ /** \brief This method launches the segmentation algorithm and returns indices of
+ * points determined to be ground returns.
+ * \param[out] ground indices of points determined to be ground returns.
+ */
+ virtual void
+ extract (std::vector<int>& ground);
+
+ protected:
+
+ /** \brief Maximum window size to be used in filtering ground returns. */
+ int max_window_size_;
+
+ /** \brief Slope value to be used in computing the height threshold. */
+ float slope_;
+
+ /** \brief Maximum height above the parameterized ground surface to be considered a ground return. */
+ float max_distance_;
+
+ /** \brief Initial height above the parameterized ground surface to be considered a ground return. */
+ float initial_distance_;
+
+ /** \brief Cell size. */
+ float cell_size_;
+
+ /** \brief Base to be used in computing progressive window sizes. */
+ float base_;
+
+ /** \brief Exponentially grow window sizes? */
+ bool exponential_;
+ };
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/segmentation/impl/progressive_morphological_filter.hpp>
+#endif
+
+#endif
+
return (count_);
}
+ /** \brief Get the curvature of the region. */
+ float
+ getCurvature () const
+ {
+ return (curvature_);
+ }
+
+ /** \brief Set the curvature of the region. */
+ void
+ setCurvature (float curvature)
+ {
+ curvature_ = curvature;
+ }
+
protected:
/** \brief The centroid of the region. */
Eigen::Vector3f centroid_;
/** \brief The number of points in the region. */
unsigned count_;
+ /** \brief The mean curvature of the region. */
+ float curvature_;
+
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
getSearchMethod () const;
/** \brief Allows to set search method that will be used for finding KNN.
- * \param[in] search search method to use
+ * \param[in] tree pointer to a KdTree
*/
void
setSearchMethod (const KdTreePtr& tree);
validatePoint (int initial_seed, int point, int nghbr, bool& is_a_seed) const;
/** \brief This function simply assembles the regions from list of point labels.
- * \param[out] clusters clusters that were obtained during the segmentation process.
* Each cluster is an array of point indices.
*/
void
/** \brief For a given point this function builds a segment to which it belongs and returns this segment.
* \param[in] index index of the initial point which will be the seed for growing a segment.
+ * \param cluster
*/
virtual void
getSegmentFromPoint (int index, pcl::PointIndices& cluster);
/** \brief Set the maximum distance allowed when drawing random samples
* \param[in] radius the maximum distance (L2 norm)
+ * \param search
*/
inline void
setSamplesMaxDist (const double &radius, SearchPtr search)
getNormalDistanceWeight () const { return (distance_weight_); }
/** \brief Set the minimum opning angle for a cone model.
- * \param oa the opening angle which we need minumum to validate a cone model.
+ * \param min_angle the opening angle which we need minumum to validate a cone model.
+ * \param max_angle the opening angle which we need maximum to validate a cone model.
*/
inline void
setMinMaxOpeningAngle (const double &min_angle, const double &max_angle)
* \param[in] cloud The cloud to be supervoxelize
*/
virtual void
- setInputCloud (typename pcl::PointCloud<PointT>::ConstPtr cloud);
+ setInputCloud (const typename pcl::PointCloud<PointT>::ConstPtr& cloud);
/** \brief This method sets the normals to be used for supervoxels (should be same size as input cloud)
- * \param[in] cloud The input normals
+ * \param[in] normal_cloud The input normals
*/
virtual void
setNormalCloud (typename NormalCloudT::ConstPtr normal_cloud);
size_t
size () const { return leaves_.size (); }
- private:
+ private:
//Stores leaves
std::set<LeafContainerT*> leaves_;
uint32_t label_;
VoxelData centroid_;
SupervoxelClustering* parent_;
-
-
+ public:
+ //Type VoxelData may have fixed-size Eigen objects inside
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
+ //Make boost::ptr_list can access the private class SupervoxelHelper
+ friend void boost::checked_delete<> (const typename pcl::SupervoxelClustering<PointT>::SupervoxelHelper *);
+
typedef boost::ptr_list<SupervoxelHelper> HelperListT;
HelperListT supervoxel_helpers_;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
+#include <pcl/segmentation/approximate_progressive_morphological_filter.h>
+#include <pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp>
+
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE(ApproximateProgressiveMorphologicalFilter, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))
+#else
+ PCL_INSTANTIATE(ApproximateProgressiveMorphologicalFilter, PCL_XYZ_POINT_TYPES)
+#endif
+
+++ /dev/null
-/*
- * Software License Agreement (BSD License)
- *
- * Point Cloud Library (PCL) - www.pointclouds.org
- * Copyright (c) 2012-, Open Perception, 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.
- *
- * $Id$
- *
- */
-
-#include <pcl/segmentation/grabcut.h>
-
-#include <cstdlib>
-#include <cassert>
-#include <vector>
-#include <map>
-#include <algorithm>
-
-pcl::segmentation::grabcut::BoykovKolmogorov::BoykovKolmogorov (std::size_t max_nodes)
- : flow_value_(0.0)
-{
- if (max_nodes > 0)
- {
- source_edges_.reserve (max_nodes);
- target_edges_.reserve (max_nodes);
- nodes_.reserve (max_nodes);
- }
-}
-
-double
-pcl::segmentation::grabcut::BoykovKolmogorov::operator() (int u, int v) const
-{
- if ((u < 0) && (v < 0)) return flow_value_;
- if (u < 0) { return source_edges_[v]; }
- if (v < 0) { return target_edges_[u]; }
- capacitated_edge::const_iterator it = nodes_[u].find (v);
- if (it == nodes_[u].end ()) return 0.0;
- return it->second;
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::preAugmentPaths ()
-{
- for (int u = 0; u < (int)nodes_.size (); u++)
- {
- // augment s-u-t paths
- if ((source_edges_[u] > 0.0) && (target_edges_[u] > 0.0))
- {
- const double cap = std::min (source_edges_[u], target_edges_[u]);
- flow_value_ += cap;
- source_edges_[u] -= cap;
- target_edges_[u] -= cap;
- }
-
- if (source_edges_[u] == 0.0) continue;
-
- // augment s-u-v-t paths
- for (std::map<int, double>::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
- {
- const int v = it->first;
- if ((it->second == 0.0) || (target_edges_[v] == 0.0)) continue;
- const double w = std::min (it->second, std::min (source_edges_[u], target_edges_[v]));
- source_edges_[u] -= w;
- target_edges_[v] -= w;
- it->second -= w;
- nodes_[v][u] += w;
- flow_value_ += w;
- if (source_edges_[u] == 0.0) break;
- }
- }
-}
-
-int
-pcl::segmentation::grabcut::BoykovKolmogorov::addNodes (size_t n)
-{
- int node_id = (int)nodes_.size ();
- nodes_.resize (nodes_.size () + n);
- source_edges_.resize (nodes_.size (), 0.0);
- target_edges_.resize (nodes_.size (), 0.0);
- return (node_id);
-}
-
-// void
-// pcl::segmentation::grabcut::BoykovKolmogorov::addSourceAndTargetEdges (int u, double source_cap, double sink_cap)
-// {
-// addSourceEdge (u, source_cap);
-// addTargetEdge (u, sink_cap);
-
-// }
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::addSourceEdge (int u, double cap)
-{
- assert ((u >= 0) && (u < (int)nodes_.size ()));
- if (cap < 0.0)
- {
- flow_value_ += cap;
- target_edges_[u] -= cap;
- }
- else
- source_edges_[u] += cap;
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::addTargetEdge (int u, double cap)
-{
- assert ((u >= 0) && (u < (int)nodes_.size ()));
- if (cap < 0.0)
- {
- flow_value_ += cap;
- source_edges_[u] -= cap;
- }
- else
- target_edges_[u] += cap;
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::addEdge (int u, int v, double cap_uv, double cap_vu)
-{
- assert ((u >= 0) && (u < (int)nodes_.size ()));
- assert ((v >= 0) && (v < (int)nodes_.size ()));
- assert (u != v);
-
- capacitated_edge::iterator it = nodes_[u].find (v);
- if (it == nodes_[u].end ())
- {
- assert (cap_uv + cap_vu >= 0.0);
- if (cap_uv < 0.0)
- {
- nodes_[u].insert (std::make_pair (v, 0.0));
- nodes_[v].insert (std::make_pair (u, cap_vu + cap_uv));
- source_edges_[u] -= cap_uv;
- target_edges_[v] -= cap_uv;
- flow_value_ += cap_uv;
- }
- else
- {
- if (cap_vu < 0.0)
- {
- nodes_[u].insert (std::make_pair (v, cap_uv + cap_vu));
- nodes_[v].insert (std::make_pair (u, 0.0));
- source_edges_[v] -= cap_vu;
- target_edges_[u] -= cap_vu;
- flow_value_ += cap_vu;
- }
- else
- {
- nodes_[u].insert (std::make_pair (v, cap_uv));
- nodes_[v].insert (std::make_pair (u, cap_vu));
- }
- }
- }
- else
- {
- capacitated_edge::iterator jt = nodes_[v].find (u);
- it->second += cap_uv;
- jt->second += cap_vu;
- assert (it->second + jt->second >= 0.0);
- if (it->second < 0.0)
- {
- jt->second += it->second;
- source_edges_[u] -= it->second;
- target_edges_[v] -= it->second;
- flow_value_ += it->second;
- it->second = 0.0;
- }
- else
- {
- if (jt->second < 0.0)
- {
- it->second += jt->second;
- source_edges_[v] -= jt->second;
- target_edges_[u] -= jt->second;
- flow_value_ += jt->second;
- jt->second = 0.0;
- }
- }
- }
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::reset ()
-{
- flow_value_ = 0.0;
- std::fill (source_edges_.begin (), source_edges_.end (), 0.0);
- std::fill (target_edges_.begin (), target_edges_.end (), 0.0);
- for (int u = 0; u < (int)nodes_.size (); u++)
- {
- for (capacitated_edge::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
- {
- it->second = 0.0;
- }
- }
- std::fill (cut_.begin (), cut_.end (), FREE);
- parents_.clear ();
- clearActive ();
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::clear ()
-{
- flow_value_ = 0.0;
- source_edges_.clear ();
- target_edges_.clear ();
- nodes_.clear ();
- cut_.clear ();
- parents_.clear ();
- clearActive ();
-}
-
-double
-pcl::segmentation::grabcut::BoykovKolmogorov::solve ()
-{
- // initialize search tree and active set
- cut_.resize (nodes_.size ());
- std::fill (cut_.begin (), cut_.end (), FREE);
- parents_.resize (nodes_.size ());
-
- clearActive ();
-
- // pre-augment paths
- preAugmentPaths ();
-
- // initialize search trees
- initializeTrees ();
-
- std::deque<int> orphans;
- while (!isActiveSetEmpty ())
- {
- const std::pair<int, int> path = expandTrees ();
- augmentPath (path, orphans);
- if (!orphans.empty ())
- {
- adoptOrphans (orphans);
- }
- }
- return (flow_value_);
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::initializeTrees ()
-{
- // initialize search tree
- for (int u = 0; u < (int)nodes_.size (); u++)
- {
- if (source_edges_[u] > 0.0)
- {
- cut_[u] = SOURCE;
- parents_[u].first = TERMINAL;
- markActive (u);
- }
- else
- {
- if (target_edges_[u] > 0.0)
- {
- cut_[u] = TARGET;
- parents_[u].first = TERMINAL;
- markActive (u);
- }
- }
- }
-}
-
-std::pair<int, int>
-pcl::segmentation::grabcut::BoykovKolmogorov::expandTrees ()
-{
- // expand trees looking for augmenting paths
- while (!isActiveSetEmpty ())
- {
- const int u = active_head_;
-
- if (cut_[u] == SOURCE) {
- for (capacitated_edge::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
- {
- if (it->second > 0.0)
- {
- if (cut_[it->first] == FREE)
- {
- cut_[it->first] = SOURCE;
- parents_[it->first] = std::make_pair (u, std::make_pair (it, nodes_[it->first].find (u)));
- markActive (it->first);
- }
- else
- {
- if (cut_[it->first] == TARGET)
- {
- // found augmenting path
- return (std::make_pair (u, it->first));
- }
- }
- }
- }
- }
- else
- {
- for (capacitated_edge::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
- {
- if (cut_[it->first] == TARGET) continue;
- if (nodes_[it->first][u] > 0.0)
- {
- if (cut_[it->first] == FREE)
- {
- cut_[it->first] = TARGET;
- parents_[it->first] = std::make_pair (u, std::make_pair (nodes_[it->first].find (u), it));
- markActive (it->first);
- }
- else
- {
- if (cut_[it->first] == SOURCE)
- {
- // found augmenting path
- return (std::make_pair (it->first, u));
- }
- }
- }
- }
- }
-
- // remove node from active set
- markInactive (u);
- }
-
- return (std::make_pair (TERMINAL, TERMINAL));
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::augmentPath (const std::pair<int, int>& path, std::deque<int>& orphans)
-{
- if ((path.first == TERMINAL) && (path.second == TERMINAL))
- return;
-
- // find path capacity
-
- // backtrack
- const edge_pair e = std::make_pair (nodes_[path.first].find (path.second),
- nodes_[path.second].find (path.first));
- double c = e.first->second;
- int u = path.first;
- while (parents_[u].first != TERMINAL)
- {
- c = std::min (c, parents_[u].second.first->second);
- u = parents_[u].first;
- //assert (cut_[u] == SOURCE);
- }
- c = std::min (c, source_edges_[u]);
-
- // forward track
- u = path.second;
- while (parents_[u].first != TERMINAL)
- {
- c = std::min (c, parents_[u].second.first->second);
- u = parents_[u].first;
- //assert (cut_[u] == TARGET);
- }
- c = std::min (c, target_edges_[u]);
-
- // augment path
- flow_value_ += c;
- //DRWN_LOG_DEBUG ("path capacity: " << c);
-
- // backtrack
- u = path.first;
- while (parents_[u].first != TERMINAL)
- {
- //nodes_[u][parents_[u].first] += c;
- parents_[u].second.second->second += c;
- parents_[u].second.first->second -= c;
- if (parents_[u].second.first->second == 0.0)
- {
- orphans.push_front (u);
- }
- u = parents_[u].first;
- }
- source_edges_[u] -= c;
- if (source_edges_[u] == 0.0)
- {
- orphans.push_front (u);
- }
-
- // link
- e.first->second -= c;
- e.second->second += c;
-
- // forward track
- u = path.second;
- while (parents_[u].first != TERMINAL) {
- //nodes_[parents_[u].first][u] += c;
- parents_[u].second.second->second += c;
- parents_[u].second.first->second -= c;
- if (parents_[u].second.first->second == 0.0) {
- orphans.push_back (u);
- }
- u = parents_[u].first;
- }
- target_edges_[u] -= c;
- if (target_edges_[u] == 0.0) {
- orphans.push_back (u);
- }
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::adoptOrphans (std::deque<int>& orphans)
-{
- // find new parent for orphaned subtree or free it
- while (!orphans.empty ())
- {
- const int u = orphans.front ();
- const char tree_label = cut_[u];
- orphans.pop_front ();
-
- // can occur if same node is inserted into orphans multiple times
- if (tree_label == FREE) continue;
- //assert (tree_label != FREE);
-
- // look for new parent
- bool b_free_orphan = true;
- for (capacitated_edge::iterator jt = nodes_[u].begin (); jt != nodes_[u].end (); ++jt) {
- // skip if different trees
- if (cut_[jt->first] != tree_label) continue;
-
- // check edge capacity
- const capacitated_edge::iterator kt = nodes_[jt->first].find (u);
- if (((tree_label == TARGET) && (jt->second <= 0.0)) ||
- ((tree_label == SOURCE) && (kt->second <= 0.0)))
- continue;
-
- // check that u is not an ancestor of jt->first
- int v = jt->first;
- while ((v != u) && (v != TERMINAL))
- {
- v = parents_[v].first;
- }
- if (v != TERMINAL) continue;
-
- // add as parent
- const edge_pair e = (tree_label == SOURCE) ? std::make_pair (kt, jt) : std::make_pair (jt, kt);
- parents_[u] = std::make_pair (jt->first, e);
- b_free_orphan = false;
- break;
- }
-
- // free the orphan subtree and remove it from the active set
- if (b_free_orphan)
- {
- for (capacitated_edge::const_iterator jt = nodes_[u].begin (); jt != nodes_[u].end (); ++jt)
- {
- if ((cut_[jt->first] == tree_label) && (parents_[jt->first].first == u))
- {
- orphans.push_front (jt->first);
- markActive (jt->first);
- }
- else if (cut_[jt->first] != FREE)
- {
- markActive (jt->first);
- }
- }
-
- // mark inactive and free
- markInactive (u);
- cut_[u] = FREE;
- }
- }
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::clearActive ()
-{
- active_head_ = active_tail_ = TERMINAL;
- active_list_.resize (nodes_.size ());
- std::fill (active_list_.begin (), active_list_.end (), std::make_pair (TERMINAL, TERMINAL));
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::markActive (int u)
-{
- if (isActive (u)) return;
-
- active_list_[u].first = active_tail_;
- active_list_[u].second = TERMINAL;
- if (active_tail_ == TERMINAL)
- active_head_ = u;
- else
- active_list_[active_tail_].second = u;
- active_tail_ = u;
-}
-
-void
-pcl::segmentation::grabcut::BoykovKolmogorov::markInactive (int u)
-{
- //if (!isActive (u)) return;
-
- if (u == active_head_)
- {
- active_head_ = active_list_[u].second;
- if (u != active_tail_)
- {
- active_list_[active_list_[u].second].first = TERMINAL;
- }
- }
- else
- if (u == active_tail_)
- {
- active_tail_ = active_list_[u].first;
- active_list_[active_list_[u].first].second = TERMINAL;
- }
- else
- if (active_list_[u].first != TERMINAL)
- {
- active_list_[active_list_[u].first].second = active_list_[u].second;
- active_list_[active_list_[u].second].first = active_list_[u].first;
- }
- //active_list_[u] = std::make_pair (TERMINAL, TERMINAL);
- active_list_[u].first = TERMINAL;
-}
-
-void
-pcl::segmentation::grabcut::GaussianFitter::add (const Color &c)
-{
- sum_[0] += c.r; sum_[1] += c.g; sum_[2] += c.b;
- accumulator_ (0,0) += c.r*c.r; accumulator_ (0,1) += c.r*c.g; accumulator_ (0,2) += c.r*c.b;
- accumulator_ (1,0) += c.g*c.r; accumulator_ (1,1) += c.g*c.g; accumulator_ (1,2) += c.g*c.b;
- accumulator_ (2,0) += c.b*c.r; accumulator_ (2,1) += c.b*c.g; accumulator_ (2,2) += c.b*c.b;
-
- ++count_;
-}
-
-// Build the gaussian out of all the added colors
-void
-pcl::segmentation::grabcut::GaussianFitter::fit (Gaussian& g, std::size_t total_count, bool compute_eigens) const
-{
- if (count_==0)
- {
- g.pi = 0;
- }
- else
- {
- const float count_f = static_cast<float> (count_);
-
- // Compute mean of gaussian
- g.mu.r = sum_[0]/count_f;
- g.mu.g = sum_[1]/count_f;
- g.mu.b = sum_[2]/count_f;
-
- // Compute covariance matrix
- g.covariance (0,0) = accumulator_ (0,0)/count_f - g.mu.r*g.mu.r + epsilon_;
- g.covariance (0,1) = accumulator_ (0,1)/count_f - g.mu.r*g.mu.g;
- g.covariance (0,2) = accumulator_ (0,2)/count_f - g.mu.r*g.mu.b;
- g.covariance (1,0) = accumulator_ (1,0)/count_f - g.mu.g*g.mu.r;
- g.covariance (1,1) = accumulator_ (1,1)/count_f - g.mu.g*g.mu.g + epsilon_;
- g.covariance (1,2) = accumulator_ (1,2)/count_f - g.mu.g*g.mu.b;
- g.covariance (2,0) = accumulator_ (2,0)/count_f - g.mu.b*g.mu.r;
- g.covariance (2,1) = accumulator_ (2,1)/count_f - g.mu.b*g.mu.g;
- g.covariance (2,2) = accumulator_ (2,2)/count_f - g.mu.b*g.mu.b + epsilon_;
-
- // Compute determinant of covariance matrix
- g.determinant = g.covariance (0,0)*(g.covariance (1,1)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,1))
- - g.covariance (0,1)*(g.covariance (1,0)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,0))
- + g.covariance (0,2)*(g.covariance (1,0)*g.covariance (2,1) - g.covariance (1,1)*g.covariance (2,0));
-
- // Compute inverse (cofactor matrix divided by determinant)
- g.inverse (0,0) = (g.covariance (1,1)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,1)) / g.determinant;
- g.inverse (1,0) = -(g.covariance (1,0)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,0)) / g.determinant;
- g.inverse (2,0) = (g.covariance (1,0)*g.covariance (2,1) - g.covariance (1,1)*g.covariance (2,0)) / g.determinant;
- g.inverse (0,1) = -(g.covariance (0,1)*g.covariance (2,2) - g.covariance (0,2)*g.covariance (2,1)) / g.determinant;
- g.inverse (1,1) = (g.covariance (0,0)*g.covariance (2,2) - g.covariance (0,2)*g.covariance (2,0)) / g.determinant;
- g.inverse (2,1) = -(g.covariance (0,0)*g.covariance (2,1) - g.covariance (0,1)*g.covariance (2,0)) / g.determinant;
- g.inverse (0,2) = (g.covariance (0,1)*g.covariance (1,2) - g.covariance (0,2)*g.covariance (1,1)) / g.determinant;
- g.inverse (1,2) = -(g.covariance (0,0)*g.covariance (1,2) - g.covariance (0,2)*g.covariance (1,0)) / g.determinant;
- g.inverse (2,2) = (g.covariance (0,0)*g.covariance (1,1) - g.covariance (0,1)*g.covariance (1,0)) / g.determinant;
-
- // The weight of the gaussian is the fraction of the number of pixels in this Gaussian to the number
- // of pixels in all the gaussians of this GMM.
- g.pi = count_f / static_cast<float> (total_count);
-
- if (compute_eigens)
- {
- // Compute eigenvalues and vectors using SVD
- Eigen::JacobiSVD<Eigen::Matrix3f> svd (g.covariance, Eigen::ComputeFullU);
- // Store highest eigenvalue
- g.eigenvalue = svd.singularValues ()[0];
- // Store corresponding eigenvector
- g.eigenvector = svd.matrixU ().col (0);
- }
- }
-}
-
-float
-pcl::segmentation::grabcut::GMM::probabilityDensity (const Color &c)
-{
- float result = 0;
-
- for (std::size_t i=0; i < gaussians_.size (); ++i)
- result += gaussians_[i].pi * probabilityDensity (i, c);
-
- return (result);
-}
-
-float
-pcl::segmentation::grabcut::GMM::probabilityDensity (std::size_t i, const Color &c)
-{
- float result = 0;
- const pcl::segmentation::grabcut::Gaussian &G = gaussians_[i];
- if (G.pi > 0 )
- {
- if (G.determinant > 0)
- {
- float r = c.r - G.mu.r;
- float g = c.g - G.mu.g;
- float b = c.b - G.mu.b;
-
- float d = r * (r*G.inverse (0,0) + g*G.inverse (1,0) + b*G.inverse (2,0)) +
- g * (r*G.inverse (0,1) + g*G.inverse (1,1) + b*G.inverse (2,1)) +
- b * (r*G.inverse (0,2) + g*G.inverse (1,2) + b*G.inverse (2,2));
-
- result = static_cast<float> (1.0/(sqrt (G.determinant)) * exp (-0.5*d));
- }
- }
-
- return (result);
-}
-
-void
-pcl::segmentation::grabcut::buildGMMs (const Image& image,
- const std::vector<int>& indices,
- const std::vector<SegmentationValue>& hard_segmentation,
- std::vector<std::size_t>& components,
- GMM& background_GMM, GMM& foreground_GMM)
-{
- // Step 3: Build GMMs using Orchard-Bouman clustering algorithm
-
- // Set up Gaussian Fitters
- std::vector<GaussianFitter> back_fitters (background_GMM.getK ());
- std::vector<GaussianFitter> fore_fitters (foreground_GMM.getK ());
-
- std::size_t fore_count = 0, back_count = 0;
- const int indices_size = static_cast<int> (indices.size ());
- // Initialize the first foreground and background clusters
- for (int idx = 0; idx < indices_size; ++idx)
- {
- components [idx] = 0;
-
- if (hard_segmentation [idx] == SegmentationForeground)
- {
- fore_fitters[0].add (image[indices[idx]]);
- fore_count++;
- }
- else
- {
- back_fitters[0].add (image[indices[idx]]);
- back_count++;
- }
- }
-
- back_fitters[0].fit (background_GMM[0], back_count, true);
- fore_fitters[0].fit (foreground_GMM[0], fore_count, true);
-
- std::size_t n_back = 0, n_fore = 0; // Which cluster will be split
- std::size_t max_K = (background_GMM.getK () > foreground_GMM.getK ()) ? background_GMM.getK () : foreground_GMM.getK ();
-
- // Compute clusters
- for (std::size_t i = 1; i < max_K; ++i)
- {
- // Reset the fitters for the splitting clusters
- back_fitters[n_back] = GaussianFitter ();
- fore_fitters[n_fore] = GaussianFitter ();
-
- // For brevity, get references to the splitting Gaussians
- Gaussian& bg = background_GMM[n_back];
- Gaussian& fg = foreground_GMM[n_fore];
-
- // Compute splitting points
- float split_background = bg.eigenvector[0] * bg.mu.r + bg.eigenvector[1] * bg.mu.g + bg.eigenvector[2] * bg.mu.b;
- float split_foreground = fg.eigenvector[0] * fg.mu.r + fg.eigenvector[1] * fg.mu.g + fg.eigenvector[2] * fg.mu.b;
-
- // Split clusters nBack and nFore, place split portion into cluster i
- for (int idx = 0; idx < indices_size; ++idx)
- {
- const Color &c = image[indices[idx]];
-
- // For each pixel
- if (i < foreground_GMM.getK () &&
- hard_segmentation[idx] == SegmentationForeground &&
- components[idx] == n_fore)
- {
- if (fg.eigenvector[0] * c.r + fg.eigenvector[1] * c.g + fg.eigenvector[2] * c.b > split_foreground)
- {
- components[idx] = i;
- fore_fitters[i].add (c);
- }
- else
- {
- fore_fitters[n_fore].add (c);
- }
- }
- else if (i < background_GMM.getK () &&
- hard_segmentation[idx] == SegmentationBackground &&
- components[idx] == n_back)
- {
- if (bg.eigenvector[0] * c.r + bg.eigenvector[1] * c.g + bg.eigenvector[2] * c.b > split_background)
- {
- components[idx] = i;
- back_fitters[i].add (c);
- }
- else
- {
- back_fitters[n_back].add (c);
- }
- }
- }
-
- // Compute new split Gaussians
- back_fitters[n_back].fit (background_GMM[n_back], back_count, true);
- fore_fitters[n_fore].fit (foreground_GMM[n_fore], fore_count, true);
-
- if (i < background_GMM.getK ())
- back_fitters[i].fit (background_GMM[i], back_count, true);
- if (i < foreground_GMM.getK ())
- fore_fitters[i].fit (foreground_GMM[i], fore_count, true);
-
- // Find clusters with highest eigenvalue
- n_back = 0;
- n_fore = 0;
-
- for (std::size_t j = 0; j <= i; ++j)
- {
- if (j < background_GMM.getK () && background_GMM[j].eigenvalue > background_GMM[n_back].eigenvalue)
- n_back = j;
-
- if (j < foreground_GMM.getK () && foreground_GMM[j].eigenvalue > foreground_GMM[n_fore].eigenvalue)
- n_fore = j;
- }
- }
-
- back_fitters.clear ();
- fore_fitters.clear ();
-}
-
-void
-pcl::segmentation::grabcut::learnGMMs (const Image& image,
- const std::vector<int>& indices,
- const std::vector<SegmentationValue>& hard_segmentation,
- std::vector<std::size_t>& components,
- GMM& background_GMM, GMM& foreground_GMM)
-{
- const std::size_t indices_size = static_cast<std::size_t> (indices.size ());
- // Step 4: Assign each pixel to the component which maximizes its probability
- for (std::size_t idx = 0; idx < indices_size; ++idx)
- {
- const Color &c = image[indices[idx]];
-
- if (hard_segmentation[idx] == SegmentationForeground)
- {
- std::size_t k = 0;
- float max = 0;
-
- for (std::size_t i = 0; i < foreground_GMM.getK (); i++)
- {
- float p = foreground_GMM.probabilityDensity (i, c);
- if (p > max)
- {
- k = i;
- max = p;
- }
- }
- components[idx] = k;
- }
- else
- {
- std::size_t k = 0;
- float max = 0;
-
- for (std::size_t i = 0; i < background_GMM.getK (); i++)
- {
- float p = background_GMM.probabilityDensity (i, c);
- if (p > max)
- {
- k = i;
- max = p;
- }
- }
- components[idx] = k;
- }
- }
-
- // Step 5: Relearn GMMs from new component assignments
-
- // Set up Gaussian Fitters
- std::vector<GaussianFitter> back_fitters (background_GMM.getK ());
- std::vector<GaussianFitter> fore_fitters (foreground_GMM.getK ());
-
- std::size_t fore_counter = 0, back_counter = 0;
- for (std::size_t idx = 0; idx < indices_size; ++idx)
- {
- const Color &c = image [indices [idx]];
-
- if (hard_segmentation[idx] == SegmentationForeground)
- {
- fore_fitters[components[idx]].add (c);
- fore_counter++;
- }
- else
- {
- back_fitters[components[idx]].add (c);
- back_counter++;
- }
- }
-
- for (std::size_t i = 0; i < background_GMM.getK (); ++i)
- back_fitters[i].fit (background_GMM[i], back_counter, false);
-
- for (std::size_t i = 0; i < foreground_GMM.getK (); ++i)
- fore_fitters[i].fit (foreground_GMM[i], fore_counter, false);
-
- back_fitters.clear ();
- fore_fitters.clear ();
-}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, Open Perception, 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <pcl/segmentation/grabcut_segmentation.h>
+
+#include <cstdlib>
+#include <cassert>
+#include <vector>
+#include <map>
+#include <algorithm>
+
+pcl::segmentation::grabcut::BoykovKolmogorov::BoykovKolmogorov (std::size_t max_nodes)
+ : flow_value_(0.0)
+{
+ if (max_nodes > 0)
+ {
+ source_edges_.reserve (max_nodes);
+ target_edges_.reserve (max_nodes);
+ nodes_.reserve (max_nodes);
+ }
+}
+
+double
+pcl::segmentation::grabcut::BoykovKolmogorov::operator() (int u, int v) const
+{
+ if ((u < 0) && (v < 0)) return flow_value_;
+ if (u < 0) { return source_edges_[v]; }
+ if (v < 0) { return target_edges_[u]; }
+ capacitated_edge::const_iterator it = nodes_[u].find (v);
+ if (it == nodes_[u].end ()) return 0.0;
+ return it->second;
+}
+
+double
+pcl::segmentation::grabcut::BoykovKolmogorov::getSourceEdgeCapacity (int u) const
+{
+ return (source_edges_[u]);
+}
+
+double
+pcl::segmentation::grabcut::BoykovKolmogorov::getTargetEdgeCapacity (int u) const
+{
+ return (target_edges_[u]);
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::preAugmentPaths ()
+{
+ for (int u = 0; u < (int)nodes_.size (); u++)
+ {
+ // augment s-u-t paths
+ if ((source_edges_[u] > 0.0) && (target_edges_[u] > 0.0))
+ {
+ const double cap = std::min (source_edges_[u], target_edges_[u]);
+ flow_value_ += cap;
+ source_edges_[u] -= cap;
+ target_edges_[u] -= cap;
+ }
+
+ if (source_edges_[u] == 0.0) continue;
+
+ // augment s-u-v-t paths
+ for (std::map<int, double>::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
+ {
+ const int v = it->first;
+ if ((it->second == 0.0) || (target_edges_[v] == 0.0)) continue;
+ const double w = std::min (it->second, std::min (source_edges_[u], target_edges_[v]));
+ source_edges_[u] -= w;
+ target_edges_[v] -= w;
+ it->second -= w;
+ nodes_[v][u] += w;
+ flow_value_ += w;
+ if (source_edges_[u] == 0.0) break;
+ }
+ }
+}
+
+int
+pcl::segmentation::grabcut::BoykovKolmogorov::addNodes (size_t n)
+{
+ int node_id = (int)nodes_.size ();
+ nodes_.resize (nodes_.size () + n);
+ source_edges_.resize (nodes_.size (), 0.0);
+ target_edges_.resize (nodes_.size (), 0.0);
+ return (node_id);
+}
+
+// void
+// pcl::segmentation::grabcut::BoykovKolmogorov::addSourceAndTargetEdges (int u, double source_cap, double sink_cap)
+// {
+// addSourceEdge (u, source_cap);
+// addTargetEdge (u, sink_cap);
+
+// }
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::addSourceEdge (int u, double cap)
+{
+ assert ((u >= 0) && (u < (int)nodes_.size ()));
+ if (cap < 0.0)
+ {
+ flow_value_ += cap;
+ target_edges_[u] -= cap;
+ }
+ else
+ source_edges_[u] += cap;
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::addTargetEdge (int u, double cap)
+{
+ assert ((u >= 0) && (u < (int)nodes_.size ()));
+ if (cap < 0.0)
+ {
+ flow_value_ += cap;
+ source_edges_[u] -= cap;
+ }
+ else
+ target_edges_[u] += cap;
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::addEdge (int u, int v, double cap_uv, double cap_vu)
+{
+ assert ((u >= 0) && (u < (int)nodes_.size ()));
+ assert ((v >= 0) && (v < (int)nodes_.size ()));
+ assert (u != v);
+
+ capacitated_edge::iterator it = nodes_[u].find (v);
+ if (it == nodes_[u].end ())
+ {
+ assert (cap_uv + cap_vu >= 0.0);
+ if (cap_uv < 0.0)
+ {
+ nodes_[u].insert (std::make_pair (v, 0.0));
+ nodes_[v].insert (std::make_pair (u, cap_vu + cap_uv));
+ source_edges_[u] -= cap_uv;
+ target_edges_[v] -= cap_uv;
+ flow_value_ += cap_uv;
+ }
+ else
+ {
+ if (cap_vu < 0.0)
+ {
+ nodes_[u].insert (std::make_pair (v, cap_uv + cap_vu));
+ nodes_[v].insert (std::make_pair (u, 0.0));
+ source_edges_[v] -= cap_vu;
+ target_edges_[u] -= cap_vu;
+ flow_value_ += cap_vu;
+ }
+ else
+ {
+ nodes_[u].insert (std::make_pair (v, cap_uv));
+ nodes_[v].insert (std::make_pair (u, cap_vu));
+ }
+ }
+ }
+ else
+ {
+ capacitated_edge::iterator jt = nodes_[v].find (u);
+ it->second += cap_uv;
+ jt->second += cap_vu;
+ assert (it->second + jt->second >= 0.0);
+ if (it->second < 0.0)
+ {
+ jt->second += it->second;
+ source_edges_[u] -= it->second;
+ target_edges_[v] -= it->second;
+ flow_value_ += it->second;
+ it->second = 0.0;
+ }
+ else
+ {
+ if (jt->second < 0.0)
+ {
+ it->second += jt->second;
+ source_edges_[v] -= jt->second;
+ target_edges_[u] -= jt->second;
+ flow_value_ += jt->second;
+ jt->second = 0.0;
+ }
+ }
+ }
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::reset ()
+{
+ flow_value_ = 0.0;
+ std::fill (source_edges_.begin (), source_edges_.end (), 0.0);
+ std::fill (target_edges_.begin (), target_edges_.end (), 0.0);
+ for (int u = 0; u < (int)nodes_.size (); u++)
+ {
+ for (capacitated_edge::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
+ {
+ it->second = 0.0;
+ }
+ }
+ std::fill (cut_.begin (), cut_.end (), FREE);
+ parents_.clear ();
+ clearActive ();
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::clear ()
+{
+ flow_value_ = 0.0;
+ source_edges_.clear ();
+ target_edges_.clear ();
+ nodes_.clear ();
+ cut_.clear ();
+ parents_.clear ();
+ clearActive ();
+}
+
+double
+pcl::segmentation::grabcut::BoykovKolmogorov::solve ()
+{
+ // initialize search tree and active set
+ cut_.resize (nodes_.size ());
+ std::fill (cut_.begin (), cut_.end (), FREE);
+ parents_.resize (nodes_.size ());
+
+ clearActive ();
+
+ // pre-augment paths
+ preAugmentPaths ();
+
+ // initialize search trees
+ initializeTrees ();
+
+ std::deque<int> orphans;
+ while (!isActiveSetEmpty ())
+ {
+ const std::pair<int, int> path = expandTrees ();
+ augmentPath (path, orphans);
+ if (!orphans.empty ())
+ {
+ adoptOrphans (orphans);
+ }
+ }
+ return (flow_value_);
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::initializeTrees ()
+{
+ // initialize search tree
+ for (int u = 0; u < (int)nodes_.size (); u++)
+ {
+ if (source_edges_[u] > 0.0)
+ {
+ cut_[u] = SOURCE;
+ parents_[u].first = TERMINAL;
+ markActive (u);
+ }
+ else
+ {
+ if (target_edges_[u] > 0.0)
+ {
+ cut_[u] = TARGET;
+ parents_[u].first = TERMINAL;
+ markActive (u);
+ }
+ }
+ }
+}
+
+std::pair<int, int>
+pcl::segmentation::grabcut::BoykovKolmogorov::expandTrees ()
+{
+ // expand trees looking for augmenting paths
+ while (!isActiveSetEmpty ())
+ {
+ const int u = active_head_;
+
+ if (cut_[u] == SOURCE) {
+ for (capacitated_edge::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
+ {
+ if (it->second > 0.0)
+ {
+ if (cut_[it->first] == FREE)
+ {
+ cut_[it->first] = SOURCE;
+ parents_[it->first] = std::make_pair (u, std::make_pair (it, nodes_[it->first].find (u)));
+ markActive (it->first);
+ }
+ else
+ {
+ if (cut_[it->first] == TARGET)
+ {
+ // found augmenting path
+ return (std::make_pair (u, it->first));
+ }
+ }
+ }
+ }
+ }
+ else
+ {
+ for (capacitated_edge::iterator it = nodes_[u].begin (); it != nodes_[u].end (); it++)
+ {
+ if (cut_[it->first] == TARGET) continue;
+ if (nodes_[it->first][u] > 0.0)
+ {
+ if (cut_[it->first] == FREE)
+ {
+ cut_[it->first] = TARGET;
+ parents_[it->first] = std::make_pair (u, std::make_pair (nodes_[it->first].find (u), it));
+ markActive (it->first);
+ }
+ else
+ {
+ if (cut_[it->first] == SOURCE)
+ {
+ // found augmenting path
+ return (std::make_pair (it->first, u));
+ }
+ }
+ }
+ }
+ }
+
+ // remove node from active set
+ markInactive (u);
+ }
+
+ return (std::make_pair (TERMINAL, TERMINAL));
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::augmentPath (const std::pair<int, int>& path, std::deque<int>& orphans)
+{
+ if ((path.first == TERMINAL) && (path.second == TERMINAL))
+ return;
+
+ // find path capacity
+
+ // backtrack
+ const edge_pair e = std::make_pair (nodes_[path.first].find (path.second),
+ nodes_[path.second].find (path.first));
+ double c = e.first->second;
+ int u = path.first;
+ while (parents_[u].first != TERMINAL)
+ {
+ c = std::min (c, parents_[u].second.first->second);
+ u = parents_[u].first;
+ //assert (cut_[u] == SOURCE);
+ }
+ c = std::min (c, source_edges_[u]);
+
+ // forward track
+ u = path.second;
+ while (parents_[u].first != TERMINAL)
+ {
+ c = std::min (c, parents_[u].second.first->second);
+ u = parents_[u].first;
+ //assert (cut_[u] == TARGET);
+ }
+ c = std::min (c, target_edges_[u]);
+
+ // augment path
+ flow_value_ += c;
+ //DRWN_LOG_DEBUG ("path capacity: " << c);
+
+ // backtrack
+ u = path.first;
+ while (parents_[u].first != TERMINAL)
+ {
+ //nodes_[u][parents_[u].first] += c;
+ parents_[u].second.second->second += c;
+ parents_[u].second.first->second -= c;
+ if (parents_[u].second.first->second == 0.0)
+ {
+ orphans.push_front (u);
+ }
+ u = parents_[u].first;
+ }
+ source_edges_[u] -= c;
+ if (source_edges_[u] == 0.0)
+ {
+ orphans.push_front (u);
+ }
+
+ // link
+ e.first->second -= c;
+ e.second->second += c;
+
+ // forward track
+ u = path.second;
+ while (parents_[u].first != TERMINAL) {
+ //nodes_[parents_[u].first][u] += c;
+ parents_[u].second.second->second += c;
+ parents_[u].second.first->second -= c;
+ if (parents_[u].second.first->second == 0.0) {
+ orphans.push_back (u);
+ }
+ u = parents_[u].first;
+ }
+ target_edges_[u] -= c;
+ if (target_edges_[u] == 0.0) {
+ orphans.push_back (u);
+ }
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::adoptOrphans (std::deque<int>& orphans)
+{
+ // find new parent for orphaned subtree or free it
+ while (!orphans.empty ())
+ {
+ const int u = orphans.front ();
+ const char tree_label = cut_[u];
+ orphans.pop_front ();
+
+ // can occur if same node is inserted into orphans multiple times
+ if (tree_label == FREE) continue;
+ //assert (tree_label != FREE);
+
+ // look for new parent
+ bool b_free_orphan = true;
+ for (capacitated_edge::iterator jt = nodes_[u].begin (); jt != nodes_[u].end (); ++jt) {
+ // skip if different trees
+ if (cut_[jt->first] != tree_label) continue;
+
+ // check edge capacity
+ const capacitated_edge::iterator kt = nodes_[jt->first].find (u);
+ if (((tree_label == TARGET) && (jt->second <= 0.0)) ||
+ ((tree_label == SOURCE) && (kt->second <= 0.0)))
+ continue;
+
+ // check that u is not an ancestor of jt->first
+ int v = jt->first;
+ while ((v != u) && (v != TERMINAL))
+ {
+ v = parents_[v].first;
+ }
+ if (v != TERMINAL) continue;
+
+ // add as parent
+ const edge_pair e = (tree_label == SOURCE) ? std::make_pair (kt, jt) : std::make_pair (jt, kt);
+ parents_[u] = std::make_pair (jt->first, e);
+ b_free_orphan = false;
+ break;
+ }
+
+ // free the orphan subtree and remove it from the active set
+ if (b_free_orphan)
+ {
+ for (capacitated_edge::const_iterator jt = nodes_[u].begin (); jt != nodes_[u].end (); ++jt)
+ {
+ if ((cut_[jt->first] == tree_label) && (parents_[jt->first].first == u))
+ {
+ orphans.push_front (jt->first);
+ markActive (jt->first);
+ }
+ else if (cut_[jt->first] != FREE)
+ {
+ markActive (jt->first);
+ }
+ }
+
+ // mark inactive and free
+ markInactive (u);
+ cut_[u] = FREE;
+ }
+ }
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::clearActive ()
+{
+ active_head_ = active_tail_ = TERMINAL;
+ active_list_.resize (nodes_.size ());
+ std::fill (active_list_.begin (), active_list_.end (), std::make_pair (TERMINAL, TERMINAL));
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::markActive (int u)
+{
+ if (isActive (u)) return;
+
+ active_list_[u].first = active_tail_;
+ active_list_[u].second = TERMINAL;
+ if (active_tail_ == TERMINAL)
+ active_head_ = u;
+ else
+ active_list_[active_tail_].second = u;
+ active_tail_ = u;
+}
+
+void
+pcl::segmentation::grabcut::BoykovKolmogorov::markInactive (int u)
+{
+ //if (!isActive (u)) return;
+
+ if (u == active_head_)
+ {
+ active_head_ = active_list_[u].second;
+ if (u != active_tail_)
+ {
+ active_list_[active_list_[u].second].first = TERMINAL;
+ }
+ }
+ else
+ if (u == active_tail_)
+ {
+ active_tail_ = active_list_[u].first;
+ active_list_[active_list_[u].first].second = TERMINAL;
+ }
+ else
+ if (active_list_[u].first != TERMINAL)
+ {
+ active_list_[active_list_[u].first].second = active_list_[u].second;
+ active_list_[active_list_[u].second].first = active_list_[u].first;
+ }
+ //active_list_[u] = std::make_pair (TERMINAL, TERMINAL);
+ active_list_[u].first = TERMINAL;
+}
+
+void
+pcl::segmentation::grabcut::GaussianFitter::add (const Color &c)
+{
+ sum_[0] += c.r; sum_[1] += c.g; sum_[2] += c.b;
+ accumulator_ (0,0) += c.r*c.r; accumulator_ (0,1) += c.r*c.g; accumulator_ (0,2) += c.r*c.b;
+ accumulator_ (1,0) += c.g*c.r; accumulator_ (1,1) += c.g*c.g; accumulator_ (1,2) += c.g*c.b;
+ accumulator_ (2,0) += c.b*c.r; accumulator_ (2,1) += c.b*c.g; accumulator_ (2,2) += c.b*c.b;
+
+ ++count_;
+}
+
+// Build the gaussian out of all the added colors
+void
+pcl::segmentation::grabcut::GaussianFitter::fit (Gaussian& g, std::size_t total_count, bool compute_eigens) const
+{
+ if (count_==0)
+ {
+ g.pi = 0;
+ }
+ else
+ {
+ const float count_f = static_cast<float> (count_);
+
+ // Compute mean of gaussian
+ g.mu.r = sum_[0]/count_f;
+ g.mu.g = sum_[1]/count_f;
+ g.mu.b = sum_[2]/count_f;
+
+ // Compute covariance matrix
+ g.covariance (0,0) = accumulator_ (0,0)/count_f - g.mu.r*g.mu.r + epsilon_;
+ g.covariance (0,1) = accumulator_ (0,1)/count_f - g.mu.r*g.mu.g;
+ g.covariance (0,2) = accumulator_ (0,2)/count_f - g.mu.r*g.mu.b;
+ g.covariance (1,0) = accumulator_ (1,0)/count_f - g.mu.g*g.mu.r;
+ g.covariance (1,1) = accumulator_ (1,1)/count_f - g.mu.g*g.mu.g + epsilon_;
+ g.covariance (1,2) = accumulator_ (1,2)/count_f - g.mu.g*g.mu.b;
+ g.covariance (2,0) = accumulator_ (2,0)/count_f - g.mu.b*g.mu.r;
+ g.covariance (2,1) = accumulator_ (2,1)/count_f - g.mu.b*g.mu.g;
+ g.covariance (2,2) = accumulator_ (2,2)/count_f - g.mu.b*g.mu.b + epsilon_;
+
+ // Compute determinant of covariance matrix
+ g.determinant = g.covariance (0,0)*(g.covariance (1,1)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,1))
+ - g.covariance (0,1)*(g.covariance (1,0)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,0))
+ + g.covariance (0,2)*(g.covariance (1,0)*g.covariance (2,1) - g.covariance (1,1)*g.covariance (2,0));
+
+ // Compute inverse (cofactor matrix divided by determinant)
+ g.inverse (0,0) = (g.covariance (1,1)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,1)) / g.determinant;
+ g.inverse (1,0) = -(g.covariance (1,0)*g.covariance (2,2) - g.covariance (1,2)*g.covariance (2,0)) / g.determinant;
+ g.inverse (2,0) = (g.covariance (1,0)*g.covariance (2,1) - g.covariance (1,1)*g.covariance (2,0)) / g.determinant;
+ g.inverse (0,1) = -(g.covariance (0,1)*g.covariance (2,2) - g.covariance (0,2)*g.covariance (2,1)) / g.determinant;
+ g.inverse (1,1) = (g.covariance (0,0)*g.covariance (2,2) - g.covariance (0,2)*g.covariance (2,0)) / g.determinant;
+ g.inverse (2,1) = -(g.covariance (0,0)*g.covariance (2,1) - g.covariance (0,1)*g.covariance (2,0)) / g.determinant;
+ g.inverse (0,2) = (g.covariance (0,1)*g.covariance (1,2) - g.covariance (0,2)*g.covariance (1,1)) / g.determinant;
+ g.inverse (1,2) = -(g.covariance (0,0)*g.covariance (1,2) - g.covariance (0,2)*g.covariance (1,0)) / g.determinant;
+ g.inverse (2,2) = (g.covariance (0,0)*g.covariance (1,1) - g.covariance (0,1)*g.covariance (1,0)) / g.determinant;
+
+ // The weight of the gaussian is the fraction of the number of pixels in this Gaussian to the number
+ // of pixels in all the gaussians of this GMM.
+ g.pi = count_f / static_cast<float> (total_count);
+
+ if (compute_eigens)
+ {
+ // Compute eigenvalues and vectors using SVD
+ Eigen::JacobiSVD<Eigen::Matrix3f> svd (g.covariance, Eigen::ComputeFullU);
+ // Store highest eigenvalue
+ g.eigenvalue = svd.singularValues ()[0];
+ // Store corresponding eigenvector
+ g.eigenvector = svd.matrixU ().col (0);
+ }
+ }
+}
+
+float
+pcl::segmentation::grabcut::GMM::probabilityDensity (const Color &c)
+{
+ float result = 0;
+
+ for (std::size_t i=0; i < gaussians_.size (); ++i)
+ result += gaussians_[i].pi * probabilityDensity (i, c);
+
+ return (result);
+}
+
+float
+pcl::segmentation::grabcut::GMM::probabilityDensity (std::size_t i, const Color &c)
+{
+ float result = 0;
+ const pcl::segmentation::grabcut::Gaussian &G = gaussians_[i];
+ if (G.pi > 0 )
+ {
+ if (G.determinant > 0)
+ {
+ float r = c.r - G.mu.r;
+ float g = c.g - G.mu.g;
+ float b = c.b - G.mu.b;
+
+ float d = r * (r*G.inverse (0,0) + g*G.inverse (1,0) + b*G.inverse (2,0)) +
+ g * (r*G.inverse (0,1) + g*G.inverse (1,1) + b*G.inverse (2,1)) +
+ b * (r*G.inverse (0,2) + g*G.inverse (1,2) + b*G.inverse (2,2));
+
+ result = static_cast<float> (1.0/(sqrt (G.determinant)) * exp (-0.5*d));
+ }
+ }
+
+ return (result);
+}
+
+void
+pcl::segmentation::grabcut::buildGMMs (const Image& image,
+ const std::vector<int>& indices,
+ const std::vector<SegmentationValue>& hard_segmentation,
+ std::vector<std::size_t>& components,
+ GMM& background_GMM, GMM& foreground_GMM)
+{
+ // Step 3: Build GMMs using Orchard-Bouman clustering algorithm
+
+ // Set up Gaussian Fitters
+ std::vector<GaussianFitter> back_fitters (background_GMM.getK ());
+ std::vector<GaussianFitter> fore_fitters (foreground_GMM.getK ());
+
+ std::size_t fore_count = 0, back_count = 0;
+ const int indices_size = static_cast<int> (indices.size ());
+ // Initialize the first foreground and background clusters
+ for (int idx = 0; idx < indices_size; ++idx)
+ {
+ components [idx] = 0;
+
+ if (hard_segmentation [idx] == SegmentationForeground)
+ {
+ fore_fitters[0].add (image[indices[idx]]);
+ fore_count++;
+ }
+ else
+ {
+ back_fitters[0].add (image[indices[idx]]);
+ back_count++;
+ }
+ }
+
+ back_fitters[0].fit (background_GMM[0], back_count, true);
+ fore_fitters[0].fit (foreground_GMM[0], fore_count, true);
+
+ std::size_t n_back = 0, n_fore = 0; // Which cluster will be split
+ std::size_t max_K = (background_GMM.getK () > foreground_GMM.getK ()) ? background_GMM.getK () : foreground_GMM.getK ();
+
+ // Compute clusters
+ for (std::size_t i = 1; i < max_K; ++i)
+ {
+ // Reset the fitters for the splitting clusters
+ back_fitters[n_back] = GaussianFitter ();
+ fore_fitters[n_fore] = GaussianFitter ();
+
+ // For brevity, get references to the splitting Gaussians
+ Gaussian& bg = background_GMM[n_back];
+ Gaussian& fg = foreground_GMM[n_fore];
+
+ // Compute splitting points
+ float split_background = bg.eigenvector[0] * bg.mu.r + bg.eigenvector[1] * bg.mu.g + bg.eigenvector[2] * bg.mu.b;
+ float split_foreground = fg.eigenvector[0] * fg.mu.r + fg.eigenvector[1] * fg.mu.g + fg.eigenvector[2] * fg.mu.b;
+
+ // Split clusters nBack and nFore, place split portion into cluster i
+ for (int idx = 0; idx < indices_size; ++idx)
+ {
+ const Color &c = image[indices[idx]];
+
+ // For each pixel
+ if (i < foreground_GMM.getK () &&
+ hard_segmentation[idx] == SegmentationForeground &&
+ components[idx] == n_fore)
+ {
+ if (fg.eigenvector[0] * c.r + fg.eigenvector[1] * c.g + fg.eigenvector[2] * c.b > split_foreground)
+ {
+ components[idx] = i;
+ fore_fitters[i].add (c);
+ }
+ else
+ {
+ fore_fitters[n_fore].add (c);
+ }
+ }
+ else if (i < background_GMM.getK () &&
+ hard_segmentation[idx] == SegmentationBackground &&
+ components[idx] == n_back)
+ {
+ if (bg.eigenvector[0] * c.r + bg.eigenvector[1] * c.g + bg.eigenvector[2] * c.b > split_background)
+ {
+ components[idx] = i;
+ back_fitters[i].add (c);
+ }
+ else
+ {
+ back_fitters[n_back].add (c);
+ }
+ }
+ }
+
+ // Compute new split Gaussians
+ back_fitters[n_back].fit (background_GMM[n_back], back_count, true);
+ fore_fitters[n_fore].fit (foreground_GMM[n_fore], fore_count, true);
+
+ if (i < background_GMM.getK ())
+ back_fitters[i].fit (background_GMM[i], back_count, true);
+ if (i < foreground_GMM.getK ())
+ fore_fitters[i].fit (foreground_GMM[i], fore_count, true);
+
+ // Find clusters with highest eigenvalue
+ n_back = 0;
+ n_fore = 0;
+
+ for (std::size_t j = 0; j <= i; ++j)
+ {
+ if (j < background_GMM.getK () && background_GMM[j].eigenvalue > background_GMM[n_back].eigenvalue)
+ n_back = j;
+
+ if (j < foreground_GMM.getK () && foreground_GMM[j].eigenvalue > foreground_GMM[n_fore].eigenvalue)
+ n_fore = j;
+ }
+ }
+
+ back_fitters.clear ();
+ fore_fitters.clear ();
+}
+
+void
+pcl::segmentation::grabcut::learnGMMs (const Image& image,
+ const std::vector<int>& indices,
+ const std::vector<SegmentationValue>& hard_segmentation,
+ std::vector<std::size_t>& components,
+ GMM& background_GMM, GMM& foreground_GMM)
+{
+ const std::size_t indices_size = static_cast<std::size_t> (indices.size ());
+ // Step 4: Assign each pixel to the component which maximizes its probability
+ for (std::size_t idx = 0; idx < indices_size; ++idx)
+ {
+ const Color &c = image[indices[idx]];
+
+ if (hard_segmentation[idx] == SegmentationForeground)
+ {
+ std::size_t k = 0;
+ float max = 0;
+
+ for (std::size_t i = 0; i < foreground_GMM.getK (); i++)
+ {
+ float p = foreground_GMM.probabilityDensity (i, c);
+ if (p > max)
+ {
+ k = i;
+ max = p;
+ }
+ }
+ components[idx] = k;
+ }
+ else
+ {
+ std::size_t k = 0;
+ float max = 0;
+
+ for (std::size_t i = 0; i < background_GMM.getK (); i++)
+ {
+ float p = background_GMM.probabilityDensity (i, c);
+ if (p > max)
+ {
+ k = i;
+ max = p;
+ }
+ }
+ components[idx] = k;
+ }
+ }
+
+ // Step 5: Relearn GMMs from new component assignments
+
+ // Set up Gaussian Fitters
+ std::vector<GaussianFitter> back_fitters (background_GMM.getK ());
+ std::vector<GaussianFitter> fore_fitters (foreground_GMM.getK ());
+
+ std::size_t fore_counter = 0, back_counter = 0;
+ for (std::size_t idx = 0; idx < indices_size; ++idx)
+ {
+ const Color &c = image [indices [idx]];
+
+ if (hard_segmentation[idx] == SegmentationForeground)
+ {
+ fore_fitters[components[idx]].add (c);
+ fore_counter++;
+ }
+ else
+ {
+ back_fitters[components[idx]].add (c);
+ back_counter++;
+ }
+ }
+
+ for (std::size_t i = 0; i < background_GMM.getK (); ++i)
+ back_fitters[i].fit (background_GMM[i], back_counter, false);
+
+ for (std::size_t i = 0; i < foreground_GMM.getK (); ++i)
+ fore_fitters[i].fit (foreground_GMM[i], fore_counter, false);
+
+ back_fitters.clear ();
+ fore_fitters.clear ();
+}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <pcl/impl/instantiate.hpp>
+#include <pcl/point_types.h>
+#include <pcl/segmentation/progressive_morphological_filter.h>
+#include <pcl/segmentation/impl/progressive_morphological_filter.hpp>
+
+// Instantiations of specific point types
+#ifdef PCL_ONLY_CORE_POINT_TYPES
+ PCL_INSTANTIATE(ProgressiveMorphologicalFilter, (pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGB))
+#else
+ PCL_INSTANTIATE(ProgressiveMorphologicalFilter, PCL_XYZ_POINT_TYPES)
+#endif
+
template class pcl::SupervoxelClustering<pcl::PointXYZRGBA>;
template class pcl::SupervoxelClustering<pcl::PointXYZRGB>;
+template class pcl::SupervoxelClustering<pcl::PointXYZ>;
+typedef pcl::SupervoxelClustering<pcl::PointXYZ>::VoxelData VoxelDataT;
typedef pcl::SupervoxelClustering<pcl::PointXYZRGB>::VoxelData VoxelDataRGBT;
typedef pcl::SupervoxelClustering<pcl::PointXYZRGBA>::VoxelData VoxelDataRGBAT;
+typedef pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ, VoxelDataT> AdjacencyContainerT;
typedef pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB, VoxelDataRGBT> AdjacencyContainerRGBT;
typedef pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, VoxelDataRGBAT> AdjacencyContainerRGBAT;
+template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZ, VoxelDataT>;
template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGB, VoxelDataRGBT>;
template class pcl::octree::OctreePointCloudAdjacencyContainer<pcl::PointXYZRGBA, VoxelDataRGBAT>;
+template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZ, AdjacencyContainerT>;
template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGB, AdjacencyContainerRGBT>;
template class pcl::octree::OctreePointCloudAdjacency<pcl::PointXYZRGBA, AdjacencyContainerRGBAT>;
set(SUBSYS_DEPS common search kdtree octree)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS qhull)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS qhull)
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
if(QHULL_FOUND)
include_directories(${QHULL_INCLUDE_DIRS})
set(HULL_INCLUDES
- include/pcl/${SUBSYS_NAME}/concave_hull.h
- include/pcl/${SUBSYS_NAME}/convex_hull.h
- include/pcl/${SUBSYS_NAME}/qhull.h
+ "include/pcl/${SUBSYS_NAME}/concave_hull.h"
+ "include/pcl/${SUBSYS_NAME}/convex_hull.h"
+ "include/pcl/${SUBSYS_NAME}/qhull.h"
)
set(HULL_IMPLS
- include/pcl/${SUBSYS_NAME}/impl/concave_hull.hpp
- include/pcl/${SUBSYS_NAME}/impl/convex_hull.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/concave_hull.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/convex_hull.hpp"
)
set(HULL_SOURCES
src/concave_hull.cpp
endif(QHULL_FOUND)
if (VTK_FOUND AND NOT ANDROID)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
set(VTK_SMOOTHING_INCLUDES
- include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk.h
- include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_utils.h
- include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_subdivision.h
- include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_quadric_decimation.h
- include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_smoothing_laplacian.h
- include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.h)
+ "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk.h"
+ "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_utils.h"
+ "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_subdivision.h"
+ "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_quadric_decimation.h"
+ "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_smoothing_laplacian.h"
+ "include/pcl/${SUBSYS_NAME}/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.h")
set(VTK_SMOOTHING_SOURCE
src/vtk_smoothing/vtk_utils.cpp
src/vtk_smoothing/vtk_mesh_quadric_decimation.cpp
src/vtk_smoothing/vtk_mesh_smoothing_laplacian.cpp
src/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.cpp)
- set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
+
+ if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
+ set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommon vtkWidgets vtkGraphics)
+ else("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
+ set(VTK_SMOOTHING_TARGET_LINK_LIBRARIES vtkCommonCore vtkCommonDataModel vtkCommonExecutionModel vtkFiltersModeling)
+ endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "6.0")
endif()
SET(BUILD_surface_on_nurbs 0 CACHE BOOL "Fitting NURBS to point-clouds using openNURBS" )
ENDIF(BUILD_surface_on_nurbs)
set(POISSON_INCLUDES
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/allocator.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/binary_node.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/bspline_data.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/factor.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/function_data.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/geometry.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/hash.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/marching_cubes_poisson.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/mat.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/multi_grid_octree_data.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/octree_poisson.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/polynomial.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/ppolynomial.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/sparse_matrix.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/vector.h
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/bspline_data.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/function_data.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/geometry.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/mat.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/multi_grid_octree_data.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/octree_poisson.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/polynomial.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/ppolynomial.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/sparse_matrix.hpp
- include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/vector.hpp
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/allocator.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/binary_node.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/bspline_data.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/factor.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/function_data.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/geometry.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/hash.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/marching_cubes_poisson.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/mat.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/multi_grid_octree_data.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/octree_poisson.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/polynomial.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/ppolynomial.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/sparse_matrix.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/vector.h"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/bspline_data.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/function_data.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/geometry.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/mat.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/multi_grid_octree_data.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/octree_poisson.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/polynomial.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/ppolynomial.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/sparse_matrix.hpp"
+ "include/pcl/${SUBSYS_NAME}/3rdparty/poisson4/vector.hpp"
)
set(POISSON_SOURCES
src/3rdparty/poisson4/factor.cpp
)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/ear_clipping.h
- include/pcl/${SUBSYS_NAME}/gp3.h
- include/pcl/${SUBSYS_NAME}/grid_projection.h
- include/pcl/${SUBSYS_NAME}/marching_cubes.h
- include/pcl/${SUBSYS_NAME}/marching_cubes_hoppe.h
- include/pcl/${SUBSYS_NAME}/marching_cubes_rbf.h
- include/pcl/${SUBSYS_NAME}/bilateral_upsampling.h
- include/pcl/${SUBSYS_NAME}/mls.h
- include/pcl/${SUBSYS_NAME}/organized_fast_mesh.h
- include/pcl/${SUBSYS_NAME}/reconstruction.h
- include/pcl/${SUBSYS_NAME}/processing.h
- include/pcl/${SUBSYS_NAME}/simplification_remove_unused_vertices.h
- include/pcl/${SUBSYS_NAME}/surfel_smoothing.h
- include/pcl/${SUBSYS_NAME}/texture_mapping.h
- include/pcl/${SUBSYS_NAME}/poisson.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/ear_clipping.h"
+ "include/pcl/${SUBSYS_NAME}/gp3.h"
+ "include/pcl/${SUBSYS_NAME}/grid_projection.h"
+ "include/pcl/${SUBSYS_NAME}/marching_cubes.h"
+ "include/pcl/${SUBSYS_NAME}/marching_cubes_hoppe.h"
+ "include/pcl/${SUBSYS_NAME}/marching_cubes_rbf.h"
+ "include/pcl/${SUBSYS_NAME}/bilateral_upsampling.h"
+ "include/pcl/${SUBSYS_NAME}/mls.h"
+ "include/pcl/${SUBSYS_NAME}/organized_fast_mesh.h"
+ "include/pcl/${SUBSYS_NAME}/reconstruction.h"
+ "include/pcl/${SUBSYS_NAME}/processing.h"
+ "include/pcl/${SUBSYS_NAME}/simplification_remove_unused_vertices.h"
+ "include/pcl/${SUBSYS_NAME}/surfel_smoothing.h"
+ "include/pcl/${SUBSYS_NAME}/texture_mapping.h"
+ "include/pcl/${SUBSYS_NAME}/poisson.h"
${HULL_INCLUDES}
# ${VTK_SMOOTHING_INCLUDES}
# ${POISSON_INCLUDES}
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/gp3.hpp
- include/pcl/${SUBSYS_NAME}/impl/grid_projection.hpp
- include/pcl/${SUBSYS_NAME}/impl/marching_cubes.hpp
- include/pcl/${SUBSYS_NAME}/impl/marching_cubes_hoppe.hpp
- include/pcl/${SUBSYS_NAME}/impl/marching_cubes_rbf.hpp
- include/pcl/${SUBSYS_NAME}/impl/bilateral_upsampling.hpp
- include/pcl/${SUBSYS_NAME}/impl/mls.hpp
- include/pcl/${SUBSYS_NAME}/impl/organized_fast_mesh.hpp
- include/pcl/${SUBSYS_NAME}/impl/reconstruction.hpp
- include/pcl/${SUBSYS_NAME}/impl/processing.hpp
- include/pcl/${SUBSYS_NAME}/impl/surfel_smoothing.hpp
- include/pcl/${SUBSYS_NAME}/impl/texture_mapping.hpp
- include/pcl/${SUBSYS_NAME}/impl/poisson.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/gp3.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/grid_projection.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/marching_cubes.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/marching_cubes_hoppe.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/marching_cubes_rbf.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/bilateral_upsampling.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/mls.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/organized_fast_mesh.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/reconstruction.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/processing.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/surfel_smoothing.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/texture_mapping.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/poisson.hpp"
${HULL_IMPLS}
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${VTK_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR})
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRS} "${CMAKE_CURRENT_SOURCE_DIR}")
link_directories(${VTK_LIBRARY_DIRS})
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
- target_link_libraries(${LIB_NAME} pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_SMOOTHING_TARGET_LINK_LIBRARIES} ${ON_NURBS_LIBRARIES})
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
if(QHULL_FOUND)
- target_link_libraries(${LIB_NAME} ${QHULL_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
endif(QHULL_FOUND)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/3rdparty/poisson4 ${POISSON_INCLUDES})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/poisson4" ${POISSON_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
if(BUILD_surface_on_nurbs)
add_definitions(-DUNICODE -D_UNICODE)
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/3rdparty/opennurbs ${OPENNURBS_INCLUDES})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/on_nurbs ${ON_NURBS_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/3rdparty/opennurbs" ${OPENNURBS_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/on_nurbs" ${ON_NURBS_INCLUDES})
endif(BUILD_surface_on_nurbs)
if (VTK_FOUND AND NOT ANDROID)
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/vtk_smoothing ${VTK_SMOOTHING_INCLUDES})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk_smoothing" ${VTK_SMOOTHING_INCLUDES})
endif (VTK_FOUND AND NOT ANDROID)
if(WIN32)
- target_link_libraries(${LIB_NAME} Rpcrt4.lib)
+ target_link_libraries("${LIB_NAME}" Rpcrt4.lib)
endif(WIN32)
endif(build)
int i , j , d , tIter=0;
SparseSymmetricMatrix< Real > _M;
- Vector< Real > B , _B , _X;
+ Vector< Real > B , B_ , X_;
AdjacencySetFunction asf;
AdjacencyCountFunction acf;
double systemTime = 0 , solveTime = 0 , memUsage = 0 , evaluateTime = 0 , gTime = 0, sTime = 0;
}
// Get the associated constraint vector
- _B.Resize( asf.adjacencyCount );
- for( j=0 ; j<asf.adjacencyCount ; j++ ) _B[j] = B[ asf.adjacencies[j]-sNodes.nodeCount[depth] ];
+ B_.Resize( asf.adjacencyCount );
+ for( j=0 ; j<asf.adjacencyCount ; j++ ) B_[j] = B[ asf.adjacencies[j]-sNodes.nodeCount[depth] ];
- _X.Resize( asf.adjacencyCount );
+ X_.Resize( asf.adjacencyCount );
#pragma omp parallel for num_threads( threads ) schedule( static )
for( j=0 ; j<asf.adjacencyCount ; j++ )
{
- _X[j] = sNodes.treeNodes[ asf.adjacencies[j] ]->nodeData.solution;
+ X_[j] = sNodes.treeNodes[ asf.adjacencies[j] ]->nodeData.solution;
}
// Get the associated matrix
SparseSymmetricMatrix< Real >::internalAllocator.rollBack();
#pragma omp parallel for num_threads( threads ) schedule( static )
for( j=0 ; j<asf.adjacencyCount ; j++ )
{
- _B[j] += sNodes.treeNodes[asf.adjacencies[j]]->nodeData.constraint;
+ B_[j] += sNodes.treeNodes[asf.adjacencies[j]]->nodeData.constraint;
sNodes.treeNodes[ asf.adjacencies[j] ]->nodeData.constraint = 0;
}
// Solve the matrix
// Since we don't have the full matrix, the system shouldn't be singular, so we shouldn't have to correct it
- iter += SparseSymmetricMatrix< Real >::Solve( _M , _B , std::max< int >( int( pow( _M.rows , ITERATION_POWER ) ) , minIters ) , _X , mrVector , Real(accuracy) , 0 );
+ iter += SparseSymmetricMatrix< Real >::Solve( _M , B_ , std::max< int >( int( pow( _M.rows , ITERATION_POWER ) ) , minIters ) , X_ , mrVector , Real(accuracy) , 0 );
if( showResidual )
{
double mNorm = 0;
for( int i=0 ; i<_M.rows ; i++ ) for( int j=0 ; j<_M.rowSizes[i] ; j++ ) mNorm += _M[i][j].Value * _M[i][j].Value;
- double bNorm = _B.Norm( 2 ) , rNorm = ( _B - _M * _X ).Norm( 2 );
+ double bNorm = B_.Norm( 2 ) , rNorm = ( B_ - _M * X_ ).Norm( 2 );
printf( "\t\tResidual: (%d %g) %g -> %g (%f) [%d]\n" , _M.Entries() , sqrt(mNorm) , bNorm , rNorm , rNorm/bNorm , iter );
}
{
TreeOctNode* temp=sNodes.treeNodes[ asf.adjacencies[j] ];
while( temp->depth()>sNodes.treeNodes[i]->depth() ) temp=temp->parent;
- if( temp->nodeData.nodeIndex>=sNodes.treeNodes[i]->nodeData.nodeIndex ) sNodes.treeNodes[ asf.adjacencies[j] ]->nodeData.solution = Real( _X[j] );
+ if( temp->nodeData.nodeIndex>=sNodes.treeNodes[i]->nodeData.nodeIndex ) sNodes.treeNodes[ asf.adjacencies[j] ]->nodeData.solution = Real( X_[j] );
}
systemTime += gTime;
solveTime += sTime;
void
performProcessing (pcl::PointCloud<PointOutT> &output);
+ /** \brief Computes the distance for depth and RGB.
+ * \param[out] val_exp_depth distance values for depth
+ * \param[out] val_exp_rgb distance values for RGB */
+ void
+ computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
+
private:
int window_size_;
float sigma_color_, sigma_depth_;
}
/** \brief Returns the dimensionality (2 or 3) of the calculated hull. */
- PCL_DEPRECATED (int getDim () const, "[pcl::ConcaveHull::getDim] This method is deprecated. Please use getDimension () instead.");
-
+ PCL_DEPRECATED ("[pcl::ConcaveHull::getDim] This method is deprecated. Please use getDimension () instead.")
+ int
+ getDim () const;
+
/** \brief Returns the dimensionality (2 or 3) of the calculated hull. */
inline int
getDimension () const
* \param[in] p the point to check
*/
bool
- isInsideTriangle (const Eigen::Vector2f& u,
- const Eigen::Vector2f& v,
- const Eigen::Vector2f& w,
- const Eigen::Vector2f& p);
-
+ isInsideTriangle (const Eigen::Vector3f& u,
+ const Eigen::Vector3f& v,
+ const Eigen::Vector3f& w,
+ const Eigen::Vector3f& p);
/** \brief Compute the cross product between 2D vectors.
* \param[in] p1 the first 2D vector
output.resize (input_->size ());
float nan = std::numeric_limits<float>::quiet_NaN ();
+ Eigen::MatrixXf val_exp_depth_matrix;
+ Eigen::VectorXf val_exp_rgb_vector;
+ computeDistances (val_exp_depth_matrix, val_exp_rgb_vector);
for (int x = 0; x < static_cast<int> (input_->width); ++x)
for (int y = 0; y < static_cast<int> (input_->height); ++y)
float dx = float (x - x_w),
dy = float (y - y_w);
- float val_exp_depth = expf (- (dx*dx + dy*dy) / (2.0f * static_cast<float> (sigma_depth_ * sigma_depth_)));
+ float val_exp_depth = val_exp_depth_matrix(dx+window_size_, dy+window_size_);
float d_color = static_cast<float> (
abs (input_->points[y_w * input_->width + x_w].r - input_->points[y * input_->width + x].r) +
abs (input_->points[y_w * input_->width + x_w].g - input_->points[y * input_->width + x].g) +
abs (input_->points[y_w * input_->width + x_w].b - input_->points[y * input_->width + x].b));
- float val_exp_rgb = expf (- d_color * d_color / (2.0f * sigma_color_ * sigma_color_));
+
+ float val_exp_rgb = val_exp_rgb_vector(d_color);
if (pcl_isfinite (input_->points[y_w*input_->width + x_w].z))
{
}
+template <typename PointInT, typename PointOutT> void
+pcl::BilateralUpsampling<PointInT, PointOutT>::computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
+{
+ val_exp_depth.resize (2*window_size_+1,2*window_size_+1);
+ val_exp_rgb.resize (3*255);
+
+ int j = 0;
+ for (int dx = -window_size_; dx < window_size_+1; ++dx)
+ {
+ int i = 0;
+ for (int dy = -window_size_; dy < window_size_+1; ++dy)
+ {
+ float val_exp = expf (- (dx*dx + dy*dy) / (2.0f * static_cast<float> (sigma_depth_ * sigma_depth_)));
+ val_exp_depth(i,j) = val_exp;
+ i++;
+ }
+ j++;
+ }
+
+ for (int d_color = 0; d_color < 3*255; d_color++)
+ {
+ float val_exp = expf (- d_color * d_color / (2.0f * sigma_color_ * sigma_color_));
+ val_exp_rgb(d_color) = val_exp;
+ }
+}
+
#define PCL_INSTANTIATE_BilateralUpsampling(T,OutT) template class PCL_EXPORTS pcl::BilateralUpsampling<T,OutT>;
if (exitcode != 0)
{
- PCL_ERROR ("[pcl::%s::performReconstrution] ERROR: qhull was unable to compute a concave hull for the given point cloud (%zu)!\n", getClassName ().c_str (), cloud_transformed.points.size ());
+ PCL_ERROR ("[pcl::%s::performReconstrution] ERROR: qhull was unable to compute a concave hull for the given point cloud (%lu)!\n", getClassName ().c_str (), cloud_transformed.points.size ());
//check if it fails because of NaN values...
if (!cloud_transformed.is_dense)
// 0 if no error from qhull or it doesn't find any vertices
if (exitcode != 0 || qh num_vertices == 0)
{
- PCL_ERROR ("[pcl::%s::performReconstrution2D] ERROR: qhull was unable to compute a convex hull for the given point cloud (%zu)!\n", getClassName ().c_str (), indices_->size ());
+ PCL_ERROR ("[pcl::%s::performReconstrution2D] ERROR: qhull was unable to compute a convex hull for the given point cloud (%lu)!\n", getClassName ().c_str (), indices_->size ());
hull.points.resize (0);
hull.width = hull.height = 0;
// 0 if no error from qhull
if (exitcode != 0)
{
- PCL_ERROR ("[pcl::%s::performReconstrution3D] ERROR: qhull was unable to compute a convex hull for the given point cloud (%zu)!\n", getClassName ().c_str (), input_->points.size ());
+ PCL_ERROR ("[pcl::%s::performReconstrution3D] ERROR: qhull was unable to compute a convex hull for the given point cloud (%lu)!\n", getClassName ().c_str (), input_->points.size ());
hull.points.resize (0);
hull.width = hull.height = 0;
}
}
}
- PCL_DEBUG ("Number of triangles: %zu\n", polygons.size());
+ PCL_DEBUG ("Number of triangles: %lu\n", polygons.size());
PCL_DEBUG ("Number of unconnected parts: %d\n", nr_parts);
if (increase_nnn4fn > 0)
PCL_WARN ("Number of neighborhood size increase requests for fringe neighbors: %d\n", increase_nnn4fn);
// sorting and removing doubles from fringe queue
std::sort (fringe_queue_.begin (), fringe_queue_.end ());
fringe_queue_.erase (std::unique (fringe_queue_.begin (), fringe_queue_.end ()), fringe_queue_.end ());
- PCL_DEBUG ("Number of processed points: %zu / %zu\n", fringe_queue_.size(), indices_->size ());
+ PCL_DEBUG ("Number of processed points: %lu / %lu\n", fringe_queue_.size(), indices_->size ());
return (true);
}
#include <pcl/point_traits.h>
#include <pcl/surface/mls.h>
#include <pcl/common/io.h>
+#include <pcl/common/copy_point.h>
#include <pcl/common/centroid.h>
#include <pcl/common/eigen.h>
#include <pcl/common/geometry.h>
boost::uniform_real<float> uniform_distrib (-tmp, tmp);
rng_uniform_distribution_.reset (new boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > (rng_alg_, uniform_distrib));
+ mls_results_.resize (1); // Need to have a reference to a single dummy result.
+
break;
}
case (VOXEL_GRID_DILATION):
case (DISTINCT_CLOUD):
{
- mls_results_.resize (input_->size ());
- break;
+ mls_results_.resize (input_->size ());
+ break;
}
default:
- break;
+ {
+ mls_results_.resize (1); // Need to have a reference to a single dummy result.
+ break;
+ }
}
// Perform the actual surface reconstruction
// \note resize is irrelevant for a radiusSearch ().
std::vector<int> nn_indices;
std::vector<float> nn_sqr_dists;
+
+ size_t mls_result_index = 0;
// For all points
for (size_t cp = 0; cp < indices_->size (); ++cp)
NormalCloud projected_points_normals;
// Get a plane approximating the local surface's tangent and project point onto it
int index = (*indices_)[cp];
- computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points, projected_points_normals, *corresponding_input_indices_, mls_results_[index]);
+
+ if (upsample_method_ == VOXEL_GRID_DILATION || upsample_method_ == DISTINCT_CLOUD)
+ mls_result_index = index; // otherwise we give it a dummy location.
+
+ computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points, projected_points_normals, *corresponding_input_indices_, mls_results_[mls_result_index]);
// Copy all information from the input cloud to the output points (not doing any interpolation)
// Get a plane approximating the local surface's tangent and project point onto it
int index = (*indices_)[cp];
- this->computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points[tn], projected_points_normals[tn], corresponding_input_indices[tn], this->mls_results_[index]);
+ size_t mls_result_index = 0;
+
+ if (upsample_method_ == VOXEL_GRID_DILATION || upsample_method_ == DISTINCT_CLOUD)
+ mls_result_index = index; // otherwise we give it a dummy location.
+
+ this->computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points[tn], projected_points_normals[tn], corresponding_input_indices[tn], this->mls_results_[mls_result_index]);
// Copy all information from the input cloud to the output points (not doing any interpolation)
for (size_t pp = pp_size; pp < projected_points[tn].size (); ++pp)
pcl::MovingLeastSquares<PointInT, PointOutT>::copyMissingFields (const PointInT &point_in,
PointOutT &point_out) const
{
- typedef typename pcl::traits::fieldList<typename PointCloudIn::PointType>::type FieldListInput;
- typedef typename pcl::traits::fieldList<typename PointCloudOut::PointType>::type FieldListOutput;
- typedef typename pcl::intersect<FieldListInput, FieldListOutput>::type FieldList;
-
PointOutT temp = point_out;
- pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in,
- point_out));
+ copyPoint (point_in, point_out);
point_out.x = temp.x;
point_out.y = temp.y;
point_out.z = temp.z;
// compute image center and dimension
double sizeX = cam.width;
double sizeY = cam.height;
- double cx = sizeX / 2.0;
- double cy = sizeY / 2.0;
+ double cx, cy;
+ if (cam.center_w > 0)
+ cx = cam.center_w;
+ else
+ cx = sizeX / 2.0;
+ if (cam.center_h > 0)
+ cy = cam.center_h;
+ else
+ cy = sizeY / 2.0;
+
+ double focal_x, focal_y;
+ if (cam.focal_length_w > 0)
+ focal_x = cam.focal_length_w;
+ else
+ focal_x = cam.focal_length;
+ if (cam.focal_length_h > 0)
+ focal_y = cam.focal_length_h;
+ else
+ focal_y = cam.focal_length;
// project point on camera's image plane
- UV_coordinates.x = static_cast<float> ((cam.focal_length * (pt.x / pt.z) + cx) / sizeX); //horizontal
- UV_coordinates.y = 1.0f - static_cast<float> ((cam.focal_length * (pt.y / pt.z) + cy) / sizeY); //vertical
+ UV_coordinates.x = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
+ UV_coordinates.y = 1.0f - static_cast<float> ((focal_y * (pt.y / pt.z) + cy) / sizeY); //vertical
// point is visible!
if (UV_coordinates.x >= 0.0 && UV_coordinates.x <= 1.0 && UV_coordinates.y >= 0.0 && UV_coordinates.y <= 1.0)
getSqrGaussParam () const { return (sqr_gauss_param_); }
/** \brief Set the upsampling method to be used
+ * \param method
* \note Options are: * NONE - no upsampling will be done, only the input points will be projected to their own
* MLS surfaces
* * DISTINCT_CLOUD - will project the points of the distinct cloud to the closest point on
* parameters
* * RANDOM_UNIFORM_DENSITY - the local plane of each input point will be sampled using an
* uniform random distribution such that the density of points is
- * constant throughout the cloud - given by the \ref \ref desired_num_points_in_radius_
+ * constant throughout the cloud - given by the \ref desired_num_points_in_radius_
* parameter
* * VOXEL_GRID_DILATION - the input cloud will be inserted into a voxel grid with voxels of
* size \ref voxel_size_; this voxel grid will be dilated \ref dilation_iteration_num_
}
/** \brief Smooth a given point and its neighborghood using Moving Least Squares.
- * \param[in] index the inex of the query point in the \ref input cloud
- * \param[in] nn_indices the set of nearest neighbors indices for \ref pt
- * \param[in] nn_sqr_dists the set of nearest neighbors squared distances for \ref pt
+ * \param[in] index the inex of the query point in the input cloud
+ * \param[in] nn_indices the set of nearest neighbors indices for pt
+ * \param[in] nn_sqr_dists the set of nearest neighbors squared distances for pt
* \param[out] projected_points the set of points projected points around the query point
* (in the case of upsampling method NONE, only the query point projected to its own fitted surface will be returned,
* in the case of the other upsampling methods, multiple points will be returned)
* the MLS surface of the input point
* \param[in] u_disp the u coordinate of the sample point in the local plane of the query point
* \param[in] v_disp the v coordinate of the sample point in the local plane of the query point
- * \param[in] u the axis corresponding to the u-coordinates of the local plane of the query point
- * \param[in] v the axis corresponding to the v-coordinates of the local plane of the query point
- * \param[in] plane_normal the normal to the local plane of the query point
+ * \param[in] u_axis the axis corresponding to the u-coordinates of the local plane of the query point
+ * \param[in] v_axis the axis corresponding to the v-coordinates of the local plane of the query point
+ * \param[in] n_axis
+ * \param mean
* \param[in] curvature the curvature of the surface at the query point
- * \param[in] query_point the absolute 3D position of the query point
* \param[in] c_vec the coefficients of the polynomial fit on the MLS surface of the query point
* \param[in] num_neighbors the number of neighbors of the query point in the input cloud
* \param[out] result_point the absolute 3D position of the resulting projected point
using MovingLeastSquares<PointInT, PointOutT>::nr_coeff_;
using MovingLeastSquares<PointInT, PointOutT>::order_;
using MovingLeastSquares<PointInT, PointOutT>::compute_normals_;
+ using MovingLeastSquares<PointInT, PointOutT>::upsample_method_;
+ using MovingLeastSquares<PointInT, PointOutT>::VOXEL_GRID_DILATION;
+ using MovingLeastSquares<PointInT, PointOutT>::DISTINCT_CLOUD;
typedef pcl::PointCloud<pcl::Normal> NormalCloud;
typedef pcl::PointCloud<pcl::Normal>::Ptr NormalCloudPtr;
};
}
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/surface/impl/poisson.hpp>
+#endif
+
#endif // PCL_SURFACE_POISSON_H_
namespace texture_mapping
{
- /** \brief Structure to store camera pose and focal length. */
+ /** \brief Structure to store camera pose and focal length.
+ *
+ * One can assign a value to focal_length, to be used along
+ * both camera axes or, optionally, axis-specific values
+ * (focal_length_w and focal_length_h). Optionally, one can
+ * also specify center-of-focus using parameters
+ * center_w and center_h. If the center-of-focus is not
+ * specified, it will be set to the geometric center of
+ * the camera, as defined by the width and height parameters.
+ */
struct Camera
{
- Camera () : pose (), focal_length (), height (), width (), texture_file () {}
+ Camera () : pose (), focal_length (), focal_length_w (-1), focal_length_h (-1),
+ center_w (-1), center_h (-1), height (), width (), texture_file () {}
Eigen::Affine3f pose;
double focal_length;
+ double focal_length_w; // optional
+ double focal_length_h; // optinoal
+ double center_w; // optional
+ double center_h; // optional
double height;
double width;
std::string texture_file;
// compute image center and dimension
double sizeX = cam.width;
double sizeY = cam.height;
- double cx = (sizeX) / 2.0;
- double cy = (sizeY) / 2.0;
-
- double focal_x = cam.focal_length;
- double focal_y = cam.focal_length;
+ double cx, cy;
+ if (cam.center_w > 0)
+ cx = cam.center_w;
+ else
+ cx = (sizeX) / 2.0;
+ if (cam.center_h > 0)
+ cy = cam.center_h;
+ else
+ cy = (sizeY) / 2.0;
+
+ double focal_x, focal_y;
+ if (cam.focal_length_w > 0)
+ focal_x = cam.focal_length_w;
+ else
+ focal_x = cam.focal_length;
+ if (cam.focal_length_h>0)
+ focal_y = cam.focal_length_h;
+ else
+ focal_y = cam.focal_length;
// project point on image frame
UV_coordinates[0] = static_cast<float> ((focal_x * (pt.x / pt.z) + cx) / sizeX); //horizontal
/** \brief Segment and texture faces by camera visibility. Face-based segmentation.
* \details With N camera, faces will be arranged into N+1 groups: 1 for each camera, plus 1 for faces not visible from any camera.
* The mesh will also contain uv coordinates for each face
- * \param[in/out] tex_mesh input mesh that needs sorting. Should contain only 1 sub-mesh.
+ * \param mesh input mesh that needs sorting. Should contain only 1 sub-mesh.
* \param[in] cameras vector containing the cameras used for texture mapping.
*/
void
* \param[out] radius the radius of the circumscribed circle.
*/
inline void
- getTriangleCircumcenterAndSize (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circomcenter, double &radius);
+ getTriangleCircumcenterAndSize (const pcl::PointXY &p1, const pcl::PointXY &p2, const pcl::PointXY &p3, pcl::PointXY &circumcenter, double &radius);
/** \brief Returns the centroid of a triangle and the corresponding circumscribed circle's radius.
MeshQuadricDecimationVTK ();
/** \brief Set the percentage of faces that should be removed.
- * \param[in] float the factor
+ * \param[in] factor the factor
*/
inline void
setTargetReductionFactor (float factor)
};
/** \brief Turn on/off smoothing along sharp interior edges.
- * \param[in] status decision whether to enable/disable smoothing along sharp interior edges
+ * \param[in] feature_edge_smoothing whether to enable/disable smoothing along sharp interior edges
*/
inline void
setFeatureEdgeSmoothing (bool feature_edge_smoothing)
}
/** \brief Turn on/off smoothing along sharp interior edges.
- * \param[in] status decision whether to enable/disable smoothing along sharp interior edges
+ * \param[in] feature_edge_smoothing whether to enable/disable smoothing along sharp interior edges
*/
inline void
setFeatureEdgeSmoothing (bool feature_edge_smoothing)
public:
/** \brief Convert a PCL PolygonMesh to a VTK vtkPolyData.
* \param[in] triangles PolygonMesh to be converted to vtkPolyData, stored in the object.
+ * \param[out] triangles_out_vtk
*/
static int
convertToVTK (const pcl::PolygonMesh &triangles, vtkSmartPointer<vtkPolyData> &triangles_out_vtk);
/** \brief Convert the vtkPolyData object back to PolygonMesh.
+ * \param[in] vtk_polygons
* \param[out] triangles the PolygonMesh to store the vtkPolyData in.
*/
static void
{
const int n_vertices = static_cast<const int> (vertices.vertices.size ());
- if (n_vertices <= 3)
+ if (n_vertices < 3)
return;
+ else if (n_vertices == 3)
+ {
+ output.polygons.push_back( vertices );
+ return;
+ }
std::vector<uint32_t> remaining_vertices (n_vertices);
if (area (vertices.vertices) > 0) // clockwise?
float
pcl::EarClipping::area (const std::vector<uint32_t>& vertices)
{
- int n = static_cast<int> (vertices.size ());
- float area = 0.0f;
- Eigen::Vector2f prev_p, cur_p;
- for (int prev = n - 1, cur = 0; cur < n; prev = cur++)
- {
- prev_p[0] = points_->points[vertices[prev]].x;
- prev_p[1] = points_->points[vertices[prev]].y;
- cur_p[0] = points_->points[vertices[cur]].x;
- cur_p[1] = points_->points[vertices[cur]].y;
+ //if the polygon is projected onto the xy-plane, the area of the polygon is determined
+ //by the trapeze formula of Gauss. However this fails, if the projection is one 'line'.
+ //Therefore the following implementation determines the area of the flat polygon in 3D-space
+ //using Stoke's law: http://code.activestate.com/recipes/578276-3d-polygon-area/
+
+ int n = static_cast<int> (vertices.size ());
+ float area = 0.0f;
+ Eigen::Vector3f prev_p, cur_p;
+ Eigen::Vector3f total (0,0,0);
+ Eigen::Vector3f unit_normal;
+
+ if (n > 3)
+ {
+ for (int prev = n - 1, cur = 0; cur < n; prev = cur++)
+ {
+ prev_p = points_->points[vertices[prev]].getVector3fMap();
+ cur_p = points_->points[vertices[cur]].getVector3fMap();
- area += crossProduct (prev_p, cur_p);
- }
- return (area * 0.5f);
+ total += prev_p.cross( cur_p );
+ }
+
+ //unit_normal is unit normal vector of plane defined by the first three points
+ prev_p = points_->points[vertices[1]].getVector3fMap() - points_->points[vertices[0]].getVector3fMap();
+ cur_p = points_->points[vertices[2]].getVector3fMap() - points_->points[vertices[0]].getVector3fMap();
+ unit_normal = (prev_p.cross(cur_p)).normalized();
+
+ area = total.dot( unit_normal );
+ }
+
+ return area * 0.5f;
}
bool
pcl::EarClipping::isEar (int u, int v, int w, const std::vector<uint32_t>& vertices)
{
- Eigen::Vector2f p_u, p_v, p_w;
- p_u[0] = points_->points[vertices[u]].x;
- p_u[1] = points_->points[vertices[u]].y;
- p_v[0] = points_->points[vertices[v]].x;
- p_v[1] = points_->points[vertices[v]].y;
- p_w[0] = points_->points[vertices[w]].x;
- p_w[1] = points_->points[vertices[w]].y;
+ Eigen::Vector3f p_u, p_v, p_w;
+ p_u = points_->points[vertices[u]].getVector3fMap();
+ p_v = points_->points[vertices[v]].getVector3fMap();
+ p_w = points_->points[vertices[w]].getVector3fMap();
- // Avoid flat triangles.
- // FIXME: triangulation would fail if all the triangles are flat in the X-Y axis
const float eps = 1e-15f;
- Eigen::Vector2f p_uv, p_uw;
+ Eigen::Vector3f p_uv, p_uw;
p_uv = p_v - p_u;
p_uw = p_w - p_u;
- if (crossProduct (p_uv, p_uw) < eps)
+
+ // Avoid flat triangles.
+ if ((p_uv.cross(p_uw)).norm() < eps)
return (false);
- Eigen::Vector2f p;
+ Eigen::Vector3f p;
// Check if any other vertex is inside the triangle.
for (int k = 0; k < static_cast<int> (vertices.size ()); k++)
{
if ((k == u) || (k == v) || (k == w))
continue;
- p[0] = points_->points[vertices[k]].x;
- p[1] = points_->points[vertices[k]].y;
+ p = points_->points[vertices[k]].getVector3fMap();
if (isInsideTriangle (p_u, p_v, p_w, p))
return (false);
/////////////////////////////////////////////////////////////////////////////////////////////
bool
-pcl::EarClipping::isInsideTriangle (const Eigen::Vector2f& u,
- const Eigen::Vector2f& v,
- const Eigen::Vector2f& w,
- const Eigen::Vector2f& p)
+pcl::EarClipping::isInsideTriangle (const Eigen::Vector3f& u,
+ const Eigen::Vector3f& v,
+ const Eigen::Vector3f& w,
+ const Eigen::Vector3f& p)
{
- // Check first side.
- if (crossProduct (w - v, p - v) < 0)
- return (false);
-
- // Check second side.
- if (crossProduct (v - u, p - u) < 0)
- return (false);
-
- // Check third side.
- if (crossProduct (u - w, p - w) < 0)
- return (false);
-
- return (true);
+ // see http://www.blackpawn.com/texts/pointinpoly/default.html
+ // Barycentric Coordinates
+ Eigen::Vector3f v0 = w - u;
+ Eigen::Vector3f v1 = v - u;
+ Eigen::Vector3f v2 = p - u;
+
+ // Compute dot products
+ float dot00 = v0.dot(v0);
+ float dot01 = v0.dot(v1);
+ float dot02 = v0.dot(v2);
+ float dot11 = v1.dot(v1);
+ float dot12 = v1.dot(v2);
+
+ // Compute barycentric coordinates
+ float invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
+ float a = (dot11 * dot02 - dot01 * dot12) * invDenom;
+ float b = (dot00 * dot12 - dot01 * dot02) * invDenom;
+
+ // Check if point is in triangle
+ return (a >= 0) && (b >= 0) && (a + b < 1);
}
if (unsigned (this->m_data.boundary.size ()) != num_bnd)
{
- printf ("[SequentialFitter::grow] %zu %u\n", this->m_data.boundary.size (), num_bnd);
+ printf ("[SequentialFitter::grow] %lu %u\n", this->m_data.boundary.size (), num_bnd);
throw std::runtime_error ("[SequentialFitter::grow] size of boundary and boundary parameters do not match.");
}
if (this->m_boundary_indices->indices.size () != num_bnd)
{
- printf ("[SequentialFitter::grow] %zu %u\n", this->m_boundary_indices->indices.size (), num_bnd);
+ printf ("[SequentialFitter::grow] %lu %u\n", this->m_boundary_indices->indices.size (), num_bnd);
throw std::runtime_error ("[SequentialFitter::grow] size of boundary indices and boundary parameters do not match.");
}
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>
#include <pcl/surface/vtk_smoothing/vtk_utils.h>
+#include <vtkVersion.h>
#include <vtkQuadricDecimation.h>
//////////////////////////////////////////////////////////////////////////////////////////////
// Apply the VTK algorithm
vtkSmartPointer<vtkQuadricDecimation> vtk_quadric_decimation_filter = vtkSmartPointer<vtkQuadricDecimation>::New();
vtk_quadric_decimation_filter->SetTargetReduction (target_reduction_factor_);
+#if VTK_MAJOR_VERSION < 6
vtk_quadric_decimation_filter->SetInput (vtk_polygons_);
+#else
+ vtk_quadric_decimation_filter->SetInputData (vtk_polygons_);
+#endif
vtk_quadric_decimation_filter->Update ();
vtk_polygons_ = vtk_quadric_decimation_filter->GetOutput ();
#include <pcl/surface/vtk_smoothing/vtk_mesh_smoothing_laplacian.h>
#include <pcl/surface/vtk_smoothing/vtk_utils.h>
+#include <vtkVersion.h>
#include <vtkSmoothPolyDataFilter.h>
// Apply the VTK algorithm
vtkSmartPointer<vtkSmoothPolyDataFilter> vtk_smoother = vtkSmoothPolyDataFilter::New ();
+#if VTK_MAJOR_VERSION < 6
vtk_smoother->SetInput (vtk_polygons_);
+#else
+ vtk_smoother->SetInputData (vtk_polygons_);
+#endif
vtk_smoother->SetNumberOfIterations (num_iter_);
if (convergence_ != 0.0f)
vtk_smoother->SetConvergence (convergence_);
#include <pcl/surface/vtk_smoothing/vtk_mesh_smoothing_windowed_sinc.h>
#include <pcl/surface/vtk_smoothing/vtk_utils.h>
+#include <vtkVersion.h>
#include <vtkWindowedSincPolyDataFilter.h>
// Apply the VTK algorithm
vtkSmartPointer<vtkWindowedSincPolyDataFilter> vtk_smoother = vtkWindowedSincPolyDataFilter::New ();
+#if VTK_MAJOR_VERSION < 6
vtk_smoother->SetInput (vtk_polygons_);
+#else
+ vtk_smoother->SetInputData (vtk_polygons_);
+#endif
vtk_smoother->SetNumberOfIterations (num_iter_);
vtk_smoother->SetPassBand (pass_band_);
vtk_smoother->SetNormalizeCoordinates (normalize_coordinates_);
#include <pcl/surface/vtk_smoothing/vtk_mesh_subdivision.h>
#include <pcl/surface/vtk_smoothing/vtk_utils.h>
+#include <vtkVersion.h>
#include <vtkLinearSubdivisionFilter.h>
#include <vtkLoopSubdivisionFilter.h>
#include <vtkButterflySubdivisionFilter.h>
break;
}
+#if VTK_MAJOR_VERSION < 6
vtk_subdivision_filter->SetInput (vtk_polygons_);
+#else
+ vtk_subdivision_filter->SetInputData (vtk_polygons_);
+#endif
vtk_subdivision_filter->Update ();
vtk_polygons_ = vtk_subdivision_filter->GetOutput ();
#include <pcl/conversions.h>
#include <pcl/common/common.h>
+#include <vtkVersion.h>
#include <vtkCellArray.h>
#include <vtkTriangleFilter.h>
#include <vtkPoints.h>
mesh2vtk (triangles, vtk_polygons);
vtkSmartPointer<vtkTriangleFilter> vtk_triangles = vtkTriangleFilter::New ();
+#if VTK_MAJOR_VERSION < 6
vtk_triangles->SetInput (vtk_polygons);
+#else
+ vtk_triangles->SetInputData (vtk_polygons);
+#endif
vtk_triangles->Update();
triangles_out_vtk = vtk_triangles->GetOutput ();
of the surface estimation can be adjusted, and normals can be estimated in
the same step if needed.
-\image html http://www.pointclouds.org/documentation/tutorials/_images/resampling_1.png
+\image html http://www.pointclouds.org/documentation/tutorials/_images/resampling_1.jpg
Meshing is a general way to create a surface out of points, and currently
there are two algorithms provided: a very fast triangulation of the original
set(SUBSYS_DESC "Point cloud library global unit tests")
if(BUILD_visualization)
- include (${VTK_USE_FILE})
+ include("${VTK_USE_FILE}")
set(SUBSYS_DEPS common sample_consensus io kdtree features filters geometry keypoints search surface registration segmentation octree recognition people outofcore visualization)
set(OPT_DEPS vtk)
else()
set(DEFAULT OFF)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS})
if(build)
- include_directories(${PCL_SOURCE_DIR}/test/gtest-1.6.0/include)
- include_directories(${PCL_SOURCE_DIR}/test/gtest-1.6.0/)
- add_library(pcl_gtest STATIC gtest-1.6.0/src/gtest-all.cc)
+ find_package(Gtest REQUIRED)
+ include_directories(SYSTEM ${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
+
+ add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
if( MSVC11 ) # VS2012 doesn't correctly support variadic templates yet
add_definitions("-D_VARIADIC_MAX=10")
enable_testing()
include_directories(${PCL_INCLUDE_DIRS})
+ add_custom_target(tests "${CMAKE_CTEST_COMMAND}" "-V" VERBATIM)
+
add_subdirectory(common)
add_subdirectory(features)
add_subdirectory(filters)
add_subdirectory(search)
add_subdirectory(keypoints)
add_subdirectory(surface)
+ add_subdirectory(sample_consensus)
- PCL_ADD_TEST(a_recognition_ism_test test_recognition_ism
+ PCL_ADD_TEST(a_bearing_angle_image_test test_bearing_angle_image
+ FILES test_bearing_angle_image.cpp
+ LINK_WITH pcl_gtest pcl_common pcl_io)
+
+ PCL_ADD_TEST(a_recognition_ism_test test_recognition_ism
FILES test_recognition_ism.cpp
LINK_WITH pcl_gtest pcl_io pcl_features
- ARGUMENTS ${PCL_SOURCE_DIR}/test/ism_train.pcd ${PCL_SOURCE_DIR}/test/ism_test.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/ism_train.pcd" "${PCL_SOURCE_DIR}/test/ism_test.pcd")
PCL_ADD_TEST(search test_search
FILES test_search.cpp
LINK_WITH pcl_gtest pcl_search pcl_io pcl_kdtree
- ARGUMENTS ${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd")
- PCL_ADD_TEST(a_sample_consensus_test test_sample_consensus
- FILES test_sample_consensus.cpp
- LINK_WITH pcl_gtest pcl_io pcl_sample_consensus pcl_kdtree pcl_features
- ARGUMENTS ${PCL_SOURCE_DIR}/test/sac_plane_test.pcd)
-
PCL_ADD_TEST(a_transforms_test test_transforms
FILES test_transforms.cpp
LINK_WITH pcl_gtest pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(a_segmentation_test test_segmentation
FILES test_segmentation.cpp
LINK_WITH pcl_gtest pcl_io pcl_segmentation pcl_features pcl_kdtree pcl_search pcl_common
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd ${PCL_SOURCE_DIR}/test/car6.pcd ${PCL_SOURCE_DIR}/test/colored_cloud.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/car6.pcd" "${PCL_SOURCE_DIR}/test/colored_cloud.pcd")
PCL_ADD_TEST(test_non_linear test_non_linear
FILES test_non_linear.cpp
LINK_WITH pcl_gtest pcl_common pcl_io pcl_sample_consensus pcl_segmentation pcl_kdtree pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/noisy_slice_displaced.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/noisy_slice_displaced.pcd")
PCL_ADD_TEST(a_recognition_cg_test test_recognition_cg
FILES test_recognition_cg.cpp
LINK_WITH pcl_gtest pcl_common pcl_io pcl_kdtree pcl_features pcl_recognition pcl_keypoints
- ARGUMENTS ${PCL_SOURCE_DIR}/test/milk.pcd ${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/milk.pcd" "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
PCL_ADD_TEST(a_people_detection_test test_people_detection
FILES test_people_groundBasedPeopleDetectionApp.cpp
LINK_WITH pcl_gtest pcl_common pcl_io pcl_kdtree pcl_search pcl_features pcl_sample_consensus pcl_filters pcl_io pcl_segmentation pcl_people
- ARGUMENTS ${PCL_SOURCE_DIR}/people/data/trainedLinearSVMForPeopleDetectionWithHOG.yaml ${PCL_SOURCE_DIR}/test/five_people.pcd )
+ ARGUMENTS "${PCL_SOURCE_DIR}/people/data/trainedLinearSVMForPeopleDetectionWithHOG.yaml" "${PCL_SOURCE_DIR}/test/five_people.pcd")
if(BUILD_visualization AND (NOT UNIX OR (UNIX AND DEFINED ENV{DISPLAY})))
PCL_ADD_TEST(a_visualization_test test_visualization
FILES test_visualization.cpp
LINK_WITH pcl_gtest pcl_io pcl_visualization pcl_features
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bunny.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bunny.pcd")
endif()
endif(build)
PCL_ADD_TEST(common_test_macros test_macros FILES test_macros.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_vector_average test_vector_average FILES test_vector_average.cpp LINK_WITH pcl_gtest)
PCL_ADD_TEST(common_common test_common FILES test_common.cpp LINK_WITH pcl_gtest pcl_common)
+PCL_ADD_TEST(common_copy_point test_copy_point FILES test_copy_point.cpp LINK_WITH pcl_gtest pcl_common)
+PCL_ADD_TEST(common_centroid test_centroid FILES test_centroid.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_int test_plane_intersection FILES test_plane_intersection.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_pca test_pca FILES test_pca.cpp LINK_WITH pcl_gtest pcl_common)
#PCL_ADD_TEST(common_spring test_spring FILES test_spring.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_intensity test_intensity FILES test_intensity.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_generator test_generator FILES test_generator.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_io test_common_io FILES test_io.cpp LINK_WITH pcl_gtest pcl_common)
+PCL_ADD_TEST(common_copy_make_borders test_copy_make_borders FILES test_copy_make_borders.cpp LINK_WITH pcl_gtest pcl_common)
PCL_ADD_TEST(common_point_type_conversion test_common_point_type_conversion FILES test_point_type_conversion.cpp LINK_WITH pcl_gtest pcl_common)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/common/common.h>
+#include <pcl/common/distances.h>
+#include <pcl/common/intersections.h>
+#include <pcl/common/io.h>
+#include <pcl/common/eigen.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/pcl_tests.h>
+
+#include <pcl/common/centroid.h>
+
+using namespace pcl;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, compute3DCentroidFloat)
+{
+ pcl::PointIndices pindices;
+ std::vector<int> indices;
+ PointXYZ point;
+ PointCloud<PointXYZ> cloud;
+ Eigen::Vector4f centroid;
+
+ // test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
+
+ // test empty cloud non_dense
+ cloud.is_dense = false;
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 0);
+
+ cloud.clear ();
+ indices.clear ();
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 0);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (centroid [3], 1);
+
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
+
+ EXPECT_EQ (centroid [0], 0.0);
+ EXPECT_EQ (centroid [1], 1.0);
+ EXPECT_EQ (centroid [2], 0.0);
+ EXPECT_EQ (centroid [3], 1.0);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
+
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 0);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (centroid [3], 1);
+
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ indices.push_back (8); // add the NaN
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
+
+ EXPECT_EQ (centroid [0], 0.0);
+ EXPECT_EQ (centroid [1], 1.0);
+ EXPECT_EQ (centroid [2], 0.0);
+ EXPECT_EQ (centroid [3], 1.0);
+
+ pindices.indices = indices;
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
+
+ EXPECT_EQ (centroid [0], 0.0);
+ EXPECT_EQ (centroid [1], 1.0);
+ EXPECT_EQ (centroid [2], 0.0);
+ EXPECT_EQ (centroid [3], 1.0);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, compute3DCentroidDouble)
+{
+ pcl::PointIndices pindices;
+ std::vector<int> indices;
+ PointXYZ point;
+ PointCloud<PointXYZ> cloud;
+ Eigen::Vector4d centroid;
+
+ // test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
+
+ // test empty cloud non_dense
+ cloud.is_dense = false;
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 0);
+
+ cloud.clear ();
+ indices.clear ();
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 0);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (centroid [3], 1);
+
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
+
+ EXPECT_EQ (centroid [0], 0.0);
+ EXPECT_EQ (centroid [1], 1.0);
+ EXPECT_EQ (centroid [2], 0.0);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+ EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
+
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 0);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (centroid [3], 1);
+
+ centroid [0] = -100;
+ centroid [1] = -200;
+ centroid [2] = -300;
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ indices.push_back (8); // add the NaN
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
+
+ EXPECT_EQ (centroid [0], 0.0);
+ EXPECT_EQ (centroid [1], 1.0);
+ EXPECT_EQ (centroid [2], 0.0);
+ EXPECT_EQ (centroid [3], 1.0);
+
+ pindices.indices = indices;
+ EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
+
+ EXPECT_EQ (centroid [0], 0.0);
+ EXPECT_EQ (centroid [1], 1.0);
+ EXPECT_EQ (centroid [2], 0.0);
+ EXPECT_EQ (centroid [3], 1.0);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, compute3DCentroidCloudIterator)
+{
+ pcl::PointIndices pindices;
+ std::vector<int> indices;
+ PointXYZ point;
+ PointCloud<PointXYZ> cloud;
+ Eigen::Vector4f centroid_f;
+
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+
+ ConstCloudIterator<PointXYZ> it (cloud, indices);
+
+ EXPECT_EQ (compute3DCentroid (it, centroid_f), 4);
+
+ EXPECT_EQ (centroid_f[0], 0.0f);
+ EXPECT_EQ (centroid_f[1], 1.0f);
+ EXPECT_EQ (centroid_f[2], 0.0f);
+ EXPECT_EQ (centroid_f[3], 1.0f);
+
+ Eigen::Vector4d centroid_d;
+ it.reset ();
+ EXPECT_EQ (compute3DCentroid (it, centroid_d), 4);
+
+ EXPECT_EQ (centroid_d[0], 0.0);
+ EXPECT_EQ (centroid_d[1], 1.0);
+ EXPECT_EQ (centroid_d[2], 0.0);
+ EXPECT_EQ (centroid_d[3], 1.0);
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, computeCovarianceMatrix)
+{
+ PointCloud<PointXYZ> cloud;
+ PointXYZ point;
+ std::vector <int> indices;
+ Eigen::Vector4f centroid;
+ Eigen::Matrix3f covariance_matrix;
+
+ centroid [0] = 0;
+ centroid [1] = 0;
+ centroid [2] = 0;
+
+ // test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 0);
+
+ // test empty cloud non_dense
+ cloud.is_dense = false;
+ EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (computeCovarianceMatrix (cloud, indices, centroid, covariance_matrix), 0);
+
+ cloud.clear ();
+ indices.clear ();
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
+
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [0] = 0;
+ centroid [1] = 0;
+ centroid [2] = 0;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 8);
+ EXPECT_EQ (covariance_matrix (0, 0), 8);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 8);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 8);
+
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [1] = 1;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, indices, centroid, covariance_matrix), 4);
+ EXPECT_EQ (covariance_matrix (0, 0), 4);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 0);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 4);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [1] = 0;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 8);
+ EXPECT_EQ (covariance_matrix (0, 0), 8);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 8);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 8);
+
+ indices.push_back (8); // add the NaN
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [1] = 1;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, indices, centroid, covariance_matrix), 4);
+ EXPECT_EQ (covariance_matrix (0, 0), 4);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 0);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 4);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, computeCovarianceMatrixNormalized)
+{
+ PointCloud<PointXYZ> cloud;
+ PointXYZ point;
+ std::vector <int> indices;
+ Eigen::Vector4f centroid;
+ Eigen::Matrix3f covariance_matrix;
+
+ centroid [0] = 0;
+ centroid [1] = 0;
+ centroid [2] = 0;
+
+ // test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 0);
+
+ // test empty cloud non_dense
+ cloud.is_dense = false;
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, indices, centroid, covariance_matrix), 0);
+
+ cloud.clear ();
+ indices.clear ();
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
+
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [0] = 0;
+ centroid [1] = 0;
+ centroid [2] = 0;
+
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 8);
+
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [1] = 1;
+
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, indices, centroid, covariance_matrix), 4);
+
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 0);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [1] = 0;
+
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 8);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ indices.push_back (8); // add the NaN
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [1] = 1;
+
+ EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, indices, centroid, covariance_matrix), 4);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 0);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, computeDemeanedCovariance)
+{
+ PointCloud<PointXYZ> cloud;
+ PointXYZ point;
+ std::vector <int> indices;
+ Eigen::Matrix3f covariance_matrix;
+
+ // test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 0);
+
+ // test empty cloud non_dense
+ cloud.is_dense = false;
+ EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (computeCovarianceMatrix (cloud, indices, covariance_matrix), 0);
+
+ cloud.clear ();
+ indices.clear ();
+
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
+
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 8);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, indices, covariance_matrix), 4);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 8);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ indices.push_back (8); // add the NaN
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+
+ EXPECT_EQ (computeCovarianceMatrix (cloud, indices, covariance_matrix), 4);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, computeMeanAndCovariance)
+{
+ PointCloud<PointXYZ> cloud;
+ PointXYZ point;
+ std::vector <int> indices;
+ Eigen::Matrix3f covariance_matrix;
+ Eigen::Vector4f centroid;
+
+ // test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 0);
+
+ // test empty cloud non_dense
+ cloud.is_dense = false;
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 0);
+
+ // test non-empty cloud non_dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, centroid), 0);
+
+ cloud.clear ();
+ indices.clear ();
+
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
+
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [0] = -100;
+ centroid [1] = -101;
+ centroid [2] = -102;
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 8);
+
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 0);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ indices.resize (4); // only positive y values
+ indices [0] = 2;
+ indices [1] = 3;
+ indices [2] = 6;
+ indices [3] = 7;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [0] = -100;
+ centroid [1] = -101;
+ centroid [2] = -102;
+
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, centroid), 4);
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 1);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 0);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [0] = -100;
+ centroid [1] = -101;
+ centroid [2] = -102;
+
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 8);
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 0);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 1);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+
+ indices.push_back (8); // add the NaN
+ covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
+ centroid [0] = -100;
+ centroid [1] = -101;
+ centroid [2] = -102;
+
+ EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, centroid), 4);
+ EXPECT_EQ (centroid [0], 0);
+ EXPECT_EQ (centroid [1], 1);
+ EXPECT_EQ (centroid [2], 0);
+ EXPECT_EQ (covariance_matrix (0, 0), 1);
+ EXPECT_EQ (covariance_matrix (0, 1), 0);
+ EXPECT_EQ (covariance_matrix (0, 2), 0);
+ EXPECT_EQ (covariance_matrix (1, 0), 0);
+ EXPECT_EQ (covariance_matrix (1, 1), 0);
+ EXPECT_EQ (covariance_matrix (1, 2), 0);
+ EXPECT_EQ (covariance_matrix (2, 0), 0);
+ EXPECT_EQ (covariance_matrix (2, 1), 0);
+ EXPECT_EQ (covariance_matrix (2, 2), 1);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, CentroidPoint)
+{
+ PointXYZ p1; p1.getVector3fMap () << 1, 2, 3;
+ PointXYZ p2; p2.getVector3fMap () << 3, 2, 1;
+ PointXYZ p3; p3.getVector3fMap () << 5, 5, 5;
+
+ // Zero points (get should have no effect)
+ {
+ CentroidPoint<PointXYZ> centroid;
+ PointXYZ c (100, 100, 100);
+ centroid.get (c);
+ EXPECT_XYZ_EQ (PointXYZ (100, 100, 100), c);
+ }
+ // Single point
+ {
+ CentroidPoint<PointXYZ> centroid;
+ centroid.add (p1);
+ PointXYZ c;
+ centroid.get (c);
+ EXPECT_XYZ_EQ (p1, c);
+ }
+ // Multiple points
+ {
+ CentroidPoint<PointXYZ> centroid;
+ centroid.add (p1);
+ centroid.add (p2);
+ centroid.add (p3);
+ PointXYZ c;
+ centroid.get (c);
+ EXPECT_XYZ_EQ (PointXYZ (3, 3, 3), c);
+ }
+
+ // Retrieve centroid into a different point type
+ {
+ CentroidPoint<PointXYZ> centroid;
+ centroid.add (p1);
+ PointXYZRGB c; c.rgba = 0x00FFFFFF;
+ centroid.get (c);
+ EXPECT_XYZ_EQ (p1, c);
+ EXPECT_EQ (0x00FFFFFF, c.rgba);
+ }
+
+ // Centroid with XYZ and RGB
+ {
+ PointXYZRGB cp1; cp1.getVector3fMap () << 4, 2, 4; cp1.rgba = 0xFF330000;
+ PointXYZRGB cp2; cp2.getVector3fMap () << 2, 4, 2; cp2.rgba = 0xFF003300;
+ PointXYZRGB cp3; cp3.getVector3fMap () << 3, 3, 3; cp3.rgba = 0xFF000033;
+ CentroidPoint<PointXYZRGB> centroid;
+ centroid.add (cp1);
+ centroid.add (cp2);
+ centroid.add (cp3);
+ PointXYZRGB c;
+ centroid.get (c);
+ EXPECT_XYZ_EQ (PointXYZ (3, 3, 3), c);
+ EXPECT_EQ (0xFF111111, c.rgba);
+ }
+
+ // Centroid with normal and curavture
+ {
+ Normal np1; np1.getNormalVector4fMap () << 1, 0, 0, 0; np1.curvature = 0.2;
+ Normal np2; np2.getNormalVector4fMap () << -1, 0, 0, 0; np2.curvature = 0.1;
+ Normal np3; np3.getNormalVector4fMap () << 0, 1, 0, 0; np3.curvature = 0.9;
+ CentroidPoint<Normal> centroid;
+ centroid.add (np1);
+ centroid.add (np2);
+ centroid.add (np3);
+ Normal c;
+ centroid.get (c);
+ EXPECT_NORMAL_EQ (np3, c);
+ EXPECT_FLOAT_EQ (0.4, c.curvature);
+ }
+
+ // Centroid with XYZ and intensity
+ {
+ PointXYZI ip1; ip1.getVector3fMap () << 1, 2, 3; ip1.intensity = 0.8;
+ PointXYZI ip2; ip2.getVector3fMap () << 3, 2, 1; ip2.intensity = 0.2;
+ PointXYZI ip3; ip3.getVector3fMap () << 5, 5, 5; ip3.intensity = 0.2;
+ CentroidPoint<PointXYZI> centroid;
+ centroid.add (ip1);
+ centroid.add (ip2);
+ centroid.add (ip3);
+ PointXYZI c;
+ centroid.get (c);
+ EXPECT_XYZ_EQ (PointXYZ (3, 3, 3), c);
+ EXPECT_FLOAT_EQ (0.4, c.intensity);
+ }
+
+ // Centroid with label
+ {
+ Label lp1; lp1.label = 1;
+ Label lp2; lp2.label = 1;
+ Label lp3; lp3.label = 2;
+ CentroidPoint<Label> centroid;
+ centroid.add (lp1);
+ centroid.add (lp2);
+ centroid.add (lp3);
+ Label c;
+ centroid.get (c);
+ EXPECT_EQ (1, c.label);
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, computeCentroid)
+{
+ std::vector<int> indices;
+ PointXYZI point;
+ PointCloud<PointXYZI> cloud;
+ PointXYZINormal centroid;
+
+ // Test empty cloud which is dense
+ cloud.is_dense = true;
+ EXPECT_EQ (0, computeCentroid (cloud, centroid));
+
+ // Test empty cloud which is not dense
+ cloud.is_dense = false;
+ EXPECT_EQ (0, computeCentroid (cloud, centroid));
+
+ // Test non-empty cloud which is not dense
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ EXPECT_EQ (0, computeCentroid (cloud, centroid));
+
+ // Test non-empty cloud which is not dense (with indices)
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ indices.push_back (1);
+ EXPECT_EQ (0, computeCentroid (cloud, indices, centroid));
+
+ cloud.clear ();
+ indices.clear ();
+ for (point.x = -1; point.x < 2; point.x += 2)
+ {
+ for (point.y = -1; point.y < 2; point.y += 2)
+ {
+ for (point.z = -1; point.z < 2; point.z += 2)
+ {
+ point.intensity = point.y;
+ cloud.push_back (point);
+ }
+ }
+ }
+ cloud.is_dense = true;
+
+ // Eight points with (0, 0, 0) as centroid
+ centroid.x = -100;
+ centroid.y = -200;
+ centroid.z = -300;
+ centroid.intensity = -400;
+ centroid.curvature = -500;
+
+ EXPECT_EQ (8, computeCentroid (cloud, centroid));
+ EXPECT_FLOAT_EQ (0, centroid.x);
+ EXPECT_FLOAT_EQ (0, centroid.y);
+ EXPECT_FLOAT_EQ (0, centroid.z);
+ EXPECT_FLOAT_EQ (0, centroid.intensity);
+ EXPECT_FLOAT_EQ (-500, centroid.curvature);
+
+ centroid.x = -100;
+ centroid.y = -200;
+ centroid.z = -300;
+ centroid.intensity = -400;
+ centroid.curvature = -500;
+
+ // Only positive y values
+ indices.resize (4);
+ indices[0] = 2;
+ indices[1] = 3;
+ indices[2] = 6;
+ indices[3] = 7;
+ EXPECT_EQ (4, computeCentroid (cloud, indices, centroid));
+
+ EXPECT_FLOAT_EQ (0, centroid.x);
+ EXPECT_FLOAT_EQ (1, centroid.y);
+ EXPECT_FLOAT_EQ (0, centroid.z);
+ EXPECT_FLOAT_EQ (1, centroid.intensity);
+ EXPECT_FLOAT_EQ (-500, centroid.curvature);
+
+ point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
+ cloud.push_back (point);
+ cloud.is_dense = false;
+
+ centroid.x = -100;
+ centroid.y = -200;
+ centroid.z = -300;
+ centroid.intensity = -400;
+ centroid.curvature = -500;
+
+ EXPECT_EQ (8, computeCentroid (cloud, centroid));
+
+ EXPECT_FLOAT_EQ (0, centroid.x);
+ EXPECT_FLOAT_EQ (0, centroid.y);
+ EXPECT_FLOAT_EQ (0, centroid.z);
+ EXPECT_FLOAT_EQ (0, centroid.intensity);
+ EXPECT_FLOAT_EQ (-500, centroid.curvature);
+
+ centroid.x = -100;
+ centroid.y = -200;
+ centroid.z = -300;
+ centroid.intensity = -400;
+ centroid.curvature = -500;
+
+ indices.push_back (8); // add the NaN
+ EXPECT_EQ (4, computeCentroid (cloud, indices, centroid));
+
+ EXPECT_FLOAT_EQ (0, centroid.x);
+ EXPECT_FLOAT_EQ (1, centroid.y);
+ EXPECT_FLOAT_EQ (0, centroid.z);
+ EXPECT_FLOAT_EQ (1, centroid.intensity);
+ EXPECT_FLOAT_EQ (-500, centroid.curvature);
+}
+
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, Intersections)
-{
- Eigen::VectorXf zline (6), yline (6);
- zline[0] = 0.543892f; zline[1] = -0.515623f; zline[2] = 1.321f; zline[3] = 0.0266191f; zline[4] = 0.600215f; zline[5] = -0.0387667f;
- yline[0] = 0.493479f; yline[1] = 0.169246f; yline[2] = 1.22677f; yline[3] = 0.5992f; yline[4] = 0.0505085f; yline[5] = 0.405749f;
- Eigen::Vector4f pt;
- EXPECT_EQ ((pcl::lineWithLineIntersection (zline, yline, pt)), true);
- EXPECT_NEAR (pt[0], 0.574544, 1e-3);
- EXPECT_NEAR (pt[1], 0.175526, 1e-3);
- EXPECT_NEAR (pt[2], 1.27636, 1e-3);
- EXPECT_EQ (pt[3], 0);
-
- zline << 0.545203f, -0.514419f, 1.31967f, 0.0243372f, 0.597946f, -0.0413579f;
- yline << 0.492706f, 0.164196f, 1.23192f, 0.598704f, 0.0442014f, 0.411328f;
- EXPECT_EQ ((pcl::lineWithLineIntersection (zline, yline, pt)), false);
- //intersection: [ 3.06416e+08 15.2237 3.06416e+08 4.04468e-34 ]
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, compute3DCentroidFloat)
+template <typename T> class XYZPointTypesTest : public ::testing::Test { };
+typedef ::testing::Types<BOOST_PP_SEQ_ENUM(PCL_XYZ_POINT_TYPES)> XYZPointTypes;
+TYPED_TEST_CASE(XYZPointTypesTest, XYZPointTypes);
+TYPED_TEST(XYZPointTypesTest, GetVectorXfMap)
{
- pcl::PointIndices pindices;
- std::vector<int> indices;
- PointXYZ point;
- PointCloud<PointXYZ> cloud;
- Eigen::Vector4f centroid;
-
- // test empty cloud which is dense
- cloud.is_dense = true;
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
-
- // test empty cloud non_dense
- cloud.is_dense = false;
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- indices.push_back (1);
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 0);
-
- cloud.clear ();
- indices.clear ();
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
-
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 0);
- EXPECT_EQ (centroid [2], 0);
-
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
-
- EXPECT_EQ (centroid [0], 0.0);
- EXPECT_EQ (centroid [1], 1.0);
- EXPECT_EQ (centroid [2], 0.0);
-
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- cloud.is_dense = false;
-
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
-
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 0);
- EXPECT_EQ (centroid [2], 0);
-
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- indices.push_back (8); // add the NaN
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
-
- EXPECT_EQ (centroid [0], 0.0);
- EXPECT_EQ (centroid [1], 1.0);
- EXPECT_EQ (centroid [2], 0.0);
-
- pindices.indices = indices;
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
-
- EXPECT_EQ (centroid [0], 0.0);
- EXPECT_EQ (centroid [1], 1.0);
- EXPECT_EQ (centroid [2], 0.0);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, compute3DCentroidDouble)
-{
- pcl::PointIndices pindices;
- std::vector<int> indices;
- PointXYZ point;
- PointCloud<PointXYZ> cloud;
- Eigen::Vector4d centroid;
-
- // test empty cloud which is dense
- cloud.is_dense = true;
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
-
- // test empty cloud non_dense
- cloud.is_dense = false;
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- indices.push_back (1);
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 0);
-
- cloud.clear ();
- indices.clear ();
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
-
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 0);
- EXPECT_EQ (centroid [2], 0);
-
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
-
- EXPECT_EQ (centroid [0], 0.0);
- EXPECT_EQ (centroid [1], 1.0);
- EXPECT_EQ (centroid [2], 0.0);
-
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- cloud.is_dense = false;
-
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
- EXPECT_EQ (compute3DCentroid (cloud, centroid), 8);
-
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 0);
- EXPECT_EQ (centroid [2], 0);
-
- centroid [0] = -100;
- centroid [1] = -200;
- centroid [2] = -300;
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- indices.push_back (8); // add the NaN
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
-
- EXPECT_EQ (centroid [0], 0.0);
- EXPECT_EQ (centroid [1], 1.0);
- EXPECT_EQ (centroid [2], 0.0);
-
- pindices.indices = indices;
- EXPECT_EQ (compute3DCentroid (cloud, indices, centroid), 4);
-
- EXPECT_EQ (centroid [0], 0.0);
- EXPECT_EQ (centroid [1], 1.0);
- EXPECT_EQ (centroid [2], 0.0);
+ TypeParam pt;
+ for (size_t i = 0; i < 3; ++i)
+ EXPECT_EQ (&pt.data[i], &pt.getVector3fMap () (i));
+ for (size_t i = 0; i < 4; ++i)
+ EXPECT_EQ (&pt.data[i], &pt.getVector4fMap () (i));
}
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, compute3DCentroidCloudIterator)
+TYPED_TEST(XYZPointTypesTest, GetArrayXfMap)
{
- pcl::PointIndices pindices;
- std::vector<int> indices;
- PointXYZ point;
- PointCloud<PointXYZ> cloud;
- Eigen::Vector4f centroid_f;
-
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
-
- ConstCloudIterator<PointXYZ> it (cloud, indices);
-
- EXPECT_EQ (compute3DCentroid (it, centroid_f), 4);
-
- EXPECT_EQ (centroid_f[0], 0.0f);
- EXPECT_EQ (centroid_f[1], 1.0f);
- EXPECT_EQ (centroid_f[2], 0.0f);
-
- Eigen::Vector4d centroid_d;
- it.reset ();
- EXPECT_EQ (compute3DCentroid (it, centroid_d), 4);
-
- EXPECT_EQ (centroid_d[0], 0.0);
- EXPECT_EQ (centroid_d[1], 1.0);
- EXPECT_EQ (centroid_d[2], 0.0);
+ TypeParam pt;
+ for (size_t i = 0; i < 3; ++i)
+ EXPECT_EQ (&pt.data[i], &pt.getArray3fMap () (i));
+ for (size_t i = 0; i < 4; ++i)
+ EXPECT_EQ (&pt.data[i], &pt.getArray4fMap () (i));
}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, computeCovarianceMatrix)
+template <typename T> class NormalPointTypesTest : public ::testing::Test { };
+typedef ::testing::Types<BOOST_PP_SEQ_ENUM(PCL_NORMAL_POINT_TYPES)> NormalPointTypes;
+TYPED_TEST_CASE(NormalPointTypesTest, NormalPointTypes);
+TYPED_TEST(NormalPointTypesTest, GetNormalVectorXfMap)
{
- PointCloud<PointXYZ> cloud;
- PointXYZ point;
- std::vector <int> indices;
- Eigen::Vector4f centroid;
- Eigen::Matrix3f covariance_matrix;
-
- centroid [0] = 0;
- centroid [1] = 0;
- centroid [2] = 0;
-
- // test empty cloud which is dense
- cloud.is_dense = true;
- EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 0);
-
- // test empty cloud non_dense
- cloud.is_dense = false;
- EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- indices.push_back (1);
- EXPECT_EQ (computeCovarianceMatrix (cloud, indices, centroid, covariance_matrix), 0);
-
- cloud.clear ();
- indices.clear ();
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
-
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [0] = 0;
- centroid [1] = 0;
- centroid [2] = 0;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 8);
- EXPECT_EQ (covariance_matrix (0, 0), 8);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 8);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 8);
-
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [1] = 1;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, indices, centroid, covariance_matrix), 4);
- EXPECT_EQ (covariance_matrix (0, 0), 4);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 0);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 4);
-
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- cloud.is_dense = false;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [1] = 0;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, centroid, covariance_matrix), 8);
- EXPECT_EQ (covariance_matrix (0, 0), 8);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 8);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 8);
-
- indices.push_back (8); // add the NaN
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [1] = 1;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, indices, centroid, covariance_matrix), 4);
- EXPECT_EQ (covariance_matrix (0, 0), 4);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 0);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 4);
+ TypeParam pt;
+ for (size_t i = 0; i < 3; ++i)
+ EXPECT_EQ (&pt.data_n[i], &pt.getNormalVector3fMap () (i));
+ for (size_t i = 0; i < 4; ++i)
+ EXPECT_EQ (&pt.data_n[i], &pt.getNormalVector4fMap () (i));
}
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, computeCovarianceMatrixNormalized)
+template <typename T> class RGBPointTypesTest : public ::testing::Test { };
+typedef ::testing::Types<BOOST_PP_SEQ_ENUM(PCL_RGB_POINT_TYPES)> RGBPointTypes;
+TYPED_TEST_CASE(RGBPointTypesTest, RGBPointTypes);
+TYPED_TEST(RGBPointTypesTest, GetRGBVectorXi)
{
- PointCloud<PointXYZ> cloud;
- PointXYZ point;
- std::vector <int> indices;
- Eigen::Vector4f centroid;
- Eigen::Matrix3f covariance_matrix;
-
- centroid [0] = 0;
- centroid [1] = 0;
- centroid [2] = 0;
-
- // test empty cloud which is dense
- cloud.is_dense = true;
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 0);
-
- // test empty cloud non_dense
- cloud.is_dense = false;
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- indices.push_back (1);
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, indices, centroid, covariance_matrix), 0);
-
- cloud.clear ();
- indices.clear ();
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
-
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [0] = 0;
- centroid [1] = 0;
- centroid [2] = 0;
-
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 8);
-
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [1] = 1;
-
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, indices, centroid, covariance_matrix), 4);
-
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 0);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- cloud.is_dense = false;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [1] = 0;
-
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, centroid, covariance_matrix), 8);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- indices.push_back (8); // add the NaN
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [1] = 1;
-
- EXPECT_EQ (computeCovarianceMatrixNormalized (cloud, indices, centroid, covariance_matrix), 4);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 0);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
+ TypeParam pt; pt.r = 1; pt.g = 2; pt.b = 3; pt.a = 4;
+ EXPECT_EQ (pt.r, pt.getRGBVector3i () (0));
+ EXPECT_EQ (pt.g, pt.getRGBVector3i () (1));
+ EXPECT_EQ (pt.b, pt.getRGBVector3i () (2));
+ EXPECT_EQ (pt.r, pt.getRGBVector4i () (0));
+ EXPECT_EQ (pt.g, pt.getRGBVector4i () (1));
+ EXPECT_EQ (pt.b, pt.getRGBVector4i () (2));
+ EXPECT_EQ (pt.a, pt.getRGBVector4i () (3));
+ EXPECT_EQ (pt.r, pt.getRGBAVector4i () (0));
+ EXPECT_EQ (pt.g, pt.getRGBAVector4i () (1));
+ EXPECT_EQ (pt.b, pt.getRGBAVector4i () (2));
+ EXPECT_EQ (pt.a, pt.getRGBAVector4i () (3));
}
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, computeDemeanedCovariance)
+TYPED_TEST(RGBPointTypesTest, GetBGRVectorXcMap)
{
- PointCloud<PointXYZ> cloud;
- PointXYZ point;
- std::vector <int> indices;
- Eigen::Matrix3f covariance_matrix;
-
- // test empty cloud which is dense
- cloud.is_dense = true;
- EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 0);
-
- // test empty cloud non_dense
- cloud.is_dense = false;
- EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- indices.push_back (1);
- EXPECT_EQ (computeCovarianceMatrix (cloud, indices, covariance_matrix), 0);
-
- cloud.clear ();
- indices.clear ();
-
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
-
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 8);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, indices, covariance_matrix), 4);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- cloud.is_dense = false;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, covariance_matrix), 8);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- indices.push_back (8); // add the NaN
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
-
- EXPECT_EQ (computeCovarianceMatrix (cloud, indices, covariance_matrix), 4);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
+ TypeParam pt;
+ EXPECT_EQ (&pt.b, &pt.getBGRVector3cMap () (0));
+ EXPECT_EQ (&pt.g, &pt.getBGRVector3cMap () (1));
+ EXPECT_EQ (&pt.r, &pt.getBGRVector3cMap () (2));
+ EXPECT_EQ (&pt.b, &pt.getBGRAVector4cMap () (0));
+ EXPECT_EQ (&pt.g, &pt.getBGRAVector4cMap () (1));
+ EXPECT_EQ (&pt.r, &pt.getBGRAVector4cMap () (2));
+ EXPECT_EQ (&pt.a, &pt.getBGRAVector4cMap () (3));
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (PCL, computeMeanAndCovariance)
+TEST (PCL, Intersections)
{
- PointCloud<PointXYZ> cloud;
- PointXYZ point;
- std::vector <int> indices;
- Eigen::Matrix3f covariance_matrix;
- Eigen::Vector4f centroid;
-
- // test empty cloud which is dense
- cloud.is_dense = true;
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 0);
-
- // test empty cloud non_dense
- cloud.is_dense = false;
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 0);
-
- // test non-empty cloud non_dense
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- indices.push_back (1);
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, centroid), 0);
+ Eigen::VectorXf zline (6), yline (6);
+ zline[0] = 0.543892f; zline[1] = -0.515623f; zline[2] = 1.321f; zline[3] = 0.0266191f; zline[4] = 0.600215f; zline[5] = -0.0387667f;
+ yline[0] = 0.493479f; yline[1] = 0.169246f; yline[2] = 1.22677f; yline[3] = 0.5992f; yline[4] = 0.0505085f; yline[5] = 0.405749f;
- cloud.clear ();
- indices.clear ();
+ Eigen::Vector4f pt;
+ EXPECT_EQ ((pcl::lineWithLineIntersection (zline, yline, pt)), true);
+ EXPECT_NEAR (pt[0], 0.574544, 1e-3);
+ EXPECT_NEAR (pt[1], 0.175526, 1e-3);
+ EXPECT_NEAR (pt[2], 1.27636, 1e-3);
+ EXPECT_EQ (pt[3], 0);
- for (point.x = -1; point.x < 2; point.x += 2)
- {
- for (point.y = -1; point.y < 2; point.y += 2)
- {
- for (point.z = -1; point.z < 2; point.z += 2)
- {
- cloud.push_back (point);
- }
- }
- }
- cloud.is_dense = true;
-
- // eight points with (0, 0, 0) as centroid and covarmat (1, 0, 0, 0, 1, 0, 0, 0, 1)
-
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [0] = -100;
- centroid [1] = -101;
- centroid [2] = -102;
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 8);
-
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 0);
- EXPECT_EQ (centroid [2], 0);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- indices.resize (4); // only positive y values
- indices [0] = 2;
- indices [1] = 3;
- indices [2] = 6;
- indices [3] = 7;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [0] = -100;
- centroid [1] = -101;
- centroid [2] = -102;
-
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, centroid), 4);
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 1);
- EXPECT_EQ (centroid [2], 0);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 0);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- point.x = point.y = point.z = std::numeric_limits<float>::quiet_NaN ();
- cloud.push_back (point);
- cloud.is_dense = false;
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [0] = -100;
- centroid [1] = -101;
- centroid [2] = -102;
-
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, centroid), 8);
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 0);
- EXPECT_EQ (centroid [2], 0);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 1);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
-
- indices.push_back (8); // add the NaN
- covariance_matrix << -100, -101, -102, -110, -111, -112, -120, -121, -122;
- centroid [0] = -100;
- centroid [1] = -101;
- centroid [2] = -102;
-
- EXPECT_EQ (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, centroid), 4);
- EXPECT_EQ (centroid [0], 0);
- EXPECT_EQ (centroid [1], 1);
- EXPECT_EQ (centroid [2], 0);
- EXPECT_EQ (covariance_matrix (0, 0), 1);
- EXPECT_EQ (covariance_matrix (0, 1), 0);
- EXPECT_EQ (covariance_matrix (0, 2), 0);
- EXPECT_EQ (covariance_matrix (1, 0), 0);
- EXPECT_EQ (covariance_matrix (1, 1), 0);
- EXPECT_EQ (covariance_matrix (1, 2), 0);
- EXPECT_EQ (covariance_matrix (2, 0), 0);
- EXPECT_EQ (covariance_matrix (2, 1), 0);
- EXPECT_EQ (covariance_matrix (2, 2), 1);
+ zline << 0.545203f, -0.514419f, 1.31967f, 0.0243372f, 0.597946f, -0.0413579f;
+ yline << 0.492706f, 0.164196f, 1.23192f, 0.598704f, 0.0442014f, 0.411328f;
+ EXPECT_EQ ((pcl::lineWithLineIntersection (zline, yline, pt)), false);
+ //intersection: [ 3.06416e+08 15.2237 3.06416e+08 4.04468e-34 ]
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
EXPECT_FALSE (status);
}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, HasField)
+{
+ // has_field
+ EXPECT_TRUE ((pcl::traits::has_field<pcl::Normal, pcl::fields::curvature>::value));
+ EXPECT_FALSE ((pcl::traits::has_field<pcl::PointXYZ, pcl::fields::curvature>::value));
+ // has_all_fields
+ EXPECT_TRUE ((pcl::traits::has_all_fields<pcl::PointXYZRGB, boost::mpl::vector<pcl::fields::x, pcl::fields::rgb> >::value));
+ EXPECT_FALSE ((pcl::traits::has_all_fields<pcl::PointXYZ, boost::mpl::vector<pcl::fields::x, pcl::fields::rgb> >::value));
+ // has_any_field
+ EXPECT_TRUE ((pcl::traits::has_any_field<pcl::PointXYZ, boost::mpl::vector<pcl::fields::x, pcl::fields::normal_x> >::value));
+ EXPECT_TRUE ((pcl::traits::has_any_field<pcl::Normal, boost::mpl::vector<pcl::fields::x, pcl::fields::normal_x> >::value));
+ EXPECT_FALSE ((pcl::traits::has_any_field<pcl::RGB, boost::mpl::vector<pcl::fields::x, pcl::fields::normal_x> >::value));
+ // has_xyz
+ EXPECT_TRUE ((pcl::traits::has_xyz<pcl::PointXYZ>::value));
+ EXPECT_FALSE ((pcl::traits::has_xyz<pcl::Normal>::value));
+ // has_normal
+ EXPECT_TRUE ((pcl::traits::has_normal<pcl::PointNormal>::value));
+ EXPECT_FALSE ((pcl::traits::has_normal<pcl::PointXYZ>::value));
+ // has_curvature
+ EXPECT_TRUE ((pcl::traits::has_curvature<pcl::PointNormal>::value));
+ EXPECT_FALSE ((pcl::traits::has_curvature<pcl::RGB>::value));
+ // has_intensity
+ EXPECT_TRUE ((pcl::traits::has_intensity<pcl::PointXYZI>::value));
+ EXPECT_FALSE ((pcl::traits::has_intensity<pcl::PointXYZ>::value));
+ // has_color
+ EXPECT_TRUE ((pcl::traits::has_color<pcl::PointXYZRGB>::value));
+ EXPECT_TRUE ((pcl::traits::has_color<pcl::PointXYZRGBA>::value));
+ EXPECT_FALSE ((pcl::traits::has_color<pcl::PointXYZ>::value));
+ // has_label
+ EXPECT_TRUE ((pcl::traits::has_label<pcl::PointXYZL>::value));
+ EXPECT_FALSE ((pcl::traits::has_label<pcl::Normal>::value));
+}
+
/* ---[ */
int
main (int argc, char** argv)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2013, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/pcl_config.h>
+#include <pcl/pcl_tests.h>
+#include <pcl/point_cloud.h>
+#include <pcl/common/io.h>
+
+using namespace pcl;
+using namespace pcl::test;
+
+pcl::PointCloud<pcl::PointXYZ> cloud (64,48);
+int top = 2, bottom = 2, left = 2, right = 2;
+const pcl::PointXYZ constant (0, 0, 0);
+
+TEST (CopyPointCloud, constant)
+{
+ pcl::PointCloud<pcl::PointXYZ> dst (cloud.width + left + right, cloud.height + top + bottom);
+ pcl::copyPointCloud (cloud, dst, top, bottom, left, right, pcl::BORDER_CONSTANT, constant);
+
+ for (int j = 0; j < top; ++j)
+ for (int i = 0; i < dst.width; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), constant);
+
+ for (int j = top; j < cloud.height+top; ++j)
+ {
+ for (int i = 0; i < dst.width; ++i)
+ {
+ if (i < left)
+ EXPECT_XYZ_EQ (dst (i,j), constant);
+ else
+ {
+ if (i >= (cloud.width + left))
+ EXPECT_XYZ_EQ (dst (i,j), constant);
+ else
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i - left, j -top));
+ }
+ }
+ }
+
+ for (int j = cloud.height+top; j < dst.height; ++j)
+ for (int i = 0; i < dst.width; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), constant);
+}
+
+TEST (CopyPointCloud, replicate)
+{
+ pcl::PointCloud<pcl::PointXYZ> dst (cloud.width + left + right, cloud.height + top + bottom);
+ pcl::copyPointCloud (cloud, dst, top, bottom, left, right, pcl::BORDER_REPLICATE, constant);
+
+ for (int j = 0; j < top; ++j)
+ {
+ for (int i = 0; i < left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (0,0));
+ for (int i = left; i < cloud.width+left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,0));
+ for (int i = cloud.width+left; i < dst.width; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (cloud.width-1,0));
+ }
+
+ for (int j = top; j < cloud.height+top; ++j)
+ {
+ for (int i = 0; i < dst.width; ++i)
+ {
+ if (i < left)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (0,j-top));
+ else
+ {
+ if (i >= (cloud.width + left))
+ EXPECT_XYZ_EQ (dst (i,j), cloud (cloud.width-1,j-top));
+ else
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i - left, j -top));
+ }
+ }
+ }
+
+ for (int j = cloud.height+top; j < dst.height; ++j)
+ {
+ for (int i = 0; i < left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (0,cloud.height-1));
+ for (int i = left; i < cloud.width+left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,cloud.height-1));
+ for (int i = cloud.width+left; i < dst.width; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (cloud.width-1,cloud.height-1));
+ }
+}
+
+TEST (CopyPointCloud, reflect)
+{
+ pcl::PointCloud<pcl::PointXYZ> dst (cloud.width + left + right, cloud.height + top + bottom);
+ pcl::copyPointCloud (cloud, dst, top, bottom, left, right, pcl::BORDER_REFLECT, constant);
+
+ for (int j = 0, k = top-1; j < top; ++j,--k)
+ {
+ for (int i = 0, l = left-1; i < left; ++i, --l)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
+
+ for (int i = left; i < cloud.width+left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,k));
+
+ for (int i = cloud.width+left, l = cloud.width-left; i < left; ++i, --l)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
+ }
+
+ for (int j = top; j < cloud.height+top; ++j)
+ {
+ for (int i = 0, l = left-1; i < left; ++i, --l)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (l, j-top));
+
+ for (int i = left; i < cloud.width + left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,j-top));
+
+ for (int i = cloud.width+left, l = cloud.width-left; i < left; ++i, --l)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (l, j-top));
+ }
+
+ for (int j = cloud.height+top, k = cloud.height-1; j < top; ++j,--k)
+ {
+ for (int i = 0, l = left-1; i < left; ++i, --l)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
+
+ for (int i = left; i < cloud.width+left; ++i)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (i-left,k));
+
+ for (int i = cloud.width+left, l = cloud.width-left; i < left; ++i, --l)
+ EXPECT_XYZ_EQ (dst (i,j), cloud (l, k));
+ }
+}
+
+int
+main (int argc, char** argv)
+{
+ for (std::size_t i = 0, j = 10; i < cloud.size (); ++j, ++i)
+ cloud[i] = pcl::PointXYZ (j, j*10, j*100);
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, Inc.
+ *
+ * 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <pcl/common/copy_point.h>
+
+TEST (CopyPointTest, SameTypeWithoutColor)
+{
+ {
+ pcl::PointXYZ p1 (1, 2, 3), p2 (4, 5, 6);
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ }
+ {
+ pcl::Normal p1 (1, 2, 3), p2 (4, 5, 6);
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.normal_x, p2.normal_x);
+ EXPECT_FLOAT_EQ (p1.normal_y, p2.normal_y);
+ EXPECT_FLOAT_EQ (p1.normal_z, p2.normal_z);
+ }
+}
+
+TEST (CopyPointTest, SameTypeWithColor)
+{
+ {
+ pcl::PointXYZRGBA p1, p2;
+ p1.getVector3fMap () << 1, 2, 3; p1.rgba = 0xFF0000FF;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_EQ (p1.rgba, p2.rgba);
+ }
+}
+
+TEST (CopyPointTest, DifferentTypesWithoutColor)
+{
+ {
+ pcl::PointXYZ p1 (1, 2, 3);
+ pcl::PointXYZL p2;
+ p2.getVector3fMap () << 4, 5, 5; p2.label = 1;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_EQ (1, p2.label);
+ }
+ {
+ pcl::PointXY p1; p1.x = 1; p1.y = 2;
+ pcl::PointWithRange p2; p2.getVector3fMap () << 4, 5, 6; p2.range = 8;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (6, p2.z);
+ EXPECT_FLOAT_EQ (8, p2.range);
+ }
+}
+
+TEST (CopyPointTest, DifferentTypesOneWithColorAnotherWithout)
+{
+ // Source without color
+ {
+ pcl::PointXYZ p1 (1, 2, 3);
+ pcl::PointXYZRGB p2;
+ p2.getVector3fMap () << 4, 5, 5; p2.rgba = 0xFFFF00;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_EQ (0xFFFF00, p2.rgba);
+ }
+ // Target without color
+ {
+ pcl::PointXYZRGBNormal p1; p1.getVector3fMap () << 1, 2, 3; p1.rgba = 0xFF0000;
+ pcl::PointWithRange p2; p2.getVector3fMap () << 4, 5, 6; p2.range = 8;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_FLOAT_EQ (8, p2.range);
+ }
+}
+
+TEST (CopyPointTest, DifferentTypesWithDifferentColor)
+{
+ {
+ pcl::RGB p1;
+ pcl::PointXYZRGB p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 7; p2.g = 8; p2.b = 9, p2.a = 10;
+ pcl::copyPoint (p1, p2);
+ EXPECT_EQ (p1.rgba, p2.rgba);
+ EXPECT_FLOAT_EQ (4, p2.x);
+ EXPECT_FLOAT_EQ (5, p2.y);
+ EXPECT_FLOAT_EQ (6, p2.z);
+ }
+ {
+ pcl::PointXYZRGBNormal p1; p1.getVector3fMap () << 1, 2, 3; p1.r = 7; p1.g = 8; p1.b = 9;
+ pcl::PointXYZRGBL p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 3; p2.g = 2; p2.b = 1; p2.label = 8;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_EQ (p1.rgba, p2.rgba);
+ EXPECT_EQ (8, p2.label);
+ }
+ {
+ pcl::PointXYZRGBA p1; p1.getVector3fMap () << 1, 2, 3; p1.rgba = 0xFF00FF;
+ pcl::PointXYZRGB p2; p2.getVector3fMap () << 4, 5, 6; p2.rgba = 0x00FF00;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_EQ (p1.rgba, p2.rgba);
+ }
+}
+
+TEST (CopyPointTest, DifferentTypesWithSameColor)
+{
+ {
+ pcl::RGB p1;
+ pcl::PointXYZRGBA p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 7; p2.g = 8; p2.b = 9, p2.a = 10;
+ pcl::copyPoint (p1, p2);
+ EXPECT_EQ (p1.rgba, p2.rgba);
+ EXPECT_FLOAT_EQ (4, p2.x);
+ EXPECT_FLOAT_EQ (5, p2.y);
+ EXPECT_FLOAT_EQ (6, p2.z);
+ }
+ {
+ pcl::PointXYZRGBNormal p1; p1.getVector3fMap () << 1, 2, 3; p1.r = 7; p1.g = 8; p1.b = 9;
+ pcl::PointXYZRGB p2; p2.getVector3fMap () << 4, 5, 6; p2.r = 3; p2.g = 2; p2.b = 1;
+ pcl::copyPoint (p1, p2);
+ EXPECT_FLOAT_EQ (p1.x, p2.x);
+ EXPECT_FLOAT_EQ (p1.y, p2.y);
+ EXPECT_FLOAT_EQ (p1.z, p2.z);
+ EXPECT_EQ (p1.rgba, p2.rgba);
+ }
+}
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ ::testing::InitGoogleTest (&argc, argv);
+ ::testing::FLAGS_gtest_death_test_style = "threadsafe";
+ return RUN_ALL_TESTS ();
+ }
+ catch (std::exception& e)
+ {
+ std::cerr << "Unhandled exception: " << e.what () << "\n";
+ }
+ return 1;
+}
+
r_matrix.coeffRef (6) = r_matrix.coeffRef (2);
r_matrix.coeffRef (7) = r_matrix.coeffRef (5);
c_matrix = r_matrix;
-// c_matrix.coeffRef (3) = c_matrix.coeffRef (1);
-// c_matrix.coeffRef (6) = c_matrix.coeffRef (2);
-// c_matrix.coeffRef (7) = c_matrix.coeffRef (5);
+ //c_matrix.coeffRef (3) = c_matrix.coeffRef (1);
+ //c_matrix.coeffRef (6) = c_matrix.coeffRef (2);
+ //c_matrix.coeffRef (7) = c_matrix.coeffRef (5);
// test row-major -> row-major
determinant = invert3x3SymMatrix (r_matrix, r_inverse);
r_matrix.coeffRef (6) = r_matrix.coeffRef (2);
r_matrix.coeffRef (7) = r_matrix.coeffRef (5);
c_matrix = r_matrix;
-// c_matrix.coeffRef (3) = c_matrix.coeffRef (1);
-// c_matrix.coeffRef (6) = c_matrix.coeffRef (2);
-// c_matrix.coeffRef (7) = c_matrix.coeffRef (5);
+ //c_matrix.coeffRef (3) = c_matrix.coeffRef (1);
+ //c_matrix.coeffRef (6) = c_matrix.coeffRef (2);
+ //c_matrix.coeffRef (7) = c_matrix.coeffRef (5);
// test row-major -> row-major
determinant = invert3x3SymMatrix (r_matrix, r_inverse);
unsigned test_case = rand_uint () % 10;
- Scalar val1 = Scalar (rand_double ());
- Scalar val2 = Scalar (rand_double ());
+ Scalar val1 = Scalar (rand_double ());
+ Scalar val2 = Scalar (rand_double ());
// 10% of test cases include equal eigenvalues
if (test_case == 0)
}
eigenvalues (0, 0) = val1;
eigenvalues (1, 1) = val2;
- matrix = eigenvectors * eigenvalues * eigenvectors.adjoint();
+ matrix = eigenvectors * eigenvalues * eigenvectors.adjoint();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
unsigned test_case = rand_uint ();
- Scalar val1 = Scalar (rand_double ());
- Scalar val2 = Scalar (rand_double ());
- Scalar val3 = Scalar (rand_double ());
+ Scalar val1 = Scalar (rand_double ());
+ Scalar val2 = Scalar (rand_double ());
+ Scalar val3 = Scalar (rand_double ());
// 1%: all three values are equal and non-zero
if (test_case == 0)
eigenvalues (1, 1) = val2;
eigenvalues (2, 2) = val3;
- matrix = eigenvectors * eigenvalues * eigenvectors.adjoint();
+ matrix = eigenvectors * eigenvalues * eigenvectors.adjoint();
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
EXPECT_LE (float(r_fail_count) / float(iterations), 0.01);
}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, transformLine)
+{
+ // This also tests transformPoint and transformVector
+ Eigen::VectorXf line;
+ Eigen::VectorXd lined, test;
+ line.resize(6);
+ lined.resize(6);
+ test.resize(6);
+ double tolerance = 1e-7;
+
+ // Simple translation
+ Eigen::Affine3f transformation = Eigen::Affine3f::Identity ();
+ Eigen::Affine3d transformationd = Eigen::Affine3d::Identity ();
+ transformation.translation() << 1, -2, 0;
+ transformationd.translation() << 1, -2, 0;
+ line << 1, 2, 3, 0, 1, 0;
+ lined << 1, 2, 3, 0, 1, 0;
+ test << 2, 0, 3, 0, 1, 0;
+
+ EXPECT_TRUE (pcl::transformLine (line, line, transformation));
+ EXPECT_TRUE (pcl::transformLine (lined, lined, transformationd));
+ for (int i = 0; i < 6; i++)
+ {
+ EXPECT_NEAR (line[i], test[i], tolerance);
+ EXPECT_NEAR (lined[i], test[i], tolerance);
+ }
+
+ // Simple rotation
+ transformation = Eigen::Affine3f::Identity ();
+ transformationd = Eigen::Affine3d::Identity ();
+ transformation.linear() = (Eigen::Matrix3f) Eigen::AngleAxisf(M_PI/2, Eigen::Vector3f::UnitZ());
+ transformationd.linear() = (Eigen::Matrix3d) Eigen::AngleAxisd(M_PI/2, Eigen::Vector3d::UnitZ());
+
+ line << 1, 2, 3, 0, 1, 0;
+ lined << 1, 2, 3, 0, 1, 0;
+ test << -2, 1, 3, -1, 0, 0;
+ tolerance = 1e-4;
+
+ EXPECT_TRUE (pcl::transformLine (line, line, transformation));
+ EXPECT_TRUE (pcl::transformLine (lined, lined, transformationd));
+ for (int i = 0; i < 6; i++)
+ {
+ EXPECT_NEAR (line[i], test[i], tolerance);
+ EXPECT_NEAR (lined[i], test[i], tolerance);
+ }
+
+ // Random transformation
+ transformation = Eigen::Affine3f::Identity ();
+ transformationd = Eigen::Affine3d::Identity ();
+ transformation.translation() << 25.97, -2.45, 0.48941;
+ transformationd.translation() << 25.97, -2.45, 0.48941;
+ transformation.linear() = (Eigen::Matrix3f) Eigen::AngleAxisf(M_PI/5, Eigen::Vector3f::UnitX())
+ * Eigen::AngleAxisf(M_PI/3, Eigen::Vector3f::UnitY());
+ transformationd.linear() = (Eigen::Matrix3d) Eigen::AngleAxisd(M_PI/5, Eigen::Vector3d::UnitX())
+ * Eigen::AngleAxisd(M_PI/3, Eigen::Vector3d::UnitY());
+
+ line << -1, 9, 3, 1.5, 2.0, 0.2;
+ lined << -1, 9, 3, 1.5, 2.0, 0.2;
+ test << 28.0681, 3.44044, 7.69363, 0.923205, 2.32281, 0.205528;
+ tolerance = 1e-3;
+
+ EXPECT_TRUE (pcl::transformLine (line, line, transformation));
+ EXPECT_TRUE (pcl::transformLine (lined, lined, transformationd));
+ for (int i = 0; i < 6; i++)
+ {
+ EXPECT_NEAR (line[i], test[i], tolerance);
+ EXPECT_NEAR (lined[i], test[i], tolerance);
+ }
+}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, transformPlane)
+{
+ Eigen::Vector4d test;
+ double tolerance = 1e-8;
+ pcl::ModelCoefficients::Ptr plane (new pcl::ModelCoefficients);
+ plane->values.resize(4);
+ plane->values[0] = 1.0;
+ plane->values[1] = 0.0;
+ plane->values[2] = 0.0;
+ plane->values[3] = -2.0;
+
+ // Simple translation
+ Eigen::Affine3f transformation = Eigen::Affine3f::Identity ();
+ Eigen::Affine3d transformationd = Eigen::Affine3d::Identity ();
+ transformation.translation() << 1, 0, 0;
+ transformationd.translation() << 1, 0, 0;
+ test << 1, 0, 0, -3;
+
+ pcl::transformPlane (plane, plane, transformation);
+ for (int i = 0; i < 4; i++)
+ EXPECT_NEAR (plane->values[i], test[i], tolerance);
+
+ plane->values[0] = 1.0;
+ plane->values[1] = 0.0;
+ plane->values[2] = 0.0;
+ plane->values[3] = -2.0;
+ pcl::transformPlane (plane, plane, transformationd);
+ for (int i = 0; i < 4; i++)
+ EXPECT_NEAR (plane->values[i], test[i], tolerance);
+
+ // Simple rotation
+ transformation.translation() << 0, 0, 0;
+ transformationd.translation() << 0, 0, 0;
+ transformation.linear() = (Eigen::Matrix3f) Eigen::AngleAxisf(M_PI/2, Eigen::Vector3f::UnitZ());
+ transformationd.linear() = (Eigen::Matrix3d) Eigen::AngleAxisd(M_PI/2, Eigen::Vector3d::UnitZ());
+ test << 0, 1, 0, -2;
+ tolerance = 1e-6;
+
+ plane->values[0] = 1.0;
+ plane->values[1] = 0.0;
+ plane->values[2] = 0.0;
+ plane->values[3] = -2.0;
+ pcl::transformPlane (plane, plane, transformation);
+ for (int i = 0; i < 4; i++)
+ EXPECT_NEAR (plane->values[i], test[i], tolerance);
+
+ plane->values[0] = 1.0;
+ plane->values[1] = 0.0;
+ plane->values[2] = 0.0;
+ plane->values[3] = -2.0;
+ pcl::transformPlane (plane, plane, transformationd);
+ for (int i = 0; i < 4; i++)
+ EXPECT_NEAR (plane->values[i], test[i], tolerance);
+
+ // Random transformation
+ transformation.translation() << 12.5, -5.4, 0.1;
+ transformationd.translation() << 12.5, -5.4, 0.1;
+ transformation.linear() = (Eigen::Matrix3f) Eigen::AngleAxisf(M_PI/7, Eigen::Vector3f::UnitY())
+ * Eigen::AngleAxisf(M_PI/4, Eigen::Vector3f::UnitZ());
+ transformationd.linear() = (Eigen::Matrix3d) Eigen::AngleAxisd(M_PI/7, Eigen::Vector3d::UnitY())
+ * Eigen::AngleAxisd(M_PI/4, Eigen::Vector3d::UnitZ());
+ test << 5.35315, 2.89914, 0.196848, -49.2788;
+ tolerance = 1e-4;
+
+ plane->values[0] = 5.4;
+ plane->values[1] = -1.3;
+ plane->values[2] = 2.5;
+ plane->values[3] = 2.0;
+ pcl::transformPlane (plane, plane, transformation);
+ for (int i = 0; i < 4; i++)
+ EXPECT_NEAR (plane->values[i], test[i], tolerance);
+
+ plane->values[0] = 5.4;
+ plane->values[1] = -1.3;
+ plane->values[2] = 2.5;
+ plane->values[3] = 2.0;
+ pcl::transformPlane (plane, plane, transformationd);
+ for (int i = 0; i < 4; i++)
+ EXPECT_NEAR (plane->values[i], test[i], tolerance);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, checkCoordinateSystem)
+{
+ Eigen::VectorXd line_x, line_y;
+ Eigen::VectorXd line_xd, line_yd;
+ line_x.resize(6); line_y.resize(6);
+ line_xd.resize(6); line_yd.resize(6);
+
+ Eigen::Vector3d origin, vector_x, vector_y;
+ Eigen::Vector3d origind, vector_xd, vector_yd;
+
+ // No translation, no rotation coordinate system
+ line_x << 0, 0, 0, 0, 1, 0;// Y
+ line_y << 0, 0, 0, 0, 0, 1;// Z
+ line_xd << 0, 0, 0, 0, 1, 0;
+ line_yd << 0, 0, 0, 0, 0, 1;
+ EXPECT_TRUE (pcl::checkCoordinateSystem (line_x, line_y ));
+ EXPECT_TRUE (pcl::checkCoordinateSystem (line_xd, line_yd));
+
+ origin << 0, 0, 0;
+ vector_x << 0, 1, 0;// Y
+ vector_y << 0, 0, 1;// Z
+ origind << 0, 0, 0;
+ vector_xd << 0, 1, 0;
+ vector_yd << 0, 0, 1;
+ EXPECT_TRUE (pcl::checkCoordinateSystem (origin, vector_x, vector_y ));
+ EXPECT_TRUE (pcl::checkCoordinateSystem (origind, vector_xd, vector_yd));
+
+ // Simple translated coordinate system
+ line_x << 10, -1, 0, 1, 0, 0;// X
+ line_y << 10, -1, 0, 0, 1, 0;// Y
+ line_xd << 10, -1, 0, 1, 0, 0;
+ line_yd << 10, -1, 0, 0, 1, 0;
+ EXPECT_TRUE (pcl::checkCoordinateSystem (line_x, line_y ));
+ EXPECT_TRUE (pcl::checkCoordinateSystem (line_xd, line_yd));
+
+ origin << 10, -1, 0;
+ vector_x << 1, 0, 0;
+ vector_y << 0, 1, 0;
+ origind << 10, -1, 0;
+ vector_xd << 1, 0, 0;
+ vector_yd << 0, 1, 0;
+ EXPECT_TRUE (pcl::checkCoordinateSystem (origin, vector_x, vector_y ));
+ EXPECT_TRUE (pcl::checkCoordinateSystem (origind, vector_xd, vector_yd));
+
+ // General coordinate system
+ line_x << 1234.56, 0.0, 0.0, 0.00387281179, 0.00572064891, -0.999976099;
+ line_y << 1234.56, 0.0, 0.0, 0.6113801, -0.79133445, -0.00202810019;
+ line_xd << 1234.56, 0.0, 0.0, 0.00387281179, 0.00572064891, -0.999976099;
+ line_yd << 1234.56, 0.0, 0.0, 0.6113801, -0.79133445, -0.00202810019;
+ EXPECT_TRUE (pcl::checkCoordinateSystem (line_x, line_y , 1e-7, 5e-3));
+ EXPECT_TRUE (pcl::checkCoordinateSystem (line_xd, line_yd, 1e-7, 5e-3));
+
+ origin << 1234.56, 0.0, 0.0;
+ vector_x << 0.00387281179, 0.00572064891, -0.999976099;
+ vector_y << 0.6113801, -0.79133445, -0.00202810019;
+ origind << 1234.56, 0.0, 0.0;
+ vector_xd << 0.00387281179, 0.00572064891, -0.999976099;
+ vector_yd << 0.6113801, -0.79133445, -0.00202810019;
+ EXPECT_TRUE (pcl::checkCoordinateSystem (origin, vector_x, vector_y , 1e-7, 5e-3));
+ EXPECT_TRUE (pcl::checkCoordinateSystem (origind, vector_xd, vector_yd, 1e-7, 5e-3));
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, transformBetween2CoordinateSystems)
+{
+ Eigen::Affine3f transformation;
+ Eigen::Affine3d transformationd;
+ Eigen::VectorXf from_line_x, from_line_y, to_line_x, to_line_y;
+ Eigen::VectorXd from_line_xd, from_line_yd, to_line_xd, to_line_yd;
+ from_line_x.resize(6); from_line_y.resize(6);
+ to_line_x.resize(6); to_line_y.resize(6);
+ from_line_xd.resize(6); from_line_yd.resize(6);
+ to_line_xd.resize(6); to_line_yd.resize(6);
+
+ Eigen::Matrix4d test;
+ double tolerance = 1e-3;
+
+ // Simple translation
+ test << 1, 0, 0, 10,
+ 0, 1, 0, -5,
+ 0, 0, 1, 1,
+ 0, 0, 0, 1;
+
+ from_line_x << 0, 0, 0, 1, 0, 0;
+ from_line_y << 0, 0, 0, 0, 1, 0;
+ to_line_x << 10, -5, 1, 1, 0, 0;
+ to_line_y << 10, -5, 1, 0, 1, 0;
+ EXPECT_TRUE (pcl::transformBetween2CoordinateSystems (from_line_x, from_line_y, to_line_x, to_line_y, transformation));
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ EXPECT_LE ((transformation.matrix())(i,j) - test(i,j), tolerance);
+
+ from_line_xd << 0, 0, 0, 1, 0, 0;
+ from_line_yd << 0, 0, 0, 0, 1, 0;
+ to_line_xd << 10, -5, 1, 1, 0, 0;
+ to_line_yd << 10, -5, 1, 0, 1, 0;
+ EXPECT_TRUE (pcl::transformBetween2CoordinateSystems (from_line_xd, from_line_yd, to_line_xd, to_line_yd, transformationd));
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ EXPECT_LE ((transformationd.matrix())(i,j) - test(i,j), tolerance);
+
+ // Simple rotation
+ test << 0, 0, 1, 0,
+ 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 0, 1;
+
+ from_line_x << 0, 0, 0, 1, 0, 0;
+ from_line_y << 0, 0, 0, 0, 1, 0;
+ to_line_x << 0, 0, 0, 0, 1, 0;
+ to_line_y << 0, 0, 0, 0, 0, 1;
+ EXPECT_TRUE (pcl::transformBetween2CoordinateSystems (from_line_x, from_line_y, to_line_x, to_line_y, transformation));
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ EXPECT_LE ((transformation.matrix())(i,j) - test(i,j), tolerance);
+
+ from_line_xd << 0, 0, 0, 1, 0, 0;
+ from_line_yd << 0, 0, 0, 0, 1, 0;
+ to_line_xd << 0, 0, 1, 0, 1, 0;
+ to_line_yd << 0, 0, 1, 0, 0, 1;
+ EXPECT_TRUE (pcl::transformBetween2CoordinateSystems (from_line_xd, from_line_yd, to_line_xd, to_line_yd, transformationd));
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ EXPECT_LE ((transformationd.matrix())(i,j) - test(i,j), tolerance);
+
+ // General case
+ test << 0.00397405, 0.00563289, -0.999976, -4.9062,
+ 0.611348, -0.791359, -0.00213906, -754.746,
+ -0.791352, -0.611325, -0.00658855, 976.972,
+ 0, 0, 0, 1;
+
+ from_line_x << 1234.56, 0.0, 0.0, 0.00387281179, 0.00572064891, -0.999976099;
+ from_line_y << 1234.56, 0.0, 0.0, 0.6113801, -0.79133445, -0.00202810019;
+ to_line_x << 0, 0, 0, 1, 0, 0;
+ to_line_y << 0, 0, 0, 0, 1, 0;
+ EXPECT_TRUE (pcl::transformBetween2CoordinateSystems (from_line_x, from_line_y, to_line_x, to_line_y, transformation));
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ EXPECT_LE ((transformation.matrix())(i,j) - test(i,j), tolerance);
+
+ from_line_xd << 1234.56, 0.0, 0.0, 0.00387281179, 0.00572064891, -0.999976099;
+ from_line_yd << 1234.56, 0.0, 0.0, 0.6113801, -0.79133445, -0.00202810019;
+ to_line_xd << 0, 0, 0, 1, 0, 0;
+ to_line_yd << 0, 0, 0, 0, 1, 0;
+ EXPECT_TRUE (pcl::transformBetween2CoordinateSystems (from_line_xd, from_line_yd, to_line_xd, to_line_yd, transformationd));
+
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ EXPECT_LE ((transformationd.matrix())(i,j) - test(i,j), tolerance);
+}
+
/* ---[ */
int
main (int argc, char** argv)
*/
#include <gtest/gtest.h>
+#include <pcl/pcl_tests.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
EXPECT_EQ (int (cloud_xyz_rgb_normal.size ()), 5);
for (int i = 0; i < 5; ++i)
{
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].x, cloud_xyz_rgb_normal[i].x);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].y, cloud_xyz_rgb_normal[i].y);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].z, cloud_xyz_rgb_normal[i].z);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].r, cloud_xyz_rgb_normal[i].r);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].g, cloud_xyz_rgb_normal[i].g);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].b, cloud_xyz_rgb_normal[i].b);
+ EXPECT_XYZ_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
+ EXPECT_RGB_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
EXPECT_EQ (cloud_xyz_rgba[i].rgba, cloud_xyz_rgb_normal[i].rgba);
}
EXPECT_EQ (int (cloud_xyz_rgb_normal.size ()), 2);
for (int i = 0; i < 2; ++i)
{
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].x, cloud_xyz_rgb_normal[i].x);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].y, cloud_xyz_rgb_normal[i].y);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].z, cloud_xyz_rgb_normal[i].z);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].r, cloud_xyz_rgb_normal[i].r);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].g, cloud_xyz_rgb_normal[i].g);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].b, cloud_xyz_rgb_normal[i].b);
+ EXPECT_XYZ_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
+ EXPECT_RGB_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
EXPECT_EQ (cloud_xyz_rgba[i].rgba, cloud_xyz_rgb_normal[i].rgba);
}
EXPECT_EQ (int (cloud_xyz_rgb_normal.size ()), 3);
for (int i = 0; i < 3; ++i)
{
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].x, cloud_xyz_rgb_normal[i].x);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].y, cloud_xyz_rgb_normal[i].y);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].z, cloud_xyz_rgb_normal[i].z);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].r, cloud_xyz_rgb_normal[i].r);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].g, cloud_xyz_rgb_normal[i].g);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].b, cloud_xyz_rgb_normal[i].b);
+ EXPECT_XYZ_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
+ EXPECT_RGB_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
EXPECT_EQ (cloud_xyz_rgba[i].rgba, cloud_xyz_rgb_normal[i].rgba);
}
EXPECT_EQ (int (cloud_xyz_rgb_normal.size ()), 3);
for (int i = 0; i < 3; ++i)
{
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].x, cloud_xyz_rgb_normal[i].x);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].y, cloud_xyz_rgb_normal[i].y);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].z, cloud_xyz_rgb_normal[i].z);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].r, cloud_xyz_rgb_normal[i].r);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].g, cloud_xyz_rgb_normal[i].g);
- EXPECT_FLOAT_EQ (cloud_xyz_rgba[i].b, cloud_xyz_rgb_normal[i].b);
+ EXPECT_XYZ_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
+ EXPECT_RGB_EQ (cloud_xyz_rgba[i], cloud_xyz_rgb_normal[i]);
EXPECT_EQ (cloud_xyz_rgba[i].rgba, cloud_xyz_rgb_normal[i].rgba);
}
}
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgba[i].z);
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgba[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgba[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgba[i].b);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgba[i]);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgba[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgba[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgba2.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].x, cloud_xyz_rgba2[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].y, cloud_xyz_rgba2[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].z, cloud_xyz_rgba2[i].z);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].r, cloud_xyz_rgba2[i].r);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].g, cloud_xyz_rgba2[i].g);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].b, cloud_xyz_rgba2[i].b);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgba2[i]);
+ EXPECT_RGB_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgba2[i]);
EXPECT_EQ (cloud_all[cloud_xyz_rgba.size () + i].rgba, cloud_xyz_rgba2[i].rgba);
}
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgba[i].z);
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgba[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgba[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgba[i].b);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgba[i]);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgba[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgba[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgb.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].x, cloud_xyz_rgb[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].y, cloud_xyz_rgb[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].z, cloud_xyz_rgb[i].z);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].r, cloud_xyz_rgb[i].r);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].g, cloud_xyz_rgb[i].g);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].b, cloud_xyz_rgb[i].b);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgb[i]);
+ EXPECT_RGB_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgb[i]);
EXPECT_EQ (cloud_all[cloud_xyz_rgba.size () + i].rgba, cloud_xyz_rgb[i].rgba);
}
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgba[i].z);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgba[i]);
// Data doesn't get modified
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgba[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgba[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgba[i].b);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgba[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgba[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgb.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].x, cloud_xyz_rgb[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].y, cloud_xyz_rgb[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].z, cloud_xyz_rgb[i].z);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgb[i]);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].r, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].g, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].b, 0);
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgba[i].z);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgba[i]);
// Data doesn't get modified
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgba[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgba[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgba[i].b);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgba[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgba[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgb.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].x, cloud_xyz_rgb[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].y, cloud_xyz_rgb[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].z, cloud_xyz_rgb[i].z);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgb[i]);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].r, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].g, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].b, 0);
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgba[i].z);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgba[i]);
// Data doesn't get modified
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgba[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgba[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgba[i].b);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgba[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgba[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgb.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].x, cloud_xyz_rgb[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].y, cloud_xyz_rgb[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].z, cloud_xyz_rgb[i].z);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgba.size () + i], cloud_xyz_rgb[i]);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].r, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].g, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgba.size () + i].b, 0);
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgb.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgb[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgb[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgb[i].z);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgb[i]);
// Data doesn't get modified
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgb[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgb[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgb[i].b);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgb[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgb[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].z, cloud_xyz_rgba[i].z);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgb.size () + i], cloud_xyz_rgba[i]);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].r, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].g, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].b, 0);
EXPECT_EQ (cloud_all.size (), cloud_xyz_rgba.size () + cloud_xyz_rgba2.size ());
for (int i = 0; i < int (cloud_xyz_rgb.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[i].x, cloud_xyz_rgb[i].x);
- EXPECT_FLOAT_EQ (cloud_all[i].y, cloud_xyz_rgb[i].y);
- EXPECT_FLOAT_EQ (cloud_all[i].z, cloud_xyz_rgb[i].z);
+ EXPECT_XYZ_EQ (cloud_all[i], cloud_xyz_rgb[i]);
// Data doesn't get modified
- EXPECT_FLOAT_EQ (cloud_all[i].r, cloud_xyz_rgb[i].r);
- EXPECT_FLOAT_EQ (cloud_all[i].g, cloud_xyz_rgb[i].g);
- EXPECT_FLOAT_EQ (cloud_all[i].b, cloud_xyz_rgb[i].b);
+ EXPECT_RGB_EQ (cloud_all[i], cloud_xyz_rgb[i]);
EXPECT_EQ (cloud_all[i].rgba, cloud_xyz_rgb[i].rgba);
}
for (int i = 0; i < int (cloud_xyz_rgba.size ()); ++i)
{
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].x, cloud_xyz_rgba[i].x);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].y, cloud_xyz_rgba[i].y);
- EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].z, cloud_xyz_rgba[i].z);
+ EXPECT_XYZ_EQ (cloud_all[cloud_xyz_rgb.size () + i], cloud_xyz_rgba[i]);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].r, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].g, 0);
EXPECT_FLOAT_EQ (cloud_all[cloud_xyz_rgb.size () + i].b, 0);
}
}
+TEST (PCL, CopyPointCloudWithIndicesAndRGBToRGBA)
+{
+ CloudXYZRGB cloud_xyz_rgb;
+ CloudXYZRGBA cloud_xyz_rgba (5, 1, pt_xyz_rgba);
+
+ std::vector<int> indices;
+ indices.push_back (2);
+ indices.push_back (3);
+
+ pcl::copyPointCloud (cloud_xyz_rgba, indices, cloud_xyz_rgb);
+
+ EXPECT_EQ (indices.size (), cloud_xyz_rgb.size ());
+ for (size_t i = 0; i < indices.size (); ++i)
+ {
+ EXPECT_XYZ_EQ (cloud_xyz_rgb[i], cloud_xyz_rgba[indices[i]]);
+ EXPECT_EQ (cloud_xyz_rgb[i].rgba, cloud_xyz_rgba[indices[i]].rgba);
+ }
+}
+
/* ---[ */
int
main (int argc, char** argv)
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, lineWithLineIntersection)
{
- Eigen::VectorXf line_a(6);
- Eigen::VectorXf line_b(6);
+ Eigen::VectorXf line_a (6);
+ Eigen::VectorXf line_b (6);
//case 1
- line_a[0] = 0.01f;
- line_a[1] = 0.02f;
- line_a[2] = 0.03f;
- line_a[3] = 0.4f;
- line_a[4] = 0.5f;
- line_a[5] = 0.6f;
-
- line_b[0] = 0.1f;
- line_b[1] = 0.2f;
- line_b[2] = 0.3f;
- line_b[3] = 0.04f;
- line_b[4] = 0.05f;
- line_b[5] = 0.06f;
+ line_a[0] = 0.01;
+ line_a[1] = 0.02;
+ line_a[2] = 0.03;
+ line_a[3] = 0.4;
+ line_a[4] = 0.5;
+ line_a[5] = 0.6;
+
+ line_b[0] = 0.1;
+ line_b[1] = 0.2;
+ line_b[2] = 0.3;
+ line_b[3] = 0.04;
+ line_b[4] = 0.05;
+ line_b[5] = 0.06;
Eigen::Vector4f p1, p2;
lineToLineSegment (line_a, line_b, p1, p2);
Eigen::Vector4f point_case_1;
- bool result_case_1 = lineWithLineIntersection(line_a, line_b, point_case_1);
+ bool result_case_1 = lineWithLineIntersection (line_a, line_b, point_case_1);
double sqr_dist_case_1 = (p1 - p2).squaredNorm ();
double default_sqr_eps = 1e-4;
- EXPECT_GT(sqr_dist_case_1, default_sqr_eps);
- Eigen::Vector4f zero(0.0f, 0.0f, 0.0f, 0.0f);
+ EXPECT_GT (sqr_dist_case_1, default_sqr_eps);
+ Eigen::Vector4f zero (0.0, 0.0, 0.0, 0.0);
- EXPECT_EQ(point_case_1[0], zero[0]);
- EXPECT_EQ(point_case_1[1], zero[1]);
- EXPECT_EQ(point_case_1[2], zero[2]);
- EXPECT_EQ(point_case_1[3], zero[3]);
+ EXPECT_EQ (point_case_1[0], zero[0]);
+ EXPECT_EQ (point_case_1[1], zero[1]);
+ EXPECT_EQ (point_case_1[2], zero[2]);
+ EXPECT_EQ (point_case_1[3], zero[3]);
- EXPECT_FALSE(result_case_1);
+ EXPECT_FALSE (result_case_1);
pcl::ModelCoefficients line_a_mod;
pcl::ModelCoefficients line_b_mod;
std::vector<float> values_a_case_1;
- values_a_case_1.push_back(line_a[0]);
- values_a_case_1.push_back(line_a[1]);
- values_a_case_1.push_back(line_a[2]);
- values_a_case_1.push_back(line_a[3]);
- values_a_case_1.push_back(line_a[4]);
- values_a_case_1.push_back(line_a[5]);
+ values_a_case_1.push_back (line_a[0]);
+ values_a_case_1.push_back (line_a[1]);
+ values_a_case_1.push_back (line_a[2]);
+ values_a_case_1.push_back (line_a[3]);
+ values_a_case_1.push_back (line_a[4]);
+ values_a_case_1.push_back (line_a[5]);
std::vector<float> values_b_case_1;
- values_b_case_1.push_back(line_b[0]);
- values_b_case_1.push_back(line_b[1]);
- values_b_case_1.push_back(line_b[2]);
- values_b_case_1.push_back(line_b[3]);
- values_b_case_1.push_back(line_b[4]);
- values_b_case_1.push_back(line_b[5]);
+ values_b_case_1.push_back (line_b[0]);
+ values_b_case_1.push_back (line_b[1]);
+ values_b_case_1.push_back (line_b[2]);
+ values_b_case_1.push_back (line_b[3]);
+ values_b_case_1.push_back (line_b[4]);
+ values_b_case_1.push_back (line_b[5]);
line_a_mod.values = values_a_case_1;
line_b_mod.values = values_b_case_1;
Eigen::Vector4f point_mod_1;
- EXPECT_FALSE(lineWithLineIntersection(line_a_mod, line_b_mod, point_mod_1));
- EXPECT_EQ(result_case_1, lineWithLineIntersection(line_a_mod, line_b_mod, point_mod_1));
+ EXPECT_FALSE (lineWithLineIntersection (line_a_mod, line_b_mod, point_mod_1));
+ EXPECT_EQ (result_case_1, lineWithLineIntersection (line_a_mod, line_b_mod, point_mod_1));
- EXPECT_EQ(point_mod_1[0], zero[0]);
- EXPECT_EQ(point_mod_1[1], zero[1]);
- EXPECT_EQ(point_mod_1[2], zero[2]);
- EXPECT_EQ(point_mod_1[3], zero[3]);
+ EXPECT_EQ (point_mod_1[0], zero[0]);
+ EXPECT_EQ (point_mod_1[1], zero[1]);
+ EXPECT_EQ (point_mod_1[2], zero[2]);
+ EXPECT_EQ (point_mod_1[3], zero[3]);
//case 2
- line_a[0] = 0.00100f;
- line_a[1] = 0.00200f;
- line_a[2] = 0.00300f;
- line_a[3] = 0.00400f;
- line_a[4] = 0.00500f;
- line_a[5] = 0.00600f;
-
- line_b[0] = 0.00157f;
- line_b[1] = 0.00233f;
- line_b[2] = 0.00378f;
- line_b[3] = 0.00495f;
- line_b[4] = 0.00565f;
- line_b[5] = 0.00666f;
+ line_a[0] = 0.00100;
+ line_a[1] = 0.00200;
+ line_a[2] = 0.00300;
+ line_a[3] = 0.00400;
+ line_a[4] = 0.00500;
+ line_a[5] = 0.00600;
+
+ line_b[0] = 0.00157;
+ line_b[1] = 0.00233;
+ line_b[2] = 0.00378;
+ line_b[3] = 0.00495;
+ line_b[4] = 0.00565;
+ line_b[5] = 0.00666;
lineToLineSegment (line_a, line_b, p1, p2);
Eigen::Vector4f point_case_2;
double sqr_eps_case_2 = 1e-1;
- bool result_case_2 = lineWithLineIntersection(line_a, line_b, point_case_2, sqr_eps_case_2);
+ bool result_case_2 = lineWithLineIntersection (line_a, line_b, point_case_2, sqr_eps_case_2);
double sqr_dist_case_2 = (p1 - p2).squaredNorm ();
- EXPECT_LT(sqr_dist_case_2, sqr_eps_case_2);
+ EXPECT_LT (sqr_dist_case_2, sqr_eps_case_2);
- EXPECT_EQ(point_case_2[0], p1[0]);
- EXPECT_EQ(point_case_2[1], p1[1]);
- EXPECT_EQ(point_case_2[2], p1[2]);
- EXPECT_EQ(point_case_2[3], p1[3]);
+ EXPECT_EQ (point_case_2[0], p1[0]);
+ EXPECT_EQ (point_case_2[1], p1[1]);
+ EXPECT_EQ (point_case_2[2], p1[2]);
+ EXPECT_EQ (point_case_2[3], p1[3]);
- EXPECT_TRUE(result_case_2);
+ EXPECT_TRUE (result_case_2);
pcl::ModelCoefficients line_a_mod_2;
pcl::ModelCoefficients line_b_mod_2;
std::vector<float> values_a_case_2;
- values_a_case_2.push_back(0.1000f);
- values_a_case_2.push_back(0.2000f);
- values_a_case_2.push_back(0.3000f);
- values_a_case_2.push_back(0.4000f);
- values_a_case_2.push_back(0.5000f);
- values_a_case_2.push_back(0.6000f);
+ values_a_case_2.push_back (0.1000);
+ values_a_case_2.push_back (0.2000);
+ values_a_case_2.push_back (0.3000);
+ values_a_case_2.push_back (0.4000);
+ values_a_case_2.push_back (0.5000);
+ values_a_case_2.push_back (0.6000);
std::vector<float> values_b_case_2;
- values_b_case_2.push_back(0.1001f);
- values_b_case_2.push_back(0.2001f);
- values_b_case_2.push_back(0.3001f);
- values_b_case_2.push_back(0.4001f);
- values_b_case_2.push_back(0.5001f);
- values_b_case_2.push_back(0.6001f);
+ values_b_case_2.push_back (0.1001);
+ values_b_case_2.push_back (0.2001);
+ values_b_case_2.push_back (0.3001);
+ values_b_case_2.push_back (0.4001);
+ values_b_case_2.push_back (0.5001);
+ values_b_case_2.push_back (0.6001);
line_a_mod_2.values = values_a_case_2;
line_b_mod_2.values = values_b_case_2;
lineToLineSegment (coeff1, coeff2, p1_mod, p2_mod);
double sqr_mod_act_2 = (p1_mod - p2_mod).squaredNorm ();
- EXPECT_LT(sqr_mod_act_2, sqr_mod_case_2);
- EXPECT_EQ(lineWithLineIntersection (coeff1, coeff2, point_mod_case_2, sqr_mod_case_2),
- lineWithLineIntersection(line_a_mod_2, line_b_mod_2, point_mod_2, sqr_mod_case_2));
- EXPECT_TRUE(lineWithLineIntersection(line_a_mod_2, line_b_mod_2, point_mod_2, sqr_mod_case_2));
+ EXPECT_LT (sqr_mod_act_2, sqr_mod_case_2);
+ EXPECT_EQ (lineWithLineIntersection (coeff1, coeff2, point_mod_case_2, sqr_mod_case_2),
+ lineWithLineIntersection (line_a_mod_2, line_b_mod_2, point_mod_2, sqr_mod_case_2));
+ EXPECT_TRUE (lineWithLineIntersection (line_a_mod_2, line_b_mod_2, point_mod_2, sqr_mod_case_2));
- EXPECT_EQ(point_mod_2[0], point_mod_case_2[0]);
- EXPECT_EQ(point_mod_2[1], point_mod_case_2[1]);
- EXPECT_EQ(point_mod_2[2], point_mod_case_2[2]);
- EXPECT_EQ(point_mod_2[3], point_mod_case_2[3]);
+ EXPECT_EQ (point_mod_2[0], point_mod_case_2[0]);
+ EXPECT_EQ (point_mod_2[1], point_mod_case_2[1]);
+ EXPECT_EQ (point_mod_2[2], point_mod_case_2[2]);
+ EXPECT_EQ (point_mod_2[3], point_mod_case_2[3]);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, planeWithPlaneIntersection)
{
- //Testing parallel planes
- const int k = 2;
- float x = 1.0f;
- float y = 2.0f;
- float z = 3.0f;
- float w = 4.0f;
- Eigen::Vector4f plane_a;
- plane_a.x() = x;
- plane_a.y() = y;
- plane_a.z() = z;
- plane_a.w() = w;
-
- EXPECT_EQ(1.0f, plane_a.x());
- EXPECT_EQ(2.0f, plane_a.y());
- EXPECT_EQ(3.0f, plane_a.z());
- EXPECT_EQ(4.0f, plane_a.w());
-
- Eigen::Vector4f plane_b;
- plane_b.x() = x;
- plane_b.y() = y;
- plane_b.z() = z;
- plane_b.w() = w + k;
-
- EXPECT_EQ(1.0f, plane_b.x());
- EXPECT_EQ(2.0f, plane_b.y());
- EXPECT_EQ(3.0f, plane_b.z());
- EXPECT_EQ(6.0f, plane_b.w());
-
+ Eigen::Vector4f plane_a, plane_b;
+ Eigen::Vector4d plane_ad, plane_bd;
Eigen::VectorXf line;
+ Eigen::VectorXd lined;
+
+ // Testing parallel planes, plane normal not normalized!
+ plane_a << 1.0, 2.0, 3.0, 0.0;
+ plane_b << plane_a;
+ plane_b[3] += 1.0;
+ plane_ad << 1.0, 2.0, 3.0, 0.0;
+ plane_bd << plane_ad;
+ plane_bd[3] -= -1.0;
+
+ EXPECT_FALSE (pcl::planeWithPlaneIntersection (plane_a, plane_b, line, 1e-6));
+ EXPECT_FALSE (pcl::planeWithPlaneIntersection (plane_ad, plane_bd, lined, 1e-6));
+
+ // Testing nearly parallel planes, plane normal not normalized!
+ plane_a << 1.0, 2.0, 3.0, -0.5;
+ plane_b << 1.0, 2.5, 3.0, 0.5;;
+ plane_ad << 1.0, 2.0, 3.0, -0.5;
+ plane_bd << 1.0, 2.5, 3.0, 0.5;
+
+ EXPECT_TRUE (pcl::planeWithPlaneIntersection (plane_a, plane_b, line, 1e-3));
+ EXPECT_TRUE (pcl::planeWithPlaneIntersection (plane_ad, plane_bd, lined, 1e-3));
+
+ double tolerance = 1e-4;
+ EXPECT_NEAR (line[0], 0.45, tolerance);
+ EXPECT_NEAR (line[1], -2.0, tolerance);
+ EXPECT_NEAR (line[2], 1.35, tolerance);
+ EXPECT_NEAR (line[3], -1.5, tolerance);
+ EXPECT_NEAR (line[4], 0.0, tolerance);
+ EXPECT_NEAR (line[5], 0.5, tolerance);
+ EXPECT_NEAR (lined[0], 0.45, tolerance);
+ EXPECT_NEAR (lined[1], -2.0, tolerance);
+ EXPECT_NEAR (lined[2], 1.35, tolerance);
+ EXPECT_NEAR (lined[3], -1.5, tolerance);
+ EXPECT_NEAR (lined[4], 0.0, tolerance);
+ EXPECT_NEAR (lined[5], 0.5, tolerance);
+
+ // Orthogonal planes, Hessian form (plane normal normalized)
+ plane_a << 0.0, 0.0, 1.0, +0.0;
+ plane_b << 1.0, 0.0, 0.0, -0.5;
+ plane_ad << 0.0, 0.0, 1.0, +0.0;
+ plane_bd << 1.0, 0.0, 0.0, -0.5;
+
+ EXPECT_TRUE (pcl::planeWithPlaneIntersection (plane_a, plane_b, line, 0.1));
+ EXPECT_TRUE (pcl::planeWithPlaneIntersection (plane_ad, plane_bd, lined, 0.1));
+
+ tolerance = 1e-5;
+ EXPECT_NEAR (line[0], 0.5, tolerance);
+ EXPECT_NEAR (line[1], 0.0, tolerance);
+ EXPECT_NEAR (line[2], 0.0, tolerance);
+ EXPECT_NEAR (line[3], 0.0, tolerance);
+ EXPECT_NEAR (line[4], 1.0, tolerance);
+ EXPECT_NEAR (line[5], 0.0, tolerance);
+ EXPECT_NEAR (lined[0], 0.5, tolerance);
+ EXPECT_NEAR (lined[1], 0.0, tolerance);
+ EXPECT_NEAR (lined[2], 0.0, tolerance);
+ EXPECT_NEAR (lined[3], 0.0, tolerance);
+ EXPECT_NEAR (lined[4], 1.0, tolerance);
+ EXPECT_NEAR (lined[5], 0.0, tolerance);
+
+ // Random planes, plane normal not normalized!
+ plane_a << 24.234, -22.234, 3.0823, -24.5;
+ plane_b << 689.0, 1239.01, 1.0003, 0.5;
+ plane_ad << 24.234, -22.234, 3.0823, -24.5;
+ plane_bd << 689.0, 1239.01, 1.0003, 0.5;
+
+ EXPECT_TRUE (pcl::planeWithPlaneIntersection (plane_a, plane_b, line, 0.1));
+ EXPECT_TRUE (pcl::planeWithPlaneIntersection (plane_ad, plane_bd, lined, 0.1));
+
+ tolerance = 1e-2;
+ EXPECT_NEAR (line[0], 0.662983, tolerance);
+ EXPECT_NEAR (line[1], -0.369141, tolerance);
+ EXPECT_NEAR (line[2], 0.0732528, tolerance);
+ EXPECT_NEAR (line[3], -3841.24, tolerance);
+ EXPECT_NEAR (line[4], 2099.46, tolerance);
+ EXPECT_NEAR (line[5], 45345.4, tolerance);
+ EXPECT_NEAR (lined[0], 0.662983, tolerance);
+ EXPECT_NEAR (lined[1], -0.369141, tolerance);
+ EXPECT_NEAR (lined[2], 0.0732528, tolerance);
+ EXPECT_NEAR (lined[3], -3841.24, tolerance);
+ EXPECT_NEAR (lined[4], 2099.46, tolerance);
+ EXPECT_NEAR (lined[5], 45345.4, tolerance);
+}
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 45));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 90));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 180));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 360));
-
- plane_b.x() = k * x;
- plane_b.y() = k * y;
- plane_b.z() = k * z;
- plane_b.w() = k * w;
-
- EXPECT_EQ(2.0f, plane_b.x());
- EXPECT_EQ(4.0f, plane_b.y());
- EXPECT_EQ(6.0f, plane_b.z());
- EXPECT_EQ(8.0f, plane_b.w());
-
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 45));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 90));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 180));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 360));
-
- //overlapping planes
- plane_b.w() = w;
- EXPECT_EQ(4.0f, plane_b.w());
-
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 45));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 90));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 180));
- std::cout << std::endl;
- EXPECT_FALSE(planeWithPlaneIntersection(plane_a, plane_b, line, 360));
-
- //orthogonal planes
- plane_a.x() = 2.0f;
- plane_a.y() = 1.0f;
- plane_a.z() = -5.0f;
- plane_a.w() = 6.0f;
- EXPECT_EQ(2.0f, plane_a.x());
- EXPECT_EQ(1.0f, plane_a.y());
- EXPECT_EQ(-5.0f, plane_a.z());
- EXPECT_EQ(6.0f, plane_a.w());
-
- plane_b.x() = 2.0f;
- plane_b.y() = 1.0f;
- plane_b.z() = 1.0f;
- plane_b.w() = 7.0f;
-
- EXPECT_EQ(2.0f, plane_b.x());
- EXPECT_EQ(1.0f, plane_b.y());
- EXPECT_EQ(1.0f, plane_b.z());
- EXPECT_EQ(7.0f, plane_b.w());
-
- std::cout << std::endl;
- EXPECT_TRUE(planeWithPlaneIntersection(plane_a, plane_b, line, 0));
-
- //general planes
- plane_a.x() = 1.555f;
- plane_a.y() = 0.894f;
- plane_a.z() = 1.234f;
- plane_a.w() = 3.567f;
-
- plane_b.x() = 0.743f;
- plane_b.y() = 1.890f;
- plane_b.z() = 6.789f;
- plane_b.w() = 5.432f;
-
- std::cout << std::endl;
- EXPECT_TRUE(planeWithPlaneIntersection(plane_a, plane_b, line, 0));
-
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, threePlanesIntersection)
+{
+ // Testing with floats/doubles
+ // Testing 2 parallel planes
+ Eigen::Vector4d plane_a (1.0, 0.0, 0.0, -0.5);
+ Eigen::Vector4d plane_b (1.0, 0.0, 0.0, 0.5);
+ Eigen::Vector4d plane_c (0.0, 0.0, 1.0, -0.5);
+ Eigen::Vector3d point (1.0, 2.0, 3.0);
+
+ Eigen::Vector4f fplane_a (1.0, 0.0, 0.0, -0.5);
+ Eigen::Vector4f fplane_b (1.0, 0.0, 0.0, 0.5);
+ Eigen::Vector4f fplane_c (0.0, 0.0, 1.0, -0.5);
+ Eigen::Vector3f fpoint (1.0, 2.0, 3.0);
+
+ EXPECT_FALSE (threePlanesIntersection (plane_a, plane_b, plane_c, point, 1e-6));
+ EXPECT_FALSE (threePlanesIntersection (fplane_a, fplane_b, fplane_c, fpoint, 1e-6));
+ EXPECT_FALSE (threePlanesIntersection (plane_a, plane_b, plane_c, point, 1e-3));
+ EXPECT_FALSE (threePlanesIntersection (fplane_a, fplane_b, fplane_c, fpoint, 1e-3));
+
+ EXPECT_DOUBLE_EQ (1.0, point [0]);
+ EXPECT_DOUBLE_EQ (2.0, point [1]);
+ EXPECT_DOUBLE_EQ (3.0, point [2]);
+ EXPECT_FLOAT_EQ (1.0, fpoint [0]);
+ EXPECT_FLOAT_EQ (2.0, fpoint [1]);
+ EXPECT_FLOAT_EQ (3.0, fpoint [2]);
+
+ // Perfect box
+ plane_b << 0.0, 1.0, 0.0, 0.5;
+ fplane_b << 0.0, 1.0, 0.0, 0.5;
+
+ EXPECT_TRUE (threePlanesIntersection (plane_a, plane_b, plane_c, point));
+ EXPECT_TRUE (threePlanesIntersection (fplane_a, fplane_b, fplane_c, fpoint));
+
+ EXPECT_DOUBLE_EQ (0.5, point [0]);
+ EXPECT_DOUBLE_EQ (-0.5, point [1]);
+ EXPECT_DOUBLE_EQ (0.5, point [2]);
+ EXPECT_FLOAT_EQ (0.5, fpoint [0]);
+ EXPECT_FLOAT_EQ (-0.5, fpoint [1]);
+ EXPECT_FLOAT_EQ (0.5, fpoint [2]);
+
+ // Random planes
+ plane_a << 1.4564, 0.5465, -0.1325, 0.4685;
+ plane_b << -1.5619, 5.5461, 5.4569, 2.9414;
+ plane_c << 0.9852, 654.55, -0.1546, -45.1516;
+ fplane_a << 1.4564, 0.5465, -0.1325, 0.4685;
+ fplane_b << -1.5619, 5.5461, 5.4569, 2.9414;
+ fplane_c << 0.9852, 654.55, -0.1546, -45.1516;
+
+ EXPECT_TRUE (threePlanesIntersection (plane_a, plane_b, plane_c, point));
+ EXPECT_TRUE (threePlanesIntersection (fplane_a, fplane_b, fplane_c, fpoint));
+
+ EXPECT_NEAR (-0.413977, point [0], 1e-4);
+ EXPECT_NEAR (0.0694323, point [1], 1e-4);
+ EXPECT_NEAR (-0.728082, point [2], 1e-4);
+ EXPECT_NEAR (-0.413977, fpoint [0], 1e-4);
+ EXPECT_NEAR (0.0694323, fpoint [1], 1e-4);
+ EXPECT_NEAR (-0.728082, fpoint [2], 1e-4);
}
//* ---[ */
}
/* ]--- */
+
PCL_ADD_TEST(feature_base test_base_feature
FILES test_base_feature.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
+PCL_ADD_TEST(feature_cppf_estimation test_cppf_estimation
+ FILES test_cppf_estimation.cpp
+ LINK_WITH pcl_gtest pcl_features pcl_io
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/colored_cloud.pcd")
PCL_ADD_TEST(feature_normal_estimation test_normal_estimation
FILES test_normal_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_pfh_estimation test_pfh_estimation
FILES test_pfh_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_cvfh_estimation test_cvfh_estimation
FILES test_cvfh_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io pcl_filters
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd ${PCL_SOURCE_DIR}/test/milk.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/milk.pcd")
PCL_ADD_TEST(feature_ppf_estimation test_ppf_estimation
FILES test_ppf_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_shot_estimation test_shot_estimation
FILES test_shot_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_boundary_estimation test_boundary_estimation
FILES test_boundary_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_curvatures_estimation test_curvatures_estimation
FILES test_curvatures_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_spin_estimation test_spin_estimation
FILES test_spin_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_invariants_estimation test_invariants_estimation
FILES test_invariants_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_gradient_estimation test_gradient_estimation
FILES test_gradient_estimation.cpp
LINK_WITH pcl_gtest pcl_features)
PCL_ADD_TEST(feature_board_estimation test_board_estimation
FILES test_board_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(feature_shot_lrf_estimation test_shot_lrf_estimation
FILES test_shot_lrf_estimation.cpp
LINK_WITH pcl_gtest pcl_features pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(features_narf test_narf
FILES test_narf.cpp
LINK_WITH pcl_gtest pcl_features ${FLANN_LIBRARIES})
PCL_ADD_TEST(a_ii_normals_test test_ii_normals
FILES test_ii_normals.cpp
LINK_WITH pcl_gtest pcl_io pcl_features
- ARGUMENTS ${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/table_scene_mug_stereo_textured.pcd")
+PCL_ADD_TEST(feature_moment_of_inertia_estimation test_moment_of_inertia_estimation
+ FILES test_moment_of_inertia_estimation.cpp
+ LINK_WITH pcl_gtest pcl_io pcl_features
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/lamppost.pcd")
+PCL_ADD_TEST(feature_rops_estimation test_rops_estimation
+ FILES test_rops_estimation.cpp
+ LINK_WITH pcl_gtest pcl_io pcl_features
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/rops_cloud.pcd" "${PCL_SOURCE_DIR}/test/rops_indices.txt" "${PCL_SOURCE_DIR}/test/rops_triangles.txt")
EXPECT_NEAR (centroid3[0], -0.0290809, 1e-4);
EXPECT_NEAR (centroid3[1], 0.102653, 1e-4);
EXPECT_NEAR (centroid3[2], 0.027302, 1e-4);
- EXPECT_NEAR (centroid3[3], 0, 1e-4);
+ EXPECT_NEAR (centroid3[3], 1, 1e-4);
// compute3Dcentroid
compute3DCentroid (cloud, centroid3);
EXPECT_NEAR (centroid3[0], -0.0290809, 1e-4);
EXPECT_NEAR (centroid3[1], 0.102653, 1e-4);
EXPECT_NEAR (centroid3[2], 0.027302, 1e-4);
- EXPECT_NEAR (centroid3[3], 0, 1e-4);
+ EXPECT_NEAR (centroid3[3], 1, 1e-4);
// computeNDCentroid (indices)
Eigen::VectorXf centroidn;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/point_cloud.h>
+#include <pcl/features/normal_3d.h>
+#include <pcl/features/cppf.h>
+#include <pcl/io/pcd_io.h>
+
+using namespace pcl;
+using namespace pcl::io;
+using namespace std;
+
+typedef search::KdTree<PointXYZRGBA>::Ptr KdTreePtr;
+
+PointCloud<PointXYZRGBA> cloud;
+vector<int> indices;
+KdTreePtr tree;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, CPPFEstimation)
+{
+ // Estimate normals
+ NormalEstimation<PointXYZRGBA, Normal> normal_estimation;
+ PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
+ normal_estimation.setInputCloud (cloud.makeShared ());
+ boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices));
+ normal_estimation.setIndices (indicesptr);
+ normal_estimation.setSearchMethod (tree);
+ normal_estimation.setKSearch (10); // Use 10 nearest neighbors to estimate the normals
+ normal_estimation.compute (*normals);
+
+ CPPFEstimation <PointXYZRGBA, Normal, CPPFSignature> cppf_estimation;
+ cppf_estimation.setInputCloud (cloud.makeShared ());
+ cppf_estimation.setInputNormals (normals);
+ PointCloud<CPPFSignature>::Ptr feature_cloud (new PointCloud<CPPFSignature> ());
+ cppf_estimation.compute (*feature_cloud);
+
+ // Check for size of output
+ EXPECT_EQ (feature_cloud->points.size (), indices.size () * cloud.points.size ());
+
+ // Now check for a few values in the feature cloud
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f1));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f2));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f3));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f4));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f5));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f6));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f7));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f8));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f9));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].f10));
+ EXPECT_TRUE (pcl_isnan (feature_cloud->points[0].alpha_m));
+
+ EXPECT_NEAR (feature_cloud->points[2572].f1, 0.0669282, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f2, -0.1988939, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f3, 0.7856042, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f4, 0.0533117, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f5, 0.1875000, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f6, 0.0733944, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f7, 0.4274509, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f8, 0.2380952, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f9, 0.0619469, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].f10, 0.4431372, 1e-4);
+ EXPECT_NEAR (feature_cloud->points[2572].alpha_m, -1.852997, 1e-4);
+
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ if (argc < 2)
+ {
+ std::cerr << "No test file given. Please download `colored_cloud.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ if (loadPCDFile<PointXYZRGBA> (argv[1], cloud) < 0)
+ {
+ std::cerr << "Failed to read test file. Please download `colored_cloud.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ indices.resize (cloud.points.size ());
+ for (int i = 0; i < static_cast<int> (indices.size ()); ++i)
+ indices[i] = i;
+
+ tree.reset (new search::KdTree<PointXYZRGBA> (false));
+ tree->setInputCloud (cloud.makeShared ());
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/point_cloud.h>
+#include <pcl/features/moment_of_inertia_estimation.h>
+#include <pcl/io/pcd_io.h>
+
+pcl::PointCloud <pcl::PointXYZ>::Ptr cloud;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (MomentOfInertia, FeatureExtraction)
+{
+ pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
+ feature_extractor.setInputCloud (cloud);
+ feature_extractor.compute ();
+
+ float major, middle, minor;
+ feature_extractor.getEigenValues (major, middle, minor);
+ EXPECT_LE (minor, middle);
+ EXPECT_LE (middle, major);
+
+ float dot_product = 0.0f;
+ Eigen::Vector3f major_vec, middle_vec, minor_vec;
+ feature_extractor.getEigenVectors (major_vec, middle_vec, minor_vec);
+ dot_product = major_vec.dot (middle_vec);
+ EXPECT_NEAR (0.0f, dot_product, 0.00001f);
+ dot_product = major_vec.dot (minor_vec);
+ EXPECT_NEAR (0.0f, dot_product, 0.00001f);
+ dot_product = middle_vec.dot (minor_vec);
+ EXPECT_NEAR (0.0f, dot_product, 0.00001f);
+
+ std::vector <float> moment_of_inertia;
+ std::vector <float> eccentricity;
+ feature_extractor.getMomentOfInertia (moment_of_inertia);
+ feature_extractor.getEccentricity (eccentricity);
+ unsigned int m_size = static_cast <unsigned int> (moment_of_inertia.size ());
+ unsigned int e_size = static_cast <unsigned int> (eccentricity.size ());
+ EXPECT_EQ (m_size, e_size);
+ EXPECT_NE (0, m_size);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (MomentOfInertia, InvalidParameters)
+{
+ float angle_step = 0.0f;
+ float point_mass = 0.0f;
+
+ pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
+ feature_extractor.setInputCloud (cloud);
+
+ angle_step = 0.0f;
+ feature_extractor.setAngleStep (angle_step);
+ angle_step = feature_extractor.getAngleStep ();
+ EXPECT_LT (0.0f, angle_step);
+
+ angle_step = -1.0f;
+ feature_extractor.setAngleStep (angle_step);
+ angle_step = feature_extractor.getAngleStep ();
+ EXPECT_LT (0.0f, angle_step);
+
+ point_mass = 0.0f;
+ feature_extractor.setPointMass (point_mass);
+ point_mass = feature_extractor.getPointMass ();
+ EXPECT_LT (0.0f, point_mass);
+
+ point_mass = -1.0f;
+ feature_extractor.setPointMass (point_mass);
+ point_mass = feature_extractor.getPointMass ();
+ EXPECT_LT (0.0f, point_mass);
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ if (argc < 2)
+ {
+ std::cerr << "No test file given. Please download `lamppost.pcd` and pass its paths to the test." << std::endl;
+ return (-1);
+ }
+
+ cloud = (new pcl::PointCloud<pcl::PointXYZ> ())->makeShared ();
+ if (pcl::io::loadPCDFile (argv[1], *cloud) < 0)
+ {
+ std::cerr << "Failed to read test file. Please download `lamppost.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/point_cloud.h>
+#include <pcl/features/rops_estimation.h>
+#include <pcl/io/pcd_io.h>
+
+pcl::PointCloud <pcl::PointXYZ>::Ptr cloud;
+pcl::PointIndicesPtr indices;
+std::vector <pcl::Vertices> triangles;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (ROPSFeature, FeatureExtraction)
+{
+ float support_radius = 0.0285f;
+ unsigned int number_of_partition_bins = 5;
+ unsigned int number_of_rotations = 3;
+
+ pcl::search::KdTree<pcl::PointXYZ>::Ptr search_method (new pcl::search::KdTree<pcl::PointXYZ>);
+ search_method->setInputCloud (cloud);
+
+ pcl::ROPSEstimation <pcl::PointXYZ, pcl::Histogram <135> > feature_estimator;
+ feature_estimator.setSearchMethod (search_method);
+ feature_estimator.setSearchSurface (cloud);
+ feature_estimator.setInputCloud (cloud);
+ feature_estimator.setIndices (indices);
+ feature_estimator.setTriangles (triangles);
+ feature_estimator.setRadiusSearch (support_radius);
+ feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
+ feature_estimator.setNumberOfRotations (number_of_rotations);
+ feature_estimator.setSupportRadius (support_radius);
+
+ pcl::PointCloud<pcl::Histogram <135> >::Ptr histograms (new pcl::PointCloud <pcl::Histogram <135> > ());
+ feature_estimator.compute (*histograms);
+
+ EXPECT_NE (0, histograms->points.size ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (ROPSFeature, InvalidParameters)
+{
+ float support_radius = 0.0285f;
+ unsigned int number_of_partition_bins = 5;
+ unsigned int number_of_rotations = 3;
+
+ pcl::search::KdTree<pcl::PointXYZ>::Ptr search_method (new pcl::search::KdTree<pcl::PointXYZ>);
+ search_method->setInputCloud (cloud);
+
+ pcl::ROPSEstimation <pcl::PointXYZ, pcl::Histogram <135> > feature_estimator;
+ feature_estimator.setSearchMethod (search_method);
+ feature_estimator.setSearchSurface (cloud);
+ feature_estimator.setInputCloud (cloud);
+ feature_estimator.setIndices (indices);
+ feature_estimator.setTriangles (triangles);
+ feature_estimator.setRadiusSearch (support_radius);
+ feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
+ feature_estimator.setNumberOfRotations (number_of_rotations);
+ feature_estimator.setSupportRadius (support_radius);
+
+ pcl::PointCloud<pcl::Histogram <135> >::Ptr histograms (new pcl::PointCloud <pcl::Histogram <135> > ());
+
+ support_radius = -support_radius;
+ feature_estimator.setSupportRadius (support_radius);
+ support_radius = feature_estimator.getSupportRadius ();
+ EXPECT_LT (0.0f, support_radius);
+
+ number_of_partition_bins = 0;
+ feature_estimator.setNumberOfPartitionBins (number_of_partition_bins);
+ number_of_partition_bins = feature_estimator.getNumberOfPartitionBins ();
+ EXPECT_LT (0, number_of_partition_bins);
+
+ number_of_rotations = 0;
+ feature_estimator.setNumberOfRotations (number_of_rotations);
+ number_of_rotations = feature_estimator.getNumberOfRotations ();
+ EXPECT_LT (0, number_of_rotations);
+
+ std::vector <pcl::Vertices> empty_triangles;
+ feature_estimator.setTriangles (empty_triangles);
+ feature_estimator.compute (*histograms);
+ EXPECT_EQ (0, histograms->points.size ());
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ if (argc < 4)
+ {
+ std::cerr << "No test file given. Please download `rops_cloud.pcd`, `rops_indices.txt` and `rops_triangles.txt`" <<
+ " and pass their paths to the test." << std::endl;
+ return (-1);
+ }
+
+ cloud = (new pcl::PointCloud<pcl::PointXYZ> ())->makeShared ();
+ if (pcl::io::loadPCDFile (argv[1], *cloud) < 0)
+ {
+ std::cerr << "Failed to read test file. Please download `rops_cloud.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ indices = boost::shared_ptr <pcl::PointIndices> (new pcl::PointIndices ());
+ std::ifstream indices_file;
+ indices_file.open (argv[2], std::ifstream::in);
+ for (std::string line; std::getline (indices_file, line);)
+ {
+ std::istringstream in (line);
+ unsigned int index = 0;
+ in >> index;
+ indices->indices.push_back (index - 1);
+ }
+ indices_file.close ();
+
+ std::ifstream triangles_file;
+ triangles_file.open (argv[3], std::ifstream::in);
+ for (std::string line; std::getline (triangles_file, line);)
+ {
+ pcl::Vertices triangle;
+ std::istringstream in (line);
+ unsigned int vertex = 0;
+ in >> vertex;
+ triangle.vertices.push_back (vertex - 1);
+ in >> vertex;
+ triangle.vertices.push_back (vertex - 1);
+ in >> vertex;
+ triangle.vertices.push_back (vertex - 1);
+ triangles.push_back (triangle);
+ }
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
PCL_ADD_TEST(filters_filters test_filters
FILES test_filters.cpp
LINK_WITH pcl_gtest pcl_filters pcl_io pcl_sample_consensus pcl_kdtree pcl_features pcl_segmentation
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd ${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
PCL_ADD_TEST(filters_sampling test_filters_sampling
FILES test_sampling.cpp
LINK_WITH pcl_gtest pcl_filters pcl_io pcl_kdtree pcl_features
- ARGUMENTS ${PCL_SOURCE_DIR}/test/sac_plane_test.pcd ${PCL_SOURCE_DIR}/test/cturtle.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/sac_plane_test.pcd" "${PCL_SOURCE_DIR}/test/cturtle.pcd")
PCL_ADD_TEST(filters_bilateral test_filters_bilateral
FILES test_bilateral.cpp
LINK_WITH pcl_gtest pcl_filters pcl_io pcl_kdtree
- ARGUMENTS ${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd")
+PCL_ADD_TEST(filters_grid_minimum test_filters_grid_minimum
+ FILES test_grid_minimum.cpp
+ LINK_WITH pcl_gtest pcl_common pcl_filters)
+PCL_ADD_TEST(filters_model_outlier_removal test_model_outlier_removal
+ FILES test_model_outlier_removal.cpp
+ LINK_WITH pcl_gtest pcl_filters pcl_io pcl_sample_consensus pcl_kdtree pcl_features
+ ARGUMENTS ${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd)
+PCL_ADD_TEST(filters_morphological test_morphological
+ FILES test_morphological.cpp
+ LINK_WITH pcl_gtest pcl_common pcl_filters)
+
+PCL_ADD_TEST(filters_local_maximum test_filters_local_maximum
+ FILES test_local_maximum.cpp
+ LINK_WITH pcl_gtest pcl_common pcl_filters)
+
0.12)));
// build the filter
- ConditionalRemoval<PointXYZ> condrem (range_cond);
+ ConditionalRemoval<PointXYZ> condrem;
+ condrem.setCondition (range_cond);
condrem.setInputCloud (cloud);
// try the dense version
EXPECT_EQ (bool (output.is_dense), false);
// build the filter
- ConditionalRemoval<PointXYZ> condrem_ (range_cond,true);
+ ConditionalRemoval<PointXYZ> condrem_ (true);
+ condrem_.setCondition (range_cond);
condrem_.setInputCloud (cloud);
// try the dense version
Eigen::Vector3f::Zero (), 0)));
// build the filter
- ConditionalRemoval<PointXYZ> condrem2 (true_cond);
+ ConditionalRemoval<PointXYZ> condrem2;
+ condrem2.setCondition (true_cond);
condrem2.setInputCloud (cloud);
condrem2.setIndices (indices);
EXPECT_EQ (num_not_nan, 2);
// build the filter
- ConditionalRemoval<PointXYZ> condrem2_ (true_cond, true);
+ ConditionalRemoval<PointXYZ> condrem2_ (true);
+ condrem2_.setCondition (true_cond);
condrem2_.setIndices (indices);
condrem2_.setInputCloud (cloud);
cyl_cond->addComparison (cyl_comp);
// build the filter
- ConditionalRemoval<PointXYZ> condrem (cyl_cond);
+ ConditionalRemoval<PointXYZ> condrem;
+ condrem.setCondition (cyl_cond);
condrem.setInputCloud (input);
condrem.setKeepOrganized (false);
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/filters/grid_minimum.h>
+#include <pcl/point_types.h>
+
+using namespace pcl;
+
+PointCloud<PointXYZ> cloud;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Grid, Minimum)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 3;
+ cloud_in.is_dense = true;
+ cloud_in.resize (3);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0.25;
+ cloud_in[1].x = 0.5; cloud_in[1].y = 0.5; cloud_in[1].z = 1;
+ cloud_in[2].x = 1.5; cloud_in[2].y = 1.5; cloud_in[2].z = 0.0;
+
+ GridMinimum<PointXYZ> gm (1.0f);
+ gm.setInputCloud (cloud_in.makeShared ());
+ gm.filter (cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 0.25f);
+ EXPECT_EQ (cloud_out[1].z, 0.0f);
+ EXPECT_EQ (cloud_out.size (), 2);
+ EXPECT_EQ (gm.getResolution (), 1.0f);
+
+ gm.setResolution (2.0f);
+ gm.filter (cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 0.0f);
+ EXPECT_EQ (cloud_out.size (), 1);
+ EXPECT_EQ (gm.getResolution (), 2.0f);
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/filters/local_maximum.h>
+#include <pcl/point_types.h>
+
+using namespace pcl;
+
+PointCloud<PointXYZ> cloud;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Filters, LocalMaximum)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 3;
+ cloud_in.is_dense = true;
+ cloud_in.resize (4);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0.25;
+ cloud_in[1].x = 0.25; cloud_in[1].y = 0.25; cloud_in[1].z = 0.5;
+ cloud_in[2].x = 0.5; cloud_in[2].y = 0.5; cloud_in[2].z = 1;
+ cloud_in[3].x = 5; cloud_in[3].y = 5; cloud_in[3].z = 2;
+
+ LocalMaximum<PointXYZ> lm;
+ lm.setInputCloud (cloud_in.makeShared ());
+ lm.setRadius (1.0f);
+ lm.filter (cloud_out);
+
+ EXPECT_EQ (0.25f, cloud_out[0].z);
+ EXPECT_EQ (0.50f, cloud_out[1].z);
+ EXPECT_EQ (2.00f, cloud_out[2].z);
+ EXPECT_EQ (3, cloud_out.size ());
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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.
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/filters/model_outlier_removal.h>
+
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/sac_model_plane.h>
+
+/* Expectation:
+ A model found by ransac has the same inliers and outliers as the same model filtered with model_outlier_removal
+ as long as the thresholdfunction of ransac and model_outlier_removal is the same */
+
+using namespace pcl;
+
+PointCloud<PointXYZ>::Ptr cloud_in (new PointCloud<PointXYZ>);
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (ModelOutlierRemoval, Model_Outlier_Filter)
+{
+ PointCloud<PointXYZ>::Ptr cloud_filter_out (new PointCloud<PointXYZ>);
+ std::vector<int> ransac_inliers;
+ float thresh = 0.01;
+ //run ransac
+ Eigen::VectorXf model_coefficients;
+ pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr model_p (new pcl::SampleConsensusModelPlane<pcl::PointXYZ> (cloud_in));
+ RandomSampleConsensus < pcl::PointXYZ > ransac (model_p);
+ ransac.setDistanceThreshold (thresh);
+ ransac.computeModel ();
+ ransac.getInliers (ransac_inliers);
+ ransac.getModelCoefficients (model_coefficients);
+ // test ransacs result
+ EXPECT_EQ (model_coefficients.size (), 4);
+ if (model_coefficients.size () != 4)
+ return;
+ //run filter
+ pcl::ModelCoefficients model_coeff;
+ model_coeff.values.resize (4);
+ for (int i = 0; i < 4; i++)
+ model_coeff.values[i] = model_coefficients[i];
+ pcl::ModelOutlierRemoval < pcl::PointXYZ > filter;
+ filter.setModelCoefficients (model_coeff);
+ filter.setThreshold (thresh);
+ filter.setModelType (pcl::SACMODEL_PLANE);
+ filter.setInputCloud (cloud_in);
+ filter.filter (*cloud_filter_out);
+ //compare results
+ EXPECT_EQ (cloud_filter_out->points.size (), ransac_inliers.size ());
+ //TODO: also compare content
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ // Load a standard PCD file from disk
+ if (argc < 2)
+ {
+ std::cerr << "No test file given. Please download `milk_cartoon_all_small_clorox.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ char* file_name = argv[1];
+ // Load a standard PCD file from disk
+ io::loadPCDFile (file_name, *cloud_in);
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/filters/morphological_filter.h>
+#include <pcl/point_types.h>
+
+using namespace pcl;
+
+PointCloud<PointXYZ> cloud;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Morphological, Dilate)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 2;
+ cloud_in.is_dense = true;
+ cloud_in.resize (2);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0;
+ cloud_in[1].x = 1; cloud_in[1].y = 1; cloud_in[1].z = 1;
+
+ float resolution = 5.0f;
+
+ applyMorphologicalOperator<PointXYZ> (cloud_in.makeShared (), resolution, MORPH_DILATE, cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 1.0f);
+ EXPECT_EQ (cloud_out[1].z, 1.0f);
+ EXPECT_EQ (cloud_in.size(), cloud_out.size());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Morphological, Erode)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 2;
+ cloud_in.is_dense = true;
+ cloud_in.resize (2);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0;
+ cloud_in[1].x = 1; cloud_in[1].y = 1; cloud_in[1].z = 1;
+
+ float resolution = 5.0f;
+
+ applyMorphologicalOperator<PointXYZ> (cloud_in.makeShared (), resolution, MORPH_ERODE, cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 0.0f);
+ EXPECT_EQ (cloud_out[1].z, 0.0f);
+ EXPECT_EQ (cloud_in.size(), cloud_out.size());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Morphological, Open)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 2;
+ cloud_in.is_dense = true;
+ cloud_in.resize (2);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0;
+ cloud_in[1].x = 1; cloud_in[1].y = 1; cloud_in[1].z = 1;
+
+ float resolution = 5.0f;
+
+ applyMorphologicalOperator<PointXYZ> (cloud_in.makeShared (), resolution, MORPH_OPEN, cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 0.0f);
+ EXPECT_EQ (cloud_out[1].z, 0.0f);
+ EXPECT_EQ (cloud_in.size (), cloud_out.size ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Morphological, Close)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 2;
+ cloud_in.is_dense = true;
+ cloud_in.resize (2);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0;
+ cloud_in[1].x = 1; cloud_in[1].y = 1; cloud_in[1].z = 1;
+
+ float resolution = 5.0f;
+
+ applyMorphologicalOperator<PointXYZ> (cloud_in.makeShared (), resolution, MORPH_CLOSE, cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 1.0f);
+ EXPECT_EQ (cloud_out[1].z, 1.0f);
+ EXPECT_EQ (cloud_in.size (), cloud_out.size ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (Morphological, Unsupported)
+{
+ PointCloud<PointXYZ> cloud_in, cloud_out;
+
+ cloud_in.height = 1;
+ cloud_in.width = 2;
+ cloud_in.is_dense = true;
+ cloud_in.resize (2);
+
+ cloud_in[0].x = 0; cloud_in[0].y = 0; cloud_in[0].z = 0;
+ cloud_in[1].x = 1; cloud_in[1].y = 1; cloud_in[1].z = 1;
+
+ float resolution = 5.0f;
+
+ applyMorphologicalOperator<PointXYZ> (cloud_in.makeShared (), resolution, 99, cloud_out);
+
+ EXPECT_EQ (cloud_out[0].z, 0.0f);
+ EXPECT_EQ (cloud_out[1].z, 1.0f);
+ EXPECT_EQ (cloud_in.size (), cloud_out.size ());
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
vi.push_back (VI (0)); vi.push_back (VI (4)); vi.push_back (VI (5)); faces_.push_back (vi); vi.clear ();
vi.push_back (VI (0)); vi.push_back (VI (5)); vi.push_back (VI (6)); faces_.push_back (vi); vi.clear ();
vi.push_back (VI (0)); vi.push_back (VI (6)); vi.push_back (VI (1)); faces_.push_back (vi); vi.clear ();
- for (int i=0; i<faces_.size (); ++i)
+ for (size_t i=0; i<faces_.size (); ++i)
{
ASSERT_TRUE (mesh_.addFace (faces_ [i]).isValid ()) << "Face number " << i;
}
{
FaceIndices expected, actual;
const int n = static_cast<int> (mesh_.sizeFaces ());
- for (unsigned int i = 0; i < mesh_.sizeFaces (); ++i)
+ for (int i = 0; i < static_cast<int> (mesh_.sizeFaces ()); ++i)
{
expected.clear ();
expected.push_back (FaceIndex (i==(n-1) ? 0 : (i+1)));
{
FaceIndices expected, actual;
const int n = static_cast<int> (mesh_.sizeFaces ());
- for (unsigned int i = 0; i < mesh_.sizeFaces (); ++i)
+ for (int i = 0; i < static_cast<int> (mesh_.sizeFaces ()); ++i)
{
expected.clear ();
expected.push_back (FaceIndex (i== 0 ? (n-1) : (i-1)));
for (size_t i=0; i<faces.size (); ++i)
{
vi.clear ();
- for (int j=0; j<faces [i].size (); ++j)
+ for (size_t j=0; j<faces [i].size (); ++j)
{
vi.push_back (VertexIndex (static_cast <int> (faces [i][j])));
}
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// The Google C++ Testing Framework (Google Test)
-//
-// This header file defines the public API for death tests. It is
-// #included by gtest.h so a user doesn't need to include this
-// directly.
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
-#define GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
-
-#include "gtest/internal/gtest-death-test-internal.h"
-
-namespace testing {
-
-// This flag controls the style of death tests. Valid values are "threadsafe",
-// meaning that the death test child process will re-execute the test binary
-// from the start, running only a single death test, or "fast",
-// meaning that the child process will execute the test logic immediately
-// after forking.
-GTEST_DECLARE_string_(death_test_style);
-
-#if GTEST_HAS_DEATH_TEST
-
-// The following macros are useful for writing death tests.
-
-// Here's what happens when an ASSERT_DEATH* or EXPECT_DEATH* is
-// executed:
-//
-// 1. It generates a warning if there is more than one active
-// thread. This is because it's safe to fork() or clone() only
-// when there is a single thread.
-//
-// 2. The parent process clone()s a sub-process and runs the death
-// test in it; the sub-process exits with code 0 at the end of the
-// death test, if it hasn't exited already.
-//
-// 3. The parent process waits for the sub-process to terminate.
-//
-// 4. The parent process checks the exit code and error message of
-// the sub-process.
-//
-// Examples:
-//
-// ASSERT_DEATH(server.SendMessage(56, "Hello"), "Invalid port number");
-// for (int i = 0; i < 5; i++) {
-// EXPECT_DEATH(server.ProcessRequest(i),
-// "Invalid request .* in ProcessRequest()")
-// << "Failed to die on request " << i);
-// }
-//
-// ASSERT_EXIT(server.ExitNow(), ::testing::ExitedWithCode(0), "Exiting");
-//
-// bool KilledBySIGHUP(int exit_code) {
-// return WIFSIGNALED(exit_code) && WTERMSIG(exit_code) == SIGHUP;
-// }
-//
-// ASSERT_EXIT(client.HangUpServer(), KilledBySIGHUP, "Hanging up!");
-//
-// On the regular expressions used in death tests:
-//
-// On POSIX-compliant systems (*nix), we use the <regex.h> library,
-// which uses the POSIX extended regex syntax.
-//
-// On other platforms (e.g. Windows), we only support a simple regex
-// syntax implemented as part of Google Test. This limited
-// implementation should be enough most of the time when writing
-// death tests; though it lacks many features you can find in PCRE
-// or POSIX extended regex syntax. For example, we don't support
-// union ("x|y"), grouping ("(xy)"), brackets ("[xy]"), and
-// repetition count ("x{5,7}"), among others.
-//
-// Below is the syntax that we do support. We chose it to be a
-// subset of both PCRE and POSIX extended regex, so it's easy to
-// learn wherever you come from. In the following: 'A' denotes a
-// literal character, period (.), or a single \\ escape sequence;
-// 'x' and 'y' denote regular expressions; 'm' and 'n' are for
-// natural numbers.
-//
-// c matches any literal character c
-// \\d matches any decimal digit
-// \\D matches any character that's not a decimal digit
-// \\f matches \f
-// \\n matches \n
-// \\r matches \r
-// \\s matches any ASCII whitespace, including \n
-// \\S matches any character that's not a whitespace
-// \\t matches \t
-// \\v matches \v
-// \\w matches any letter, _, or decimal digit
-// \\W matches any character that \\w doesn't match
-// \\c matches any literal character c, which must be a punctuation
-// . matches any single character except \n
-// A? matches 0 or 1 occurrences of A
-// A* matches 0 or many occurrences of A
-// A+ matches 1 or many occurrences of A
-// ^ matches the beginning of a string (not that of each line)
-// $ matches the end of a string (not that of each line)
-// xy matches x followed by y
-//
-// If you accidentally use PCRE or POSIX extended regex features
-// not implemented by us, you will get a run-time failure. In that
-// case, please try to rewrite your regular expression within the
-// above syntax.
-//
-// This implementation is *not* meant to be as highly tuned or robust
-// as a compiled regex library, but should perform well enough for a
-// death test, which already incurs significant overhead by launching
-// a child process.
-//
-// Known caveats:
-//
-// A "threadsafe" style death test obtains the path to the test
-// program from argv[0] and re-executes it in the sub-process. For
-// simplicity, the current implementation doesn't search the PATH
-// when launching the sub-process. This means that the user must
-// invoke the test program via a path that contains at least one
-// path separator (e.g. path/to/foo_test and
-// /absolute/path/to/bar_test are fine, but foo_test is not). This
-// is rarely a problem as people usually don't put the test binary
-// directory in PATH.
-//
-// TODO(wan@google.com): make thread-safe death tests search the PATH.
-
-// Asserts that a given statement causes the program to exit, with an
-// integer exit status that satisfies predicate, and emitting error output
-// that matches regex.
-# define ASSERT_EXIT(statement, predicate, regex) \
- GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_FATAL_FAILURE_)
-
-// Like ASSERT_EXIT, but continues on to successive tests in the
-// test case, if any:
-# define EXPECT_EXIT(statement, predicate, regex) \
- GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_NONFATAL_FAILURE_)
-
-// Asserts that a given statement causes the program to exit, either by
-// explicitly exiting with a nonzero exit code or being killed by a
-// signal, and emitting error output that matches regex.
-# define ASSERT_DEATH(statement, regex) \
- ASSERT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
-
-// Like ASSERT_DEATH, but continues on to successive tests in the
-// test case, if any:
-# define EXPECT_DEATH(statement, regex) \
- EXPECT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
-
-// Two predicate classes that can be used in {ASSERT,EXPECT}_EXIT*:
-
-// Tests that an exit code describes a normal exit with a given exit code.
-class GTEST_API_ ExitedWithCode {
- public:
- explicit ExitedWithCode(int exit_code);
- bool operator()(int exit_status) const;
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ExitedWithCode& other);
-
- const int exit_code_;
-};
-
-# if !GTEST_OS_WINDOWS
-// Tests that an exit code describes an exit due to termination by a
-// given signal.
-class GTEST_API_ KilledBySignal {
- public:
- explicit KilledBySignal(int signum);
- bool operator()(int exit_status) const;
- private:
- const int signum_;
-};
-# endif // !GTEST_OS_WINDOWS
-
-// EXPECT_DEBUG_DEATH asserts that the given statements die in debug mode.
-// The death testing framework causes this to have interesting semantics,
-// since the sideeffects of the call are only visible in opt mode, and not
-// in debug mode.
-//
-// In practice, this can be used to test functions that utilize the
-// LOG(DFATAL) macro using the following style:
-//
-// int DieInDebugOr12(int* sideeffect) {
-// if (sideeffect) {
-// *sideeffect = 12;
-// }
-// LOG(DFATAL) << "death";
-// return 12;
-// }
-//
-// TEST(TestCase, TestDieOr12WorksInDgbAndOpt) {
-// int sideeffect = 0;
-// // Only asserts in dbg.
-// EXPECT_DEBUG_DEATH(DieInDebugOr12(&sideeffect), "death");
-//
-// #ifdef NDEBUG
-// // opt-mode has sideeffect visible.
-// EXPECT_EQ(12, sideeffect);
-// #else
-// // dbg-mode no visible sideeffect.
-// EXPECT_EQ(0, sideeffect);
-// #endif
-// }
-//
-// This will assert that DieInDebugReturn12InOpt() crashes in debug
-// mode, usually due to a DCHECK or LOG(DFATAL), but returns the
-// appropriate fallback value (12 in this case) in opt mode. If you
-// need to test that a function has appropriate side-effects in opt
-// mode, include assertions against the side-effects. A general
-// pattern for this is:
-//
-// EXPECT_DEBUG_DEATH({
-// // Side-effects here will have an effect after this statement in
-// // opt mode, but none in debug mode.
-// EXPECT_EQ(12, DieInDebugOr12(&sideeffect));
-// }, "death");
-//
-# ifdef NDEBUG
-
-# define EXPECT_DEBUG_DEATH(statement, regex) \
- do { statement; } while (::testing::internal::AlwaysFalse())
-
-# define ASSERT_DEBUG_DEATH(statement, regex) \
- do { statement; } while (::testing::internal::AlwaysFalse())
-
-# else
-
-# define EXPECT_DEBUG_DEATH(statement, regex) \
- EXPECT_DEATH(statement, regex)
-
-# define ASSERT_DEBUG_DEATH(statement, regex) \
- ASSERT_DEATH(statement, regex)
-
-# endif // NDEBUG for EXPECT_DEBUG_DEATH
-#endif // GTEST_HAS_DEATH_TEST
-
-// EXPECT_DEATH_IF_SUPPORTED(statement, regex) and
-// ASSERT_DEATH_IF_SUPPORTED(statement, regex) expand to real death tests if
-// death tests are supported; otherwise they just issue a warning. This is
-// useful when you are combining death test assertions with normal test
-// assertions in one test.
-#if GTEST_HAS_DEATH_TEST
-# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
- EXPECT_DEATH(statement, regex)
-# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
- ASSERT_DEATH(statement, regex)
-#else
-# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
- GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, )
-# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
- GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, return)
-#endif
-
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// The Google C++ Testing Framework (Google Test)
-//
-// This header file defines the Message class.
-//
-// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
-// leave some internal implementation details in this header file.
-// They are clearly marked by comments like this:
-//
-// // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-//
-// Such code is NOT meant to be used by a user directly, and is subject
-// to CHANGE WITHOUT NOTICE. Therefore DO NOT DEPEND ON IT in a user
-// program!
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
-#define GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
-
-#include <limits>
-
-#include "gtest/internal/gtest-string.h"
-#include "gtest/internal/gtest-internal.h"
-
-namespace testing {
-
-// The Message class works like an ostream repeater.
-//
-// Typical usage:
-//
-// 1. You stream a bunch of values to a Message object.
-// It will remember the text in a stringstream.
-// 2. Then you stream the Message object to an ostream.
-// This causes the text in the Message to be streamed
-// to the ostream.
-//
-// For example;
-//
-// testing::Message foo;
-// foo << 1 << " != " << 2;
-// std::cout << foo;
-//
-// will print "1 != 2".
-//
-// Message is not intended to be inherited from. In particular, its
-// destructor is not virtual.
-//
-// Note that stringstream behaves differently in gcc and in MSVC. You
-// can stream a NULL char pointer to it in the former, but not in the
-// latter (it causes an access violation if you do). The Message
-// class hides this difference by treating a NULL char pointer as
-// "(null)".
-class GTEST_API_ Message {
- private:
- // The type of basic IO manipulators (endl, ends, and flush) for
- // narrow streams.
- typedef std::ostream& (*BasicNarrowIoManip)(std::ostream&);
-
- public:
- // Constructs an empty Message.
- // We allocate the stringstream separately because otherwise each use of
- // ASSERT/EXPECT in a procedure adds over 200 bytes to the procedure's
- // stack frame leading to huge stack frames in some cases; gcc does not reuse
- // the stack space.
- Message() : ss_(new ::std::stringstream) {
- // By default, we want there to be enough precision when printing
- // a double to a Message.
- *ss_ << std::setprecision(std::numeric_limits<double>::digits10 + 2);
- }
-
- // Copy constructor.
- Message(const Message& msg) : ss_(new ::std::stringstream) { // NOLINT
- *ss_ << msg.GetString();
- }
-
- // Constructs a Message from a C-string.
- explicit Message(const char* str) : ss_(new ::std::stringstream) {
- *ss_ << str;
- }
-
-#if GTEST_OS_SYMBIAN
- // Streams a value (either a pointer or not) to this object.
- template <typename T>
- inline Message& operator <<(const T& value) {
- StreamHelper(typename internal::is_pointer<T>::type(), value);
- return *this;
- }
-#else
- // Streams a non-pointer value to this object.
- template <typename T>
- inline Message& operator <<(const T& val) {
- ::GTestStreamToHelper(ss_.get(), val);
- return *this;
- }
-
- // Streams a pointer value to this object.
- //
- // This function is an overload of the previous one. When you
- // stream a pointer to a Message, this definition will be used as it
- // is more specialized. (The C++ Standard, section
- // [temp.func.order].) If you stream a non-pointer, then the
- // previous definition will be used.
- //
- // The reason for this overload is that streaming a NULL pointer to
- // ostream is undefined behavior. Depending on the compiler, you
- // may get "0", "(nil)", "(null)", or an access violation. To
- // ensure consistent result across compilers, we always treat NULL
- // as "(null)".
- template <typename T>
- inline Message& operator <<(T* const& pointer) { // NOLINT
- if (pointer == NULL) {
- *ss_ << "(null)";
- } else {
- ::GTestStreamToHelper(ss_.get(), pointer);
- }
- return *this;
- }
-#endif // GTEST_OS_SYMBIAN
-
- // Since the basic IO manipulators are overloaded for both narrow
- // and wide streams, we have to provide this specialized definition
- // of operator <<, even though its body is the same as the
- // templatized version above. Without this definition, streaming
- // endl or other basic IO manipulators to Message will confuse the
- // compiler.
- Message& operator <<(BasicNarrowIoManip val) {
- *ss_ << val;
- return *this;
- }
-
- // Instead of 1/0, we want to see true/false for bool values.
- Message& operator <<(bool b) {
- return *this << (b ? "true" : "false");
- }
-
- // These two overloads allow streaming a wide C string to a Message
- // using the UTF-8 encoding.
- Message& operator <<(const wchar_t* wide_c_str) {
- return *this << internal::String::ShowWideCString(wide_c_str);
- }
- Message& operator <<(wchar_t* wide_c_str) {
- return *this << internal::String::ShowWideCString(wide_c_str);
- }
-
-#if GTEST_HAS_STD_WSTRING
- // Converts the given wide string to a narrow string using the UTF-8
- // encoding, and streams the result to this Message object.
- Message& operator <<(const ::std::wstring& wstr);
-#endif // GTEST_HAS_STD_WSTRING
-
-#if GTEST_HAS_GLOBAL_WSTRING
- // Converts the given wide string to a narrow string using the UTF-8
- // encoding, and streams the result to this Message object.
- Message& operator <<(const ::wstring& wstr);
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
- // Gets the text streamed to this object so far as a String.
- // Each '\0' character in the buffer is replaced with "\\0".
- //
- // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
- internal::String GetString() const {
- return internal::StringStreamToString(ss_.get());
- }
-
- private:
-
-#if GTEST_OS_SYMBIAN
- // These are needed as the Nokia Symbian Compiler cannot decide between
- // const T& and const T* in a function template. The Nokia compiler _can_
- // decide between class template specializations for T and T*, so a
- // tr1::type_traits-like is_pointer works, and we can overload on that.
- template <typename T>
- inline void StreamHelper(internal::true_type /*dummy*/, T* pointer) {
- if (pointer == NULL) {
- *ss_ << "(null)";
- } else {
- ::GTestStreamToHelper(ss_.get(), pointer);
- }
- }
- template <typename T>
- inline void StreamHelper(internal::false_type /*dummy*/, const T& value) {
- ::GTestStreamToHelper(ss_.get(), value);
- }
-#endif // GTEST_OS_SYMBIAN
-
- // We'll hold the text streamed to this object here.
- const internal::scoped_ptr< ::std::stringstream> ss_;
-
- // We declare (but don't implement) this to prevent the compiler
- // from implementing the assignment operator.
- void operator=(const Message&);
-};
-
-// Streams a Message to an ostream.
-inline std::ostream& operator <<(std::ostream& os, const Message& sb) {
- return os << sb.GetString();
-}
-
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+++ /dev/null
-// This file was GENERATED by command:
-// pump.py gtest-param-test.h.pump
-// DO NOT EDIT BY HAND!!!
-
-// Copyright 2008, Google 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 Google 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.
-//
-// Authors: vladl@google.com (Vlad Losev)
-//
-// Macros and functions for implementing parameterized tests
-// in Google C++ Testing Framework (Google Test)
-//
-// This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
-//
-#ifndef GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
-#define GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
-
-
-// Value-parameterized tests allow you to test your code with different
-// parameters without writing multiple copies of the same test.
-//
-// Here is how you use value-parameterized tests:
-
-#if 0
-
-// To write value-parameterized tests, first you should define a fixture
-// class. It is usually derived from testing::TestWithParam<T> (see below for
-// another inheritance scheme that's sometimes useful in more complicated
-// class hierarchies), where the type of your parameter values.
-// TestWithParam<T> is itself derived from testing::Test. T can be any
-// copyable type. If it's a raw pointer, you are responsible for managing the
-// lifespan of the pointed values.
-
-class FooTest : public ::testing::TestWithParam<const char*> {
- // You can implement all the usual class fixture members here.
-};
-
-// Then, use the TEST_P macro to define as many parameterized tests
-// for this fixture as you want. The _P suffix is for "parameterized"
-// or "pattern", whichever you prefer to think.
-
-TEST_P(FooTest, DoesBlah) {
- // Inside a test, access the test parameter with the GetParam() method
- // of the TestWithParam<T> class:
- EXPECT_TRUE(foo.Blah(GetParam()));
- ...
-}
-
-TEST_P(FooTest, HasBlahBlah) {
- ...
-}
-
-// Finally, you can use INSTANTIATE_TEST_CASE_P to instantiate the test
-// case with any set of parameters you want. Google Test defines a number
-// of functions for generating test parameters. They return what we call
-// (surprise!) parameter generators. Here is a summary of them, which
-// are all in the testing namespace:
-//
-//
-// Range(begin, end [, step]) - Yields values {begin, begin+step,
-// begin+step+step, ...}. The values do not
-// include end. step defaults to 1.
-// Values(v1, v2, ..., vN) - Yields values {v1, v2, ..., vN}.
-// ValuesIn(container) - Yields values from a C-style array, an STL
-// ValuesIn(begin,end) container, or an iterator range [begin, end).
-// Bool() - Yields sequence {false, true}.
-// Combine(g1, g2, ..., gN) - Yields all combinations (the Cartesian product
-// for the math savvy) of the values generated
-// by the N generators.
-//
-// For more details, see comments at the definitions of these functions below
-// in this file.
-//
-// The following statement will instantiate tests from the FooTest test case
-// each with parameter values "meeny", "miny", and "moe".
-
-INSTANTIATE_TEST_CASE_P(InstantiationName,
- FooTest,
- Values("meeny", "miny", "moe"));
-
-// To distinguish different instances of the pattern, (yes, you
-// can instantiate it more then once) the first argument to the
-// INSTANTIATE_TEST_CASE_P macro is a prefix that will be added to the
-// actual test case name. Remember to pick unique prefixes for different
-// instantiations. The tests from the instantiation above will have
-// these names:
-//
-// * InstantiationName/FooTest.DoesBlah/0 for "meeny"
-// * InstantiationName/FooTest.DoesBlah/1 for "miny"
-// * InstantiationName/FooTest.DoesBlah/2 for "moe"
-// * InstantiationName/FooTest.HasBlahBlah/0 for "meeny"
-// * InstantiationName/FooTest.HasBlahBlah/1 for "miny"
-// * InstantiationName/FooTest.HasBlahBlah/2 for "moe"
-//
-// You can use these names in --gtest_filter.
-//
-// This statement will instantiate all tests from FooTest again, each
-// with parameter values "cat" and "dog":
-
-const char* pets[] = {"cat", "dog"};
-INSTANTIATE_TEST_CASE_P(AnotherInstantiationName, FooTest, ValuesIn(pets));
-
-// The tests from the instantiation above will have these names:
-//
-// * AnotherInstantiationName/FooTest.DoesBlah/0 for "cat"
-// * AnotherInstantiationName/FooTest.DoesBlah/1 for "dog"
-// * AnotherInstantiationName/FooTest.HasBlahBlah/0 for "cat"
-// * AnotherInstantiationName/FooTest.HasBlahBlah/1 for "dog"
-//
-// Please note that INSTANTIATE_TEST_CASE_P will instantiate all tests
-// in the given test case, whether their definitions come before or
-// AFTER the INSTANTIATE_TEST_CASE_P statement.
-//
-// Please also note that generator expressions (including parameters to the
-// generators) are evaluated in InitGoogleTest(), after main() has started.
-// This allows the user on one hand, to adjust generator parameters in order
-// to dynamically determine a set of tests to run and on the other hand,
-// give the user a chance to inspect the generated tests with Google Test
-// reflection API before RUN_ALL_TESTS() is executed.
-//
-// You can see samples/sample7_unittest.cc and samples/sample8_unittest.cc
-// for more examples.
-//
-// In the future, we plan to publish the API for defining new parameter
-// generators. But for now this interface remains part of the internal
-// implementation and is subject to change.
-//
-//
-// A parameterized test fixture must be derived from testing::Test and from
-// testing::WithParamInterface<T>, where T is the type of the parameter
-// values. Inheriting from TestWithParam<T> satisfies that requirement because
-// TestWithParam<T> inherits from both Test and WithParamInterface. In more
-// complicated hierarchies, however, it is occasionally useful to inherit
-// separately from Test and WithParamInterface. For example:
-
-class BaseTest : public ::testing::Test {
- // You can inherit all the usual members for a non-parameterized test
- // fixture here.
-};
-
-class DerivedTest : public BaseTest, public ::testing::WithParamInterface<int> {
- // The usual test fixture members go here too.
-};
-
-TEST_F(BaseTest, HasFoo) {
- // This is an ordinary non-parameterized test.
-}
-
-TEST_P(DerivedTest, DoesBlah) {
- // GetParam works just the same here as if you inherit from TestWithParam.
- EXPECT_TRUE(foo.Blah(GetParam()));
-}
-
-#endif // 0
-
-#include "gtest/internal/gtest-port.h"
-
-#if !GTEST_OS_SYMBIAN
-# include <utility>
-#endif
-
-// scripts/fuse_gtest.py depends on gtest's own header being #included
-// *unconditionally*. Therefore these #includes cannot be moved
-// inside #if GTEST_HAS_PARAM_TEST.
-#include "gtest/internal/gtest-internal.h"
-#include "gtest/internal/gtest-param-util.h"
-#include "gtest/internal/gtest-param-util-generated.h"
-
-#if GTEST_HAS_PARAM_TEST
-
-namespace testing {
-
-// Functions producing parameter generators.
-//
-// Google Test uses these generators to produce parameters for value-
-// parameterized tests. When a parameterized test case is instantiated
-// with a particular generator, Google Test creates and runs tests
-// for each element in the sequence produced by the generator.
-//
-// In the following sample, tests from test case FooTest are instantiated
-// each three times with parameter values 3, 5, and 8:
-//
-// class FooTest : public TestWithParam<int> { ... };
-//
-// TEST_P(FooTest, TestThis) {
-// }
-// TEST_P(FooTest, TestThat) {
-// }
-// INSTANTIATE_TEST_CASE_P(TestSequence, FooTest, Values(3, 5, 8));
-//
-
-// Range() returns generators providing sequences of values in a range.
-//
-// Synopsis:
-// Range(start, end)
-// - returns a generator producing a sequence of values {start, start+1,
-// start+2, ..., }.
-// Range(start, end, step)
-// - returns a generator producing a sequence of values {start, start+step,
-// start+step+step, ..., }.
-// Notes:
-// * The generated sequences never include end. For example, Range(1, 5)
-// returns a generator producing a sequence {1, 2, 3, 4}. Range(1, 9, 2)
-// returns a generator producing {1, 3, 5, 7}.
-// * start and end must have the same type. That type may be any integral or
-// floating-point type or a user defined type satisfying these conditions:
-// * It must be assignable (have operator=() defined).
-// * It must have operator+() (operator+(int-compatible type) for
-// two-operand version).
-// * It must have operator<() defined.
-// Elements in the resulting sequences will also have that type.
-// * Condition start < end must be satisfied in order for resulting sequences
-// to contain any elements.
-//
-template <typename T, typename IncrementT>
-internal::ParamGenerator<T> Range(T start, T end, IncrementT step) {
- return internal::ParamGenerator<T>(
- new internal::RangeGenerator<T, IncrementT>(start, end, step));
-}
-
-template <typename T>
-internal::ParamGenerator<T> Range(T start, T end) {
- return Range(start, end, 1);
-}
-
-// ValuesIn() function allows generation of tests with parameters coming from
-// a container.
-//
-// Synopsis:
-// ValuesIn(const T (&array)[N])
-// - returns a generator producing sequences with elements from
-// a C-style array.
-// ValuesIn(const Container& container)
-// - returns a generator producing sequences with elements from
-// an STL-style container.
-// ValuesIn(Iterator begin, Iterator end)
-// - returns a generator producing sequences with elements from
-// a range [begin, end) defined by a pair of STL-style iterators. These
-// iterators can also be plain C pointers.
-//
-// Please note that ValuesIn copies the values from the containers
-// passed in and keeps them to generate tests in RUN_ALL_TESTS().
-//
-// Examples:
-//
-// This instantiates tests from test case StringTest
-// each with C-string values of "foo", "bar", and "baz":
-//
-// const char* strings[] = {"foo", "bar", "baz"};
-// INSTANTIATE_TEST_CASE_P(StringSequence, SrtingTest, ValuesIn(strings));
-//
-// This instantiates tests from test case StlStringTest
-// each with STL strings with values "a" and "b":
-//
-// ::std::vector< ::std::string> GetParameterStrings() {
-// ::std::vector< ::std::string> v;
-// v.push_back("a");
-// v.push_back("b");
-// return v;
-// }
-//
-// INSTANTIATE_TEST_CASE_P(CharSequence,
-// StlStringTest,
-// ValuesIn(GetParameterStrings()));
-//
-//
-// This will also instantiate tests from CharTest
-// each with parameter values 'a' and 'b':
-//
-// ::std::list<char> GetParameterChars() {
-// ::std::list<char> list;
-// list.push_back('a');
-// list.push_back('b');
-// return list;
-// }
-// ::std::list<char> l = GetParameterChars();
-// INSTANTIATE_TEST_CASE_P(CharSequence2,
-// CharTest,
-// ValuesIn(l.begin(), l.end()));
-//
-template <typename ForwardIterator>
-internal::ParamGenerator<
- typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
-ValuesIn(ForwardIterator begin, ForwardIterator end) {
- typedef typename ::testing::internal::IteratorTraits<ForwardIterator>
- ::value_type ParamType;
- return internal::ParamGenerator<ParamType>(
- new internal::ValuesInIteratorRangeGenerator<ParamType>(begin, end));
-}
-
-template <typename T, size_t N>
-internal::ParamGenerator<T> ValuesIn(const T (&array)[N]) {
- return ValuesIn(array, array + N);
-}
-
-template <class Container>
-internal::ParamGenerator<typename Container::value_type> ValuesIn(
- const Container& container) {
- return ValuesIn(container.begin(), container.end());
-}
-
-// Values() allows generating tests from explicitly specified list of
-// parameters.
-//
-// Synopsis:
-// Values(T v1, T v2, ..., T vN)
-// - returns a generator producing sequences with elements v1, v2, ..., vN.
-//
-// For example, this instantiates tests from test case BarTest each
-// with values "one", "two", and "three":
-//
-// INSTANTIATE_TEST_CASE_P(NumSequence, BarTest, Values("one", "two", "three"));
-//
-// This instantiates tests from test case BazTest each with values 1, 2, 3.5.
-// The exact type of values will depend on the type of parameter in BazTest.
-//
-// INSTANTIATE_TEST_CASE_P(FloatingNumbers, BazTest, Values(1, 2, 3.5));
-//
-// Currently, Values() supports from 1 to 50 parameters.
-//
-template <typename T1>
-internal::ValueArray1<T1> Values(T1 v1) {
- return internal::ValueArray1<T1>(v1);
-}
-
-template <typename T1, typename T2>
-internal::ValueArray2<T1, T2> Values(T1 v1, T2 v2) {
- return internal::ValueArray2<T1, T2>(v1, v2);
-}
-
-template <typename T1, typename T2, typename T3>
-internal::ValueArray3<T1, T2, T3> Values(T1 v1, T2 v2, T3 v3) {
- return internal::ValueArray3<T1, T2, T3>(v1, v2, v3);
-}
-
-template <typename T1, typename T2, typename T3, typename T4>
-internal::ValueArray4<T1, T2, T3, T4> Values(T1 v1, T2 v2, T3 v3, T4 v4) {
- return internal::ValueArray4<T1, T2, T3, T4>(v1, v2, v3, v4);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5>
-internal::ValueArray5<T1, T2, T3, T4, T5> Values(T1 v1, T2 v2, T3 v3, T4 v4,
- T5 v5) {
- return internal::ValueArray5<T1, T2, T3, T4, T5>(v1, v2, v3, v4, v5);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
-internal::ValueArray6<T1, T2, T3, T4, T5, T6> Values(T1 v1, T2 v2, T3 v3,
- T4 v4, T5 v5, T6 v6) {
- return internal::ValueArray6<T1, T2, T3, T4, T5, T6>(v1, v2, v3, v4, v5, v6);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
-internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7> Values(T1 v1, T2 v2, T3 v3,
- T4 v4, T5 v5, T6 v6, T7 v7) {
- return internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7>(v1, v2, v3, v4, v5,
- v6, v7);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
-internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8> Values(T1 v1, T2 v2,
- T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8) {
- return internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8>(v1, v2, v3, v4,
- v5, v6, v7, v8);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
-internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9> Values(T1 v1, T2 v2,
- T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9) {
- return internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(v1, v2, v3,
- v4, v5, v6, v7, v8, v9);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
-internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> Values(T1 v1,
- T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10) {
- return internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>(v1,
- v2, v3, v4, v5, v6, v7, v8, v9, v10);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11>
-internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
- T11> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11) {
- return internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
- T11>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12>
-internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12) {
- return internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13>
-internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13) {
- return internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14>
-internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) {
- return internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
- v14);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15>
-internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
- T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) {
- return internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
- v13, v14, v15);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16>
-internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16) {
- return internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
- v12, v13, v14, v15, v16);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17>
-internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17) {
- return internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
- v11, v12, v13, v14, v15, v16, v17);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18>
-internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
- T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18) {
- return internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
- v10, v11, v12, v13, v14, v15, v16, v17, v18);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19>
-internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
- T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
- T15 v15, T16 v16, T17 v17, T18 v18, T19 v19) {
- return internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19>(v1, v2, v3, v4, v5, v6, v7, v8,
- v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20>
-internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20> Values(T1 v1, T2 v2, T3 v3, T4 v4,
- T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
- T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20) {
- return internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20>(v1, v2, v3, v4, v5, v6, v7,
- v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21>
-internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21> Values(T1 v1, T2 v2, T3 v3, T4 v4,
- T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
- T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21) {
- return internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21>(v1, v2, v3, v4, v5, v6,
- v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22>
-internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22> Values(T1 v1, T2 v2, T3 v3,
- T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
- T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
- T21 v21, T22 v22) {
- return internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22>(v1, v2, v3, v4,
- v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
- v20, v21, v22);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23>
-internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> Values(T1 v1, T2 v2,
- T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
- T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
- T21 v21, T22 v22, T23 v23) {
- return internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23>(v1, v2, v3,
- v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
- v20, v21, v22, v23);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24>
-internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Values(T1 v1, T2 v2,
- T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
- T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
- T21 v21, T22 v22, T23 v23, T24 v24) {
- return internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24>(v1, v2,
- v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
- v19, v20, v21, v22, v23, v24);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25>
-internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Values(T1 v1,
- T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
- T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
- T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25) {
- return internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25>(v1,
- v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
- v18, v19, v20, v21, v22, v23, v24, v25);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26>
-internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26) {
- return internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
- v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27>
-internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27) {
- return internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
- v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28>
-internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28) {
- return internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
- v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
- v28);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29>
-internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29) {
- return internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
- v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
- v27, v28, v29);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30>
-internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
- T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
- T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
- T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) {
- return internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
- v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
- v26, v27, v28, v29, v30);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31>
-internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
- T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) {
- return internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
- v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
- v25, v26, v27, v28, v29, v30, v31);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32>
-internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
- T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
- T32 v32) {
- return internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
- v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
- v24, v25, v26, v27, v28, v29, v30, v31, v32);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33>
-internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
- T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
- T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
- T32 v32, T33 v33) {
- return internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33>(v1, v2, v3, v4, v5, v6, v7, v8,
- v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
- v24, v25, v26, v27, v28, v29, v30, v31, v32, v33);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34>
-internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
- T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
- T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
- T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
- T31 v31, T32 v32, T33 v33, T34 v34) {
- return internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34>(v1, v2, v3, v4, v5, v6, v7,
- v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
- v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35>
-internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35> Values(T1 v1, T2 v2, T3 v3, T4 v4,
- T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
- T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
- T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
- T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35) {
- return internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35>(v1, v2, v3, v4, v5, v6,
- v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
- v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36>
-internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36> Values(T1 v1, T2 v2, T3 v3, T4 v4,
- T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
- T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
- T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
- T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36) {
- return internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36>(v1, v2, v3, v4,
- v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
- v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
- v34, v35, v36);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37>
-internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37> Values(T1 v1, T2 v2, T3 v3,
- T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
- T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
- T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
- T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
- T37 v37) {
- return internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37>(v1, v2, v3,
- v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
- v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
- v34, v35, v36, v37);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38>
-internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Values(T1 v1, T2 v2,
- T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
- T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
- T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
- T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
- T37 v37, T38 v38) {
- return internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38>(v1, v2,
- v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
- v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32,
- v33, v34, v35, v36, v37, v38);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39>
-internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Values(T1 v1, T2 v2,
- T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
- T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
- T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
- T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
- T37 v37, T38 v38, T39 v39) {
- return internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39>(v1,
- v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
- v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31,
- v32, v33, v34, v35, v36, v37, v38, v39);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40>
-internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Values(T1 v1,
- T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
- T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
- T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27,
- T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35,
- T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) {
- return internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
- v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29,
- v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41>
-internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41) {
- return internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
- v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28,
- v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42>
-internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42) {
- return internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
- v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
- v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41,
- v42);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43>
-internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43) {
- return internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
- v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
- v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40,
- v41, v42, v43);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44>
-internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44) {
- return internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
- v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
- v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39,
- v40, v41, v42, v43, v44);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45>
-internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
- T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
- T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
- T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
- T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
- T41 v41, T42 v42, T43 v43, T44 v44, T45 v45) {
- return internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44, T45>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
- v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
- v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38,
- v39, v40, v41, v42, v43, v44, v45);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46>
-internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
- T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
- T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
- T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) {
- return internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44, T45, T46>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
- v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
- v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
- v38, v39, v40, v41, v42, v43, v44, v45, v46);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47>
-internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
- T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
- T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
- T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) {
- return internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44, T45, T46, T47>(v1, v2, v3, v4, v5, v6, v7, v8,
- v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
- v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
- v38, v39, v40, v41, v42, v43, v44, v45, v46, v47);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48>
-internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
- T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
- T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
- T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
- T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
- T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47,
- T48 v48) {
- return internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44, T45, T46, T47, T48>(v1, v2, v3, v4, v5, v6, v7,
- v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
- v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36,
- v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49>
-internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48, T49> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
- T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
- T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
- T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
- T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38,
- T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46,
- T47 v47, T48 v48, T49 v49) {
- return internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44, T45, T46, T47, T48, T49>(v1, v2, v3, v4, v5, v6,
- v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
- v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35,
- v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49, typename T50>
-internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48, T49, T50> Values(T1 v1, T2 v2, T3 v3, T4 v4,
- T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
- T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
- T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
- T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37,
- T38 v38, T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45,
- T46 v46, T47 v47, T48 v48, T49 v49, T50 v50) {
- return internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40, T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>(v1, v2, v3, v4,
- v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
- v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
- v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47,
- v48, v49, v50);
-}
-
-// Bool() allows generating tests with parameters in a set of (false, true).
-//
-// Synopsis:
-// Bool()
-// - returns a generator producing sequences with elements {false, true}.
-//
-// It is useful when testing code that depends on Boolean flags. Combinations
-// of multiple flags can be tested when several Bool()'s are combined using
-// Combine() function.
-//
-// In the following example all tests in the test case FlagDependentTest
-// will be instantiated twice with parameters false and true.
-//
-// class FlagDependentTest : public testing::TestWithParam<bool> {
-// virtual void SetUp() {
-// external_flag = GetParam();
-// }
-// }
-// INSTANTIATE_TEST_CASE_P(BoolSequence, FlagDependentTest, Bool());
-//
-inline internal::ParamGenerator<bool> Bool() {
- return Values(false, true);
-}
-
-# if GTEST_HAS_COMBINE
-// Combine() allows the user to combine two or more sequences to produce
-// values of a Cartesian product of those sequences' elements.
-//
-// Synopsis:
-// Combine(gen1, gen2, ..., genN)
-// - returns a generator producing sequences with elements coming from
-// the Cartesian product of elements from the sequences generated by
-// gen1, gen2, ..., genN. The sequence elements will have a type of
-// tuple<T1, T2, ..., TN> where T1, T2, ..., TN are the types
-// of elements from sequences produces by gen1, gen2, ..., genN.
-//
-// Combine can have up to 10 arguments. This number is currently limited
-// by the maximum number of elements in the tuple implementation used by Google
-// Test.
-//
-// Example:
-//
-// This will instantiate tests in test case AnimalTest each one with
-// the parameter values tuple("cat", BLACK), tuple("cat", WHITE),
-// tuple("dog", BLACK), and tuple("dog", WHITE):
-//
-// enum Color { BLACK, GRAY, WHITE };
-// class AnimalTest
-// : public testing::TestWithParam<tuple<const char*, Color> > {...};
-//
-// TEST_P(AnimalTest, AnimalLooksNice) {...}
-//
-// INSTANTIATE_TEST_CASE_P(AnimalVariations, AnimalTest,
-// Combine(Values("cat", "dog"),
-// Values(BLACK, WHITE)));
-//
-// This will instantiate tests in FlagDependentTest with all variations of two
-// Boolean flags:
-//
-// class FlagDependentTest
-// : public testing::TestWithParam<tuple(bool, bool)> > {
-// virtual void SetUp() {
-// // Assigns external_flag_1 and external_flag_2 values from the tuple.
-// tie(external_flag_1, external_flag_2) = GetParam();
-// }
-// };
-//
-// TEST_P(FlagDependentTest, TestFeature1) {
-// // Test your code using external_flag_1 and external_flag_2 here.
-// }
-// INSTANTIATE_TEST_CASE_P(TwoBoolSequence, FlagDependentTest,
-// Combine(Bool(), Bool()));
-//
-template <typename Generator1, typename Generator2>
-internal::CartesianProductHolder2<Generator1, Generator2> Combine(
- const Generator1& g1, const Generator2& g2) {
- return internal::CartesianProductHolder2<Generator1, Generator2>(
- g1, g2);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3>
-internal::CartesianProductHolder3<Generator1, Generator2, Generator3> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3) {
- return internal::CartesianProductHolder3<Generator1, Generator2, Generator3>(
- g1, g2, g3);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4>
-internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
- Generator4> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4) {
- return internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
- Generator4>(
- g1, g2, g3, g4);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4, typename Generator5>
-internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
- Generator4, Generator5> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4, const Generator5& g5) {
- return internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
- Generator4, Generator5>(
- g1, g2, g3, g4, g5);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4, typename Generator5, typename Generator6>
-internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4, const Generator5& g5, const Generator6& g6) {
- return internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6>(
- g1, g2, g3, g4, g5, g6);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4, typename Generator5, typename Generator6,
- typename Generator7>
-internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4, const Generator5& g5, const Generator6& g6,
- const Generator7& g7) {
- return internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7>(
- g1, g2, g3, g4, g5, g6, g7);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4, typename Generator5, typename Generator6,
- typename Generator7, typename Generator8>
-internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7, Generator8> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4, const Generator5& g5, const Generator6& g6,
- const Generator7& g7, const Generator8& g8) {
- return internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7, Generator8>(
- g1, g2, g3, g4, g5, g6, g7, g8);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4, typename Generator5, typename Generator6,
- typename Generator7, typename Generator8, typename Generator9>
-internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7, Generator8,
- Generator9> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4, const Generator5& g5, const Generator6& g6,
- const Generator7& g7, const Generator8& g8, const Generator9& g9) {
- return internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7, Generator8, Generator9>(
- g1, g2, g3, g4, g5, g6, g7, g8, g9);
-}
-
-template <typename Generator1, typename Generator2, typename Generator3,
- typename Generator4, typename Generator5, typename Generator6,
- typename Generator7, typename Generator8, typename Generator9,
- typename Generator10>
-internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
- Generator10> Combine(
- const Generator1& g1, const Generator2& g2, const Generator3& g3,
- const Generator4& g4, const Generator5& g5, const Generator6& g6,
- const Generator7& g7, const Generator8& g8, const Generator9& g9,
- const Generator10& g10) {
- return internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
- Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
- Generator10>(
- g1, g2, g3, g4, g5, g6, g7, g8, g9, g10);
-}
-# endif // GTEST_HAS_COMBINE
-
-
-
-# define TEST_P(test_case_name, test_name) \
- class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
- : public test_case_name { \
- public: \
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {} \
- virtual void TestBody(); \
- private: \
- static int AddToRegistry() { \
- ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
- GetTestCasePatternHolder<test_case_name>(\
- #test_case_name, __FILE__, __LINE__)->AddTestPattern(\
- #test_case_name, \
- #test_name, \
- new ::testing::internal::TestMetaFactory< \
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name)>()); \
- return 0; \
- } \
- static int gtest_registering_dummy_; \
- GTEST_DISALLOW_COPY_AND_ASSIGN_(\
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name)); \
- }; \
- int GTEST_TEST_CLASS_NAME_(test_case_name, \
- test_name)::gtest_registering_dummy_ = \
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::AddToRegistry(); \
- void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
-
-# define INSTANTIATE_TEST_CASE_P(prefix, test_case_name, generator) \
- ::testing::internal::ParamGenerator<test_case_name::ParamType> \
- gtest_##prefix##test_case_name##_EvalGenerator_() { return generator; } \
- int gtest_##prefix##test_case_name##_dummy_ = \
- ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
- GetTestCasePatternHolder<test_case_name>(\
- #test_case_name, __FILE__, __LINE__)->AddTestCaseInstantiation(\
- #prefix, \
- >est_##prefix##test_case_name##_EvalGenerator_, \
- __FILE__, __LINE__)
-
-} // namespace testing
-
-#endif // GTEST_HAS_PARAM_TEST
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+++ /dev/null
-// Copyright 2007, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-// Google Test - The Google C++ Testing Framework
-//
-// This file implements a universal value printer that can print a
-// value of any type T:
-//
-// void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
-//
-// A user can teach this function how to print a class type T by
-// defining either operator<<() or PrintTo() in the namespace that
-// defines T. More specifically, the FIRST defined function in the
-// following list will be used (assuming T is defined in namespace
-// foo):
-//
-// 1. foo::PrintTo(const T&, ostream*)
-// 2. operator<<(ostream&, const T&) defined in either foo or the
-// global namespace.
-//
-// If none of the above is defined, it will print the debug string of
-// the value if it is a protocol buffer, or print the raw bytes in the
-// value otherwise.
-//
-// To aid debugging: when T is a reference type, the address of the
-// value is also printed; when T is a (const) char pointer, both the
-// pointer value and the NUL-terminated string it points to are
-// printed.
-//
-// We also provide some convenient wrappers:
-//
-// // Prints a value to a string. For a (const or not) char
-// // pointer, the NUL-terminated string (but not the pointer) is
-// // printed.
-// std::string ::testing::PrintToString(const T& value);
-//
-// // Prints a value tersely: for a reference type, the referenced
-// // value (but not the address) is printed; for a (const or not) char
-// // pointer, the NUL-terminated string (but not the pointer) is
-// // printed.
-// void ::testing::internal::UniversalTersePrint(const T& value, ostream*);
-//
-// // Prints value using the type inferred by the compiler. The difference
-// // from UniversalTersePrint() is that this function prints both the
-// // pointer and the NUL-terminated string for a (const or not) char pointer.
-// void ::testing::internal::UniversalPrint(const T& value, ostream*);
-//
-// // Prints the fields of a tuple tersely to a string vector, one
-// // element for each field. Tuple support must be enabled in
-// // gtest-port.h.
-// std::vector<string> UniversalTersePrintTupleFieldsToStrings(
-// const Tuple& value);
-//
-// Known limitation:
-//
-// The print primitives print the elements of an STL-style container
-// using the compiler-inferred type of *iter where iter is a
-// const_iterator of the container. When const_iterator is an input
-// iterator but not a forward iterator, this inferred type may not
-// match value_type, and the print output may be incorrect. In
-// practice, this is rarely a problem as for most containers
-// const_iterator is a forward iterator. We'll fix this if there's an
-// actual need for it. Note that this fix cannot rely on value_type
-// being defined as many user-defined container types don't have
-// value_type.
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
-#define GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
-
-#include <ostream> // NOLINT
-#include <sstream>
-#include <string>
-#include <utility>
-#include <vector>
-#include "gtest/internal/gtest-port.h"
-#include "gtest/internal/gtest-internal.h"
-
-namespace testing {
-
-// Definitions in the 'internal' and 'internal2' name spaces are
-// subject to change without notice. DO NOT USE THEM IN USER CODE!
-namespace internal2 {
-
-// Prints the given number of bytes in the given object to the given
-// ostream.
-GTEST_API_ void PrintBytesInObjectTo(const unsigned char* obj_bytes,
- size_t count,
- ::std::ostream* os);
-
-// For selecting which printer to use when a given type has neither <<
-// nor PrintTo().
-enum TypeKind {
- kProtobuf, // a protobuf type
- kConvertibleToInteger, // a type implicitly convertible to BiggestInt
- // (e.g. a named or unnamed enum type)
- kOtherType // anything else
-};
-
-// TypeWithoutFormatter<T, kTypeKind>::PrintValue(value, os) is called
-// by the universal printer to print a value of type T when neither
-// operator<< nor PrintTo() is defined for T, where kTypeKind is the
-// "kind" of T as defined by enum TypeKind.
-template <typename T, TypeKind kTypeKind>
-class TypeWithoutFormatter {
- public:
- // This default version is called when kTypeKind is kOtherType.
- static void PrintValue(const T& value, ::std::ostream* os) {
- PrintBytesInObjectTo(reinterpret_cast<const unsigned char*>(&value),
- sizeof(value), os);
- }
-};
-
-// We print a protobuf using its ShortDebugString() when the string
-// doesn't exceed this many characters; otherwise we print it using
-// DebugString() for better readability.
-const size_t kProtobufOneLinerMaxLength = 50;
-
-template <typename T>
-class TypeWithoutFormatter<T, kProtobuf> {
- public:
- static void PrintValue(const T& value, ::std::ostream* os) {
- const ::testing::internal::string short_str = value.ShortDebugString();
- const ::testing::internal::string pretty_str =
- short_str.length() <= kProtobufOneLinerMaxLength ?
- short_str : ("\n" + value.DebugString());
- *os << ("<" + pretty_str + ">");
- }
-};
-
-template <typename T>
-class TypeWithoutFormatter<T, kConvertibleToInteger> {
- public:
- // Since T has no << operator or PrintTo() but can be implicitly
- // converted to BiggestInt, we print it as a BiggestInt.
- //
- // Most likely T is an enum type (either named or unnamed), in which
- // case printing it as an integer is the desired behavior. In case
- // T is not an enum, printing it as an integer is the best we can do
- // given that it has no user-defined printer.
- static void PrintValue(const T& value, ::std::ostream* os) {
- const internal::BiggestInt kBigInt = value;
- *os << kBigInt;
- }
-};
-
-// Prints the given value to the given ostream. If the value is a
-// protocol message, its debug string is printed; if it's an enum or
-// of a type implicitly convertible to BiggestInt, it's printed as an
-// integer; otherwise the bytes in the value are printed. This is
-// what UniversalPrinter<T>::Print() does when it knows nothing about
-// type T and T has neither << operator nor PrintTo().
-//
-// A user can override this behavior for a class type Foo by defining
-// a << operator in the namespace where Foo is defined.
-//
-// We put this operator in namespace 'internal2' instead of 'internal'
-// to simplify the implementation, as much code in 'internal' needs to
-// use << in STL, which would conflict with our own << were it defined
-// in 'internal'.
-//
-// Note that this operator<< takes a generic std::basic_ostream<Char,
-// CharTraits> type instead of the more restricted std::ostream. If
-// we define it to take an std::ostream instead, we'll get an
-// "ambiguous overloads" compiler error when trying to print a type
-// Foo that supports streaming to std::basic_ostream<Char,
-// CharTraits>, as the compiler cannot tell whether
-// operator<<(std::ostream&, const T&) or
-// operator<<(std::basic_stream<Char, CharTraits>, const Foo&) is more
-// specific.
-template <typename Char, typename CharTraits, typename T>
-::std::basic_ostream<Char, CharTraits>& operator<<(
- ::std::basic_ostream<Char, CharTraits>& os, const T& x) {
- TypeWithoutFormatter<T,
- (internal::IsAProtocolMessage<T>::value ? kProtobuf :
- internal::ImplicitlyConvertible<const T&, internal::BiggestInt>::value ?
- kConvertibleToInteger : kOtherType)>::PrintValue(x, &os);
- return os;
-}
-
-} // namespace internal2
-} // namespace testing
-
-// This namespace MUST NOT BE NESTED IN ::testing, or the name look-up
-// magic needed for implementing UniversalPrinter won't work.
-namespace testing_internal {
-
-// Used to print a value that is not an STL-style container when the
-// user doesn't define PrintTo() for it.
-template <typename T>
-void DefaultPrintNonContainerTo(const T& value, ::std::ostream* os) {
- // With the following statement, during unqualified name lookup,
- // testing::internal2::operator<< appears as if it was declared in
- // the nearest enclosing namespace that contains both
- // ::testing_internal and ::testing::internal2, i.e. the global
- // namespace. For more details, refer to the C++ Standard section
- // 7.3.4-1 [namespace.udir]. This allows us to fall back onto
- // testing::internal2::operator<< in case T doesn't come with a <<
- // operator.
- //
- // We cannot write 'using ::testing::internal2::operator<<;', which
- // gcc 3.3 fails to compile due to a compiler bug.
- using namespace ::testing::internal2; // NOLINT
-
- // Assuming T is defined in namespace foo, in the next statement,
- // the compiler will consider all of:
- //
- // 1. foo::operator<< (thanks to Koenig look-up),
- // 2. ::operator<< (as the current namespace is enclosed in ::),
- // 3. testing::internal2::operator<< (thanks to the using statement above).
- //
- // The operator<< whose type matches T best will be picked.
- //
- // We deliberately allow #2 to be a candidate, as sometimes it's
- // impossible to define #1 (e.g. when foo is ::std, defining
- // anything in it is undefined behavior unless you are a compiler
- // vendor.).
- *os << value;
-}
-
-} // namespace testing_internal
-
-namespace testing {
-namespace internal {
-
-// UniversalPrinter<T>::Print(value, ostream_ptr) prints the given
-// value to the given ostream. The caller must ensure that
-// 'ostream_ptr' is not NULL, or the behavior is undefined.
-//
-// We define UniversalPrinter as a class template (as opposed to a
-// function template), as we need to partially specialize it for
-// reference types, which cannot be done with function templates.
-template <typename T>
-class UniversalPrinter;
-
-template <typename T>
-void UniversalPrint(const T& value, ::std::ostream* os);
-
-// Used to print an STL-style container when the user doesn't define
-// a PrintTo() for it.
-template <typename C>
-void DefaultPrintTo(IsContainer /* dummy */,
- false_type /* is not a pointer */,
- const C& container, ::std::ostream* os) {
- const size_t kMaxCount = 32; // The maximum number of elements to print.
- *os << '{';
- size_t count = 0;
- for (typename C::const_iterator it = container.begin();
- it != container.end(); ++it, ++count) {
- if (count > 0) {
- *os << ',';
- if (count == kMaxCount) { // Enough has been printed.
- *os << " ...";
- break;
- }
- }
- *os << ' ';
- // We cannot call PrintTo(*it, os) here as PrintTo() doesn't
- // handle *it being a native array.
- internal::UniversalPrint(*it, os);
- }
-
- if (count > 0) {
- *os << ' ';
- }
- *os << '}';
-}
-
-// Used to print a pointer that is neither a char pointer nor a member
-// pointer, when the user doesn't define PrintTo() for it. (A member
-// variable pointer or member function pointer doesn't really point to
-// a location in the address space. Their representation is
-// implementation-defined. Therefore they will be printed as raw
-// bytes.)
-template <typename T>
-void DefaultPrintTo(IsNotContainer /* dummy */,
- true_type /* is a pointer */,
- T* p, ::std::ostream* os) {
- if (p == NULL) {
- *os << "NULL";
- } else {
- // C++ doesn't allow casting from a function pointer to any object
- // pointer.
- //
- // IsTrue() silences warnings: "Condition is always true",
- // "unreachable code".
- if (IsTrue(ImplicitlyConvertible<T*, const void*>::value)) {
- // T is not a function type. We just call << to print p,
- // relying on ADL to pick up user-defined << for their pointer
- // types, if any.
- *os << p;
- } else {
- // T is a function type, so '*os << p' doesn't do what we want
- // (it just prints p as bool). We want to print p as a const
- // void*. However, we cannot cast it to const void* directly,
- // even using reinterpret_cast, as earlier versions of gcc
- // (e.g. 3.4.5) cannot compile the cast when p is a function
- // pointer. Casting to UInt64 first solves the problem.
- *os << reinterpret_cast<const void*>(
- reinterpret_cast<internal::UInt64>(p));
- }
- }
-}
-
-// Used to print a non-container, non-pointer value when the user
-// doesn't define PrintTo() for it.
-template <typename T>
-void DefaultPrintTo(IsNotContainer /* dummy */,
- false_type /* is not a pointer */,
- const T& value, ::std::ostream* os) {
- ::testing_internal::DefaultPrintNonContainerTo(value, os);
-}
-
-// Prints the given value using the << operator if it has one;
-// otherwise prints the bytes in it. This is what
-// UniversalPrinter<T>::Print() does when PrintTo() is not specialized
-// or overloaded for type T.
-//
-// A user can override this behavior for a class type Foo by defining
-// an overload of PrintTo() in the namespace where Foo is defined. We
-// give the user this option as sometimes defining a << operator for
-// Foo is not desirable (e.g. the coding style may prevent doing it,
-// or there is already a << operator but it doesn't do what the user
-// wants).
-template <typename T>
-void PrintTo(const T& value, ::std::ostream* os) {
- // DefaultPrintTo() is overloaded. The type of its first two
- // arguments determine which version will be picked. If T is an
- // STL-style container, the version for container will be called; if
- // T is a pointer, the pointer version will be called; otherwise the
- // generic version will be called.
- //
- // Note that we check for container types here, prior to we check
- // for protocol message types in our operator<<. The rationale is:
- //
- // For protocol messages, we want to give people a chance to
- // override Google Mock's format by defining a PrintTo() or
- // operator<<. For STL containers, other formats can be
- // incompatible with Google Mock's format for the container
- // elements; therefore we check for container types here to ensure
- // that our format is used.
- //
- // The second argument of DefaultPrintTo() is needed to bypass a bug
- // in Symbian's C++ compiler that prevents it from picking the right
- // overload between:
- //
- // PrintTo(const T& x, ...);
- // PrintTo(T* x, ...);
- DefaultPrintTo(IsContainerTest<T>(0), is_pointer<T>(), value, os);
-}
-
-// The following list of PrintTo() overloads tells
-// UniversalPrinter<T>::Print() how to print standard types (built-in
-// types, strings, plain arrays, and pointers).
-
-// Overloads for various char types.
-GTEST_API_ void PrintTo(unsigned char c, ::std::ostream* os);
-GTEST_API_ void PrintTo(signed char c, ::std::ostream* os);
-inline void PrintTo(char c, ::std::ostream* os) {
- // When printing a plain char, we always treat it as unsigned. This
- // way, the output won't be affected by whether the compiler thinks
- // char is signed or not.
- PrintTo(static_cast<unsigned char>(c), os);
-}
-
-// Overloads for other simple built-in types.
-inline void PrintTo(bool x, ::std::ostream* os) {
- *os << (x ? "true" : "false");
-}
-
-// Overload for wchar_t type.
-// Prints a wchar_t as a symbol if it is printable or as its internal
-// code otherwise and also as its decimal code (except for L'\0').
-// The L'\0' char is printed as "L'\\0'". The decimal code is printed
-// as signed integer when wchar_t is implemented by the compiler
-// as a signed type and is printed as an unsigned integer when wchar_t
-// is implemented as an unsigned type.
-GTEST_API_ void PrintTo(wchar_t wc, ::std::ostream* os);
-
-// Overloads for C strings.
-GTEST_API_ void PrintTo(const char* s, ::std::ostream* os);
-inline void PrintTo(char* s, ::std::ostream* os) {
- PrintTo(ImplicitCast_<const char*>(s), os);
-}
-
-// signed/unsigned char is often used for representing binary data, so
-// we print pointers to it as void* to be safe.
-inline void PrintTo(const signed char* s, ::std::ostream* os) {
- PrintTo(ImplicitCast_<const void*>(s), os);
-}
-inline void PrintTo(signed char* s, ::std::ostream* os) {
- PrintTo(ImplicitCast_<const void*>(s), os);
-}
-inline void PrintTo(const unsigned char* s, ::std::ostream* os) {
- PrintTo(ImplicitCast_<const void*>(s), os);
-}
-inline void PrintTo(unsigned char* s, ::std::ostream* os) {
- PrintTo(ImplicitCast_<const void*>(s), os);
-}
-
-// MSVC can be configured to define wchar_t as a typedef of unsigned
-// short. It defines _NATIVE_WCHAR_T_DEFINED when wchar_t is a native
-// type. When wchar_t is a typedef, defining an overload for const
-// wchar_t* would cause unsigned short* be printed as a wide string,
-// possibly causing invalid memory accesses.
-#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
-// Overloads for wide C strings
-GTEST_API_ void PrintTo(const wchar_t* s, ::std::ostream* os);
-inline void PrintTo(wchar_t* s, ::std::ostream* os) {
- PrintTo(ImplicitCast_<const wchar_t*>(s), os);
-}
-#endif
-
-// Overload for C arrays. Multi-dimensional arrays are printed
-// properly.
-
-// Prints the given number of elements in an array, without printing
-// the curly braces.
-template <typename T>
-void PrintRawArrayTo(const T a[], size_t count, ::std::ostream* os) {
- UniversalPrint(a[0], os);
- for (size_t i = 1; i != count; i++) {
- *os << ", ";
- UniversalPrint(a[i], os);
- }
-}
-
-// Overloads for ::string and ::std::string.
-#if GTEST_HAS_GLOBAL_STRING
-GTEST_API_ void PrintStringTo(const ::string&s, ::std::ostream* os);
-inline void PrintTo(const ::string& s, ::std::ostream* os) {
- PrintStringTo(s, os);
-}
-#endif // GTEST_HAS_GLOBAL_STRING
-
-GTEST_API_ void PrintStringTo(const ::std::string&s, ::std::ostream* os);
-inline void PrintTo(const ::std::string& s, ::std::ostream* os) {
- PrintStringTo(s, os);
-}
-
-// Overloads for ::wstring and ::std::wstring.
-#if GTEST_HAS_GLOBAL_WSTRING
-GTEST_API_ void PrintWideStringTo(const ::wstring&s, ::std::ostream* os);
-inline void PrintTo(const ::wstring& s, ::std::ostream* os) {
- PrintWideStringTo(s, os);
-}
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
-#if GTEST_HAS_STD_WSTRING
-GTEST_API_ void PrintWideStringTo(const ::std::wstring&s, ::std::ostream* os);
-inline void PrintTo(const ::std::wstring& s, ::std::ostream* os) {
- PrintWideStringTo(s, os);
-}
-#endif // GTEST_HAS_STD_WSTRING
-
-#if GTEST_HAS_TR1_TUPLE
-// Overload for ::std::tr1::tuple. Needed for printing function arguments,
-// which are packed as tuples.
-
-// Helper function for printing a tuple. T must be instantiated with
-// a tuple type.
-template <typename T>
-void PrintTupleTo(const T& t, ::std::ostream* os);
-
-// Overloaded PrintTo() for tuples of various arities. We support
-// tuples of up-to 10 fields. The following implementation works
-// regardless of whether tr1::tuple is implemented using the
-// non-standard variadic template feature or not.
-
-inline void PrintTo(const ::std::tr1::tuple<>& t, ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1>
-void PrintTo(const ::std::tr1::tuple<T1>& t, ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2>
-void PrintTo(const ::std::tr1::tuple<T1, T2>& t, ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3>& t, ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4>& t, ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5>& t,
- ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6>& t,
- ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7>& t,
- ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8>& t,
- ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
-void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9>& t,
- ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
-void PrintTo(
- const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>& t,
- ::std::ostream* os) {
- PrintTupleTo(t, os);
-}
-#endif // GTEST_HAS_TR1_TUPLE
-
-// Overload for std::pair.
-template <typename T1, typename T2>
-void PrintTo(const ::std::pair<T1, T2>& value, ::std::ostream* os) {
- *os << '(';
- // We cannot use UniversalPrint(value.first, os) here, as T1 may be
- // a reference type. The same for printing value.second.
- UniversalPrinter<T1>::Print(value.first, os);
- *os << ", ";
- UniversalPrinter<T2>::Print(value.second, os);
- *os << ')';
-}
-
-// Implements printing a non-reference type T by letting the compiler
-// pick the right overload of PrintTo() for T.
-template <typename T>
-class UniversalPrinter {
- public:
- // MSVC warns about adding const to a function type, so we want to
- // disable the warning.
-#ifdef _MSC_VER
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4180) // Temporarily disables warning 4180.
-#endif // _MSC_VER
-
- // Note: we deliberately don't call this PrintTo(), as that name
- // conflicts with ::testing::internal::PrintTo in the body of the
- // function.
- static void Print(const T& value, ::std::ostream* os) {
- // By default, ::testing::internal::PrintTo() is used for printing
- // the value.
- //
- // Thanks to Koenig look-up, if T is a class and has its own
- // PrintTo() function defined in its namespace, that function will
- // be visible here. Since it is more specific than the generic ones
- // in ::testing::internal, it will be picked by the compiler in the
- // following statement - exactly what we want.
- PrintTo(value, os);
- }
-
-#ifdef _MSC_VER
-# pragma warning(pop) // Restores the warning state.
-#endif // _MSC_VER
-};
-
-// UniversalPrintArray(begin, len, os) prints an array of 'len'
-// elements, starting at address 'begin'.
-template <typename T>
-void UniversalPrintArray(const T* begin, size_t len, ::std::ostream* os) {
- if (len == 0) {
- *os << "{}";
- } else {
- *os << "{ ";
- const size_t kThreshold = 18;
- const size_t kChunkSize = 8;
- // If the array has more than kThreshold elements, we'll have to
- // omit some details by printing only the first and the last
- // kChunkSize elements.
- // TODO(wan@google.com): let the user control the threshold using a flag.
- if (len <= kThreshold) {
- PrintRawArrayTo(begin, len, os);
- } else {
- PrintRawArrayTo(begin, kChunkSize, os);
- *os << ", ..., ";
- PrintRawArrayTo(begin + len - kChunkSize, kChunkSize, os);
- }
- *os << " }";
- }
-}
-// This overload prints a (const) char array compactly.
-GTEST_API_ void UniversalPrintArray(const char* begin,
- size_t len,
- ::std::ostream* os);
-
-// Implements printing an array type T[N].
-template <typename T, size_t N>
-class UniversalPrinter<T[N]> {
- public:
- // Prints the given array, omitting some elements when there are too
- // many.
- static void Print(const T (&a)[N], ::std::ostream* os) {
- UniversalPrintArray(a, N, os);
- }
-};
-
-// Implements printing a reference type T&.
-template <typename T>
-class UniversalPrinter<T&> {
- public:
- // MSVC warns about adding const to a function type, so we want to
- // disable the warning.
-#ifdef _MSC_VER
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4180) // Temporarily disables warning 4180.
-#endif // _MSC_VER
-
- static void Print(const T& value, ::std::ostream* os) {
- // Prints the address of the value. We use reinterpret_cast here
- // as static_cast doesn't compile when T is a function type.
- *os << "@" << reinterpret_cast<const void*>(&value) << " ";
-
- // Then prints the value itself.
- UniversalPrint(value, os);
- }
-
-#ifdef _MSC_VER
-# pragma warning(pop) // Restores the warning state.
-#endif // _MSC_VER
-};
-
-// Prints a value tersely: for a reference type, the referenced value
-// (but not the address) is printed; for a (const) char pointer, the
-// NUL-terminated string (but not the pointer) is printed.
-template <typename T>
-void UniversalTersePrint(const T& value, ::std::ostream* os) {
- UniversalPrint(value, os);
-}
-inline void UniversalTersePrint(const char* str, ::std::ostream* os) {
- if (str == NULL) {
- *os << "NULL";
- } else {
- UniversalPrint(string(str), os);
- }
-}
-inline void UniversalTersePrint(char* str, ::std::ostream* os) {
- UniversalTersePrint(static_cast<const char*>(str), os);
-}
-
-// Prints a value using the type inferred by the compiler. The
-// difference between this and UniversalTersePrint() is that for a
-// (const) char pointer, this prints both the pointer and the
-// NUL-terminated string.
-template <typename T>
-void UniversalPrint(const T& value, ::std::ostream* os) {
- UniversalPrinter<T>::Print(value, os);
-}
-
-#if GTEST_HAS_TR1_TUPLE
-typedef ::std::vector<string> Strings;
-
-// This helper template allows PrintTo() for tuples and
-// UniversalTersePrintTupleFieldsToStrings() to be defined by
-// induction on the number of tuple fields. The idea is that
-// TuplePrefixPrinter<N>::PrintPrefixTo(t, os) prints the first N
-// fields in tuple t, and can be defined in terms of
-// TuplePrefixPrinter<N - 1>.
-
-// The inductive case.
-template <size_t N>
-struct TuplePrefixPrinter {
- // Prints the first N fields of a tuple.
- template <typename Tuple>
- static void PrintPrefixTo(const Tuple& t, ::std::ostream* os) {
- TuplePrefixPrinter<N - 1>::PrintPrefixTo(t, os);
- *os << ", ";
- UniversalPrinter<typename ::std::tr1::tuple_element<N - 1, Tuple>::type>
- ::Print(::std::tr1::get<N - 1>(t), os);
- }
-
- // Tersely prints the first N fields of a tuple to a string vector,
- // one element for each field.
- template <typename Tuple>
- static void TersePrintPrefixToStrings(const Tuple& t, Strings* strings) {
- TuplePrefixPrinter<N - 1>::TersePrintPrefixToStrings(t, strings);
- ::std::stringstream ss;
- UniversalTersePrint(::std::tr1::get<N - 1>(t), &ss);
- strings->push_back(ss.str());
- }
-};
-
-// Base cases.
-template <>
-struct TuplePrefixPrinter<0> {
- template <typename Tuple>
- static void PrintPrefixTo(const Tuple&, ::std::ostream*) {}
-
- template <typename Tuple>
- static void TersePrintPrefixToStrings(const Tuple&, Strings*) {}
-};
-// We have to specialize the entire TuplePrefixPrinter<> class
-// template here, even though the definition of
-// TersePrintPrefixToStrings() is the same as the generic version, as
-// Embarcadero (formerly CodeGear, formerly Borland) C++ doesn't
-// support specializing a method template of a class template.
-template <>
-struct TuplePrefixPrinter<1> {
- template <typename Tuple>
- static void PrintPrefixTo(const Tuple& t, ::std::ostream* os) {
- UniversalPrinter<typename ::std::tr1::tuple_element<0, Tuple>::type>::
- Print(::std::tr1::get<0>(t), os);
- }
-
- template <typename Tuple>
- static void TersePrintPrefixToStrings(const Tuple& t, Strings* strings) {
- ::std::stringstream ss;
- UniversalTersePrint(::std::tr1::get<0>(t), &ss);
- strings->push_back(ss.str());
- }
-};
-
-// Helper function for printing a tuple. T must be instantiated with
-// a tuple type.
-template <typename T>
-void PrintTupleTo(const T& t, ::std::ostream* os) {
- *os << "(";
- TuplePrefixPrinter< ::std::tr1::tuple_size<T>::value>::
- PrintPrefixTo(t, os);
- *os << ")";
-}
-
-// Prints the fields of a tuple tersely to a string vector, one
-// element for each field. See the comment before
-// UniversalTersePrint() for how we define "tersely".
-template <typename Tuple>
-Strings UniversalTersePrintTupleFieldsToStrings(const Tuple& value) {
- Strings result;
- TuplePrefixPrinter< ::std::tr1::tuple_size<Tuple>::value>::
- TersePrintPrefixToStrings(value, &result);
- return result;
-}
-#endif // GTEST_HAS_TR1_TUPLE
-
-} // namespace internal
-
-template <typename T>
-::std::string PrintToString(const T& value) {
- ::std::stringstream ss;
- internal::UniversalTersePrint(value, &ss);
- return ss.str();
-}
-
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+++ /dev/null
-// Copyright 2007, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// Utilities for testing Google Test itself and code that uses Google Test
-// (e.g. frameworks built on top of Google Test).
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_SPI_H_
-#define GTEST_INCLUDE_GTEST_GTEST_SPI_H_
-
-#include "gtest/gtest.h"
-
-namespace testing {
-
-// This helper class can be used to mock out Google Test failure reporting
-// so that we can test Google Test or code that builds on Google Test.
-//
-// An object of this class appends a TestPartResult object to the
-// TestPartResultArray object given in the constructor whenever a Google Test
-// failure is reported. It can either intercept only failures that are
-// generated in the same thread that created this object or it can intercept
-// all generated failures. The scope of this mock object can be controlled with
-// the second argument to the two arguments constructor.
-class GTEST_API_ ScopedFakeTestPartResultReporter
- : public TestPartResultReporterInterface {
- public:
- // The two possible mocking modes of this object.
- enum InterceptMode {
- INTERCEPT_ONLY_CURRENT_THREAD, // Intercepts only thread local failures.
- INTERCEPT_ALL_THREADS // Intercepts all failures.
- };
-
- // The c'tor sets this object as the test part result reporter used
- // by Google Test. The 'result' parameter specifies where to report the
- // results. This reporter will only catch failures generated in the current
- // thread. DEPRECATED
- explicit ScopedFakeTestPartResultReporter(TestPartResultArray* result);
-
- // Same as above, but you can choose the interception scope of this object.
- ScopedFakeTestPartResultReporter(InterceptMode intercept_mode,
- TestPartResultArray* result);
-
- // The d'tor restores the previous test part result reporter.
- virtual ~ScopedFakeTestPartResultReporter();
-
- // Appends the TestPartResult object to the TestPartResultArray
- // received in the constructor.
- //
- // This method is from the TestPartResultReporterInterface
- // interface.
- virtual void ReportTestPartResult(const TestPartResult& result);
- private:
- void Init();
-
- const InterceptMode intercept_mode_;
- TestPartResultReporterInterface* old_reporter_;
- TestPartResultArray* const result_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedFakeTestPartResultReporter);
-};
-
-namespace internal {
-
-// A helper class for implementing EXPECT_FATAL_FAILURE() and
-// EXPECT_NONFATAL_FAILURE(). Its destructor verifies that the given
-// TestPartResultArray contains exactly one failure that has the given
-// type and contains the given substring. If that's not the case, a
-// non-fatal failure will be generated.
-class GTEST_API_ SingleFailureChecker {
- public:
- // The constructor remembers the arguments.
- SingleFailureChecker(const TestPartResultArray* results,
- TestPartResult::Type type,
- const string& substr);
- ~SingleFailureChecker();
- private:
- const TestPartResultArray* const results_;
- const TestPartResult::Type type_;
- const string substr_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(SingleFailureChecker);
-};
-
-} // namespace internal
-
-} // namespace testing
-
-// A set of macros for testing Google Test assertions or code that's expected
-// to generate Google Test fatal failures. It verifies that the given
-// statement will cause exactly one fatal Google Test failure with 'substr'
-// being part of the failure message.
-//
-// There are two different versions of this macro. EXPECT_FATAL_FAILURE only
-// affects and considers failures generated in the current thread and
-// EXPECT_FATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
-//
-// The verification of the assertion is done correctly even when the statement
-// throws an exception or aborts the current function.
-//
-// Known restrictions:
-// - 'statement' cannot reference local non-static variables or
-// non-static members of the current object.
-// - 'statement' cannot return a value.
-// - You cannot stream a failure message to this macro.
-//
-// Note that even though the implementations of the following two
-// macros are much alike, we cannot refactor them to use a common
-// helper macro, due to some peculiarity in how the preprocessor
-// works. The AcceptsMacroThatExpandsToUnprotectedComma test in
-// gtest_unittest.cc will fail to compile if we do that.
-#define EXPECT_FATAL_FAILURE(statement, substr) \
- do { \
- class GTestExpectFatalFailureHelper {\
- public:\
- static void Execute() { statement; }\
- };\
- ::testing::TestPartResultArray gtest_failures;\
- ::testing::internal::SingleFailureChecker gtest_checker(\
- >est_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
- {\
- ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
- ::testing::ScopedFakeTestPartResultReporter:: \
- INTERCEPT_ONLY_CURRENT_THREAD, >est_failures);\
- GTestExpectFatalFailureHelper::Execute();\
- }\
- } while (::testing::internal::AlwaysFalse())
-
-#define EXPECT_FATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
- do { \
- class GTestExpectFatalFailureHelper {\
- public:\
- static void Execute() { statement; }\
- };\
- ::testing::TestPartResultArray gtest_failures;\
- ::testing::internal::SingleFailureChecker gtest_checker(\
- >est_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
- {\
- ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
- ::testing::ScopedFakeTestPartResultReporter:: \
- INTERCEPT_ALL_THREADS, >est_failures);\
- GTestExpectFatalFailureHelper::Execute();\
- }\
- } while (::testing::internal::AlwaysFalse())
-
-// A macro for testing Google Test assertions or code that's expected to
-// generate Google Test non-fatal failures. It asserts that the given
-// statement will cause exactly one non-fatal Google Test failure with 'substr'
-// being part of the failure message.
-//
-// There are two different versions of this macro. EXPECT_NONFATAL_FAILURE only
-// affects and considers failures generated in the current thread and
-// EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
-//
-// 'statement' is allowed to reference local variables and members of
-// the current object.
-//
-// The verification of the assertion is done correctly even when the statement
-// throws an exception or aborts the current function.
-//
-// Known restrictions:
-// - You cannot stream a failure message to this macro.
-//
-// Note that even though the implementations of the following two
-// macros are much alike, we cannot refactor them to use a common
-// helper macro, due to some peculiarity in how the preprocessor
-// works. If we do that, the code won't compile when the user gives
-// EXPECT_NONFATAL_FAILURE() a statement that contains a macro that
-// expands to code containing an unprotected comma. The
-// AcceptsMacroThatExpandsToUnprotectedComma test in gtest_unittest.cc
-// catches that.
-//
-// For the same reason, we have to write
-// if (::testing::internal::AlwaysTrue()) { statement; }
-// instead of
-// GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
-// to avoid an MSVC warning on unreachable code.
-#define EXPECT_NONFATAL_FAILURE(statement, substr) \
- do {\
- ::testing::TestPartResultArray gtest_failures;\
- ::testing::internal::SingleFailureChecker gtest_checker(\
- >est_failures, ::testing::TestPartResult::kNonFatalFailure, \
- (substr));\
- {\
- ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
- ::testing::ScopedFakeTestPartResultReporter:: \
- INTERCEPT_ONLY_CURRENT_THREAD, >est_failures);\
- if (::testing::internal::AlwaysTrue()) { statement; }\
- }\
- } while (::testing::internal::AlwaysFalse())
-
-#define EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
- do {\
- ::testing::TestPartResultArray gtest_failures;\
- ::testing::internal::SingleFailureChecker gtest_checker(\
- >est_failures, ::testing::TestPartResult::kNonFatalFailure, \
- (substr));\
- {\
- ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
- ::testing::ScopedFakeTestPartResultReporter::INTERCEPT_ALL_THREADS,\
- >est_failures);\
- if (::testing::internal::AlwaysTrue()) { statement; }\
- }\
- } while (::testing::internal::AlwaysFalse())
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+++ /dev/null
-// Copyright 2008, Google 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 Google 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.
-//
-// Author: mheule@google.com (Markus Heule)
-//
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
-#define GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
-
-#include <iosfwd>
-#include <vector>
-#include "gtest/internal/gtest-internal.h"
-#include "gtest/internal/gtest-string.h"
-
-namespace testing {
-
-// A copyable object representing the result of a test part (i.e. an
-// assertion or an explicit FAIL(), ADD_FAILURE(), or SUCCESS()).
-//
-// Don't inherit from TestPartResult as its destructor is not virtual.
-class GTEST_API_ TestPartResult {
- public:
- // The possible outcomes of a test part (i.e. an assertion or an
- // explicit SUCCEED(), FAIL(), or ADD_FAILURE()).
- enum Type {
- kSuccess, // Succeeded.
- kNonFatalFailure, // Failed but the test can continue.
- kFatalFailure // Failed and the test should be terminated.
- };
-
- // C'tor. TestPartResult does NOT have a default constructor.
- // Always use this constructor (with parameters) to create a
- // TestPartResult object.
- TestPartResult(Type a_type,
- const char* a_file_name,
- int a_line_number,
- const char* a_message)
- : type_(a_type),
- file_name_(a_file_name),
- line_number_(a_line_number),
- summary_(ExtractSummary(a_message)),
- message_(a_message) {
- }
-
- // Gets the outcome of the test part.
- Type type() const { return type_; }
-
- // Gets the name of the source file where the test part took place, or
- // NULL if it's unknown.
- const char* file_name() const { return file_name_.c_str(); }
-
- // Gets the line in the source file where the test part took place,
- // or -1 if it's unknown.
- int line_number() const { return line_number_; }
-
- // Gets the summary of the failure message.
- const char* summary() const { return summary_.c_str(); }
-
- // Gets the message associated with the test part.
- const char* message() const { return message_.c_str(); }
-
- // Returns true iff the test part passed.
- bool passed() const { return type_ == kSuccess; }
-
- // Returns true iff the test part failed.
- bool failed() const { return type_ != kSuccess; }
-
- // Returns true iff the test part non-fatally failed.
- bool nonfatally_failed() const { return type_ == kNonFatalFailure; }
-
- // Returns true iff the test part fatally failed.
- bool fatally_failed() const { return type_ == kFatalFailure; }
- private:
- Type type_;
-
- // Gets the summary of the failure message by omitting the stack
- // trace in it.
- static internal::String ExtractSummary(const char* message);
-
- // The name of the source file where the test part took place, or
- // NULL if the source file is unknown.
- internal::String file_name_;
- // The line in the source file where the test part took place, or -1
- // if the line number is unknown.
- int line_number_;
- internal::String summary_; // The test failure summary.
- internal::String message_; // The test failure message.
-};
-
-// Prints a TestPartResult object.
-std::ostream& operator<<(std::ostream& os, const TestPartResult& result);
-
-// An array of TestPartResult objects.
-//
-// Don't inherit from TestPartResultArray as its destructor is not
-// virtual.
-class GTEST_API_ TestPartResultArray {
- public:
- TestPartResultArray() {}
-
- // Appends the given TestPartResult to the array.
- void Append(const TestPartResult& result);
-
- // Returns the TestPartResult at the given index (0-based).
- const TestPartResult& GetTestPartResult(int index) const;
-
- // Returns the number of TestPartResult objects in the array.
- int size() const;
-
- private:
- std::vector<TestPartResult> array_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestPartResultArray);
-};
-
-// This interface knows how to report a test part result.
-class TestPartResultReporterInterface {
- public:
- virtual ~TestPartResultReporterInterface() {}
-
- virtual void ReportTestPartResult(const TestPartResult& result) = 0;
-};
-
-namespace internal {
-
-// This helper class is used by {ASSERT|EXPECT}_NO_FATAL_FAILURE to check if a
-// statement generates new fatal failures. To do so it registers itself as the
-// current test part result reporter. Besides checking if fatal failures were
-// reported, it only delegates the reporting to the former result reporter.
-// The original result reporter is restored in the destructor.
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-class GTEST_API_ HasNewFatalFailureHelper
- : public TestPartResultReporterInterface {
- public:
- HasNewFatalFailureHelper();
- virtual ~HasNewFatalFailureHelper();
- virtual void ReportTestPartResult(const TestPartResult& result);
- bool has_new_fatal_failure() const { return has_new_fatal_failure_; }
- private:
- bool has_new_fatal_failure_;
- TestPartResultReporterInterface* original_reporter_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(HasNewFatalFailureHelper);
-};
-
-} // namespace internal
-
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+++ /dev/null
-// Copyright 2008 Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
-#define GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
-
-// This header implements typed tests and type-parameterized tests.
-
-// Typed (aka type-driven) tests repeat the same test for types in a
-// list. You must know which types you want to test with when writing
-// typed tests. Here's how you do it:
-
-#if 0
-
-// First, define a fixture class template. It should be parameterized
-// by a type. Remember to derive it from testing::Test.
-template <typename T>
-class FooTest : public testing::Test {
- public:
- ...
- typedef std::list<T> List;
- static T shared_;
- T value_;
-};
-
-// Next, associate a list of types with the test case, which will be
-// repeated for each type in the list. The typedef is necessary for
-// the macro to parse correctly.
-typedef testing::Types<char, int, unsigned int> MyTypes;
-TYPED_TEST_CASE(FooTest, MyTypes);
-
-// If the type list contains only one type, you can write that type
-// directly without Types<...>:
-// TYPED_TEST_CASE(FooTest, int);
-
-// Then, use TYPED_TEST() instead of TEST_F() to define as many typed
-// tests for this test case as you want.
-TYPED_TEST(FooTest, DoesBlah) {
- // Inside a test, refer to TypeParam to get the type parameter.
- // Since we are inside a derived class template, C++ requires use to
- // visit the members of FooTest via 'this'.
- TypeParam n = this->value_;
-
- // To visit static members of the fixture, add the TestFixture::
- // prefix.
- n += TestFixture::shared_;
-
- // To refer to typedefs in the fixture, add the "typename
- // TestFixture::" prefix.
- typename TestFixture::List values;
- values.push_back(n);
- ...
-}
-
-TYPED_TEST(FooTest, HasPropertyA) { ... }
-
-#endif // 0
-
-// Type-parameterized tests are abstract test patterns parameterized
-// by a type. Compared with typed tests, type-parameterized tests
-// allow you to define the test pattern without knowing what the type
-// parameters are. The defined pattern can be instantiated with
-// different types any number of times, in any number of translation
-// units.
-//
-// If you are designing an interface or concept, you can define a
-// suite of type-parameterized tests to verify properties that any
-// valid implementation of the interface/concept should have. Then,
-// each implementation can easily instantiate the test suite to verify
-// that it conforms to the requirements, without having to write
-// similar tests repeatedly. Here's an example:
-
-#if 0
-
-// First, define a fixture class template. It should be parameterized
-// by a type. Remember to derive it from testing::Test.
-template <typename T>
-class FooTest : public testing::Test {
- ...
-};
-
-// Next, declare that you will define a type-parameterized test case
-// (the _P suffix is for "parameterized" or "pattern", whichever you
-// prefer):
-TYPED_TEST_CASE_P(FooTest);
-
-// Then, use TYPED_TEST_P() to define as many type-parameterized tests
-// for this type-parameterized test case as you want.
-TYPED_TEST_P(FooTest, DoesBlah) {
- // Inside a test, refer to TypeParam to get the type parameter.
- TypeParam n = 0;
- ...
-}
-
-TYPED_TEST_P(FooTest, HasPropertyA) { ... }
-
-// Now the tricky part: you need to register all test patterns before
-// you can instantiate them. The first argument of the macro is the
-// test case name; the rest are the names of the tests in this test
-// case.
-REGISTER_TYPED_TEST_CASE_P(FooTest,
- DoesBlah, HasPropertyA);
-
-// Finally, you are free to instantiate the pattern with the types you
-// want. If you put the above code in a header file, you can #include
-// it in multiple C++ source files and instantiate it multiple times.
-//
-// To distinguish different instances of the pattern, the first
-// argument to the INSTANTIATE_* macro is a prefix that will be added
-// to the actual test case name. Remember to pick unique prefixes for
-// different instances.
-typedef testing::Types<char, int, unsigned int> MyTypes;
-INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, MyTypes);
-
-// If the type list contains only one type, you can write that type
-// directly without Types<...>:
-// INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, int);
-
-#endif // 0
-
-#include "gtest/internal/gtest-port.h"
-#include "gtest/internal/gtest-type-util.h"
-
-// Implements typed tests.
-
-#if GTEST_HAS_TYPED_TEST
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Expands to the name of the typedef for the type parameters of the
-// given test case.
-# define GTEST_TYPE_PARAMS_(TestCaseName) gtest_type_params_##TestCaseName##_
-
-// The 'Types' template argument below must have spaces around it
-// since some compilers may choke on '>>' when passing a template
-// instance (e.g. Types<int>)
-# define TYPED_TEST_CASE(CaseName, Types) \
- typedef ::testing::internal::TypeList< Types >::type \
- GTEST_TYPE_PARAMS_(CaseName)
-
-# define TYPED_TEST(CaseName, TestName) \
- template <typename gtest_TypeParam_> \
- class GTEST_TEST_CLASS_NAME_(CaseName, TestName) \
- : public CaseName<gtest_TypeParam_> { \
- private: \
- typedef CaseName<gtest_TypeParam_> TestFixture; \
- typedef gtest_TypeParam_ TypeParam; \
- virtual void TestBody(); \
- }; \
- bool gtest_##CaseName##_##TestName##_registered_ GTEST_ATTRIBUTE_UNUSED_ = \
- ::testing::internal::TypeParameterizedTest< \
- CaseName, \
- ::testing::internal::TemplateSel< \
- GTEST_TEST_CLASS_NAME_(CaseName, TestName)>, \
- GTEST_TYPE_PARAMS_(CaseName)>::Register(\
- "", #CaseName, #TestName, 0); \
- template <typename gtest_TypeParam_> \
- void GTEST_TEST_CLASS_NAME_(CaseName, TestName)<gtest_TypeParam_>::TestBody()
-
-#endif // GTEST_HAS_TYPED_TEST
-
-// Implements type-parameterized tests.
-
-#if GTEST_HAS_TYPED_TEST_P
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Expands to the namespace name that the type-parameterized tests for
-// the given type-parameterized test case are defined in. The exact
-// name of the namespace is subject to change without notice.
-# define GTEST_CASE_NAMESPACE_(TestCaseName) \
- gtest_case_##TestCaseName##_
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Expands to the name of the variable used to remember the names of
-// the defined tests in the given test case.
-# define GTEST_TYPED_TEST_CASE_P_STATE_(TestCaseName) \
- gtest_typed_test_case_p_state_##TestCaseName##_
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE DIRECTLY.
-//
-// Expands to the name of the variable used to remember the names of
-// the registered tests in the given test case.
-# define GTEST_REGISTERED_TEST_NAMES_(TestCaseName) \
- gtest_registered_test_names_##TestCaseName##_
-
-// The variables defined in the type-parameterized test macros are
-// static as typically these macros are used in a .h file that can be
-// #included in multiple translation units linked together.
-# define TYPED_TEST_CASE_P(CaseName) \
- static ::testing::internal::TypedTestCasePState \
- GTEST_TYPED_TEST_CASE_P_STATE_(CaseName)
-
-# define TYPED_TEST_P(CaseName, TestName) \
- namespace GTEST_CASE_NAMESPACE_(CaseName) { \
- template <typename gtest_TypeParam_> \
- class TestName : public CaseName<gtest_TypeParam_> { \
- private: \
- typedef CaseName<gtest_TypeParam_> TestFixture; \
- typedef gtest_TypeParam_ TypeParam; \
- virtual void TestBody(); \
- }; \
- static bool gtest_##TestName##_defined_ GTEST_ATTRIBUTE_UNUSED_ = \
- GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).AddTestName(\
- __FILE__, __LINE__, #CaseName, #TestName); \
- } \
- template <typename gtest_TypeParam_> \
- void GTEST_CASE_NAMESPACE_(CaseName)::TestName<gtest_TypeParam_>::TestBody()
-
-# define REGISTER_TYPED_TEST_CASE_P(CaseName, ...) \
- namespace GTEST_CASE_NAMESPACE_(CaseName) { \
- typedef ::testing::internal::Templates<__VA_ARGS__>::type gtest_AllTests_; \
- } \
- static const char* const GTEST_REGISTERED_TEST_NAMES_(CaseName) = \
- GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).VerifyRegisteredTestNames(\
- __FILE__, __LINE__, #__VA_ARGS__)
-
-// The 'Types' template argument below must have spaces around it
-// since some compilers may choke on '>>' when passing a template
-// instance (e.g. Types<int>)
-# define INSTANTIATE_TYPED_TEST_CASE_P(Prefix, CaseName, Types) \
- bool gtest_##Prefix##_##CaseName GTEST_ATTRIBUTE_UNUSED_ = \
- ::testing::internal::TypeParameterizedTestCase<CaseName, \
- GTEST_CASE_NAMESPACE_(CaseName)::gtest_AllTests_, \
- ::testing::internal::TypeList< Types >::type>::Register(\
- #Prefix, #CaseName, GTEST_REGISTERED_TEST_NAMES_(CaseName))
-
-#endif // GTEST_HAS_TYPED_TEST_P
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// The Google C++ Testing Framework (Google Test)
-//
-// This header file defines the public API for Google Test. It should be
-// included by any test program that uses Google Test.
-//
-// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
-// leave some internal implementation details in this header file.
-// They are clearly marked by comments like this:
-//
-// // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-//
-// Such code is NOT meant to be used by a user directly, and is subject
-// to CHANGE WITHOUT NOTICE. Therefore DO NOT DEPEND ON IT in a user
-// program!
-//
-// Acknowledgment: Google Test borrowed the idea of automatic test
-// registration from Barthelemy Dagenais' (barthelemy@prologique.com)
-// easyUnit framework.
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
-#define GTEST_INCLUDE_GTEST_GTEST_H_
-
-#ifdef __GNUC__
-#pragma GCC system_header
-#endif
-
-#include <limits>
-#include <vector>
-
-#include "gtest/internal/gtest-internal.h"
-#include "gtest/internal/gtest-string.h"
-#include "gtest/gtest-death-test.h"
-#include "gtest/gtest-message.h"
-#include "gtest/gtest-param-test.h"
-#include "gtest/gtest-printers.h"
-#include "gtest/gtest_prod.h"
-#include "gtest/gtest-test-part.h"
-#include "gtest/gtest-typed-test.h"
-
-// Depending on the platform, different string classes are available.
-// On Linux, in addition to ::std::string, Google also makes use of
-// class ::string, which has the same interface as ::std::string, but
-// has a different implementation.
-//
-// The user can define GTEST_HAS_GLOBAL_STRING to 1 to indicate that
-// ::string is available AND is a distinct type to ::std::string, or
-// define it to 0 to indicate otherwise.
-//
-// If the user's ::std::string and ::string are the same class due to
-// aliasing, he should define GTEST_HAS_GLOBAL_STRING to 0.
-//
-// If the user doesn't define GTEST_HAS_GLOBAL_STRING, it is defined
-// heuristically.
-
-namespace testing {
-
-// Declares the flags.
-
-// This flag temporary enables the disabled tests.
-GTEST_DECLARE_bool_(also_run_disabled_tests);
-
-// This flag brings the debugger on an assertion failure.
-GTEST_DECLARE_bool_(break_on_failure);
-
-// This flag controls whether Google Test catches all test-thrown exceptions
-// and logs them as failures.
-GTEST_DECLARE_bool_(catch_exceptions);
-
-// This flag enables using colors in terminal output. Available values are
-// "yes" to enable colors, "no" (disable colors), or "auto" (the default)
-// to let Google Test decide.
-GTEST_DECLARE_string_(color);
-
-// This flag sets up the filter to select by name using a glob pattern
-// the tests to run. If the filter is not given all tests are executed.
-GTEST_DECLARE_string_(filter);
-
-// This flag causes the Google Test to list tests. None of the tests listed
-// are actually run if the flag is provided.
-GTEST_DECLARE_bool_(list_tests);
-
-// This flag controls whether Google Test emits a detailed XML report to a file
-// in addition to its normal textual output.
-GTEST_DECLARE_string_(output);
-
-// This flags control whether Google Test prints the elapsed time for each
-// test.
-GTEST_DECLARE_bool_(print_time);
-
-// This flag specifies the random number seed.
-GTEST_DECLARE_int32_(random_seed);
-
-// This flag sets how many times the tests are repeated. The default value
-// is 1. If the value is -1 the tests are repeating forever.
-GTEST_DECLARE_int32_(repeat);
-
-// This flag controls whether Google Test includes Google Test internal
-// stack frames in failure stack traces.
-GTEST_DECLARE_bool_(show_internal_stack_frames);
-
-// When this flag is specified, tests' order is randomized on every iteration.
-GTEST_DECLARE_bool_(shuffle);
-
-// This flag specifies the maximum number of stack frames to be
-// printed in a failure message.
-GTEST_DECLARE_int32_(stack_trace_depth);
-
-// When this flag is specified, a failed assertion will throw an
-// exception if exceptions are enabled, or exit the program with a
-// non-zero code otherwise.
-GTEST_DECLARE_bool_(throw_on_failure);
-
-// When this flag is set with a "host:port" string, on supported
-// platforms test results are streamed to the specified port on
-// the specified host machine.
-GTEST_DECLARE_string_(stream_result_to);
-
-// The upper limit for valid stack trace depths.
-const int kMaxStackTraceDepth = 100;
-
-namespace internal {
-
-class AssertHelper;
-class DefaultGlobalTestPartResultReporter;
-class ExecDeathTest;
-class NoExecDeathTest;
-class FinalSuccessChecker;
-class GTestFlagSaver;
-class TestResultAccessor;
-class TestEventListenersAccessor;
-class TestEventRepeater;
-class WindowsDeathTest;
-class UnitTestImpl* GetUnitTestImpl();
-void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
- const String& message);
-
-// Converts a streamable value to a String. A NULL pointer is
-// converted to "(null)". When the input value is a ::string,
-// ::std::string, ::wstring, or ::std::wstring object, each NUL
-// character in it is replaced with "\\0".
-// Declared in gtest-internal.h but defined here, so that it has access
-// to the definition of the Message class, required by the ARM
-// compiler.
-template <typename T>
-String StreamableToString(const T& streamable) {
- return (Message() << streamable).GetString();
-}
-
-} // namespace internal
-
-// The friend relationship of some of these classes is cyclic.
-// If we don't forward declare them the compiler might confuse the classes
-// in friendship clauses with same named classes on the scope.
-class Test;
-class TestCase;
-class TestInfo;
-class UnitTest;
-
-// A class for indicating whether an assertion was successful. When
-// the assertion wasn't successful, the AssertionResult object
-// remembers a non-empty message that describes how it failed.
-//
-// To create an instance of this class, use one of the factory functions
-// (AssertionSuccess() and AssertionFailure()).
-//
-// This class is useful for two purposes:
-// 1. Defining predicate functions to be used with Boolean test assertions
-// EXPECT_TRUE/EXPECT_FALSE and their ASSERT_ counterparts
-// 2. Defining predicate-format functions to be
-// used with predicate assertions (ASSERT_PRED_FORMAT*, etc).
-//
-// For example, if you define IsEven predicate:
-//
-// testing::AssertionResult IsEven(int n) {
-// if ((n % 2) == 0)
-// return testing::AssertionSuccess();
-// else
-// return testing::AssertionFailure() << n << " is odd";
-// }
-//
-// Then the failed expectation EXPECT_TRUE(IsEven(Fib(5)))
-// will print the message
-//
-// Value of: IsEven(Fib(5))
-// Actual: false (5 is odd)
-// Expected: true
-//
-// instead of a more opaque
-//
-// Value of: IsEven(Fib(5))
-// Actual: false
-// Expected: true
-//
-// in case IsEven is a simple Boolean predicate.
-//
-// If you expect your predicate to be reused and want to support informative
-// messages in EXPECT_FALSE and ASSERT_FALSE (negative assertions show up
-// about half as often as positive ones in our tests), supply messages for
-// both success and failure cases:
-//
-// testing::AssertionResult IsEven(int n) {
-// if ((n % 2) == 0)
-// return testing::AssertionSuccess() << n << " is even";
-// else
-// return testing::AssertionFailure() << n << " is odd";
-// }
-//
-// Then a statement EXPECT_FALSE(IsEven(Fib(6))) will print
-//
-// Value of: IsEven(Fib(6))
-// Actual: true (8 is even)
-// Expected: false
-//
-// NB: Predicates that support negative Boolean assertions have reduced
-// performance in positive ones so be careful not to use them in tests
-// that have lots (tens of thousands) of positive Boolean assertions.
-//
-// To use this class with EXPECT_PRED_FORMAT assertions such as:
-//
-// // Verifies that Foo() returns an even number.
-// EXPECT_PRED_FORMAT1(IsEven, Foo());
-//
-// you need to define:
-//
-// testing::AssertionResult IsEven(const char* expr, int n) {
-// if ((n % 2) == 0)
-// return testing::AssertionSuccess();
-// else
-// return testing::AssertionFailure()
-// << "Expected: " << expr << " is even\n Actual: it's " << n;
-// }
-//
-// If Foo() returns 5, you will see the following message:
-//
-// Expected: Foo() is even
-// Actual: it's 5
-//
-class GTEST_API_ AssertionResult {
- public:
- // Copy constructor.
- // Used in EXPECT_TRUE/FALSE(assertion_result).
- AssertionResult(const AssertionResult& other);
- // Used in the EXPECT_TRUE/FALSE(bool_expression).
- explicit AssertionResult(bool success) : success_(success) {}
-
- // Returns true iff the assertion succeeded.
- operator bool() const { return success_; } // NOLINT
-
- // Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
- AssertionResult operator!() const;
-
- // Returns the text streamed into this AssertionResult. Test assertions
- // use it when they fail (i.e., the predicate's outcome doesn't match the
- // assertion's expectation). When nothing has been streamed into the
- // object, returns an empty string.
- const char* message() const {
- return message_.get() != NULL ? message_->c_str() : "";
- }
- // TODO(vladl@google.com): Remove this after making sure no clients use it.
- // Deprecated; please use message() instead.
- const char* failure_message() const { return message(); }
-
- // Streams a custom failure message into this object.
- template <typename T> AssertionResult& operator<<(const T& value) {
- AppendMessage(Message() << value);
- return *this;
- }
-
- // Allows streaming basic output manipulators such as endl or flush into
- // this object.
- AssertionResult& operator<<(
- ::std::ostream& (*basic_manipulator)(::std::ostream& stream)) {
- AppendMessage(Message() << basic_manipulator);
- return *this;
- }
-
- private:
- // Appends the contents of message to message_.
- void AppendMessage(const Message& a_message) {
- if (message_.get() == NULL)
- message_.reset(new ::std::string);
- message_->append(a_message.GetString().c_str());
- }
-
- // Stores result of the assertion predicate.
- bool success_;
- // Stores the message describing the condition in case the expectation
- // construct is not satisfied with the predicate's outcome.
- // Referenced via a pointer to avoid taking too much stack frame space
- // with test assertions.
- internal::scoped_ptr< ::std::string> message_;
-
- GTEST_DISALLOW_ASSIGN_(AssertionResult);
-};
-
-// Makes a successful assertion result.
-GTEST_API_ AssertionResult AssertionSuccess();
-
-// Makes a failed assertion result.
-GTEST_API_ AssertionResult AssertionFailure();
-
-// Makes a failed assertion result with the given failure message.
-// Deprecated; use AssertionFailure() << msg.
-GTEST_API_ AssertionResult AssertionFailure(const Message& msg);
-
-// The abstract class that all tests inherit from.
-//
-// In Google Test, a unit test program contains one or many TestCases, and
-// each TestCase contains one or many Tests.
-//
-// When you define a test using the TEST macro, you don't need to
-// explicitly derive from Test - the TEST macro automatically does
-// this for you.
-//
-// The only time you derive from Test is when defining a test fixture
-// to be used a TEST_F. For example:
-//
-// class FooTest : public testing::Test {
-// protected:
-// virtual void SetUp() { ... }
-// virtual void TearDown() { ... }
-// ...
-// };
-//
-// TEST_F(FooTest, Bar) { ... }
-// TEST_F(FooTest, Baz) { ... }
-//
-// Test is not copyable.
-class GTEST_API_ Test {
- public:
- friend class TestInfo;
-
- // Defines types for pointers to functions that set up and tear down
- // a test case.
- typedef internal::SetUpTestCaseFunc SetUpTestCaseFunc;
- typedef internal::TearDownTestCaseFunc TearDownTestCaseFunc;
-
- // The d'tor is virtual as we intend to inherit from Test.
- virtual ~Test();
-
- // Sets up the stuff shared by all tests in this test case.
- //
- // Google Test will call Foo::SetUpTestCase() before running the first
- // test in test case Foo. Hence a sub-class can define its own
- // SetUpTestCase() method to shadow the one defined in the super
- // class.
- static void SetUpTestCase() {}
-
- // Tears down the stuff shared by all tests in this test case.
- //
- // Google Test will call Foo::TearDownTestCase() after running the last
- // test in test case Foo. Hence a sub-class can define its own
- // TearDownTestCase() method to shadow the one defined in the super
- // class.
- static void TearDownTestCase() {}
-
- // Returns true iff the current test has a fatal failure.
- static bool HasFatalFailure();
-
- // Returns true iff the current test has a non-fatal failure.
- static bool HasNonfatalFailure();
-
- // Returns true iff the current test has a (either fatal or
- // non-fatal) failure.
- static bool HasFailure() { return HasFatalFailure() || HasNonfatalFailure(); }
-
- // Logs a property for the current test. Only the last value for a given
- // key is remembered.
- // These are public static so they can be called from utility functions
- // that are not members of the test fixture.
- // The arguments are const char* instead strings, as Google Test is used
- // on platforms where string doesn't compile.
- //
- // Note that a driving consideration for these RecordProperty methods
- // was to produce xml output suited to the Greenspan charting utility,
- // which at present will only chart values that fit in a 32-bit int. It
- // is the user's responsibility to restrict their values to 32-bit ints
- // if they intend them to be used with Greenspan.
- static void RecordProperty(const char* key, const char* value);
- static void RecordProperty(const char* key, int value);
-
- protected:
- // Creates a Test object.
- Test();
-
- // Sets up the test fixture.
- virtual void SetUp();
-
- // Tears down the test fixture.
- virtual void TearDown();
-
- private:
- // Returns true iff the current test has the same fixture class as
- // the first test in the current test case.
- static bool HasSameFixtureClass();
-
- // Runs the test after the test fixture has been set up.
- //
- // A sub-class must implement this to define the test logic.
- //
- // DO NOT OVERRIDE THIS FUNCTION DIRECTLY IN A USER PROGRAM.
- // Instead, use the TEST or TEST_F macro.
- virtual void TestBody() = 0;
-
- // Sets up, executes, and tears down the test.
- void Run();
-
- // Deletes self. We deliberately pick an unusual name for this
- // internal method to avoid clashing with names used in user TESTs.
- void DeleteSelf_() { delete this; }
-
- // Uses a GTestFlagSaver to save and restore all Google Test flags.
- const internal::GTestFlagSaver* const gtest_flag_saver_;
-
- // Often a user mis-spells SetUp() as Setup() and spends a long time
- // wondering why it is never called by Google Test. The declaration of
- // the following method is solely for catching such an error at
- // compile time:
- //
- // - The return type is deliberately chosen to be not void, so it
- // will be a conflict if a user declares void Setup() in his test
- // fixture.
- //
- // - This method is private, so it will be another compiler error
- // if a user calls it from his test fixture.
- //
- // DO NOT OVERRIDE THIS FUNCTION.
- //
- // If you see an error about overriding the following function or
- // about it being private, you have mis-spelled SetUp() as Setup().
- struct Setup_should_be_spelled_SetUp {};
- virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
-
- // We disallow copying Tests.
- GTEST_DISALLOW_COPY_AND_ASSIGN_(Test);
-};
-
-typedef internal::TimeInMillis TimeInMillis;
-
-// A copyable object representing a user specified test property which can be
-// output as a key/value string pair.
-//
-// Don't inherit from TestProperty as its destructor is not virtual.
-class TestProperty {
- public:
- // C'tor. TestProperty does NOT have a default constructor.
- // Always use this constructor (with parameters) to create a
- // TestProperty object.
- TestProperty(const char* a_key, const char* a_value) :
- key_(a_key), value_(a_value) {
- }
-
- // Gets the user supplied key.
- const char* key() const {
- return key_.c_str();
- }
-
- // Gets the user supplied value.
- const char* value() const {
- return value_.c_str();
- }
-
- // Sets a new value, overriding the one supplied in the constructor.
- void SetValue(const char* new_value) {
- value_ = new_value;
- }
-
- private:
- // The key supplied by the user.
- internal::String key_;
- // The value supplied by the user.
- internal::String value_;
-};
-
-// The result of a single Test. This includes a list of
-// TestPartResults, a list of TestProperties, a count of how many
-// death tests there are in the Test, and how much time it took to run
-// the Test.
-//
-// TestResult is not copyable.
-class GTEST_API_ TestResult {
- public:
- // Creates an empty TestResult.
- TestResult();
-
- // D'tor. Do not inherit from TestResult.
- ~TestResult();
-
- // Gets the number of all test parts. This is the sum of the number
- // of successful test parts and the number of failed test parts.
- int total_part_count() const;
-
- // Returns the number of the test properties.
- int test_property_count() const;
-
- // Returns true iff the test passed (i.e. no test part failed).
- bool Passed() const { return !Failed(); }
-
- // Returns true iff the test failed.
- bool Failed() const;
-
- // Returns true iff the test fatally failed.
- bool HasFatalFailure() const;
-
- // Returns true iff the test has a non-fatal failure.
- bool HasNonfatalFailure() const;
-
- // Returns the elapsed time, in milliseconds.
- TimeInMillis elapsed_time() const { return elapsed_time_; }
-
- // Returns the i-th test part result among all the results. i can range
- // from 0 to test_property_count() - 1. If i is not in that range, aborts
- // the program.
- const TestPartResult& GetTestPartResult(int i) const;
-
- // Returns the i-th test property. i can range from 0 to
- // test_property_count() - 1. If i is not in that range, aborts the
- // program.
- const TestProperty& GetTestProperty(int i) const;
-
- private:
- friend class TestInfo;
- friend class UnitTest;
- friend class internal::DefaultGlobalTestPartResultReporter;
- friend class internal::ExecDeathTest;
- friend class internal::TestResultAccessor;
- friend class internal::UnitTestImpl;
- friend class internal::WindowsDeathTest;
-
- // Gets the vector of TestPartResults.
- const std::vector<TestPartResult>& test_part_results() const {
- return test_part_results_;
- }
-
- // Gets the vector of TestProperties.
- const std::vector<TestProperty>& test_properties() const {
- return test_properties_;
- }
-
- // Sets the elapsed time.
- void set_elapsed_time(TimeInMillis elapsed) { elapsed_time_ = elapsed; }
-
- // Adds a test property to the list. The property is validated and may add
- // a non-fatal failure if invalid (e.g., if it conflicts with reserved
- // key names). If a property is already recorded for the same key, the
- // value will be updated, rather than storing multiple values for the same
- // key.
- void RecordProperty(const TestProperty& test_property);
-
- // Adds a failure if the key is a reserved attribute of Google Test
- // testcase tags. Returns true if the property is valid.
- // TODO(russr): Validate attribute names are legal and human readable.
- static bool ValidateTestProperty(const TestProperty& test_property);
-
- // Adds a test part result to the list.
- void AddTestPartResult(const TestPartResult& test_part_result);
-
- // Returns the death test count.
- int death_test_count() const { return death_test_count_; }
-
- // Increments the death test count, returning the new count.
- int increment_death_test_count() { return ++death_test_count_; }
-
- // Clears the test part results.
- void ClearTestPartResults();
-
- // Clears the object.
- void Clear();
-
- // Protects mutable state of the property vector and of owned
- // properties, whose values may be updated.
- internal::Mutex test_properites_mutex_;
-
- // The vector of TestPartResults
- std::vector<TestPartResult> test_part_results_;
- // The vector of TestProperties
- std::vector<TestProperty> test_properties_;
- // Running count of death tests.
- int death_test_count_;
- // The elapsed time, in milliseconds.
- TimeInMillis elapsed_time_;
-
- // We disallow copying TestResult.
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestResult);
-}; // class TestResult
-
-// A TestInfo object stores the following information about a test:
-//
-// Test case name
-// Test name
-// Whether the test should be run
-// A function pointer that creates the test object when invoked
-// Test result
-//
-// The constructor of TestInfo registers itself with the UnitTest
-// singleton such that the RUN_ALL_TESTS() macro knows which tests to
-// run.
-class GTEST_API_ TestInfo {
- public:
- // Destructs a TestInfo object. This function is not virtual, so
- // don't inherit from TestInfo.
- ~TestInfo();
-
- // Returns the test case name.
- const char* test_case_name() const { return test_case_name_.c_str(); }
-
- // Returns the test name.
- const char* name() const { return name_.c_str(); }
-
- // Returns the name of the parameter type, or NULL if this is not a typed
- // or a type-parameterized test.
- const char* type_param() const {
- if (type_param_.get() != NULL)
- return type_param_->c_str();
- return NULL;
- }
-
- // Returns the text representation of the value parameter, or NULL if this
- // is not a value-parameterized test.
- const char* value_param() const {
- if (value_param_.get() != NULL)
- return value_param_->c_str();
- return NULL;
- }
-
- // Returns true if this test should run, that is if the test is not disabled
- // (or it is disabled but the also_run_disabled_tests flag has been specified)
- // and its full name matches the user-specified filter.
- //
- // Google Test allows the user to filter the tests by their full names.
- // The full name of a test Bar in test case Foo is defined as
- // "Foo.Bar". Only the tests that match the filter will run.
- //
- // A filter is a colon-separated list of glob (not regex) patterns,
- // optionally followed by a '-' and a colon-separated list of
- // negative patterns (tests to exclude). A test is run if it
- // matches one of the positive patterns and does not match any of
- // the negative patterns.
- //
- // For example, *A*:Foo.* is a filter that matches any string that
- // contains the character 'A' or starts with "Foo.".
- bool should_run() const { return should_run_; }
-
- // Returns the result of the test.
- const TestResult* result() const { return &result_; }
-
- private:
-
-#if GTEST_HAS_DEATH_TEST
- friend class internal::DefaultDeathTestFactory;
-#endif // GTEST_HAS_DEATH_TEST
- friend class Test;
- friend class TestCase;
- friend class internal::UnitTestImpl;
- friend TestInfo* internal::MakeAndRegisterTestInfo(
- const char* test_case_name, const char* name,
- const char* type_param,
- const char* value_param,
- internal::TypeId fixture_class_id,
- Test::SetUpTestCaseFunc set_up_tc,
- Test::TearDownTestCaseFunc tear_down_tc,
- internal::TestFactoryBase* factory);
-
- // Constructs a TestInfo object. The newly constructed instance assumes
- // ownership of the factory object.
- TestInfo(const char* test_case_name, const char* name,
- const char* a_type_param,
- const char* a_value_param,
- internal::TypeId fixture_class_id,
- internal::TestFactoryBase* factory);
-
- // Increments the number of death tests encountered in this test so
- // far.
- int increment_death_test_count() {
- return result_.increment_death_test_count();
- }
-
- // Creates the test object, runs it, records its result, and then
- // deletes it.
- void Run();
-
- static void ClearTestResult(TestInfo* test_info) {
- test_info->result_.Clear();
- }
-
- // These fields are immutable properties of the test.
- const std::string test_case_name_; // Test case name
- const std::string name_; // Test name
- // Name of the parameter type, or NULL if this is not a typed or a
- // type-parameterized test.
- const internal::scoped_ptr<const ::std::string> type_param_;
- // Text representation of the value parameter, or NULL if this is not a
- // value-parameterized test.
- const internal::scoped_ptr<const ::std::string> value_param_;
- const internal::TypeId fixture_class_id_; // ID of the test fixture class
- bool should_run_; // True iff this test should run
- bool is_disabled_; // True iff this test is disabled
- bool matches_filter_; // True if this test matches the
- // user-specified filter.
- internal::TestFactoryBase* const factory_; // The factory that creates
- // the test object
-
- // This field is mutable and needs to be reset before running the
- // test for the second time.
- TestResult result_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestInfo);
-};
-
-// A test case, which consists of a vector of TestInfos.
-//
-// TestCase is not copyable.
-class GTEST_API_ TestCase {
- public:
- // Creates a TestCase with the given name.
- //
- // TestCase does NOT have a default constructor. Always use this
- // constructor to create a TestCase object.
- //
- // Arguments:
- //
- // name: name of the test case
- // a_type_param: the name of the test's type parameter, or NULL if
- // this is not a type-parameterized test.
- // set_up_tc: pointer to the function that sets up the test case
- // tear_down_tc: pointer to the function that tears down the test case
- TestCase(const char* name, const char* a_type_param,
- Test::SetUpTestCaseFunc set_up_tc,
- Test::TearDownTestCaseFunc tear_down_tc);
-
- // Destructor of TestCase.
- virtual ~TestCase();
-
- // Gets the name of the TestCase.
- const char* name() const { return name_.c_str(); }
-
- // Returns the name of the parameter type, or NULL if this is not a
- // type-parameterized test case.
- const char* type_param() const {
- if (type_param_.get() != NULL)
- return type_param_->c_str();
- return NULL;
- }
-
- // Returns true if any test in this test case should run.
- bool should_run() const { return should_run_; }
-
- // Gets the number of successful tests in this test case.
- int successful_test_count() const;
-
- // Gets the number of failed tests in this test case.
- int failed_test_count() const;
-
- // Gets the number of disabled tests in this test case.
- int disabled_test_count() const;
-
- // Get the number of tests in this test case that should run.
- int test_to_run_count() const;
-
- // Gets the number of all tests in this test case.
- int total_test_count() const;
-
- // Returns true iff the test case passed.
- bool Passed() const { return !Failed(); }
-
- // Returns true iff the test case failed.
- bool Failed() const { return failed_test_count() > 0; }
-
- // Returns the elapsed time, in milliseconds.
- TimeInMillis elapsed_time() const { return elapsed_time_; }
-
- // Returns the i-th test among all the tests. i can range from 0 to
- // total_test_count() - 1. If i is not in that range, returns NULL.
- const TestInfo* GetTestInfo(int i) const;
-
- private:
- friend class Test;
- friend class internal::UnitTestImpl;
-
- // Gets the (mutable) vector of TestInfos in this TestCase.
- std::vector<TestInfo*>& test_info_list() { return test_info_list_; }
-
- // Gets the (immutable) vector of TestInfos in this TestCase.
- const std::vector<TestInfo*>& test_info_list() const {
- return test_info_list_;
- }
-
- // Returns the i-th test among all the tests. i can range from 0 to
- // total_test_count() - 1. If i is not in that range, returns NULL.
- TestInfo* GetMutableTestInfo(int i);
-
- // Sets the should_run member.
- void set_should_run(bool should) { should_run_ = should; }
-
- // Adds a TestInfo to this test case. Will delete the TestInfo upon
- // destruction of the TestCase object.
- void AddTestInfo(TestInfo * test_info);
-
- // Clears the results of all tests in this test case.
- void ClearResult();
-
- // Clears the results of all tests in the given test case.
- static void ClearTestCaseResult(TestCase* test_case) {
- test_case->ClearResult();
- }
-
- // Runs every test in this TestCase.
- void Run();
-
- // Runs SetUpTestCase() for this TestCase. This wrapper is needed
- // for catching exceptions thrown from SetUpTestCase().
- void RunSetUpTestCase() { (*set_up_tc_)(); }
-
- // Runs TearDownTestCase() for this TestCase. This wrapper is
- // needed for catching exceptions thrown from TearDownTestCase().
- void RunTearDownTestCase() { (*tear_down_tc_)(); }
-
- // Returns true iff test passed.
- static bool TestPassed(const TestInfo* test_info) {
- return test_info->should_run() && test_info->result()->Passed();
- }
-
- // Returns true iff test failed.
- static bool TestFailed(const TestInfo* test_info) {
- return test_info->should_run() && test_info->result()->Failed();
- }
-
- // Returns true iff test is disabled.
- static bool TestDisabled(const TestInfo* test_info) {
- return test_info->is_disabled_;
- }
-
- // Returns true if the given test should run.
- static bool ShouldRunTest(const TestInfo* test_info) {
- return test_info->should_run();
- }
-
- // Shuffles the tests in this test case.
- void ShuffleTests(internal::Random* random);
-
- // Restores the test order to before the first shuffle.
- void UnshuffleTests();
-
- // Name of the test case.
- internal::String name_;
- // Name of the parameter type, or NULL if this is not a typed or a
- // type-parameterized test.
- const internal::scoped_ptr<const ::std::string> type_param_;
- // The vector of TestInfos in their original order. It owns the
- // elements in the vector.
- std::vector<TestInfo*> test_info_list_;
- // Provides a level of indirection for the test list to allow easy
- // shuffling and restoring the test order. The i-th element in this
- // vector is the index of the i-th test in the shuffled test list.
- std::vector<int> test_indices_;
- // Pointer to the function that sets up the test case.
- Test::SetUpTestCaseFunc set_up_tc_;
- // Pointer to the function that tears down the test case.
- Test::TearDownTestCaseFunc tear_down_tc_;
- // True iff any test in this test case should run.
- bool should_run_;
- // Elapsed time, in milliseconds.
- TimeInMillis elapsed_time_;
-
- // We disallow copying TestCases.
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestCase);
-};
-
-// An Environment object is capable of setting up and tearing down an
-// environment. The user should subclass this to define his own
-// environment(s).
-//
-// An Environment object does the set-up and tear-down in virtual
-// methods SetUp() and TearDown() instead of the constructor and the
-// destructor, as:
-//
-// 1. You cannot safely throw from a destructor. This is a problem
-// as in some cases Google Test is used where exceptions are enabled, and
-// we may want to implement ASSERT_* using exceptions where they are
-// available.
-// 2. You cannot use ASSERT_* directly in a constructor or
-// destructor.
-class Environment {
- public:
- // The d'tor is virtual as we need to subclass Environment.
- virtual ~Environment() {}
-
- // Override this to define how to set up the environment.
- virtual void SetUp() {}
-
- // Override this to define how to tear down the environment.
- virtual void TearDown() {}
- private:
- // If you see an error about overriding the following function or
- // about it being private, you have mis-spelled SetUp() as Setup().
- struct Setup_should_be_spelled_SetUp {};
- virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
-};
-
-// The interface for tracing execution of tests. The methods are organized in
-// the order the corresponding events are fired.
-class TestEventListener {
- public:
- virtual ~TestEventListener() {}
-
- // Fired before any test activity starts.
- virtual void OnTestProgramStart(const UnitTest& unit_test) = 0;
-
- // Fired before each iteration of tests starts. There may be more than
- // one iteration if GTEST_FLAG(repeat) is set. iteration is the iteration
- // index, starting from 0.
- virtual void OnTestIterationStart(const UnitTest& unit_test,
- int iteration) = 0;
-
- // Fired before environment set-up for each iteration of tests starts.
- virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test) = 0;
-
- // Fired after environment set-up for each iteration of tests ends.
- virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test) = 0;
-
- // Fired before the test case starts.
- virtual void OnTestCaseStart(const TestCase& test_case) = 0;
-
- // Fired before the test starts.
- virtual void OnTestStart(const TestInfo& test_info) = 0;
-
- // Fired after a failed assertion or a SUCCEED() invocation.
- virtual void OnTestPartResult(const TestPartResult& test_part_result) = 0;
-
- // Fired after the test ends.
- virtual void OnTestEnd(const TestInfo& test_info) = 0;
-
- // Fired after the test case ends.
- virtual void OnTestCaseEnd(const TestCase& test_case) = 0;
-
- // Fired before environment tear-down for each iteration of tests starts.
- virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test) = 0;
-
- // Fired after environment tear-down for each iteration of tests ends.
- virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test) = 0;
-
- // Fired after each iteration of tests finishes.
- virtual void OnTestIterationEnd(const UnitTest& unit_test,
- int iteration) = 0;
-
- // Fired after all test activities have ended.
- virtual void OnTestProgramEnd(const UnitTest& unit_test) = 0;
-};
-
-// The convenience class for users who need to override just one or two
-// methods and are not concerned that a possible change to a signature of
-// the methods they override will not be caught during the build. For
-// comments about each method please see the definition of TestEventListener
-// above.
-class EmptyTestEventListener : public TestEventListener {
- public:
- virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
- virtual void OnTestIterationStart(const UnitTest& /*unit_test*/,
- int /*iteration*/) {}
- virtual void OnEnvironmentsSetUpStart(const UnitTest& /*unit_test*/) {}
- virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
- virtual void OnTestCaseStart(const TestCase& /*test_case*/) {}
- virtual void OnTestStart(const TestInfo& /*test_info*/) {}
- virtual void OnTestPartResult(const TestPartResult& /*test_part_result*/) {}
- virtual void OnTestEnd(const TestInfo& /*test_info*/) {}
- virtual void OnTestCaseEnd(const TestCase& /*test_case*/) {}
- virtual void OnEnvironmentsTearDownStart(const UnitTest& /*unit_test*/) {}
- virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
- virtual void OnTestIterationEnd(const UnitTest& /*unit_test*/,
- int /*iteration*/) {}
- virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
-};
-
-// TestEventListeners lets users add listeners to track events in Google Test.
-class GTEST_API_ TestEventListeners {
- public:
- TestEventListeners();
- ~TestEventListeners();
-
- // Appends an event listener to the end of the list. Google Test assumes
- // the ownership of the listener (i.e. it will delete the listener when
- // the test program finishes).
- void Append(TestEventListener* listener);
-
- // Removes the given event listener from the list and returns it. It then
- // becomes the caller's responsibility to delete the listener. Returns
- // NULL if the listener is not found in the list.
- TestEventListener* Release(TestEventListener* listener);
-
- // Returns the standard listener responsible for the default console
- // output. Can be removed from the listeners list to shut down default
- // console output. Note that removing this object from the listener list
- // with Release transfers its ownership to the caller and makes this
- // function return NULL the next time.
- TestEventListener* default_result_printer() const {
- return default_result_printer_;
- }
-
- // Returns the standard listener responsible for the default XML output
- // controlled by the --gtest_output=xml flag. Can be removed from the
- // listeners list by users who want to shut down the default XML output
- // controlled by this flag and substitute it with custom one. Note that
- // removing this object from the listener list with Release transfers its
- // ownership to the caller and makes this function return NULL the next
- // time.
- TestEventListener* default_xml_generator() const {
- return default_xml_generator_;
- }
-
- private:
- friend class TestCase;
- friend class TestInfo;
- friend class internal::DefaultGlobalTestPartResultReporter;
- friend class internal::NoExecDeathTest;
- friend class internal::TestEventListenersAccessor;
- friend class internal::UnitTestImpl;
-
- // Returns repeater that broadcasts the TestEventListener events to all
- // subscribers.
- TestEventListener* repeater();
-
- // Sets the default_result_printer attribute to the provided listener.
- // The listener is also added to the listener list and previous
- // default_result_printer is removed from it and deleted. The listener can
- // also be NULL in which case it will not be added to the list. Does
- // nothing if the previous and the current listener objects are the same.
- void SetDefaultResultPrinter(TestEventListener* listener);
-
- // Sets the default_xml_generator attribute to the provided listener. The
- // listener is also added to the listener list and previous
- // default_xml_generator is removed from it and deleted. The listener can
- // also be NULL in which case it will not be added to the list. Does
- // nothing if the previous and the current listener objects are the same.
- void SetDefaultXmlGenerator(TestEventListener* listener);
-
- // Controls whether events will be forwarded by the repeater to the
- // listeners in the list.
- bool EventForwardingEnabled() const;
- void SuppressEventForwarding();
-
- // The actual list of listeners.
- internal::TestEventRepeater* repeater_;
- // Listener responsible for the standard result output.
- TestEventListener* default_result_printer_;
- // Listener responsible for the creation of the XML output file.
- TestEventListener* default_xml_generator_;
-
- // We disallow copying TestEventListeners.
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventListeners);
-};
-
-// A UnitTest consists of a vector of TestCases.
-//
-// This is a singleton class. The only instance of UnitTest is
-// created when UnitTest::GetInstance() is first called. This
-// instance is never deleted.
-//
-// UnitTest is not copyable.
-//
-// This class is thread-safe as long as the methods are called
-// according to their specification.
-class GTEST_API_ UnitTest {
- public:
- // Gets the singleton UnitTest object. The first time this method
- // is called, a UnitTest object is constructed and returned.
- // Consecutive calls will return the same object.
- static UnitTest* GetInstance();
-
- // Runs all tests in this UnitTest object and prints the result.
- // Returns 0 if successful, or 1 otherwise.
- //
- // This method can only be called from the main thread.
- //
- // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
- int Run() GTEST_MUST_USE_RESULT_;
-
- // Returns the working directory when the first TEST() or TEST_F()
- // was executed. The UnitTest object owns the string.
- const char* original_working_dir() const;
-
- // Returns the TestCase object for the test that's currently running,
- // or NULL if no test is running.
- const TestCase* current_test_case() const;
-
- // Returns the TestInfo object for the test that's currently running,
- // or NULL if no test is running.
- const TestInfo* current_test_info() const;
-
- // Returns the random seed used at the start of the current test run.
- int random_seed() const;
-
-#if GTEST_HAS_PARAM_TEST
- // Returns the ParameterizedTestCaseRegistry object used to keep track of
- // value-parameterized tests and instantiate and register them.
- //
- // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
- internal::ParameterizedTestCaseRegistry& parameterized_test_registry();
-#endif // GTEST_HAS_PARAM_TEST
-
- // Gets the number of successful test cases.
- int successful_test_case_count() const;
-
- // Gets the number of failed test cases.
- int failed_test_case_count() const;
-
- // Gets the number of all test cases.
- int total_test_case_count() const;
-
- // Gets the number of all test cases that contain at least one test
- // that should run.
- int test_case_to_run_count() const;
-
- // Gets the number of successful tests.
- int successful_test_count() const;
-
- // Gets the number of failed tests.
- int failed_test_count() const;
-
- // Gets the number of disabled tests.
- int disabled_test_count() const;
-
- // Gets the number of all tests.
- int total_test_count() const;
-
- // Gets the number of tests that should run.
- int test_to_run_count() const;
-
- // Gets the elapsed time, in milliseconds.
- TimeInMillis elapsed_time() const;
-
- // Returns true iff the unit test passed (i.e. all test cases passed).
- bool Passed() const;
-
- // Returns true iff the unit test failed (i.e. some test case failed
- // or something outside of all tests failed).
- bool Failed() const;
-
- // Gets the i-th test case among all the test cases. i can range from 0 to
- // total_test_case_count() - 1. If i is not in that range, returns NULL.
- const TestCase* GetTestCase(int i) const;
-
- // Returns the list of event listeners that can be used to track events
- // inside Google Test.
- TestEventListeners& listeners();
-
- private:
- // Registers and returns a global test environment. When a test
- // program is run, all global test environments will be set-up in
- // the order they were registered. After all tests in the program
- // have finished, all global test environments will be torn-down in
- // the *reverse* order they were registered.
- //
- // The UnitTest object takes ownership of the given environment.
- //
- // This method can only be called from the main thread.
- Environment* AddEnvironment(Environment* env);
-
- // Adds a TestPartResult to the current TestResult object. All
- // Google Test assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc)
- // eventually call this to report their results. The user code
- // should use the assertion macros instead of calling this directly.
- void AddTestPartResult(TestPartResult::Type result_type,
- const char* file_name,
- int line_number,
- const internal::String& message,
- const internal::String& os_stack_trace);
-
- // Adds a TestProperty to the current TestResult object. If the result already
- // contains a property with the same key, the value will be updated.
- void RecordPropertyForCurrentTest(const char* key, const char* value);
-
- // Gets the i-th test case among all the test cases. i can range from 0 to
- // total_test_case_count() - 1. If i is not in that range, returns NULL.
- TestCase* GetMutableTestCase(int i);
-
- // Accessors for the implementation object.
- internal::UnitTestImpl* impl() { return impl_; }
- const internal::UnitTestImpl* impl() const { return impl_; }
-
- // These classes and funcions are friends as they need to access private
- // members of UnitTest.
- friend class Test;
- friend class internal::AssertHelper;
- friend class internal::ScopedTrace;
- friend Environment* AddGlobalTestEnvironment(Environment* env);
- friend internal::UnitTestImpl* internal::GetUnitTestImpl();
- friend void internal::ReportFailureInUnknownLocation(
- TestPartResult::Type result_type,
- const internal::String& message);
-
- // Creates an empty UnitTest.
- UnitTest();
-
- // D'tor
- virtual ~UnitTest();
-
- // Pushes a trace defined by SCOPED_TRACE() on to the per-thread
- // Google Test trace stack.
- void PushGTestTrace(const internal::TraceInfo& trace);
-
- // Pops a trace from the per-thread Google Test trace stack.
- void PopGTestTrace();
-
- // Protects mutable state in *impl_. This is mutable as some const
- // methods need to lock it too.
- mutable internal::Mutex mutex_;
-
- // Opaque implementation object. This field is never changed once
- // the object is constructed. We don't mark it as const here, as
- // doing so will cause a warning in the constructor of UnitTest.
- // Mutable state in *impl_ is protected by mutex_.
- internal::UnitTestImpl* impl_;
-
- // We disallow copying UnitTest.
- GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTest);
-};
-
-// A convenient wrapper for adding an environment for the test
-// program.
-//
-// You should call this before RUN_ALL_TESTS() is called, probably in
-// main(). If you use gtest_main, you need to call this before main()
-// starts for it to take effect. For example, you can define a global
-// variable like this:
-//
-// testing::Environment* const foo_env =
-// testing::AddGlobalTestEnvironment(new FooEnvironment);
-//
-// However, we strongly recommend you to write your own main() and
-// call AddGlobalTestEnvironment() there, as relying on initialization
-// of global variables makes the code harder to read and may cause
-// problems when you register multiple environments from different
-// translation units and the environments have dependencies among them
-// (remember that the compiler doesn't guarantee the order in which
-// global variables from different translation units are initialized).
-inline Environment* AddGlobalTestEnvironment(Environment* env) {
- return UnitTest::GetInstance()->AddEnvironment(env);
-}
-
-// Initializes Google Test. This must be called before calling
-// RUN_ALL_TESTS(). In particular, it parses a command line for the
-// flags that Google Test recognizes. Whenever a Google Test flag is
-// seen, it is removed from argv, and *argc is decremented.
-//
-// No value is returned. Instead, the Google Test flag variables are
-// updated.
-//
-// Calling the function for the second time has no user-visible effect.
-GTEST_API_ void InitGoogleTest(int* argc, char** argv);
-
-// This overloaded version can be used in Windows programs compiled in
-// UNICODE mode.
-GTEST_API_ void InitGoogleTest(int* argc, wchar_t** argv);
-
-namespace internal {
-
-// Formats a comparison assertion (e.g. ASSERT_EQ, EXPECT_LT, and etc)
-// operand to be used in a failure message. The type (but not value)
-// of the other operand may affect the format. This allows us to
-// print a char* as a raw pointer when it is compared against another
-// char*, and print it as a C string when it is compared against an
-// std::string object, for example.
-//
-// The default implementation ignores the type of the other operand.
-// Some specialized versions are used to handle formatting wide or
-// narrow C strings.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-template <typename T1, typename T2>
-String FormatForComparisonFailureMessage(const T1& value,
- const T2& /* other_operand */) {
- // C++Builder compiles this incorrectly if the namespace isn't explicitly
- // given.
- return ::testing::PrintToString(value);
-}
-
-// The helper function for {ASSERT|EXPECT}_EQ.
-template <typename T1, typename T2>
-AssertionResult CmpHelperEQ(const char* expected_expression,
- const char* actual_expression,
- const T1& expected,
- const T2& actual) {
-#ifdef _MSC_VER
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4389) // Temporarily disables warning on
- // signed/unsigned mismatch.
-#endif
-
- if (expected == actual) {
- return AssertionSuccess();
- }
-
-#ifdef _MSC_VER
-# pragma warning(pop) // Restores the warning state.
-#endif
-
- return EqFailure(expected_expression,
- actual_expression,
- FormatForComparisonFailureMessage(expected, actual),
- FormatForComparisonFailureMessage(actual, expected),
- false);
-}
-
-// With this overloaded version, we allow anonymous enums to be used
-// in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous enums
-// can be implicitly cast to BiggestInt.
-GTEST_API_ AssertionResult CmpHelperEQ(const char* expected_expression,
- const char* actual_expression,
- BiggestInt expected,
- BiggestInt actual);
-
-// The helper class for {ASSERT|EXPECT}_EQ. The template argument
-// lhs_is_null_literal is true iff the first argument to ASSERT_EQ()
-// is a null pointer literal. The following default implementation is
-// for lhs_is_null_literal being false.
-template <bool lhs_is_null_literal>
-class EqHelper {
- public:
- // This templatized version is for the general case.
- template <typename T1, typename T2>
- static AssertionResult Compare(const char* expected_expression,
- const char* actual_expression,
- const T1& expected,
- const T2& actual) {
- return CmpHelperEQ(expected_expression, actual_expression, expected,
- actual);
- }
-
- // With this overloaded version, we allow anonymous enums to be used
- // in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous
- // enums can be implicitly cast to BiggestInt.
- //
- // Even though its body looks the same as the above version, we
- // cannot merge the two, as it will make anonymous enums unhappy.
- static AssertionResult Compare(const char* expected_expression,
- const char* actual_expression,
- BiggestInt expected,
- BiggestInt actual) {
- return CmpHelperEQ(expected_expression, actual_expression, expected,
- actual);
- }
-};
-
-// This specialization is used when the first argument to ASSERT_EQ()
-// is a null pointer literal, like NULL, false, or 0.
-template <>
-class EqHelper<true> {
- public:
- // We define two overloaded versions of Compare(). The first
- // version will be picked when the second argument to ASSERT_EQ() is
- // NOT a pointer, e.g. ASSERT_EQ(0, AnIntFunction()) or
- // EXPECT_EQ(false, a_bool).
- template <typename T1, typename T2>
- static AssertionResult Compare(
- const char* expected_expression,
- const char* actual_expression,
- const T1& expected,
- const T2& actual,
- // The following line prevents this overload from being considered if T2
- // is not a pointer type. We need this because ASSERT_EQ(NULL, my_ptr)
- // expands to Compare("", "", NULL, my_ptr), which requires a conversion
- // to match the Secret* in the other overload, which would otherwise make
- // this template match better.
- typename EnableIf<!is_pointer<T2>::value>::type* = 0) {
- return CmpHelperEQ(expected_expression, actual_expression, expected,
- actual);
- }
-
- // This version will be picked when the second argument to ASSERT_EQ() is a
- // pointer, e.g. ASSERT_EQ(NULL, a_pointer).
- template <typename T>
- static AssertionResult Compare(
- const char* expected_expression,
- const char* actual_expression,
- // We used to have a second template parameter instead of Secret*. That
- // template parameter would deduce to 'long', making this a better match
- // than the first overload even without the first overload's EnableIf.
- // Unfortunately, gcc with -Wconversion-null warns when "passing NULL to
- // non-pointer argument" (even a deduced integral argument), so the old
- // implementation caused warnings in user code.
- Secret* /* expected (NULL) */,
- T* actual) {
- // We already know that 'expected' is a null pointer.
- return CmpHelperEQ(expected_expression, actual_expression,
- static_cast<T*>(NULL), actual);
- }
-};
-
-// A macro for implementing the helper functions needed to implement
-// ASSERT_?? and EXPECT_??. It is here just to avoid copy-and-paste
-// of similar code.
-//
-// For each templatized helper function, we also define an overloaded
-// version for BiggestInt in order to reduce code bloat and allow
-// anonymous enums to be used with {ASSERT|EXPECT}_?? when compiled
-// with gcc 4.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
-template <typename T1, typename T2>\
-AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
- const T1& val1, const T2& val2) {\
- if (val1 op val2) {\
- return AssertionSuccess();\
- } else {\
- return AssertionFailure() \
- << "Expected: (" << expr1 << ") " #op " (" << expr2\
- << "), actual: " << FormatForComparisonFailureMessage(val1, val2)\
- << " vs " << FormatForComparisonFailureMessage(val2, val1);\
- }\
-}\
-GTEST_API_ AssertionResult CmpHelper##op_name(\
- const char* expr1, const char* expr2, BiggestInt val1, BiggestInt val2)
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-
-// Implements the helper function for {ASSERT|EXPECT}_NE
-GTEST_IMPL_CMP_HELPER_(NE, !=);
-// Implements the helper function for {ASSERT|EXPECT}_LE
-GTEST_IMPL_CMP_HELPER_(LE, <=);
-// Implements the helper function for {ASSERT|EXPECT}_LT
-GTEST_IMPL_CMP_HELPER_(LT, < );
-// Implements the helper function for {ASSERT|EXPECT}_GE
-GTEST_IMPL_CMP_HELPER_(GE, >=);
-// Implements the helper function for {ASSERT|EXPECT}_GT
-GTEST_IMPL_CMP_HELPER_(GT, > );
-
-#undef GTEST_IMPL_CMP_HELPER_
-
-// The helper function for {ASSERT|EXPECT}_STREQ.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult CmpHelperSTREQ(const char* expected_expression,
- const char* actual_expression,
- const char* expected,
- const char* actual);
-
-// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult CmpHelperSTRCASEEQ(const char* expected_expression,
- const char* actual_expression,
- const char* expected,
- const char* actual);
-
-// The helper function for {ASSERT|EXPECT}_STRNE.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
- const char* s2_expression,
- const char* s1,
- const char* s2);
-
-// The helper function for {ASSERT|EXPECT}_STRCASENE.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
- const char* s2_expression,
- const char* s1,
- const char* s2);
-
-
-// Helper function for *_STREQ on wide strings.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult CmpHelperSTREQ(const char* expected_expression,
- const char* actual_expression,
- const wchar_t* expected,
- const wchar_t* actual);
-
-// Helper function for *_STRNE on wide strings.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
- const char* s2_expression,
- const wchar_t* s1,
- const wchar_t* s2);
-
-} // namespace internal
-
-// IsSubstring() and IsNotSubstring() are intended to be used as the
-// first argument to {EXPECT,ASSERT}_PRED_FORMAT2(), not by
-// themselves. They check whether needle is a substring of haystack
-// (NULL is considered a substring of itself only), and return an
-// appropriate error message when they fail.
-//
-// The {needle,haystack}_expr arguments are the stringified
-// expressions that generated the two real arguments.
-GTEST_API_ AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const char* needle, const char* haystack);
-GTEST_API_ AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const wchar_t* needle, const wchar_t* haystack);
-GTEST_API_ AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const char* needle, const char* haystack);
-GTEST_API_ AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const wchar_t* needle, const wchar_t* haystack);
-GTEST_API_ AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::string& needle, const ::std::string& haystack);
-GTEST_API_ AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::string& needle, const ::std::string& haystack);
-
-#if GTEST_HAS_STD_WSTRING
-GTEST_API_ AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::wstring& needle, const ::std::wstring& haystack);
-GTEST_API_ AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::wstring& needle, const ::std::wstring& haystack);
-#endif // GTEST_HAS_STD_WSTRING
-
-namespace internal {
-
-// Helper template function for comparing floating-points.
-//
-// Template parameter:
-//
-// RawType: the raw floating-point type (either float or double)
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-template <typename RawType>
-AssertionResult CmpHelperFloatingPointEQ(const char* expected_expression,
- const char* actual_expression,
- RawType expected,
- RawType actual) {
- const FloatingPoint<RawType> lhs(expected), rhs(actual);
-
- if (lhs.AlmostEquals(rhs)) {
- return AssertionSuccess();
- }
-
- ::std::stringstream expected_ss;
- expected_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
- << expected;
-
- ::std::stringstream actual_ss;
- actual_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
- << actual;
-
- return EqFailure(expected_expression,
- actual_expression,
- StringStreamToString(&expected_ss),
- StringStreamToString(&actual_ss),
- false);
-}
-
-// Helper function for implementing ASSERT_NEAR.
-//
-// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
-GTEST_API_ AssertionResult DoubleNearPredFormat(const char* expr1,
- const char* expr2,
- const char* abs_error_expr,
- double val1,
- double val2,
- double abs_error);
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-// A class that enables one to stream messages to assertion macros
-class GTEST_API_ AssertHelper {
- public:
- // Constructor.
- AssertHelper(TestPartResult::Type type,
- const char* file,
- int line,
- const char* message);
- ~AssertHelper();
-
- // Message assignment is a semantic trick to enable assertion
- // streaming; see the GTEST_MESSAGE_ macro below.
- void operator=(const Message& message) const;
-
- private:
- // We put our data in a struct so that the size of the AssertHelper class can
- // be as small as possible. This is important because gcc is incapable of
- // re-using stack space even for temporary variables, so every EXPECT_EQ
- // reserves stack space for another AssertHelper.
- struct AssertHelperData {
- AssertHelperData(TestPartResult::Type t,
- const char* srcfile,
- int line_num,
- const char* msg)
- : type(t), file(srcfile), line(line_num), message(msg) { }
-
- TestPartResult::Type const type;
- const char* const file;
- int const line;
- String const message;
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelperData);
- };
-
- AssertHelperData* const data_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelper);
-};
-
-} // namespace internal
-
-#if GTEST_HAS_PARAM_TEST
-// The pure interface class that all value-parameterized tests inherit from.
-// A value-parameterized class must inherit from both ::testing::Test and
-// ::testing::WithParamInterface. In most cases that just means inheriting
-// from ::testing::TestWithParam, but more complicated test hierarchies
-// may need to inherit from Test and WithParamInterface at different levels.
-//
-// This interface has support for accessing the test parameter value via
-// the GetParam() method.
-//
-// Use it with one of the parameter generator defining functions, like Range(),
-// Values(), ValuesIn(), Bool(), and Combine().
-//
-// class FooTest : public ::testing::TestWithParam<int> {
-// protected:
-// FooTest() {
-// // Can use GetParam() here.
-// }
-// virtual ~FooTest() {
-// // Can use GetParam() here.
-// }
-// virtual void SetUp() {
-// // Can use GetParam() here.
-// }
-// virtual void TearDown {
-// // Can use GetParam() here.
-// }
-// };
-// TEST_P(FooTest, DoesBar) {
-// // Can use GetParam() method here.
-// Foo foo;
-// ASSERT_TRUE(foo.DoesBar(GetParam()));
-// }
-// INSTANTIATE_TEST_CASE_P(OneToTenRange, FooTest, ::testing::Range(1, 10));
-
-template <typename T>
-class WithParamInterface {
- public:
- typedef T ParamType;
- virtual ~WithParamInterface() {}
-
- // The current parameter value. Is also available in the test fixture's
- // constructor. This member function is non-static, even though it only
- // references static data, to reduce the opportunity for incorrect uses
- // like writing 'WithParamInterface<bool>::GetParam()' for a test that
- // uses a fixture whose parameter type is int.
- const ParamType& GetParam() const { return *parameter_; }
-
- private:
- // Sets parameter value. The caller is responsible for making sure the value
- // remains alive and unchanged throughout the current test.
- static void SetParam(const ParamType* parameter) {
- parameter_ = parameter;
- }
-
- // Static value used for accessing parameter during a test lifetime.
- static const ParamType* parameter_;
-
- // TestClass must be a subclass of WithParamInterface<T> and Test.
- template <class TestClass> friend class internal::ParameterizedTestFactory;
-};
-
-template <typename T>
-const T* WithParamInterface<T>::parameter_ = NULL;
-
-// Most value-parameterized classes can ignore the existence of
-// WithParamInterface, and can just inherit from ::testing::TestWithParam.
-
-template <typename T>
-class TestWithParam : public Test, public WithParamInterface<T> {
-};
-
-#endif // GTEST_HAS_PARAM_TEST
-
-// Macros for indicating success/failure in test code.
-
-// ADD_FAILURE unconditionally adds a failure to the current test.
-// SUCCEED generates a success - it doesn't automatically make the
-// current test successful, as a test is only successful when it has
-// no failure.
-//
-// EXPECT_* verifies that a certain condition is satisfied. If not,
-// it behaves like ADD_FAILURE. In particular:
-//
-// EXPECT_TRUE verifies that a Boolean condition is true.
-// EXPECT_FALSE verifies that a Boolean condition is false.
-//
-// FAIL and ASSERT_* are similar to ADD_FAILURE and EXPECT_*, except
-// that they will also abort the current function on failure. People
-// usually want the fail-fast behavior of FAIL and ASSERT_*, but those
-// writing data-driven tests often find themselves using ADD_FAILURE
-// and EXPECT_* more.
-//
-// Examples:
-//
-// EXPECT_TRUE(server.StatusIsOK());
-// ASSERT_FALSE(server.HasPendingRequest(port))
-// << "There are still pending requests " << "on port " << port;
-
-// Generates a nonfatal failure with a generic message.
-#define ADD_FAILURE() GTEST_NONFATAL_FAILURE_("Failed")
-
-// Generates a nonfatal failure at the given source file location with
-// a generic message.
-#define ADD_FAILURE_AT(file, line) \
- GTEST_MESSAGE_AT_(file, line, "Failed", \
- ::testing::TestPartResult::kNonFatalFailure)
-
-// Generates a fatal failure with a generic message.
-#define GTEST_FAIL() GTEST_FATAL_FAILURE_("Failed")
-
-// Define this macro to 1 to omit the definition of FAIL(), which is a
-// generic name and clashes with some other libraries.
-#if !GTEST_DONT_DEFINE_FAIL
-# define FAIL() GTEST_FAIL()
-#endif
-
-// Generates a success with a generic message.
-#define GTEST_SUCCEED() GTEST_SUCCESS_("Succeeded")
-
-// Define this macro to 1 to omit the definition of SUCCEED(), which
-// is a generic name and clashes with some other libraries.
-#if !GTEST_DONT_DEFINE_SUCCEED
-# define SUCCEED() GTEST_SUCCEED()
-#endif
-
-// Macros for testing exceptions.
-//
-// * {ASSERT|EXPECT}_THROW(statement, expected_exception):
-// Tests that the statement throws the expected exception.
-// * {ASSERT|EXPECT}_NO_THROW(statement):
-// Tests that the statement doesn't throw any exception.
-// * {ASSERT|EXPECT}_ANY_THROW(statement):
-// Tests that the statement throws an exception.
-
-#define EXPECT_THROW(statement, expected_exception) \
- GTEST_TEST_THROW_(statement, expected_exception, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_NO_THROW(statement) \
- GTEST_TEST_NO_THROW_(statement, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_ANY_THROW(statement) \
- GTEST_TEST_ANY_THROW_(statement, GTEST_NONFATAL_FAILURE_)
-#define ASSERT_THROW(statement, expected_exception) \
- GTEST_TEST_THROW_(statement, expected_exception, GTEST_FATAL_FAILURE_)
-#define ASSERT_NO_THROW(statement) \
- GTEST_TEST_NO_THROW_(statement, GTEST_FATAL_FAILURE_)
-#define ASSERT_ANY_THROW(statement) \
- GTEST_TEST_ANY_THROW_(statement, GTEST_FATAL_FAILURE_)
-
-// Boolean assertions. Condition can be either a Boolean expression or an
-// AssertionResult. For more information on how to use AssertionResult with
-// these macros see comments on that class.
-#define EXPECT_TRUE(condition) \
- GTEST_TEST_BOOLEAN_(condition, #condition, false, true, \
- GTEST_NONFATAL_FAILURE_)
-#define EXPECT_FALSE(condition) \
- GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
- GTEST_NONFATAL_FAILURE_)
-#define ASSERT_TRUE(condition) \
- GTEST_TEST_BOOLEAN_(condition, #condition, false, true, \
- GTEST_FATAL_FAILURE_)
-#define ASSERT_FALSE(condition) \
- GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
- GTEST_FATAL_FAILURE_)
-
-// Includes the auto-generated header that implements a family of
-// generic predicate assertion macros.
-#include "gtest/gtest_pred_impl.h"
-
-// Macros for testing equalities and inequalities.
-//
-// * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
-// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
-// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
-// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
-// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
-// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
-//
-// When they are not, Google Test prints both the tested expressions and
-// their actual values. The values must be compatible built-in types,
-// or you will get a compiler error. By "compatible" we mean that the
-// values can be compared by the respective operator.
-//
-// Note:
-//
-// 1. It is possible to make a user-defined type work with
-// {ASSERT|EXPECT}_??(), but that requires overloading the
-// comparison operators and is thus discouraged by the Google C++
-// Usage Guide. Therefore, you are advised to use the
-// {ASSERT|EXPECT}_TRUE() macro to assert that two objects are
-// equal.
-//
-// 2. The {ASSERT|EXPECT}_??() macros do pointer comparisons on
-// pointers (in particular, C strings). Therefore, if you use it
-// with two C strings, you are testing how their locations in memory
-// are related, not how their content is related. To compare two C
-// strings by content, use {ASSERT|EXPECT}_STR*().
-//
-// 3. {ASSERT|EXPECT}_EQ(expected, actual) is preferred to
-// {ASSERT|EXPECT}_TRUE(expected == actual), as the former tells you
-// what the actual value is when it fails, and similarly for the
-// other comparisons.
-//
-// 4. Do not depend on the order in which {ASSERT|EXPECT}_??()
-// evaluate their arguments, which is undefined.
-//
-// 5. These macros evaluate their arguments exactly once.
-//
-// Examples:
-//
-// EXPECT_NE(5, Foo());
-// EXPECT_EQ(NULL, a_pointer);
-// ASSERT_LT(i, array_size);
-// ASSERT_GT(records.size(), 0) << "There is no record left.";
-
-#define EXPECT_EQ(expected, actual) \
- EXPECT_PRED_FORMAT2(::testing::internal:: \
- EqHelper<GTEST_IS_NULL_LITERAL_(expected)>::Compare, \
- expected, actual)
-#define EXPECT_NE(expected, actual) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperNE, expected, actual)
-#define EXPECT_LE(val1, val2) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
-#define EXPECT_LT(val1, val2) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
-#define EXPECT_GE(val1, val2) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
-#define EXPECT_GT(val1, val2) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
-
-#define GTEST_ASSERT_EQ(expected, actual) \
- ASSERT_PRED_FORMAT2(::testing::internal:: \
- EqHelper<GTEST_IS_NULL_LITERAL_(expected)>::Compare, \
- expected, actual)
-#define GTEST_ASSERT_NE(val1, val2) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperNE, val1, val2)
-#define GTEST_ASSERT_LE(val1, val2) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
-#define GTEST_ASSERT_LT(val1, val2) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
-#define GTEST_ASSERT_GE(val1, val2) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
-#define GTEST_ASSERT_GT(val1, val2) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
-
-// Define macro GTEST_DONT_DEFINE_ASSERT_XY to 1 to omit the definition of
-// ASSERT_XY(), which clashes with some users' own code.
-
-#if !GTEST_DONT_DEFINE_ASSERT_EQ
-# define ASSERT_EQ(val1, val2) GTEST_ASSERT_EQ(val1, val2)
-#endif
-
-#if !GTEST_DONT_DEFINE_ASSERT_NE
-# define ASSERT_NE(val1, val2) GTEST_ASSERT_NE(val1, val2)
-#endif
-
-#if !GTEST_DONT_DEFINE_ASSERT_LE
-# define ASSERT_LE(val1, val2) GTEST_ASSERT_LE(val1, val2)
-#endif
-
-#if !GTEST_DONT_DEFINE_ASSERT_LT
-# define ASSERT_LT(val1, val2) GTEST_ASSERT_LT(val1, val2)
-#endif
-
-#if !GTEST_DONT_DEFINE_ASSERT_GE
-# define ASSERT_GE(val1, val2) GTEST_ASSERT_GE(val1, val2)
-#endif
-
-#if !GTEST_DONT_DEFINE_ASSERT_GT
-# define ASSERT_GT(val1, val2) GTEST_ASSERT_GT(val1, val2)
-#endif
-
-// C String Comparisons. All tests treat NULL and any non-NULL string
-// as different. Two NULLs are equal.
-//
-// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
-// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
-// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
-// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
-//
-// For wide or narrow string objects, you can use the
-// {ASSERT|EXPECT}_??() macros.
-//
-// Don't depend on the order in which the arguments are evaluated,
-// which is undefined.
-//
-// These macros evaluate their arguments exactly once.
-
-#define EXPECT_STREQ(expected, actual) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, expected, actual)
-#define EXPECT_STRNE(s1, s2) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
-#define EXPECT_STRCASEEQ(expected, actual) \
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, expected, actual)
-#define EXPECT_STRCASENE(s1, s2)\
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
-
-#define ASSERT_STREQ(expected, actual) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, expected, actual)
-#define ASSERT_STRNE(s1, s2) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
-#define ASSERT_STRCASEEQ(expected, actual) \
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, expected, actual)
-#define ASSERT_STRCASENE(s1, s2)\
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
-
-// Macros for comparing floating-point numbers.
-//
-// * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
-// Tests that two float values are almost equal.
-// * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
-// Tests that two double values are almost equal.
-// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
-// Tests that v1 and v2 are within the given distance to each other.
-//
-// Google Test uses ULP-based comparison to automatically pick a default
-// error bound that is appropriate for the operands. See the
-// FloatingPoint template class in gtest-internal.h if you are
-// interested in the implementation details.
-
-#define EXPECT_FLOAT_EQ(expected, actual)\
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
- expected, actual)
-
-#define EXPECT_DOUBLE_EQ(expected, actual)\
- EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
- expected, actual)
-
-#define ASSERT_FLOAT_EQ(expected, actual)\
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
- expected, actual)
-
-#define ASSERT_DOUBLE_EQ(expected, actual)\
- ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
- expected, actual)
-
-#define EXPECT_NEAR(val1, val2, abs_error)\
- EXPECT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
- val1, val2, abs_error)
-
-#define ASSERT_NEAR(val1, val2, abs_error)\
- ASSERT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
- val1, val2, abs_error)
-
-// These predicate format functions work on floating-point values, and
-// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
-//
-// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
-
-// Asserts that val1 is less than, or almost equal to, val2. Fails
-// otherwise. In particular, it fails if either val1 or val2 is NaN.
-GTEST_API_ AssertionResult FloatLE(const char* expr1, const char* expr2,
- float val1, float val2);
-GTEST_API_ AssertionResult DoubleLE(const char* expr1, const char* expr2,
- double val1, double val2);
-
-
-#if GTEST_OS_WINDOWS
-
-// Macros that test for HRESULT failure and success, these are only useful
-// on Windows, and rely on Windows SDK macros and APIs to compile.
-//
-// * {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}(expr)
-//
-// When expr unexpectedly fails or succeeds, Google Test prints the
-// expected result and the actual result with both a human-readable
-// string representation of the error, if available, as well as the
-// hex result code.
-# define EXPECT_HRESULT_SUCCEEDED(expr) \
- EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
-
-# define ASSERT_HRESULT_SUCCEEDED(expr) \
- ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
-
-# define EXPECT_HRESULT_FAILED(expr) \
- EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
-
-# define ASSERT_HRESULT_FAILED(expr) \
- ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
-
-#endif // GTEST_OS_WINDOWS
-
-// Macros that execute statement and check that it doesn't generate new fatal
-// failures in the current thread.
-//
-// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
-//
-// Examples:
-//
-// EXPECT_NO_FATAL_FAILURE(Process());
-// ASSERT_NO_FATAL_FAILURE(Process()) << "Process() failed";
-//
-#define ASSERT_NO_FATAL_FAILURE(statement) \
- GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_FATAL_FAILURE_)
-#define EXPECT_NO_FATAL_FAILURE(statement) \
- GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_NONFATAL_FAILURE_)
-
-// Causes a trace (including the source file path, the current line
-// number, and the given message) to be included in every test failure
-// message generated by code in the current scope. The effect is
-// undone when the control leaves the current scope.
-//
-// The message argument can be anything streamable to std::ostream.
-//
-// In the implementation, we include the current line number as part
-// of the dummy variable name, thus allowing multiple SCOPED_TRACE()s
-// to appear in the same block - as long as they are on different
-// lines.
-#define SCOPED_TRACE(message) \
- ::testing::internal::ScopedTrace GTEST_CONCAT_TOKEN_(gtest_trace_, __LINE__)(\
- __FILE__, __LINE__, ::testing::Message() << (message))
-
-// Compile-time assertion for type equality.
-// StaticAssertTypeEq<type1, type2>() compiles iff type1 and type2 are
-// the same type. The value it returns is not interesting.
-//
-// Instead of making StaticAssertTypeEq a class template, we make it a
-// function template that invokes a helper class template. This
-// prevents a user from misusing StaticAssertTypeEq<T1, T2> by
-// defining objects of that type.
-//
-// CAVEAT:
-//
-// When used inside a method of a class template,
-// StaticAssertTypeEq<T1, T2>() is effective ONLY IF the method is
-// instantiated. For example, given:
-//
-// template <typename T> class Foo {
-// public:
-// void Bar() { testing::StaticAssertTypeEq<int, T>(); }
-// };
-//
-// the code:
-//
-// void Test1() { Foo<bool> foo; }
-//
-// will NOT generate a compiler error, as Foo<bool>::Bar() is never
-// actually instantiated. Instead, you need:
-//
-// void Test2() { Foo<bool> foo; foo.Bar(); }
-//
-// to cause a compiler error.
-template <typename T1, typename T2>
-bool StaticAssertTypeEq() {
- (void)internal::StaticAssertTypeEqHelper<T1, T2>();
- return true;
-}
-
-// Defines a test.
-//
-// The first parameter is the name of the test case, and the second
-// parameter is the name of the test within the test case.
-//
-// The convention is to end the test case name with "Test". For
-// example, a test case for the Foo class can be named FooTest.
-//
-// The user should put his test code between braces after using this
-// macro. Example:
-//
-// TEST(FooTest, InitializesCorrectly) {
-// Foo foo;
-// EXPECT_TRUE(foo.StatusIsOK());
-// }
-
-// Note that we call GetTestTypeId() instead of GetTypeId<
-// ::testing::Test>() here to get the type ID of testing::Test. This
-// is to work around a suspected linker bug when using Google Test as
-// a framework on Mac OS X. The bug causes GetTypeId<
-// ::testing::Test>() to return different values depending on whether
-// the call is from the Google Test framework itself or from user test
-// code. GetTestTypeId() is guaranteed to always return the same
-// value, as it always calls GetTypeId<>() from the Google Test
-// framework.
-#define GTEST_TEST(test_case_name, test_name)\
- GTEST_TEST_(test_case_name, test_name, \
- ::testing::Test, ::testing::internal::GetTestTypeId())
-
-// Define this macro to 1 to omit the definition of TEST(), which
-// is a generic name and clashes with some other libraries.
-#if !GTEST_DONT_DEFINE_TEST
-# define TEST(test_case_name, test_name) GTEST_TEST(test_case_name, test_name)
-#endif
-
-// Defines a test that uses a test fixture.
-//
-// The first parameter is the name of the test fixture class, which
-// also doubles as the test case name. The second parameter is the
-// name of the test within the test case.
-//
-// A test fixture class must be declared earlier. The user should put
-// his test code between braces after using this macro. Example:
-//
-// class FooTest : public testing::Test {
-// protected:
-// virtual void SetUp() { b_.AddElement(3); }
-//
-// Foo a_;
-// Foo b_;
-// };
-//
-// TEST_F(FooTest, InitializesCorrectly) {
-// EXPECT_TRUE(a_.StatusIsOK());
-// }
-//
-// TEST_F(FooTest, ReturnsElementCountCorrectly) {
-// EXPECT_EQ(0, a_.size());
-// EXPECT_EQ(1, b_.size());
-// }
-
-#define TEST_F(test_fixture, test_name)\
- GTEST_TEST_(test_fixture, test_name, test_fixture, \
- ::testing::internal::GetTypeId<test_fixture>())
-
-// Use this macro in main() to run all tests. It returns 0 if all
-// tests are successful, or 1 otherwise.
-//
-// RUN_ALL_TESTS() should be invoked after the command line has been
-// parsed by InitGoogleTest().
-
-#define RUN_ALL_TESTS()\
- (::testing::UnitTest::GetInstance()->Run())
-
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_H_
+++ /dev/null
-// Copyright 2006, Google 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 Google 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.
-
-// This file is AUTOMATICALLY GENERATED on 09/24/2010 by command
-// 'gen_gtest_pred_impl.py 5'. DO NOT EDIT BY HAND!
-//
-// Implements a family of generic predicate assertion macros.
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
-#define GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
-
-// Makes sure this header is not included before gtest.h.
-#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
-# error Do not include gtest_pred_impl.h directly. Include gtest.h instead.
-#endif // GTEST_INCLUDE_GTEST_GTEST_H_
-
-// This header implements a family of generic predicate assertion
-// macros:
-//
-// ASSERT_PRED_FORMAT1(pred_format, v1)
-// ASSERT_PRED_FORMAT2(pred_format, v1, v2)
-// ...
-//
-// where pred_format is a function or functor that takes n (in the
-// case of ASSERT_PRED_FORMATn) values and their source expression
-// text, and returns a testing::AssertionResult. See the definition
-// of ASSERT_EQ in gtest.h for an example.
-//
-// If you don't care about formatting, you can use the more
-// restrictive version:
-//
-// ASSERT_PRED1(pred, v1)
-// ASSERT_PRED2(pred, v1, v2)
-// ...
-//
-// where pred is an n-ary function or functor that returns bool,
-// and the values v1, v2, ..., must support the << operator for
-// streaming to std::ostream.
-//
-// We also define the EXPECT_* variations.
-//
-// For now we only support predicates whose arity is at most 5.
-// Please email googletestframework@googlegroups.com if you need
-// support for higher arities.
-
-// GTEST_ASSERT_ is the basic statement to which all of the assertions
-// in this file reduce. Don't use this in your code.
-
-#define GTEST_ASSERT_(expression, on_failure) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (const ::testing::AssertionResult gtest_ar = (expression)) \
- ; \
- else \
- on_failure(gtest_ar.failure_message())
-
-
-// Helper function for implementing {EXPECT|ASSERT}_PRED1. Don't use
-// this in your code.
-template <typename Pred,
- typename T1>
-AssertionResult AssertPred1Helper(const char* pred_text,
- const char* e1,
- Pred pred,
- const T1& v1) {
- if (pred(v1)) return AssertionSuccess();
-
- return AssertionFailure() << pred_text << "("
- << e1 << ") evaluates to false, where"
- << "\n" << e1 << " evaluates to " << v1;
-}
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT1.
-// Don't use this in your code.
-#define GTEST_PRED_FORMAT1_(pred_format, v1, on_failure)\
- GTEST_ASSERT_(pred_format(#v1, v1),\
- on_failure)
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED1. Don't use
-// this in your code.
-#define GTEST_PRED1_(pred, v1, on_failure)\
- GTEST_ASSERT_(::testing::AssertPred1Helper(#pred, \
- #v1, \
- pred, \
- v1), on_failure)
-
-// Unary predicate assertion macros.
-#define EXPECT_PRED_FORMAT1(pred_format, v1) \
- GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_PRED1(pred, v1) \
- GTEST_PRED1_(pred, v1, GTEST_NONFATAL_FAILURE_)
-#define ASSERT_PRED_FORMAT1(pred_format, v1) \
- GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_FATAL_FAILURE_)
-#define ASSERT_PRED1(pred, v1) \
- GTEST_PRED1_(pred, v1, GTEST_FATAL_FAILURE_)
-
-
-
-// Helper function for implementing {EXPECT|ASSERT}_PRED2. Don't use
-// this in your code.
-template <typename Pred,
- typename T1,
- typename T2>
-AssertionResult AssertPred2Helper(const char* pred_text,
- const char* e1,
- const char* e2,
- Pred pred,
- const T1& v1,
- const T2& v2) {
- if (pred(v1, v2)) return AssertionSuccess();
-
- return AssertionFailure() << pred_text << "("
- << e1 << ", "
- << e2 << ") evaluates to false, where"
- << "\n" << e1 << " evaluates to " << v1
- << "\n" << e2 << " evaluates to " << v2;
-}
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT2.
-// Don't use this in your code.
-#define GTEST_PRED_FORMAT2_(pred_format, v1, v2, on_failure)\
- GTEST_ASSERT_(pred_format(#v1, #v2, v1, v2),\
- on_failure)
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED2. Don't use
-// this in your code.
-#define GTEST_PRED2_(pred, v1, v2, on_failure)\
- GTEST_ASSERT_(::testing::AssertPred2Helper(#pred, \
- #v1, \
- #v2, \
- pred, \
- v1, \
- v2), on_failure)
-
-// Binary predicate assertion macros.
-#define EXPECT_PRED_FORMAT2(pred_format, v1, v2) \
- GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_PRED2(pred, v1, v2) \
- GTEST_PRED2_(pred, v1, v2, GTEST_NONFATAL_FAILURE_)
-#define ASSERT_PRED_FORMAT2(pred_format, v1, v2) \
- GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_FATAL_FAILURE_)
-#define ASSERT_PRED2(pred, v1, v2) \
- GTEST_PRED2_(pred, v1, v2, GTEST_FATAL_FAILURE_)
-
-
-
-// Helper function for implementing {EXPECT|ASSERT}_PRED3. Don't use
-// this in your code.
-template <typename Pred,
- typename T1,
- typename T2,
- typename T3>
-AssertionResult AssertPred3Helper(const char* pred_text,
- const char* e1,
- const char* e2,
- const char* e3,
- Pred pred,
- const T1& v1,
- const T2& v2,
- const T3& v3) {
- if (pred(v1, v2, v3)) return AssertionSuccess();
-
- return AssertionFailure() << pred_text << "("
- << e1 << ", "
- << e2 << ", "
- << e3 << ") evaluates to false, where"
- << "\n" << e1 << " evaluates to " << v1
- << "\n" << e2 << " evaluates to " << v2
- << "\n" << e3 << " evaluates to " << v3;
-}
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT3.
-// Don't use this in your code.
-#define GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, on_failure)\
- GTEST_ASSERT_(pred_format(#v1, #v2, #v3, v1, v2, v3),\
- on_failure)
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED3. Don't use
-// this in your code.
-#define GTEST_PRED3_(pred, v1, v2, v3, on_failure)\
- GTEST_ASSERT_(::testing::AssertPred3Helper(#pred, \
- #v1, \
- #v2, \
- #v3, \
- pred, \
- v1, \
- v2, \
- v3), on_failure)
-
-// Ternary predicate assertion macros.
-#define EXPECT_PRED_FORMAT3(pred_format, v1, v2, v3) \
- GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_PRED3(pred, v1, v2, v3) \
- GTEST_PRED3_(pred, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
-#define ASSERT_PRED_FORMAT3(pred_format, v1, v2, v3) \
- GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_FATAL_FAILURE_)
-#define ASSERT_PRED3(pred, v1, v2, v3) \
- GTEST_PRED3_(pred, v1, v2, v3, GTEST_FATAL_FAILURE_)
-
-
-
-// Helper function for implementing {EXPECT|ASSERT}_PRED4. Don't use
-// this in your code.
-template <typename Pred,
- typename T1,
- typename T2,
- typename T3,
- typename T4>
-AssertionResult AssertPred4Helper(const char* pred_text,
- const char* e1,
- const char* e2,
- const char* e3,
- const char* e4,
- Pred pred,
- const T1& v1,
- const T2& v2,
- const T3& v3,
- const T4& v4) {
- if (pred(v1, v2, v3, v4)) return AssertionSuccess();
-
- return AssertionFailure() << pred_text << "("
- << e1 << ", "
- << e2 << ", "
- << e3 << ", "
- << e4 << ") evaluates to false, where"
- << "\n" << e1 << " evaluates to " << v1
- << "\n" << e2 << " evaluates to " << v2
- << "\n" << e3 << " evaluates to " << v3
- << "\n" << e4 << " evaluates to " << v4;
-}
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT4.
-// Don't use this in your code.
-#define GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, on_failure)\
- GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, v1, v2, v3, v4),\
- on_failure)
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED4. Don't use
-// this in your code.
-#define GTEST_PRED4_(pred, v1, v2, v3, v4, on_failure)\
- GTEST_ASSERT_(::testing::AssertPred4Helper(#pred, \
- #v1, \
- #v2, \
- #v3, \
- #v4, \
- pred, \
- v1, \
- v2, \
- v3, \
- v4), on_failure)
-
-// 4-ary predicate assertion macros.
-#define EXPECT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
- GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_PRED4(pred, v1, v2, v3, v4) \
- GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
-#define ASSERT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
- GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
-#define ASSERT_PRED4(pred, v1, v2, v3, v4) \
- GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
-
-
-
-// Helper function for implementing {EXPECT|ASSERT}_PRED5. Don't use
-// this in your code.
-template <typename Pred,
- typename T1,
- typename T2,
- typename T3,
- typename T4,
- typename T5>
-AssertionResult AssertPred5Helper(const char* pred_text,
- const char* e1,
- const char* e2,
- const char* e3,
- const char* e4,
- const char* e5,
- Pred pred,
- const T1& v1,
- const T2& v2,
- const T3& v3,
- const T4& v4,
- const T5& v5) {
- if (pred(v1, v2, v3, v4, v5)) return AssertionSuccess();
-
- return AssertionFailure() << pred_text << "("
- << e1 << ", "
- << e2 << ", "
- << e3 << ", "
- << e4 << ", "
- << e5 << ") evaluates to false, where"
- << "\n" << e1 << " evaluates to " << v1
- << "\n" << e2 << " evaluates to " << v2
- << "\n" << e3 << " evaluates to " << v3
- << "\n" << e4 << " evaluates to " << v4
- << "\n" << e5 << " evaluates to " << v5;
-}
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT5.
-// Don't use this in your code.
-#define GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, on_failure)\
- GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, #v5, v1, v2, v3, v4, v5),\
- on_failure)
-
-// Internal macro for implementing {EXPECT|ASSERT}_PRED5. Don't use
-// this in your code.
-#define GTEST_PRED5_(pred, v1, v2, v3, v4, v5, on_failure)\
- GTEST_ASSERT_(::testing::AssertPred5Helper(#pred, \
- #v1, \
- #v2, \
- #v3, \
- #v4, \
- #v5, \
- pred, \
- v1, \
- v2, \
- v3, \
- v4, \
- v5), on_failure)
-
-// 5-ary predicate assertion macros.
-#define EXPECT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
- GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
-#define EXPECT_PRED5(pred, v1, v2, v3, v4, v5) \
- GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
-#define ASSERT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
- GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
-#define ASSERT_PRED5(pred, v1, v2, v3, v4, v5) \
- GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
-
-
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+++ /dev/null
-// Copyright 2006, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// Google C++ Testing Framework definitions useful in production code.
-
-#ifndef GTEST_INCLUDE_GTEST_GTEST_PROD_H_
-#define GTEST_INCLUDE_GTEST_GTEST_PROD_H_
-
-// When you need to test the private or protected members of a class,
-// use the FRIEND_TEST macro to declare your tests as friends of the
-// class. For example:
-//
-// class MyClass {
-// private:
-// void MyMethod();
-// FRIEND_TEST(MyClassTest, MyMethod);
-// };
-//
-// class MyClassTest : public testing::Test {
-// // ...
-// };
-//
-// TEST_F(MyClassTest, MyMethod) {
-// // Can call MyClass::MyMethod() here.
-// }
-
-#define FRIEND_TEST(test_case_name, test_name)\
-friend class test_case_name##_##test_name##_Test
-
-#endif // GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
-//
-// The Google C++ Testing Framework (Google Test)
-//
-// This header file defines internal utilities needed for implementing
-// death tests. They are subject to change without notice.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
-
-#include "gtest/internal/gtest-internal.h"
-
-#include <stdio.h>
-
-namespace testing {
-namespace internal {
-
-GTEST_DECLARE_string_(internal_run_death_test);
-
-// Names of the flags (needed for parsing Google Test flags).
-const char kDeathTestStyleFlag[] = "death_test_style";
-const char kDeathTestUseFork[] = "death_test_use_fork";
-const char kInternalRunDeathTestFlag[] = "internal_run_death_test";
-
-#if GTEST_HAS_DEATH_TEST
-
-// DeathTest is a class that hides much of the complexity of the
-// GTEST_DEATH_TEST_ macro. It is abstract; its static Create method
-// returns a concrete class that depends on the prevailing death test
-// style, as defined by the --gtest_death_test_style and/or
-// --gtest_internal_run_death_test flags.
-
-// In describing the results of death tests, these terms are used with
-// the corresponding definitions:
-//
-// exit status: The integer exit information in the format specified
-// by wait(2)
-// exit code: The integer code passed to exit(3), _exit(2), or
-// returned from main()
-class GTEST_API_ DeathTest {
- public:
- // Create returns false if there was an error determining the
- // appropriate action to take for the current death test; for example,
- // if the gtest_death_test_style flag is set to an invalid value.
- // The LastMessage method will return a more detailed message in that
- // case. Otherwise, the DeathTest pointer pointed to by the "test"
- // argument is set. If the death test should be skipped, the pointer
- // is set to NULL; otherwise, it is set to the address of a new concrete
- // DeathTest object that controls the execution of the current test.
- static bool Create(const char* statement, const RE* regex,
- const char* file, int line, DeathTest** test);
- DeathTest();
- virtual ~DeathTest() { }
-
- // A helper class that aborts a death test when it's deleted.
- class ReturnSentinel {
- public:
- explicit ReturnSentinel(DeathTest* test) : test_(test) { }
- ~ReturnSentinel() { test_->Abort(TEST_ENCOUNTERED_RETURN_STATEMENT); }
- private:
- DeathTest* const test_;
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ReturnSentinel);
- } GTEST_ATTRIBUTE_UNUSED_;
-
- // An enumeration of possible roles that may be taken when a death
- // test is encountered. EXECUTE means that the death test logic should
- // be executed immediately. OVERSEE means that the program should prepare
- // the appropriate environment for a child process to execute the death
- // test, then wait for it to complete.
- enum TestRole { OVERSEE_TEST, EXECUTE_TEST };
-
- // An enumeration of the three reasons that a test might be aborted.
- enum AbortReason {
- TEST_ENCOUNTERED_RETURN_STATEMENT,
- TEST_THREW_EXCEPTION,
- TEST_DID_NOT_DIE
- };
-
- // Assumes one of the above roles.
- virtual TestRole AssumeRole() = 0;
-
- // Waits for the death test to finish and returns its status.
- virtual int Wait() = 0;
-
- // Returns true if the death test passed; that is, the test process
- // exited during the test, its exit status matches a user-supplied
- // predicate, and its stderr output matches a user-supplied regular
- // expression.
- // The user-supplied predicate may be a macro expression rather
- // than a function pointer or functor, or else Wait and Passed could
- // be combined.
- virtual bool Passed(bool exit_status_ok) = 0;
-
- // Signals that the death test did not die as expected.
- virtual void Abort(AbortReason reason) = 0;
-
- // Returns a human-readable outcome message regarding the outcome of
- // the last death test.
- static const char* LastMessage();
-
- static void set_last_death_test_message(const String& message);
-
- private:
- // A string containing a description of the outcome of the last death test.
- static String last_death_test_message_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(DeathTest);
-};
-
-// Factory interface for death tests. May be mocked out for testing.
-class DeathTestFactory {
- public:
- virtual ~DeathTestFactory() { }
- virtual bool Create(const char* statement, const RE* regex,
- const char* file, int line, DeathTest** test) = 0;
-};
-
-// A concrete DeathTestFactory implementation for normal use.
-class DefaultDeathTestFactory : public DeathTestFactory {
- public:
- virtual bool Create(const char* statement, const RE* regex,
- const char* file, int line, DeathTest** test);
-};
-
-// Returns true if exit_status describes a process that was terminated
-// by a signal, or exited normally with a nonzero exit code.
-GTEST_API_ bool ExitedUnsuccessfully(int exit_status);
-
-// Traps C++ exceptions escaping statement and reports them as test
-// failures. Note that trapping SEH exceptions is not implemented here.
-# if GTEST_HAS_EXCEPTIONS
-# define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
- try { \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
- } catch (const ::std::exception& gtest_exception) { \
- fprintf(\
- stderr, \
- "\n%s: Caught std::exception-derived exception escaping the " \
- "death test statement. Exception message: %s\n", \
- ::testing::internal::FormatFileLocation(__FILE__, __LINE__).c_str(), \
- gtest_exception.what()); \
- fflush(stderr); \
- death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
- } catch (...) { \
- death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
- }
-
-# else
-# define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
-
-# endif
-
-// This macro is for implementing ASSERT_DEATH*, EXPECT_DEATH*,
-// ASSERT_EXIT*, and EXPECT_EXIT*.
-# define GTEST_DEATH_TEST_(statement, predicate, regex, fail) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::AlwaysTrue()) { \
- const ::testing::internal::RE& gtest_regex = (regex); \
- ::testing::internal::DeathTest* gtest_dt; \
- if (!::testing::internal::DeathTest::Create(#statement, >est_regex, \
- __FILE__, __LINE__, >est_dt)) { \
- goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
- } \
- if (gtest_dt != NULL) { \
- ::testing::internal::scoped_ptr< ::testing::internal::DeathTest> \
- gtest_dt_ptr(gtest_dt); \
- switch (gtest_dt->AssumeRole()) { \
- case ::testing::internal::DeathTest::OVERSEE_TEST: \
- if (!gtest_dt->Passed(predicate(gtest_dt->Wait()))) { \
- goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
- } \
- break; \
- case ::testing::internal::DeathTest::EXECUTE_TEST: { \
- ::testing::internal::DeathTest::ReturnSentinel \
- gtest_sentinel(gtest_dt); \
- GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, gtest_dt); \
- gtest_dt->Abort(::testing::internal::DeathTest::TEST_DID_NOT_DIE); \
- break; \
- } \
- default: \
- break; \
- } \
- } \
- } else \
- GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__): \
- fail(::testing::internal::DeathTest::LastMessage())
-// The symbol "fail" here expands to something into which a message
-// can be streamed.
-
-// A class representing the parsed contents of the
-// --gtest_internal_run_death_test flag, as it existed when
-// RUN_ALL_TESTS was called.
-class InternalRunDeathTestFlag {
- public:
- InternalRunDeathTestFlag(const String& a_file,
- int a_line,
- int an_index,
- int a_write_fd)
- : file_(a_file), line_(a_line), index_(an_index),
- write_fd_(a_write_fd) {}
-
- ~InternalRunDeathTestFlag() {
- if (write_fd_ >= 0)
- posix::Close(write_fd_);
- }
-
- String file() const { return file_; }
- int line() const { return line_; }
- int index() const { return index_; }
- int write_fd() const { return write_fd_; }
-
- private:
- String file_;
- int line_;
- int index_;
- int write_fd_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(InternalRunDeathTestFlag);
-};
-
-// Returns a newly created InternalRunDeathTestFlag object with fields
-// initialized from the GTEST_FLAG(internal_run_death_test) flag if
-// the flag is specified; otherwise returns NULL.
-InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag();
-
-#else // GTEST_HAS_DEATH_TEST
-
-// This macro is used for implementing macros such as
-// EXPECT_DEATH_IF_SUPPORTED and ASSERT_DEATH_IF_SUPPORTED on systems where
-// death tests are not supported. Those macros must compile on such systems
-// iff EXPECT_DEATH and ASSERT_DEATH compile with the same parameters on
-// systems that support death tests. This allows one to write such a macro
-// on a system that does not support death tests and be sure that it will
-// compile on a death-test supporting system.
-//
-// Parameters:
-// statement - A statement that a macro such as EXPECT_DEATH would test
-// for program termination. This macro has to make sure this
-// statement is compiled but not executed, to ensure that
-// EXPECT_DEATH_IF_SUPPORTED compiles with a certain
-// parameter iff EXPECT_DEATH compiles with it.
-// regex - A regex that a macro such as EXPECT_DEATH would use to test
-// the output of statement. This parameter has to be
-// compiled but not evaluated by this macro, to ensure that
-// this macro only accepts expressions that a macro such as
-// EXPECT_DEATH would accept.
-// terminator - Must be an empty statement for EXPECT_DEATH_IF_SUPPORTED
-// and a return statement for ASSERT_DEATH_IF_SUPPORTED.
-// This ensures that ASSERT_DEATH_IF_SUPPORTED will not
-// compile inside functions where ASSERT_DEATH doesn't
-// compile.
-//
-// The branch that has an always false condition is used to ensure that
-// statement and regex are compiled (and thus syntactically correct) but
-// never executed. The unreachable code macro protects the terminator
-// statement from generating an 'unreachable code' warning in case
-// statement unconditionally returns or throws. The Message constructor at
-// the end allows the syntax of streaming additional messages into the
-// macro, for compilational compatibility with EXPECT_DEATH/ASSERT_DEATH.
-# define GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, terminator) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::AlwaysTrue()) { \
- GTEST_LOG_(WARNING) \
- << "Death tests are not supported on this platform.\n" \
- << "Statement '" #statement "' cannot be verified."; \
- } else if (::testing::internal::AlwaysFalse()) { \
- ::testing::internal::RE::PartialMatch(".*", (regex)); \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
- terminator; \
- } else \
- ::testing::Message()
-
-#endif // GTEST_HAS_DEATH_TEST
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+++ /dev/null
-// Copyright 2008, Google 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 Google 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.
-//
-// Author: keith.ray@gmail.com (Keith Ray)
-//
-// Google Test filepath utilities
-//
-// This header file declares classes and functions used internally by
-// Google Test. They are subject to change without notice.
-//
-// This file is #included in <gtest/internal/gtest-internal.h>.
-// Do not include this header file separately!
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
-
-#include "gtest/internal/gtest-string.h"
-
-namespace testing {
-namespace internal {
-
-// FilePath - a class for file and directory pathname manipulation which
-// handles platform-specific conventions (like the pathname separator).
-// Used for helper functions for naming files in a directory for xml output.
-// Except for Set methods, all methods are const or static, which provides an
-// "immutable value object" -- useful for peace of mind.
-// A FilePath with a value ending in a path separator ("like/this/") represents
-// a directory, otherwise it is assumed to represent a file. In either case,
-// it may or may not represent an actual file or directory in the file system.
-// Names are NOT checked for syntax correctness -- no checking for illegal
-// characters, malformed paths, etc.
-
-class GTEST_API_ FilePath {
- public:
- FilePath() : pathname_("") { }
- FilePath(const FilePath& rhs) : pathname_(rhs.pathname_) { }
-
- explicit FilePath(const char* pathname) : pathname_(pathname) {
- Normalize();
- }
-
- explicit FilePath(const String& pathname) : pathname_(pathname) {
- Normalize();
- }
-
- FilePath& operator=(const FilePath& rhs) {
- Set(rhs);
- return *this;
- }
-
- void Set(const FilePath& rhs) {
- pathname_ = rhs.pathname_;
- }
-
- String ToString() const { return pathname_; }
- const char* c_str() const { return pathname_.c_str(); }
-
- // Returns the current working directory, or "" if unsuccessful.
- static FilePath GetCurrentDir();
-
- // Given directory = "dir", base_name = "test", number = 0,
- // extension = "xml", returns "dir/test.xml". If number is greater
- // than zero (e.g., 12), returns "dir/test_12.xml".
- // On Windows platform, uses \ as the separator rather than /.
- static FilePath MakeFileName(const FilePath& directory,
- const FilePath& base_name,
- int number,
- const char* extension);
-
- // Given directory = "dir", relative_path = "test.xml",
- // returns "dir/test.xml".
- // On Windows, uses \ as the separator rather than /.
- static FilePath ConcatPaths(const FilePath& directory,
- const FilePath& relative_path);
-
- // Returns a pathname for a file that does not currently exist. The pathname
- // will be directory/base_name.extension or
- // directory/base_name_<number>.extension if directory/base_name.extension
- // already exists. The number will be incremented until a pathname is found
- // that does not already exist.
- // Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
- // There could be a race condition if two or more processes are calling this
- // function at the same time -- they could both pick the same filename.
- static FilePath GenerateUniqueFileName(const FilePath& directory,
- const FilePath& base_name,
- const char* extension);
-
- // Returns true iff the path is NULL or "".
- bool IsEmpty() const { return c_str() == NULL || *c_str() == '\0'; }
-
- // If input name has a trailing separator character, removes it and returns
- // the name, otherwise return the name string unmodified.
- // On Windows platform, uses \ as the separator, other platforms use /.
- FilePath RemoveTrailingPathSeparator() const;
-
- // Returns a copy of the FilePath with the directory part removed.
- // Example: FilePath("path/to/file").RemoveDirectoryName() returns
- // FilePath("file"). If there is no directory part ("just_a_file"), it returns
- // the FilePath unmodified. If there is no file part ("just_a_dir/") it
- // returns an empty FilePath ("").
- // On Windows platform, '\' is the path separator, otherwise it is '/'.
- FilePath RemoveDirectoryName() const;
-
- // RemoveFileName returns the directory path with the filename removed.
- // Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
- // If the FilePath is "a_file" or "/a_file", RemoveFileName returns
- // FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
- // not have a file, like "just/a/dir/", it returns the FilePath unmodified.
- // On Windows platform, '\' is the path separator, otherwise it is '/'.
- FilePath RemoveFileName() const;
-
- // Returns a copy of the FilePath with the case-insensitive extension removed.
- // Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
- // FilePath("dir/file"). If a case-insensitive extension is not
- // found, returns a copy of the original FilePath.
- FilePath RemoveExtension(const char* extension) const;
-
- // Creates directories so that path exists. Returns true if successful or if
- // the directories already exist; returns false if unable to create
- // directories for any reason. Will also return false if the FilePath does
- // not represent a directory (that is, it doesn't end with a path separator).
- bool CreateDirectoriesRecursively() const;
-
- // Create the directory so that path exists. Returns true if successful or
- // if the directory already exists; returns false if unable to create the
- // directory for any reason, including if the parent directory does not
- // exist. Not named "CreateDirectory" because that's a macro on Windows.
- bool CreateFolder() const;
-
- // Returns true if FilePath describes something in the file-system,
- // either a file, directory, or whatever, and that something exists.
- bool FileOrDirectoryExists() const;
-
- // Returns true if pathname describes a directory in the file-system
- // that exists.
- bool DirectoryExists() const;
-
- // Returns true if FilePath ends with a path separator, which indicates that
- // it is intended to represent a directory. Returns false otherwise.
- // This does NOT check that a directory (or file) actually exists.
- bool IsDirectory() const;
-
- // Returns true if pathname describes a root directory. (Windows has one
- // root directory per disk drive.)
- bool IsRootDirectory() const;
-
- // Returns true if pathname describes an absolute path.
- bool IsAbsolutePath() const;
-
- private:
- // Replaces multiple consecutive separators with a single separator.
- // For example, "bar///foo" becomes "bar/foo". Does not eliminate other
- // redundancies that might be in a pathname involving "." or "..".
- //
- // A pathname with multiple consecutive separators may occur either through
- // user error or as a result of some scripts or APIs that generate a pathname
- // with a trailing separator. On other platforms the same API or script
- // may NOT generate a pathname with a trailing "/". Then elsewhere that
- // pathname may have another "/" and pathname components added to it,
- // without checking for the separator already being there.
- // The script language and operating system may allow paths like "foo//bar"
- // but some of the functions in FilePath will not handle that correctly. In
- // particular, RemoveTrailingPathSeparator() only removes one separator, and
- // it is called in CreateDirectoriesRecursively() assuming that it will change
- // a pathname from directory syntax (trailing separator) to filename syntax.
- //
- // On Windows this method also replaces the alternate path separator '/' with
- // the primary path separator '\\', so that for example "bar\\/\\foo" becomes
- // "bar\\foo".
-
- void Normalize();
-
- // Returns a pointer to the last occurence of a valid path separator in
- // the FilePath. On Windows, for example, both '/' and '\' are valid path
- // separators. Returns NULL if no path separator was found.
- const char* FindLastPathSeparator() const;
-
- String pathname_;
-}; // class FilePath
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
-//
-// The Google C++ Testing Framework (Google Test)
-//
-// This header file declares functions and macros used internally by
-// Google Test. They are subject to change without notice.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
-
-#include "gtest/internal/gtest-port.h"
-
-#if GTEST_OS_LINUX
-# include <stdlib.h>
-# include <sys/types.h>
-# include <sys/wait.h>
-# include <unistd.h>
-#endif // GTEST_OS_LINUX
-
-#include <ctype.h>
-#include <string.h>
-#include <iomanip>
-#include <limits>
-#include <set>
-
-#include "gtest/internal/gtest-string.h"
-#include "gtest/internal/gtest-filepath.h"
-#include "gtest/internal/gtest-type-util.h"
-
-// Due to C++ preprocessor weirdness, we need double indirection to
-// concatenate two tokens when one of them is __LINE__. Writing
-//
-// foo ## __LINE__
-//
-// will result in the token foo__LINE__, instead of foo followed by
-// the current line number. For more details, see
-// http://www.parashift.com/c++-faq-lite/misc-technical-issues.html#faq-39.6
-#define GTEST_CONCAT_TOKEN_(foo, bar) GTEST_CONCAT_TOKEN_IMPL_(foo, bar)
-#define GTEST_CONCAT_TOKEN_IMPL_(foo, bar) foo ## bar
-
-// Google Test defines the testing::Message class to allow construction of
-// test messages via the << operator. The idea is that anything
-// streamable to std::ostream can be streamed to a testing::Message.
-// This allows a user to use his own types in Google Test assertions by
-// overloading the << operator.
-//
-// util/gtl/stl_logging-inl.h overloads << for STL containers. These
-// overloads cannot be defined in the std namespace, as that will be
-// undefined behavior. Therefore, they are defined in the global
-// namespace instead.
-//
-// C++'s symbol lookup rule (i.e. Koenig lookup) says that these
-// overloads are visible in either the std namespace or the global
-// namespace, but not other namespaces, including the testing
-// namespace which Google Test's Message class is in.
-//
-// To allow STL containers (and other types that has a << operator
-// defined in the global namespace) to be used in Google Test assertions,
-// testing::Message must access the custom << operator from the global
-// namespace. Hence this helper function.
-//
-// Note: Jeffrey Yasskin suggested an alternative fix by "using
-// ::operator<<;" in the definition of Message's operator<<. That fix
-// doesn't require a helper function, but unfortunately doesn't
-// compile with MSVC.
-template <typename T>
-inline void GTestStreamToHelper(std::ostream* os, const T& val) {
- *os << val;
-}
-
-class ProtocolMessage;
-namespace proto2 { class Message; }
-
-namespace testing {
-
-// Forward declarations.
-
-class AssertionResult; // Result of an assertion.
-class Message; // Represents a failure message.
-class Test; // Represents a test.
-class TestInfo; // Information about a test.
-class TestPartResult; // Result of a test part.
-class UnitTest; // A collection of test cases.
-
-template <typename T>
-::std::string PrintToString(const T& value);
-
-namespace internal {
-
-struct TraceInfo; // Information about a trace point.
-class ScopedTrace; // Implements scoped trace.
-class TestInfoImpl; // Opaque implementation of TestInfo
-class UnitTestImpl; // Opaque implementation of UnitTest
-
-// How many times InitGoogleTest() has been called.
-extern int g_init_gtest_count;
-
-// The text used in failure messages to indicate the start of the
-// stack trace.
-GTEST_API_ extern const char kStackTraceMarker[];
-
-// A secret type that Google Test users don't know about. It has no
-// definition on purpose. Therefore it's impossible to create a
-// Secret object, which is what we want.
-class Secret;
-
-// Two overloaded helpers for checking at compile time whether an
-// expression is a null pointer literal (i.e. NULL or any 0-valued
-// compile-time integral constant). Their return values have
-// different sizes, so we can use sizeof() to test which version is
-// picked by the compiler. These helpers have no implementations, as
-// we only need their signatures.
-//
-// Given IsNullLiteralHelper(x), the compiler will pick the first
-// version if x can be implicitly converted to Secret*, and pick the
-// second version otherwise. Since Secret is a secret and incomplete
-// type, the only expression a user can write that has type Secret* is
-// a null pointer literal. Therefore, we know that x is a null
-// pointer literal if and only if the first version is picked by the
-// compiler.
-char IsNullLiteralHelper(Secret* p);
-char (&IsNullLiteralHelper(...))[2]; // NOLINT
-
-// A compile-time bool constant that is true if and only if x is a
-// null pointer literal (i.e. NULL or any 0-valued compile-time
-// integral constant).
-#ifdef GTEST_ELLIPSIS_NEEDS_POD_
-// We lose support for NULL detection where the compiler doesn't like
-// passing non-POD classes through ellipsis (...).
-# define GTEST_IS_NULL_LITERAL_(x) false
-#else
-# define GTEST_IS_NULL_LITERAL_(x) \
- (sizeof(::testing::internal::IsNullLiteralHelper(x)) == 1)
-#endif // GTEST_ELLIPSIS_NEEDS_POD_
-
-// Appends the user-supplied message to the Google-Test-generated message.
-GTEST_API_ String AppendUserMessage(const String& gtest_msg,
- const Message& user_msg);
-
-// A helper class for creating scoped traces in user programs.
-class GTEST_API_ ScopedTrace {
- public:
- // The c'tor pushes the given source file location and message onto
- // a trace stack maintained by Google Test.
- ScopedTrace(const char* file, int line, const Message& message);
-
- // The d'tor pops the info pushed by the c'tor.
- //
- // Note that the d'tor is not virtual in order to be efficient.
- // Don't inherit from ScopedTrace!
- ~ScopedTrace();
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedTrace);
-} GTEST_ATTRIBUTE_UNUSED_; // A ScopedTrace object does its job in its
- // c'tor and d'tor. Therefore it doesn't
- // need to be used otherwise.
-
-// Converts a streamable value to a String. A NULL pointer is
-// converted to "(null)". When the input value is a ::string,
-// ::std::string, ::wstring, or ::std::wstring object, each NUL
-// character in it is replaced with "\\0".
-// Declared here but defined in gtest.h, so that it has access
-// to the definition of the Message class, required by the ARM
-// compiler.
-template <typename T>
-String StreamableToString(const T& streamable);
-
-// The Symbian compiler has a bug that prevents it from selecting the
-// correct overload of FormatForComparisonFailureMessage (see below)
-// unless we pass the first argument by reference. If we do that,
-// however, Visual Age C++ 10.1 generates a compiler error. Therefore
-// we only apply the work-around for Symbian.
-#if defined(__SYMBIAN32__)
-# define GTEST_CREF_WORKAROUND_ const&
-#else
-# define GTEST_CREF_WORKAROUND_
-#endif
-
-// When this operand is a const char* or char*, if the other operand
-// is a ::std::string or ::string, we print this operand as a C string
-// rather than a pointer (we do the same for wide strings); otherwise
-// we print it as a pointer to be safe.
-
-// This internal macro is used to avoid duplicated code.
-#define GTEST_FORMAT_IMPL_(operand2_type, operand1_printer)\
-inline String FormatForComparisonFailureMessage(\
- operand2_type::value_type* GTEST_CREF_WORKAROUND_ str, \
- const operand2_type& /*operand2*/) {\
- return operand1_printer(str);\
-}\
-inline String FormatForComparisonFailureMessage(\
- const operand2_type::value_type* GTEST_CREF_WORKAROUND_ str, \
- const operand2_type& /*operand2*/) {\
- return operand1_printer(str);\
-}
-
-GTEST_FORMAT_IMPL_(::std::string, String::ShowCStringQuoted)
-#if GTEST_HAS_STD_WSTRING
-GTEST_FORMAT_IMPL_(::std::wstring, String::ShowWideCStringQuoted)
-#endif // GTEST_HAS_STD_WSTRING
-
-#if GTEST_HAS_GLOBAL_STRING
-GTEST_FORMAT_IMPL_(::string, String::ShowCStringQuoted)
-#endif // GTEST_HAS_GLOBAL_STRING
-#if GTEST_HAS_GLOBAL_WSTRING
-GTEST_FORMAT_IMPL_(::wstring, String::ShowWideCStringQuoted)
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
-#undef GTEST_FORMAT_IMPL_
-
-// The next four overloads handle the case where the operand being
-// printed is a char/wchar_t pointer and the other operand is not a
-// string/wstring object. In such cases, we just print the operand as
-// a pointer to be safe.
-#define GTEST_FORMAT_CHAR_PTR_IMPL_(CharType) \
- template <typename T> \
- String FormatForComparisonFailureMessage(CharType* GTEST_CREF_WORKAROUND_ p, \
- const T&) { \
- return PrintToString(static_cast<const void*>(p)); \
- }
-
-GTEST_FORMAT_CHAR_PTR_IMPL_(char)
-GTEST_FORMAT_CHAR_PTR_IMPL_(const char)
-GTEST_FORMAT_CHAR_PTR_IMPL_(wchar_t)
-GTEST_FORMAT_CHAR_PTR_IMPL_(const wchar_t)
-
-#undef GTEST_FORMAT_CHAR_PTR_IMPL_
-
-// Constructs and returns the message for an equality assertion
-// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
-//
-// The first four parameters are the expressions used in the assertion
-// and their values, as strings. For example, for ASSERT_EQ(foo, bar)
-// where foo is 5 and bar is 6, we have:
-//
-// expected_expression: "foo"
-// actual_expression: "bar"
-// expected_value: "5"
-// actual_value: "6"
-//
-// The ignoring_case parameter is true iff the assertion is a
-// *_STRCASEEQ*. When it's true, the string " (ignoring case)" will
-// be inserted into the message.
-GTEST_API_ AssertionResult EqFailure(const char* expected_expression,
- const char* actual_expression,
- const String& expected_value,
- const String& actual_value,
- bool ignoring_case);
-
-// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
-GTEST_API_ String GetBoolAssertionFailureMessage(
- const AssertionResult& assertion_result,
- const char* expression_text,
- const char* actual_predicate_value,
- const char* expected_predicate_value);
-
-// This template class represents an IEEE floating-point number
-// (either single-precision or double-precision, depending on the
-// template parameters).
-//
-// The purpose of this class is to do more sophisticated number
-// comparison. (Due to round-off error, etc, it's very unlikely that
-// two floating-points will be equal exactly. Hence a naive
-// comparison by the == operation often doesn't work.)
-//
-// Format of IEEE floating-point:
-//
-// The most-significant bit being the leftmost, an IEEE
-// floating-point looks like
-//
-// sign_bit exponent_bits fraction_bits
-//
-// Here, sign_bit is a single bit that designates the sign of the
-// number.
-//
-// For float, there are 8 exponent bits and 23 fraction bits.
-//
-// For double, there are 11 exponent bits and 52 fraction bits.
-//
-// More details can be found at
-// http://en.wikipedia.org/wiki/IEEE_floating-point_standard.
-//
-// Template parameter:
-//
-// RawType: the raw floating-point type (either float or double)
-template <typename RawType>
-class FloatingPoint {
- public:
- // Defines the unsigned integer type that has the same size as the
- // floating point number.
- typedef typename TypeWithSize<sizeof(RawType)>::UInt Bits;
-
- // Constants.
-
- // # of bits in a number.
- static const size_t kBitCount = 8*sizeof(RawType);
-
- // # of fraction bits in a number.
- static const size_t kFractionBitCount =
- std::numeric_limits<RawType>::digits - 1;
-
- // # of exponent bits in a number.
- static const size_t kExponentBitCount = kBitCount - 1 - kFractionBitCount;
-
- // The mask for the sign bit.
- static const Bits kSignBitMask = static_cast<Bits>(1) << (kBitCount - 1);
-
- // The mask for the fraction bits.
- static const Bits kFractionBitMask =
- ~static_cast<Bits>(0) >> (kExponentBitCount + 1);
-
- // The mask for the exponent bits.
- static const Bits kExponentBitMask = ~(kSignBitMask | kFractionBitMask);
-
- // How many ULP's (Units in the Last Place) we want to tolerate when
- // comparing two numbers. The larger the value, the more error we
- // allow. A 0 value means that two numbers must be exactly the same
- // to be considered equal.
- //
- // The maximum error of a single floating-point operation is 0.5
- // units in the last place. On Intel CPU's, all floating-point
- // calculations are done with 80-bit precision, while double has 64
- // bits. Therefore, 4 should be enough for ordinary use.
- //
- // See the following article for more details on ULP:
- // http://www.cygnus-software.com/papers/comparingfloats/comparingfloats.htm.
- static const size_t kMaxUlps = 4;
-
- // Constructs a FloatingPoint from a raw floating-point number.
- //
- // On an Intel CPU, passing a non-normalized NAN (Not a Number)
- // around may change its bits, although the new value is guaranteed
- // to be also a NAN. Therefore, don't expect this constructor to
- // preserve the bits in x when x is a NAN.
- explicit FloatingPoint(const RawType& x) { u_.value_ = x; }
-
- // Static methods
-
- // Reinterprets a bit pattern as a floating-point number.
- //
- // This function is needed to test the AlmostEquals() method.
- static RawType ReinterpretBits(const Bits bits) {
- FloatingPoint fp(0);
- fp.u_.bits_ = bits;
- return fp.u_.value_;
- }
-
- // Returns the floating-point number that represent positive infinity.
- static RawType Infinity() {
- return ReinterpretBits(kExponentBitMask);
- }
-
- // Non-static methods
-
- // Returns the bits that represents this number.
- const Bits &bits() const { return u_.bits_; }
-
- // Returns the exponent bits of this number.
- Bits exponent_bits() const { return kExponentBitMask & u_.bits_; }
-
- // Returns the fraction bits of this number.
- Bits fraction_bits() const { return kFractionBitMask & u_.bits_; }
-
- // Returns the sign bit of this number.
- Bits sign_bit() const { return kSignBitMask & u_.bits_; }
-
- // Returns true iff this is NAN (not a number).
- bool is_nan() const {
- // It's a NAN if the exponent bits are all ones and the fraction
- // bits are not entirely zeros.
- return (exponent_bits() == kExponentBitMask) && (fraction_bits() != 0);
- }
-
- // Returns true iff this number is at most kMaxUlps ULP's away from
- // rhs. In particular, this function:
- //
- // - returns false if either number is (or both are) NAN.
- // - treats really large numbers as almost equal to infinity.
- // - thinks +0.0 and -0.0 are 0 DLP's apart.
- bool AlmostEquals(const FloatingPoint& rhs) const {
- // The IEEE standard says that any comparison operation involving
- // a NAN must return false.
- if (is_nan() || rhs.is_nan()) return false;
-
- return DistanceBetweenSignAndMagnitudeNumbers(u_.bits_, rhs.u_.bits_)
- <= kMaxUlps;
- }
-
- private:
- // The data type used to store the actual floating-point number.
- union FloatingPointUnion {
- RawType value_; // The raw floating-point number.
- Bits bits_; // The bits that represent the number.
- };
-
- // Converts an integer from the sign-and-magnitude representation to
- // the biased representation. More precisely, let N be 2 to the
- // power of (kBitCount - 1), an integer x is represented by the
- // unsigned number x + N.
- //
- // For instance,
- //
- // -N + 1 (the most negative number representable using
- // sign-and-magnitude) is represented by 1;
- // 0 is represented by N; and
- // N - 1 (the biggest number representable using
- // sign-and-magnitude) is represented by 2N - 1.
- //
- // Read http://en.wikipedia.org/wiki/Signed_number_representations
- // for more details on signed number representations.
- static Bits SignAndMagnitudeToBiased(const Bits &sam) {
- if (kSignBitMask & sam) {
- // sam represents a negative number.
- return ~sam + 1;
- } else {
- // sam represents a positive number.
- return kSignBitMask | sam;
- }
- }
-
- // Given two numbers in the sign-and-magnitude representation,
- // returns the distance between them as an unsigned number.
- static Bits DistanceBetweenSignAndMagnitudeNumbers(const Bits &sam1,
- const Bits &sam2) {
- const Bits biased1 = SignAndMagnitudeToBiased(sam1);
- const Bits biased2 = SignAndMagnitudeToBiased(sam2);
- return (biased1 >= biased2) ? (biased1 - biased2) : (biased2 - biased1);
- }
-
- FloatingPointUnion u_;
-};
-
-// Typedefs the instances of the FloatingPoint template class that we
-// care to use.
-typedef FloatingPoint<float> Float;
-typedef FloatingPoint<double> Double;
-
-// In order to catch the mistake of putting tests that use different
-// test fixture classes in the same test case, we need to assign
-// unique IDs to fixture classes and compare them. The TypeId type is
-// used to hold such IDs. The user should treat TypeId as an opaque
-// type: the only operation allowed on TypeId values is to compare
-// them for equality using the == operator.
-typedef const void* TypeId;
-
-template <typename T>
-class TypeIdHelper {
- public:
- // dummy_ must not have a const type. Otherwise an overly eager
- // compiler (e.g. MSVC 7.1 & 8.0) may try to merge
- // TypeIdHelper<T>::dummy_ for different Ts as an "optimization".
- static bool dummy_;
-};
-
-template <typename T>
-bool TypeIdHelper<T>::dummy_ = false;
-
-// GetTypeId<T>() returns the ID of type T. Different values will be
-// returned for different types. Calling the function twice with the
-// same type argument is guaranteed to return the same ID.
-template <typename T>
-TypeId GetTypeId() {
- // The compiler is required to allocate a different
- // TypeIdHelper<T>::dummy_ variable for each T used to instantiate
- // the template. Therefore, the address of dummy_ is guaranteed to
- // be unique.
- return &(TypeIdHelper<T>::dummy_);
-}
-
-// Returns the type ID of ::testing::Test. Always call this instead
-// of GetTypeId< ::testing::Test>() to get the type ID of
-// ::testing::Test, as the latter may give the wrong result due to a
-// suspected linker bug when compiling Google Test as a Mac OS X
-// framework.
-GTEST_API_ TypeId GetTestTypeId();
-
-// Defines the abstract factory interface that creates instances
-// of a Test object.
-class TestFactoryBase {
- public:
- virtual ~TestFactoryBase() {}
-
- // Creates a test instance to run. The instance is both created and destroyed
- // within TestInfoImpl::Run()
- virtual Test* CreateTest() = 0;
-
- protected:
- TestFactoryBase() {}
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestFactoryBase);
-};
-
-// This class provides implementation of TeastFactoryBase interface.
-// It is used in TEST and TEST_F macros.
-template <class TestClass>
-class TestFactoryImpl : public TestFactoryBase {
- public:
- virtual Test* CreateTest() { return new TestClass; }
-};
-
-#if GTEST_OS_WINDOWS
-
-// Predicate-formatters for implementing the HRESULT checking macros
-// {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}
-// We pass a long instead of HRESULT to avoid causing an
-// include dependency for the HRESULT type.
-GTEST_API_ AssertionResult IsHRESULTSuccess(const char* expr,
- long hr); // NOLINT
-GTEST_API_ AssertionResult IsHRESULTFailure(const char* expr,
- long hr); // NOLINT
-
-#endif // GTEST_OS_WINDOWS
-
-// Types of SetUpTestCase() and TearDownTestCase() functions.
-typedef void (*SetUpTestCaseFunc)();
-typedef void (*TearDownTestCaseFunc)();
-
-// Creates a new TestInfo object and registers it with Google Test;
-// returns the created object.
-//
-// Arguments:
-//
-// test_case_name: name of the test case
-// name: name of the test
-// type_param the name of the test's type parameter, or NULL if
-// this is not a typed or a type-parameterized test.
-// value_param text representation of the test's value parameter,
-// or NULL if this is not a type-parameterized test.
-// fixture_class_id: ID of the test fixture class
-// set_up_tc: pointer to the function that sets up the test case
-// tear_down_tc: pointer to the function that tears down the test case
-// factory: pointer to the factory that creates a test object.
-// The newly created TestInfo instance will assume
-// ownership of the factory object.
-GTEST_API_ TestInfo* MakeAndRegisterTestInfo(
- const char* test_case_name, const char* name,
- const char* type_param,
- const char* value_param,
- TypeId fixture_class_id,
- SetUpTestCaseFunc set_up_tc,
- TearDownTestCaseFunc tear_down_tc,
- TestFactoryBase* factory);
-
-// If *pstr starts with the given prefix, modifies *pstr to be right
-// past the prefix and returns true; otherwise leaves *pstr unchanged
-// and returns false. None of pstr, *pstr, and prefix can be NULL.
-GTEST_API_ bool SkipPrefix(const char* prefix, const char** pstr);
-
-#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
-
-// State of the definition of a type-parameterized test case.
-class GTEST_API_ TypedTestCasePState {
- public:
- TypedTestCasePState() : registered_(false) {}
-
- // Adds the given test name to defined_test_names_ and return true
- // if the test case hasn't been registered; otherwise aborts the
- // program.
- bool AddTestName(const char* file, int line, const char* case_name,
- const char* test_name) {
- if (registered_) {
- fprintf(stderr, "%s Test %s must be defined before "
- "REGISTER_TYPED_TEST_CASE_P(%s, ...).\n",
- FormatFileLocation(file, line).c_str(), test_name, case_name);
- fflush(stderr);
- posix::Abort();
- }
- defined_test_names_.insert(test_name);
- return true;
- }
-
- // Verifies that registered_tests match the test names in
- // defined_test_names_; returns registered_tests if successful, or
- // aborts the program otherwise.
- const char* VerifyRegisteredTestNames(
- const char* file, int line, const char* registered_tests);
-
- private:
- bool registered_;
- ::std::set<const char*> defined_test_names_;
-};
-
-// Skips to the first non-space char after the first comma in 'str';
-// returns NULL if no comma is found in 'str'.
-inline const char* SkipComma(const char* str) {
- const char* comma = strchr(str, ',');
- if (comma == NULL) {
- return NULL;
- }
- while (IsSpace(*(++comma))) {}
- return comma;
-}
-
-// Returns the prefix of 'str' before the first comma in it; returns
-// the entire string if it contains no comma.
-inline String GetPrefixUntilComma(const char* str) {
- const char* comma = strchr(str, ',');
- return comma == NULL ? String(str) : String(str, comma - str);
-}
-
-// TypeParameterizedTest<Fixture, TestSel, Types>::Register()
-// registers a list of type-parameterized tests with Google Test. The
-// return value is insignificant - we just need to return something
-// such that we can call this function in a namespace scope.
-//
-// Implementation note: The GTEST_TEMPLATE_ macro declares a template
-// template parameter. It's defined in gtest-type-util.h.
-template <GTEST_TEMPLATE_ Fixture, class TestSel, typename Types>
-class TypeParameterizedTest {
- public:
- // 'index' is the index of the test in the type list 'Types'
- // specified in INSTANTIATE_TYPED_TEST_CASE_P(Prefix, TestCase,
- // Types). Valid values for 'index' are [0, N - 1] where N is the
- // length of Types.
- static bool Register(const char* prefix, const char* case_name,
- const char* test_names, int index) {
- typedef typename Types::Head Type;
- typedef Fixture<Type> FixtureClass;
- typedef typename GTEST_BIND_(TestSel, Type) TestClass;
-
- // First, registers the first type-parameterized test in the type
- // list.
- MakeAndRegisterTestInfo(
- String::Format("%s%s%s/%d", prefix, prefix[0] == '\0' ? "" : "/",
- case_name, index).c_str(),
- GetPrefixUntilComma(test_names).c_str(),
- GetTypeName<Type>().c_str(),
- NULL, // No value parameter.
- GetTypeId<FixtureClass>(),
- TestClass::SetUpTestCase,
- TestClass::TearDownTestCase,
- new TestFactoryImpl<TestClass>);
-
- // Next, recurses (at compile time) with the tail of the type list.
- return TypeParameterizedTest<Fixture, TestSel, typename Types::Tail>
- ::Register(prefix, case_name, test_names, index + 1);
- }
-};
-
-// The base case for the compile time recursion.
-template <GTEST_TEMPLATE_ Fixture, class TestSel>
-class TypeParameterizedTest<Fixture, TestSel, Types0> {
- public:
- static bool Register(const char* /*prefix*/, const char* /*case_name*/,
- const char* /*test_names*/, int /*index*/) {
- return true;
- }
-};
-
-// TypeParameterizedTestCase<Fixture, Tests, Types>::Register()
-// registers *all combinations* of 'Tests' and 'Types' with Google
-// Test. The return value is insignificant - we just need to return
-// something such that we can call this function in a namespace scope.
-template <GTEST_TEMPLATE_ Fixture, typename Tests, typename Types>
-class TypeParameterizedTestCase {
- public:
- static bool Register(const char* prefix, const char* case_name,
- const char* test_names) {
- typedef typename Tests::Head Head;
-
- // First, register the first test in 'Test' for each type in 'Types'.
- TypeParameterizedTest<Fixture, Head, Types>::Register(
- prefix, case_name, test_names, 0);
-
- // Next, recurses (at compile time) with the tail of the test list.
- return TypeParameterizedTestCase<Fixture, typename Tests::Tail, Types>
- ::Register(prefix, case_name, SkipComma(test_names));
- }
-};
-
-// The base case for the compile time recursion.
-template <GTEST_TEMPLATE_ Fixture, typename Types>
-class TypeParameterizedTestCase<Fixture, Templates0, Types> {
- public:
- static bool Register(const char* /*prefix*/, const char* /*case_name*/,
- const char* /*test_names*/) {
- return true;
- }
-};
-
-#endif // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
-
-// Returns the current OS stack trace as a String.
-//
-// The maximum number of stack frames to be included is specified by
-// the gtest_stack_trace_depth flag. The skip_count parameter
-// specifies the number of top frames to be skipped, which doesn't
-// count against the number of frames to be included.
-//
-// For example, if Foo() calls Bar(), which in turn calls
-// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
-// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
-GTEST_API_ String GetCurrentOsStackTraceExceptTop(UnitTest* unit_test,
- int skip_count);
-
-// Helpers for suppressing warnings on unreachable code or constant
-// condition.
-
-// Always returns true.
-GTEST_API_ bool AlwaysTrue();
-
-// Always returns false.
-inline bool AlwaysFalse() { return !AlwaysTrue(); }
-
-// Helper for suppressing false warning from Clang on a const char*
-// variable declared in a conditional expression always being NULL in
-// the else branch.
-struct GTEST_API_ ConstCharPtr {
- ConstCharPtr(const char* str) : value(str) {}
- operator bool() const { return true; }
- const char* value;
-};
-
-// A simple Linear Congruential Generator for generating random
-// numbers with a uniform distribution. Unlike rand() and srand(), it
-// doesn't use global state (and therefore can't interfere with user
-// code). Unlike rand_r(), it's portable. An LCG isn't very random,
-// but it's good enough for our purposes.
-class GTEST_API_ Random {
- public:
- static const UInt32 kMaxRange = 1u << 31;
-
- explicit Random(UInt32 seed) : state_(seed) {}
-
- void Reseed(UInt32 seed) { state_ = seed; }
-
- // Generates a random number from [0, range). Crashes if 'range' is
- // 0 or greater than kMaxRange.
- UInt32 Generate(UInt32 range);
-
- private:
- UInt32 state_;
- GTEST_DISALLOW_COPY_AND_ASSIGN_(Random);
-};
-
-// Defining a variable of type CompileAssertTypesEqual<T1, T2> will cause a
-// compiler error iff T1 and T2 are different types.
-template <typename T1, typename T2>
-struct CompileAssertTypesEqual;
-
-template <typename T>
-struct CompileAssertTypesEqual<T, T> {
-};
-
-// Removes the reference from a type if it is a reference type,
-// otherwise leaves it unchanged. This is the same as
-// tr1::remove_reference, which is not widely available yet.
-template <typename T>
-struct RemoveReference { typedef T type; }; // NOLINT
-template <typename T>
-struct RemoveReference<T&> { typedef T type; }; // NOLINT
-
-// A handy wrapper around RemoveReference that works when the argument
-// T depends on template parameters.
-#define GTEST_REMOVE_REFERENCE_(T) \
- typename ::testing::internal::RemoveReference<T>::type
-
-// Removes const from a type if it is a const type, otherwise leaves
-// it unchanged. This is the same as tr1::remove_const, which is not
-// widely available yet.
-template <typename T>
-struct RemoveConst { typedef T type; }; // NOLINT
-template <typename T>
-struct RemoveConst<const T> { typedef T type; }; // NOLINT
-
-// MSVC 8.0, Sun C++, and IBM XL C++ have a bug which causes the above
-// definition to fail to remove the const in 'const int[3]' and 'const
-// char[3][4]'. The following specialization works around the bug.
-// However, it causes trouble with GCC and thus needs to be
-// conditionally compiled.
-#if defined(_MSC_VER) || defined(__SUNPRO_CC) || defined(__IBMCPP__)
-template <typename T, size_t N>
-struct RemoveConst<const T[N]> {
- typedef typename RemoveConst<T>::type type[N];
-};
-#endif
-
-// A handy wrapper around RemoveConst that works when the argument
-// T depends on template parameters.
-#define GTEST_REMOVE_CONST_(T) \
- typename ::testing::internal::RemoveConst<T>::type
-
-// Turns const U&, U&, const U, and U all into U.
-#define GTEST_REMOVE_REFERENCE_AND_CONST_(T) \
- GTEST_REMOVE_CONST_(GTEST_REMOVE_REFERENCE_(T))
-
-// Adds reference to a type if it is not a reference type,
-// otherwise leaves it unchanged. This is the same as
-// tr1::add_reference, which is not widely available yet.
-template <typename T>
-struct AddReference { typedef T& type; }; // NOLINT
-template <typename T>
-struct AddReference<T&> { typedef T& type; }; // NOLINT
-
-// A handy wrapper around AddReference that works when the argument T
-// depends on template parameters.
-#define GTEST_ADD_REFERENCE_(T) \
- typename ::testing::internal::AddReference<T>::type
-
-// Adds a reference to const on top of T as necessary. For example,
-// it transforms
-//
-// char ==> const char&
-// const char ==> const char&
-// char& ==> const char&
-// const char& ==> const char&
-//
-// The argument T must depend on some template parameters.
-#define GTEST_REFERENCE_TO_CONST_(T) \
- GTEST_ADD_REFERENCE_(const GTEST_REMOVE_REFERENCE_(T))
-
-// ImplicitlyConvertible<From, To>::value is a compile-time bool
-// constant that's true iff type From can be implicitly converted to
-// type To.
-template <typename From, typename To>
-class ImplicitlyConvertible {
- private:
- // We need the following helper functions only for their types.
- // They have no implementations.
-
- // MakeFrom() is an expression whose type is From. We cannot simply
- // use From(), as the type From may not have a public default
- // constructor.
- static From MakeFrom();
-
- // These two functions are overloaded. Given an expression
- // Helper(x), the compiler will pick the first version if x can be
- // implicitly converted to type To; otherwise it will pick the
- // second version.
- //
- // The first version returns a value of size 1, and the second
- // version returns a value of size 2. Therefore, by checking the
- // size of Helper(x), which can be done at compile time, we can tell
- // which version of Helper() is used, and hence whether x can be
- // implicitly converted to type To.
- static char Helper(To);
- static char (&Helper(...))[2]; // NOLINT
-
- // We have to put the 'public' section after the 'private' section,
- // or MSVC refuses to compile the code.
- public:
- // MSVC warns about implicitly converting from double to int for
- // possible loss of data, so we need to temporarily disable the
- // warning.
-#ifdef _MSC_VER
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4244) // Temporarily disables warning 4244.
-
- static const bool value =
- sizeof(Helper(ImplicitlyConvertible::MakeFrom())) == 1;
-# pragma warning(pop) // Restores the warning state.
-#elif defined(__BORLANDC__)
- // C++Builder cannot use member overload resolution during template
- // instantiation. The simplest workaround is to use its C++0x type traits
- // functions (C++Builder 2009 and above only).
- static const bool value = __is_convertible(From, To);
-#else
- static const bool value =
- sizeof(Helper(ImplicitlyConvertible::MakeFrom())) == 1;
-#endif // _MSV_VER
-};
-template <typename From, typename To>
-const bool ImplicitlyConvertible<From, To>::value;
-
-// IsAProtocolMessage<T>::value is a compile-time bool constant that's
-// true iff T is type ProtocolMessage, proto2::Message, or a subclass
-// of those.
-template <typename T>
-struct IsAProtocolMessage
- : public bool_constant<
- ImplicitlyConvertible<const T*, const ::ProtocolMessage*>::value ||
- ImplicitlyConvertible<const T*, const ::proto2::Message*>::value> {
-};
-
-// When the compiler sees expression IsContainerTest<C>(0), if C is an
-// STL-style container class, the first overload of IsContainerTest
-// will be viable (since both C::iterator* and C::const_iterator* are
-// valid types and NULL can be implicitly converted to them). It will
-// be picked over the second overload as 'int' is a perfect match for
-// the type of argument 0. If C::iterator or C::const_iterator is not
-// a valid type, the first overload is not viable, and the second
-// overload will be picked. Therefore, we can determine whether C is
-// a container class by checking the type of IsContainerTest<C>(0).
-// The value of the expression is insignificant.
-//
-// Note that we look for both C::iterator and C::const_iterator. The
-// reason is that C++ injects the name of a class as a member of the
-// class itself (e.g. you can refer to class iterator as either
-// 'iterator' or 'iterator::iterator'). If we look for C::iterator
-// only, for example, we would mistakenly think that a class named
-// iterator is an STL container.
-//
-// Also note that the simpler approach of overloading
-// IsContainerTest(typename C::const_iterator*) and
-// IsContainerTest(...) doesn't work with Visual Age C++ and Sun C++.
-typedef int IsContainer;
-template <class C>
-IsContainer IsContainerTest(int /* dummy */,
- typename C::iterator* /* it */ = NULL,
- typename C::const_iterator* /* const_it */ = NULL) {
- return 0;
-}
-
-typedef char IsNotContainer;
-template <class C>
-IsNotContainer IsContainerTest(long /* dummy */) { return '\0'; }
-
-// EnableIf<condition>::type is void when 'Cond' is true, and
-// undefined when 'Cond' is false. To use SFINAE to make a function
-// overload only apply when a particular expression is true, add
-// "typename EnableIf<expression>::type* = 0" as the last parameter.
-template<bool> struct EnableIf;
-template<> struct EnableIf<true> { typedef void type; }; // NOLINT
-
-// Utilities for native arrays.
-
-// ArrayEq() compares two k-dimensional native arrays using the
-// elements' operator==, where k can be any integer >= 0. When k is
-// 0, ArrayEq() degenerates into comparing a single pair of values.
-
-template <typename T, typename U>
-bool ArrayEq(const T* lhs, size_t size, const U* rhs);
-
-// This generic version is used when k is 0.
-template <typename T, typename U>
-inline bool ArrayEq(const T& lhs, const U& rhs) { return lhs == rhs; }
-
-// This overload is used when k >= 1.
-template <typename T, typename U, size_t N>
-inline bool ArrayEq(const T(&lhs)[N], const U(&rhs)[N]) {
- return internal::ArrayEq(lhs, N, rhs);
-}
-
-// This helper reduces code bloat. If we instead put its logic inside
-// the previous ArrayEq() function, arrays with different sizes would
-// lead to different copies of the template code.
-template <typename T, typename U>
-bool ArrayEq(const T* lhs, size_t size, const U* rhs) {
- for (size_t i = 0; i != size; i++) {
- if (!internal::ArrayEq(lhs[i], rhs[i]))
- return false;
- }
- return true;
-}
-
-// Finds the first element in the iterator range [begin, end) that
-// equals elem. Element may be a native array type itself.
-template <typename Iter, typename Element>
-Iter ArrayAwareFind(Iter begin, Iter end, const Element& elem) {
- for (Iter it = begin; it != end; ++it) {
- if (internal::ArrayEq(*it, elem))
- return it;
- }
- return end;
-}
-
-// CopyArray() copies a k-dimensional native array using the elements'
-// operator=, where k can be any integer >= 0. When k is 0,
-// CopyArray() degenerates into copying a single value.
-
-template <typename T, typename U>
-void CopyArray(const T* from, size_t size, U* to);
-
-// This generic version is used when k is 0.
-template <typename T, typename U>
-inline void CopyArray(const T& from, U* to) { *to = from; }
-
-// This overload is used when k >= 1.
-template <typename T, typename U, size_t N>
-inline void CopyArray(const T(&from)[N], U(*to)[N]) {
- internal::CopyArray(from, N, *to);
-}
-
-// This helper reduces code bloat. If we instead put its logic inside
-// the previous CopyArray() function, arrays with different sizes
-// would lead to different copies of the template code.
-template <typename T, typename U>
-void CopyArray(const T* from, size_t size, U* to) {
- for (size_t i = 0; i != size; i++) {
- internal::CopyArray(from[i], to + i);
- }
-}
-
-// The relation between an NativeArray object (see below) and the
-// native array it represents.
-enum RelationToSource {
- kReference, // The NativeArray references the native array.
- kCopy // The NativeArray makes a copy of the native array and
- // owns the copy.
-};
-
-// Adapts a native array to a read-only STL-style container. Instead
-// of the complete STL container concept, this adaptor only implements
-// members useful for Google Mock's container matchers. New members
-// should be added as needed. To simplify the implementation, we only
-// support Element being a raw type (i.e. having no top-level const or
-// reference modifier). It's the client's responsibility to satisfy
-// this requirement. Element can be an array type itself (hence
-// multi-dimensional arrays are supported).
-template <typename Element>
-class NativeArray {
- public:
- // STL-style container typedefs.
- typedef Element value_type;
- typedef Element* iterator;
- typedef const Element* const_iterator;
-
- // Constructs from a native array.
- NativeArray(const Element* array, size_t count, RelationToSource relation) {
- Init(array, count, relation);
- }
-
- // Copy constructor.
- NativeArray(const NativeArray& rhs) {
- Init(rhs.array_, rhs.size_, rhs.relation_to_source_);
- }
-
- ~NativeArray() {
- // Ensures that the user doesn't instantiate NativeArray with a
- // const or reference type.
- static_cast<void>(StaticAssertTypeEqHelper<Element,
- GTEST_REMOVE_REFERENCE_AND_CONST_(Element)>());
- if (relation_to_source_ == kCopy)
- delete[] array_;
- }
-
- // STL-style container methods.
- size_t size() const { return size_; }
- const_iterator begin() const { return array_; }
- const_iterator end() const { return array_ + size_; }
- bool operator==(const NativeArray& rhs) const {
- return size() == rhs.size() &&
- ArrayEq(begin(), size(), rhs.begin());
- }
-
- private:
- // Initializes this object; makes a copy of the input array if
- // 'relation' is kCopy.
- void Init(const Element* array, size_t a_size, RelationToSource relation) {
- if (relation == kReference) {
- array_ = array;
- } else {
- Element* const copy = new Element[a_size];
- CopyArray(array, a_size, copy);
- array_ = copy;
- }
- size_ = a_size;
- relation_to_source_ = relation;
- }
-
- const Element* array_;
- size_t size_;
- RelationToSource relation_to_source_;
-
- GTEST_DISALLOW_ASSIGN_(NativeArray);
-};
-
-} // namespace internal
-} // namespace testing
-
-#define GTEST_MESSAGE_AT_(file, line, message, result_type) \
- ::testing::internal::AssertHelper(result_type, file, line, message) \
- = ::testing::Message()
-
-#define GTEST_MESSAGE_(message, result_type) \
- GTEST_MESSAGE_AT_(__FILE__, __LINE__, message, result_type)
-
-#define GTEST_FATAL_FAILURE_(message) \
- return GTEST_MESSAGE_(message, ::testing::TestPartResult::kFatalFailure)
-
-#define GTEST_NONFATAL_FAILURE_(message) \
- GTEST_MESSAGE_(message, ::testing::TestPartResult::kNonFatalFailure)
-
-#define GTEST_SUCCESS_(message) \
- GTEST_MESSAGE_(message, ::testing::TestPartResult::kSuccess)
-
-// Suppresses MSVC warnings 4072 (unreachable code) for the code following
-// statement if it returns or throws (or doesn't return or throw in some
-// situations).
-#define GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement) \
- if (::testing::internal::AlwaysTrue()) { statement; }
-
-#define GTEST_TEST_THROW_(statement, expected_exception, fail) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::ConstCharPtr gtest_msg = "") { \
- bool gtest_caught_expected = false; \
- try { \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
- } \
- catch (expected_exception const&) { \
- gtest_caught_expected = true; \
- } \
- catch (...) { \
- gtest_msg.value = \
- "Expected: " #statement " throws an exception of type " \
- #expected_exception ".\n Actual: it throws a different type."; \
- goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
- } \
- if (!gtest_caught_expected) { \
- gtest_msg.value = \
- "Expected: " #statement " throws an exception of type " \
- #expected_exception ".\n Actual: it throws nothing."; \
- goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
- } \
- } else \
- GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__): \
- fail(gtest_msg.value)
-
-#define GTEST_TEST_NO_THROW_(statement, fail) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::AlwaysTrue()) { \
- try { \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
- } \
- catch (...) { \
- goto GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__); \
- } \
- } else \
- GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__): \
- fail("Expected: " #statement " doesn't throw an exception.\n" \
- " Actual: it throws.")
-
-#define GTEST_TEST_ANY_THROW_(statement, fail) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::AlwaysTrue()) { \
- bool gtest_caught_any = false; \
- try { \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
- } \
- catch (...) { \
- gtest_caught_any = true; \
- } \
- if (!gtest_caught_any) { \
- goto GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__); \
- } \
- } else \
- GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__): \
- fail("Expected: " #statement " throws an exception.\n" \
- " Actual: it doesn't.")
-
-
-// Implements Boolean test assertions such as EXPECT_TRUE. expression can be
-// either a boolean expression or an AssertionResult. text is a textual
-// represenation of expression as it was passed into the EXPECT_TRUE.
-#define GTEST_TEST_BOOLEAN_(expression, text, actual, expected, fail) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (const ::testing::AssertionResult gtest_ar_ = \
- ::testing::AssertionResult(expression)) \
- ; \
- else \
- fail(::testing::internal::GetBoolAssertionFailureMessage(\
- gtest_ar_, text, #actual, #expected).c_str())
-
-#define GTEST_TEST_NO_FATAL_FAILURE_(statement, fail) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::AlwaysTrue()) { \
- ::testing::internal::HasNewFatalFailureHelper gtest_fatal_failure_checker; \
- GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
- if (gtest_fatal_failure_checker.has_new_fatal_failure()) { \
- goto GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__); \
- } \
- } else \
- GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__): \
- fail("Expected: " #statement " doesn't generate new fatal " \
- "failures in the current thread.\n" \
- " Actual: it does.")
-
-// Expands to the name of the class that implements the given test.
-#define GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
- test_case_name##_##test_name##_Test
-
-// Helper macro for defining tests.
-#define GTEST_TEST_(test_case_name, test_name, parent_class, parent_id)\
-class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) : public parent_class {\
- public:\
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {}\
- private:\
- virtual void TestBody();\
- static ::testing::TestInfo* const test_info_ GTEST_ATTRIBUTE_UNUSED_;\
- GTEST_DISALLOW_COPY_AND_ASSIGN_(\
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name));\
-};\
-\
-::testing::TestInfo* const GTEST_TEST_CLASS_NAME_(test_case_name, test_name)\
- ::test_info_ =\
- ::testing::internal::MakeAndRegisterTestInfo(\
- #test_case_name, #test_name, NULL, NULL, \
- (parent_id), \
- parent_class::SetUpTestCase, \
- parent_class::TearDownTestCase, \
- new ::testing::internal::TestFactoryImpl<\
- GTEST_TEST_CLASS_NAME_(test_case_name, test_name)>);\
-void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+++ /dev/null
-// Copyright 2003 Google 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 Google 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.
-//
-// Authors: Dan Egnor (egnor@google.com)
-//
-// A "smart" pointer type with reference tracking. Every pointer to a
-// particular object is kept on a circular linked list. When the last pointer
-// to an object is destroyed or reassigned, the object is deleted.
-//
-// Used properly, this deletes the object when the last reference goes away.
-// There are several caveats:
-// - Like all reference counting schemes, cycles lead to leaks.
-// - Each smart pointer is actually two pointers (8 bytes instead of 4).
-// - Every time a pointer is assigned, the entire list of pointers to that
-// object is traversed. This class is therefore NOT SUITABLE when there
-// will often be more than two or three pointers to a particular object.
-// - References are only tracked as long as linked_ptr<> objects are copied.
-// If a linked_ptr<> is converted to a raw pointer and back, BAD THINGS
-// will happen (double deletion).
-//
-// A good use of this class is storing object references in STL containers.
-// You can safely put linked_ptr<> in a vector<>.
-// Other uses may not be as good.
-//
-// Note: If you use an incomplete type with linked_ptr<>, the class
-// *containing* linked_ptr<> must have a constructor and destructor (even
-// if they do nothing!).
-//
-// Bill Gibbons suggested we use something like this.
-//
-// Thread Safety:
-// Unlike other linked_ptr implementations, in this implementation
-// a linked_ptr object is thread-safe in the sense that:
-// - it's safe to copy linked_ptr objects concurrently,
-// - it's safe to copy *from* a linked_ptr and read its underlying
-// raw pointer (e.g. via get()) concurrently, and
-// - it's safe to write to two linked_ptrs that point to the same
-// shared object concurrently.
-// TODO(wan@google.com): rename this to safe_linked_ptr to avoid
-// confusion with normal linked_ptr.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
-
-#include <stdlib.h>
-#include <assert.h>
-
-#include "gtest/internal/gtest-port.h"
-
-namespace testing {
-namespace internal {
-
-// Protects copying of all linked_ptr objects.
-GTEST_API_ GTEST_DECLARE_STATIC_MUTEX_(g_linked_ptr_mutex);
-
-// This is used internally by all instances of linked_ptr<>. It needs to be
-// a non-template class because different types of linked_ptr<> can refer to
-// the same object (linked_ptr<Superclass>(obj) vs linked_ptr<Subclass>(obj)).
-// So, it needs to be possible for different types of linked_ptr to participate
-// in the same circular linked list, so we need a single class type here.
-//
-// DO NOT USE THIS CLASS DIRECTLY YOURSELF. Use linked_ptr<T>.
-class linked_ptr_internal {
- public:
- // Create a new circle that includes only this instance.
- void join_new() {
- next_ = this;
- }
-
- // Many linked_ptr operations may change p.link_ for some linked_ptr
- // variable p in the same circle as this object. Therefore we need
- // to prevent two such operations from occurring concurrently.
- //
- // Note that different types of linked_ptr objects can coexist in a
- // circle (e.g. linked_ptr<Base>, linked_ptr<Derived1>, and
- // linked_ptr<Derived2>). Therefore we must use a single mutex to
- // protect all linked_ptr objects. This can create serious
- // contention in production code, but is acceptable in a testing
- // framework.
-
- // Join an existing circle.
- // L < g_linked_ptr_mutex
- void join(linked_ptr_internal const* ptr) {
- MutexLock lock(&g_linked_ptr_mutex);
-
- linked_ptr_internal const* p = ptr;
- while (p->next_ != ptr) p = p->next_;
- p->next_ = this;
- next_ = ptr;
- }
-
- // Leave whatever circle we're part of. Returns true if we were the
- // last member of the circle. Once this is done, you can join() another.
- // L < g_linked_ptr_mutex
- bool depart() {
- MutexLock lock(&g_linked_ptr_mutex);
-
- if (next_ == this) return true;
- linked_ptr_internal const* p = next_;
- while (p->next_ != this) p = p->next_;
- p->next_ = next_;
- return false;
- }
-
- private:
- mutable linked_ptr_internal const* next_;
-};
-
-template <typename T>
-class linked_ptr {
- public:
- typedef T element_type;
-
- // Take over ownership of a raw pointer. This should happen as soon as
- // possible after the object is created.
- explicit linked_ptr(T* ptr = NULL) { capture(ptr); }
- ~linked_ptr() { depart(); }
-
- // Copy an existing linked_ptr<>, adding ourselves to the list of references.
- template <typename U> linked_ptr(linked_ptr<U> const& ptr) { copy(&ptr); }
- linked_ptr(linked_ptr const& ptr) { // NOLINT
- assert(&ptr != this);
- copy(&ptr);
- }
-
- // Assignment releases the old value and acquires the new.
- template <typename U> linked_ptr& operator=(linked_ptr<U> const& ptr) {
- depart();
- copy(&ptr);
- return *this;
- }
-
- linked_ptr& operator=(linked_ptr const& ptr) {
- if (&ptr != this) {
- depart();
- copy(&ptr);
- }
- return *this;
- }
-
- // Smart pointer members.
- void reset(T* ptr = NULL) {
- depart();
- capture(ptr);
- }
- T* get() const { return value_; }
- T* operator->() const { return value_; }
- T& operator*() const { return *value_; }
-
- bool operator==(T* p) const { return value_ == p; }
- bool operator!=(T* p) const { return value_ != p; }
- template <typename U>
- bool operator==(linked_ptr<U> const& ptr) const {
- return value_ == ptr.get();
- }
- template <typename U>
- bool operator!=(linked_ptr<U> const& ptr) const {
- return value_ != ptr.get();
- }
-
- private:
- template <typename U>
- friend class linked_ptr;
-
- T* value_;
- linked_ptr_internal link_;
-
- void depart() {
- if (link_.depart()) delete value_;
- }
-
- void capture(T* ptr) {
- value_ = ptr;
- link_.join_new();
- }
-
- template <typename U> void copy(linked_ptr<U> const* ptr) {
- value_ = ptr->get();
- if (value_)
- link_.join(&ptr->link_);
- else
- link_.join_new();
- }
-};
-
-template<typename T> inline
-bool operator==(T* ptr, const linked_ptr<T>& x) {
- return ptr == x.get();
-}
-
-template<typename T> inline
-bool operator!=(T* ptr, const linked_ptr<T>& x) {
- return ptr != x.get();
-}
-
-// A function to convert T* into linked_ptr<T>
-// Doing e.g. make_linked_ptr(new FooBarBaz<type>(arg)) is a shorter notation
-// for linked_ptr<FooBarBaz<type> >(new FooBarBaz<type>(arg))
-template <typename T>
-linked_ptr<T> make_linked_ptr(T* ptr) {
- return linked_ptr<T>(ptr);
-}
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+++ /dev/null
-// This file was GENERATED by command:
-// pump.py gtest-param-util-generated.h.pump
-// DO NOT EDIT BY HAND!!!
-
-// Copyright 2008 Google 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 Google 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.
-//
-// Author: vladl@google.com (Vlad Losev)
-
-// Type and function utilities for implementing parameterized tests.
-// This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
-//
-// Currently Google Test supports at most 50 arguments in Values,
-// and at most 10 arguments in Combine. Please contact
-// googletestframework@googlegroups.com if you need more.
-// Please note that the number of arguments to Combine is limited
-// by the maximum arity of the implementation of tr1::tuple which is
-// currently set at 10.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
-
-// scripts/fuse_gtest.py depends on gtest's own header being #included
-// *unconditionally*. Therefore these #includes cannot be moved
-// inside #if GTEST_HAS_PARAM_TEST.
-#include "gtest/internal/gtest-param-util.h"
-#include "gtest/internal/gtest-port.h"
-
-#if GTEST_HAS_PARAM_TEST
-
-namespace testing {
-
-// Forward declarations of ValuesIn(), which is implemented in
-// include/gtest/gtest-param-test.h.
-template <typename ForwardIterator>
-internal::ParamGenerator<
- typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
-ValuesIn(ForwardIterator begin, ForwardIterator end);
-
-template <typename T, size_t N>
-internal::ParamGenerator<T> ValuesIn(const T (&array)[N]);
-
-template <class Container>
-internal::ParamGenerator<typename Container::value_type> ValuesIn(
- const Container& container);
-
-namespace internal {
-
-// Used in the Values() function to provide polymorphic capabilities.
-template <typename T1>
-class ValueArray1 {
- public:
- explicit ValueArray1(T1 v1) : v1_(v1) {}
-
- template <typename T>
- operator ParamGenerator<T>() const { return ValuesIn(&v1_, &v1_ + 1); }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray1& other);
-
- const T1 v1_;
-};
-
-template <typename T1, typename T2>
-class ValueArray2 {
- public:
- ValueArray2(T1 v1, T2 v2) : v1_(v1), v2_(v2) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray2& other);
-
- const T1 v1_;
- const T2 v2_;
-};
-
-template <typename T1, typename T2, typename T3>
-class ValueArray3 {
- public:
- ValueArray3(T1 v1, T2 v2, T3 v3) : v1_(v1), v2_(v2), v3_(v3) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray3& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4>
-class ValueArray4 {
- public:
- ValueArray4(T1 v1, T2 v2, T3 v3, T4 v4) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray4& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5>
-class ValueArray5 {
- public:
- ValueArray5(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4), v5_(v5) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray5& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
-class ValueArray6 {
- public:
- ValueArray6(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6) : v1_(v1), v2_(v2),
- v3_(v3), v4_(v4), v5_(v5), v6_(v6) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray6& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
-class ValueArray7 {
- public:
- ValueArray7(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7) : v1_(v1),
- v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray7& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
-class ValueArray8 {
- public:
- ValueArray8(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
- T8 v8) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray8& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
-class ValueArray9 {
- public:
- ValueArray9(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
- T9 v9) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray9& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
-class ValueArray10 {
- public:
- ValueArray10(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray10& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11>
-class ValueArray11 {
- public:
- ValueArray11(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
- v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray11& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12>
-class ValueArray12 {
- public:
- ValueArray12(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
- v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray12& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13>
-class ValueArray13 {
- public:
- ValueArray13(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
- v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
- v12_(v12), v13_(v13) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray13& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14>
-class ValueArray14 {
- public:
- ValueArray14(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray14& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15>
-class ValueArray15 {
- public:
- ValueArray15(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) : v1_(v1), v2_(v2),
- v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray15& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16>
-class ValueArray16 {
- public:
- ValueArray16(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16) : v1_(v1),
- v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
- v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
- v16_(v16) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray16& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17>
-class ValueArray17 {
- public:
- ValueArray17(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
- T17 v17) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray17& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18>
-class ValueArray18 {
- public:
- ValueArray18(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray18& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19>
-class ValueArray19 {
- public:
- ValueArray19(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
- v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
- v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray19& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20>
-class ValueArray20 {
- public:
- ValueArray20(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
- v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
- v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
- v19_(v19), v20_(v20) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray20& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21>
-class ValueArray21 {
- public:
- ValueArray21(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
- v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
- v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
- v18_(v18), v19_(v19), v20_(v20), v21_(v21) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray21& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22>
-class ValueArray22 {
- public:
- ValueArray22(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray22& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23>
-class ValueArray23 {
- public:
- ValueArray23(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23) : v1_(v1), v2_(v2),
- v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_,
- v23_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray23& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24>
-class ValueArray24 {
- public:
- ValueArray24(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24) : v1_(v1),
- v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
- v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
- v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
- v22_(v22), v23_(v23), v24_(v24) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray24& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25>
-class ValueArray25 {
- public:
- ValueArray25(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
- T25 v25) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray25& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26>
-class ValueArray26 {
- public:
- ValueArray26(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray26& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27>
-class ValueArray27 {
- public:
- ValueArray27(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
- v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
- v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
- v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
- v26_(v26), v27_(v27) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray27& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28>
-class ValueArray28 {
- public:
- ValueArray28(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
- v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
- v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
- v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
- v25_(v25), v26_(v26), v27_(v27), v28_(v28) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray28& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29>
-class ValueArray29 {
- public:
- ValueArray29(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
- v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
- v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
- v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
- v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray29& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30>
-class ValueArray30 {
- public:
- ValueArray30(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
- v29_(v29), v30_(v30) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray30& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31>
-class ValueArray31 {
- public:
- ValueArray31(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) : v1_(v1), v2_(v2),
- v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
- v29_(v29), v30_(v30), v31_(v31) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray31& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32>
-class ValueArray32 {
- public:
- ValueArray32(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32) : v1_(v1),
- v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
- v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
- v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
- v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
- v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray32& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33>
-class ValueArray33 {
- public:
- ValueArray33(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
- T33 v33) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
- v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
- v33_(v33) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray33& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34>
-class ValueArray34 {
- public:
- ValueArray34(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
- v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
- v33_(v33), v34_(v34) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray34& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35>
-class ValueArray35 {
- public:
- ValueArray35(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
- v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
- v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
- v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
- v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
- v32_(v32), v33_(v33), v34_(v34), v35_(v35) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_,
- v35_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray35& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36>
-class ValueArray36 {
- public:
- ValueArray36(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
- v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
- v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
- v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
- v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
- v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray36& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37>
-class ValueArray37 {
- public:
- ValueArray37(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
- v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
- v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
- v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
- v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
- v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
- v36_(v36), v37_(v37) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray37& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38>
-class ValueArray38 {
- public:
- ValueArray38(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
- v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
- v35_(v35), v36_(v36), v37_(v37), v38_(v38) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray38& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39>
-class ValueArray39 {
- public:
- ValueArray39(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39) : v1_(v1), v2_(v2),
- v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
- v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
- v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray39& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40>
-class ValueArray40 {
- public:
- ValueArray40(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) : v1_(v1),
- v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
- v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
- v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
- v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
- v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
- v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
- v40_(v40) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray40& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41>
-class ValueArray41 {
- public:
- ValueArray41(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
- T41 v41) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
- v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
- v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
- v39_(v39), v40_(v40), v41_(v41) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray41& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42>
-class ValueArray42 {
- public:
- ValueArray42(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
- v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
- v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
- v39_(v39), v40_(v40), v41_(v41), v42_(v42) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray42& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43>
-class ValueArray43 {
- public:
- ValueArray43(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
- v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
- v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
- v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
- v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
- v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37),
- v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray43& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44>
-class ValueArray44 {
- public:
- ValueArray44(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
- v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
- v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
- v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
- v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
- v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36),
- v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42),
- v43_(v43), v44_(v44) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray44& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45>
-class ValueArray45 {
- public:
- ValueArray45(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44, T45 v45) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
- v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
- v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
- v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
- v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
- v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
- v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41),
- v42_(v42), v43_(v43), v44_(v44), v45_(v45) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray45& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
- const T45 v45_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46>
-class ValueArray46 {
- public:
- ValueArray46(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) : v1_(v1), v2_(v2), v3_(v3),
- v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
- v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
- v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
- v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray46& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
- const T45 v45_;
- const T46 v46_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47>
-class ValueArray47 {
- public:
- ValueArray47(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) : v1_(v1), v2_(v2),
- v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
- v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
- v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
- v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
- v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
- v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
- v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46),
- v47_(v47) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_,
- v47_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray47& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
- const T45 v45_;
- const T46 v46_;
- const T47 v47_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48>
-class ValueArray48 {
- public:
- ValueArray48(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48) : v1_(v1),
- v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
- v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
- v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
- v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
- v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
- v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
- v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45),
- v46_(v46), v47_(v47), v48_(v48) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_, v47_,
- v48_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray48& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
- const T45 v45_;
- const T46 v46_;
- const T47 v47_;
- const T48 v48_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49>
-class ValueArray49 {
- public:
- ValueArray49(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48,
- T49 v49) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
- v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
- v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
- v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
- v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_, v47_,
- v48_, v49_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray49& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
- const T45 v45_;
- const T46 v46_;
- const T47 v47_;
- const T48 v48_;
- const T49 v49_;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49, typename T50>
-class ValueArray50 {
- public:
- ValueArray50(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
- T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
- T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
- T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
- T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
- T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48, T49 v49,
- T50 v50) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
- v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
- v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
- v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
- v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
- v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
- v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
- v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49), v50_(v50) {}
-
- template <typename T>
- operator ParamGenerator<T>() const {
- const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
- v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
- v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
- v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_, v47_,
- v48_, v49_, v50_};
- return ValuesIn(array);
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const ValueArray50& other);
-
- const T1 v1_;
- const T2 v2_;
- const T3 v3_;
- const T4 v4_;
- const T5 v5_;
- const T6 v6_;
- const T7 v7_;
- const T8 v8_;
- const T9 v9_;
- const T10 v10_;
- const T11 v11_;
- const T12 v12_;
- const T13 v13_;
- const T14 v14_;
- const T15 v15_;
- const T16 v16_;
- const T17 v17_;
- const T18 v18_;
- const T19 v19_;
- const T20 v20_;
- const T21 v21_;
- const T22 v22_;
- const T23 v23_;
- const T24 v24_;
- const T25 v25_;
- const T26 v26_;
- const T27 v27_;
- const T28 v28_;
- const T29 v29_;
- const T30 v30_;
- const T31 v31_;
- const T32 v32_;
- const T33 v33_;
- const T34 v34_;
- const T35 v35_;
- const T36 v36_;
- const T37 v37_;
- const T38 v38_;
- const T39 v39_;
- const T40 v40_;
- const T41 v41_;
- const T42 v42_;
- const T43 v43_;
- const T44 v44_;
- const T45 v45_;
- const T46 v46_;
- const T47 v47_;
- const T48 v48_;
- const T49 v49_;
- const T50 v50_;
-};
-
-# if GTEST_HAS_COMBINE
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Generates values from the Cartesian product of values produced
-// by the argument generators.
-//
-template <typename T1, typename T2>
-class CartesianProductGenerator2
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2> > {
- public:
- typedef ::std::tr1::tuple<T1, T2> ParamType;
-
- CartesianProductGenerator2(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2)
- : g1_(g1), g2_(g2) {}
- virtual ~CartesianProductGenerator2() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current2_;
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- ParamType current_value_;
- }; // class CartesianProductGenerator2::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator2& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
-}; // class CartesianProductGenerator2
-
-
-template <typename T1, typename T2, typename T3>
-class CartesianProductGenerator3
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3> ParamType;
-
- CartesianProductGenerator3(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3)
- : g1_(g1), g2_(g2), g3_(g3) {}
- virtual ~CartesianProductGenerator3() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current3_;
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- ParamType current_value_;
- }; // class CartesianProductGenerator3::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator3& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
-}; // class CartesianProductGenerator3
-
-
-template <typename T1, typename T2, typename T3, typename T4>
-class CartesianProductGenerator4
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4> ParamType;
-
- CartesianProductGenerator4(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
- virtual ~CartesianProductGenerator4() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current4_;
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- ParamType current_value_;
- }; // class CartesianProductGenerator4::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator4& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
-}; // class CartesianProductGenerator4
-
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5>
-class CartesianProductGenerator5
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4, T5> ParamType;
-
- CartesianProductGenerator5(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
- virtual ~CartesianProductGenerator5() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end(), g5_, g5_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4,
- const ParamGenerator<T5>& g5,
- const typename ParamGenerator<T5>::iterator& current5)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
- begin5_(g5.begin()), end5_(g5.end()), current5_(current5) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current5_;
- if (current5_ == end5_) {
- current5_ = begin5_;
- ++current4_;
- }
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_ &&
- current5_ == typed_other->current5_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_),
- begin5_(other.begin5_),
- end5_(other.end5_),
- current5_(other.current5_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_, *current5_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_ ||
- current5_ == end5_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- const typename ParamGenerator<T5>::iterator begin5_;
- const typename ParamGenerator<T5>::iterator end5_;
- typename ParamGenerator<T5>::iterator current5_;
- ParamType current_value_;
- }; // class CartesianProductGenerator5::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator5& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
- const ParamGenerator<T5> g5_;
-}; // class CartesianProductGenerator5
-
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
-class CartesianProductGenerator6
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5,
- T6> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6> ParamType;
-
- CartesianProductGenerator6(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
- const ParamGenerator<T6>& g6)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
- virtual ~CartesianProductGenerator6() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4,
- const ParamGenerator<T5>& g5,
- const typename ParamGenerator<T5>::iterator& current5,
- const ParamGenerator<T6>& g6,
- const typename ParamGenerator<T6>::iterator& current6)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
- begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
- begin6_(g6.begin()), end6_(g6.end()), current6_(current6) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current6_;
- if (current6_ == end6_) {
- current6_ = begin6_;
- ++current5_;
- }
- if (current5_ == end5_) {
- current5_ = begin5_;
- ++current4_;
- }
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_ &&
- current5_ == typed_other->current5_ &&
- current6_ == typed_other->current6_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_),
- begin5_(other.begin5_),
- end5_(other.end5_),
- current5_(other.current5_),
- begin6_(other.begin6_),
- end6_(other.end6_),
- current6_(other.current6_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_, *current5_, *current6_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_ ||
- current5_ == end5_ ||
- current6_ == end6_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- const typename ParamGenerator<T5>::iterator begin5_;
- const typename ParamGenerator<T5>::iterator end5_;
- typename ParamGenerator<T5>::iterator current5_;
- const typename ParamGenerator<T6>::iterator begin6_;
- const typename ParamGenerator<T6>::iterator end6_;
- typename ParamGenerator<T6>::iterator current6_;
- ParamType current_value_;
- }; // class CartesianProductGenerator6::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator6& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
- const ParamGenerator<T5> g5_;
- const ParamGenerator<T6> g6_;
-}; // class CartesianProductGenerator6
-
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
-class CartesianProductGenerator7
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
- T7> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7> ParamType;
-
- CartesianProductGenerator7(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
- const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
- virtual ~CartesianProductGenerator7() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
- g7_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4,
- const ParamGenerator<T5>& g5,
- const typename ParamGenerator<T5>::iterator& current5,
- const ParamGenerator<T6>& g6,
- const typename ParamGenerator<T6>::iterator& current6,
- const ParamGenerator<T7>& g7,
- const typename ParamGenerator<T7>::iterator& current7)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
- begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
- begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
- begin7_(g7.begin()), end7_(g7.end()), current7_(current7) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current7_;
- if (current7_ == end7_) {
- current7_ = begin7_;
- ++current6_;
- }
- if (current6_ == end6_) {
- current6_ = begin6_;
- ++current5_;
- }
- if (current5_ == end5_) {
- current5_ = begin5_;
- ++current4_;
- }
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_ &&
- current5_ == typed_other->current5_ &&
- current6_ == typed_other->current6_ &&
- current7_ == typed_other->current7_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_),
- begin5_(other.begin5_),
- end5_(other.end5_),
- current5_(other.current5_),
- begin6_(other.begin6_),
- end6_(other.end6_),
- current6_(other.current6_),
- begin7_(other.begin7_),
- end7_(other.end7_),
- current7_(other.current7_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_, *current5_, *current6_, *current7_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_ ||
- current5_ == end5_ ||
- current6_ == end6_ ||
- current7_ == end7_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- const typename ParamGenerator<T5>::iterator begin5_;
- const typename ParamGenerator<T5>::iterator end5_;
- typename ParamGenerator<T5>::iterator current5_;
- const typename ParamGenerator<T6>::iterator begin6_;
- const typename ParamGenerator<T6>::iterator end6_;
- typename ParamGenerator<T6>::iterator current6_;
- const typename ParamGenerator<T7>::iterator begin7_;
- const typename ParamGenerator<T7>::iterator end7_;
- typename ParamGenerator<T7>::iterator current7_;
- ParamType current_value_;
- }; // class CartesianProductGenerator7::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator7& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
- const ParamGenerator<T5> g5_;
- const ParamGenerator<T6> g6_;
- const ParamGenerator<T7> g7_;
-}; // class CartesianProductGenerator7
-
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
-class CartesianProductGenerator8
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
- T7, T8> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8> ParamType;
-
- CartesianProductGenerator8(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
- const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
- const ParamGenerator<T8>& g8)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
- g8_(g8) {}
- virtual ~CartesianProductGenerator8() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
- g7_.begin(), g8_, g8_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
- g8_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4,
- const ParamGenerator<T5>& g5,
- const typename ParamGenerator<T5>::iterator& current5,
- const ParamGenerator<T6>& g6,
- const typename ParamGenerator<T6>::iterator& current6,
- const ParamGenerator<T7>& g7,
- const typename ParamGenerator<T7>::iterator& current7,
- const ParamGenerator<T8>& g8,
- const typename ParamGenerator<T8>::iterator& current8)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
- begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
- begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
- begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
- begin8_(g8.begin()), end8_(g8.end()), current8_(current8) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current8_;
- if (current8_ == end8_) {
- current8_ = begin8_;
- ++current7_;
- }
- if (current7_ == end7_) {
- current7_ = begin7_;
- ++current6_;
- }
- if (current6_ == end6_) {
- current6_ = begin6_;
- ++current5_;
- }
- if (current5_ == end5_) {
- current5_ = begin5_;
- ++current4_;
- }
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_ &&
- current5_ == typed_other->current5_ &&
- current6_ == typed_other->current6_ &&
- current7_ == typed_other->current7_ &&
- current8_ == typed_other->current8_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_),
- begin5_(other.begin5_),
- end5_(other.end5_),
- current5_(other.current5_),
- begin6_(other.begin6_),
- end6_(other.end6_),
- current6_(other.current6_),
- begin7_(other.begin7_),
- end7_(other.end7_),
- current7_(other.current7_),
- begin8_(other.begin8_),
- end8_(other.end8_),
- current8_(other.current8_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_, *current5_, *current6_, *current7_, *current8_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_ ||
- current5_ == end5_ ||
- current6_ == end6_ ||
- current7_ == end7_ ||
- current8_ == end8_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- const typename ParamGenerator<T5>::iterator begin5_;
- const typename ParamGenerator<T5>::iterator end5_;
- typename ParamGenerator<T5>::iterator current5_;
- const typename ParamGenerator<T6>::iterator begin6_;
- const typename ParamGenerator<T6>::iterator end6_;
- typename ParamGenerator<T6>::iterator current6_;
- const typename ParamGenerator<T7>::iterator begin7_;
- const typename ParamGenerator<T7>::iterator end7_;
- typename ParamGenerator<T7>::iterator current7_;
- const typename ParamGenerator<T8>::iterator begin8_;
- const typename ParamGenerator<T8>::iterator end8_;
- typename ParamGenerator<T8>::iterator current8_;
- ParamType current_value_;
- }; // class CartesianProductGenerator8::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator8& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
- const ParamGenerator<T5> g5_;
- const ParamGenerator<T6> g6_;
- const ParamGenerator<T7> g7_;
- const ParamGenerator<T8> g8_;
-}; // class CartesianProductGenerator8
-
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
-class CartesianProductGenerator9
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
- T7, T8, T9> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9> ParamType;
-
- CartesianProductGenerator9(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
- const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
- const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
- g9_(g9) {}
- virtual ~CartesianProductGenerator9() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
- g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
- g8_.end(), g9_, g9_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4,
- const ParamGenerator<T5>& g5,
- const typename ParamGenerator<T5>::iterator& current5,
- const ParamGenerator<T6>& g6,
- const typename ParamGenerator<T6>::iterator& current6,
- const ParamGenerator<T7>& g7,
- const typename ParamGenerator<T7>::iterator& current7,
- const ParamGenerator<T8>& g8,
- const typename ParamGenerator<T8>::iterator& current8,
- const ParamGenerator<T9>& g9,
- const typename ParamGenerator<T9>::iterator& current9)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
- begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
- begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
- begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
- begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
- begin9_(g9.begin()), end9_(g9.end()), current9_(current9) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current9_;
- if (current9_ == end9_) {
- current9_ = begin9_;
- ++current8_;
- }
- if (current8_ == end8_) {
- current8_ = begin8_;
- ++current7_;
- }
- if (current7_ == end7_) {
- current7_ = begin7_;
- ++current6_;
- }
- if (current6_ == end6_) {
- current6_ = begin6_;
- ++current5_;
- }
- if (current5_ == end5_) {
- current5_ = begin5_;
- ++current4_;
- }
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_ &&
- current5_ == typed_other->current5_ &&
- current6_ == typed_other->current6_ &&
- current7_ == typed_other->current7_ &&
- current8_ == typed_other->current8_ &&
- current9_ == typed_other->current9_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_),
- begin5_(other.begin5_),
- end5_(other.end5_),
- current5_(other.current5_),
- begin6_(other.begin6_),
- end6_(other.end6_),
- current6_(other.current6_),
- begin7_(other.begin7_),
- end7_(other.end7_),
- current7_(other.current7_),
- begin8_(other.begin8_),
- end8_(other.end8_),
- current8_(other.current8_),
- begin9_(other.begin9_),
- end9_(other.end9_),
- current9_(other.current9_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_, *current5_, *current6_, *current7_, *current8_,
- *current9_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_ ||
- current5_ == end5_ ||
- current6_ == end6_ ||
- current7_ == end7_ ||
- current8_ == end8_ ||
- current9_ == end9_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- const typename ParamGenerator<T5>::iterator begin5_;
- const typename ParamGenerator<T5>::iterator end5_;
- typename ParamGenerator<T5>::iterator current5_;
- const typename ParamGenerator<T6>::iterator begin6_;
- const typename ParamGenerator<T6>::iterator end6_;
- typename ParamGenerator<T6>::iterator current6_;
- const typename ParamGenerator<T7>::iterator begin7_;
- const typename ParamGenerator<T7>::iterator end7_;
- typename ParamGenerator<T7>::iterator current7_;
- const typename ParamGenerator<T8>::iterator begin8_;
- const typename ParamGenerator<T8>::iterator end8_;
- typename ParamGenerator<T8>::iterator current8_;
- const typename ParamGenerator<T9>::iterator begin9_;
- const typename ParamGenerator<T9>::iterator end9_;
- typename ParamGenerator<T9>::iterator current9_;
- ParamType current_value_;
- }; // class CartesianProductGenerator9::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator9& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
- const ParamGenerator<T5> g5_;
- const ParamGenerator<T6> g6_;
- const ParamGenerator<T7> g7_;
- const ParamGenerator<T8> g8_;
- const ParamGenerator<T9> g9_;
-}; // class CartesianProductGenerator9
-
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
-class CartesianProductGenerator10
- : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
- T7, T8, T9, T10> > {
- public:
- typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> ParamType;
-
- CartesianProductGenerator10(const ParamGenerator<T1>& g1,
- const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
- const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
- const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
- const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9,
- const ParamGenerator<T10>& g10)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
- g9_(g9), g10_(g10) {}
- virtual ~CartesianProductGenerator10() {}
-
- virtual ParamIteratorInterface<ParamType>* Begin() const {
- return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
- g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
- g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin(), g10_, g10_.begin());
- }
- virtual ParamIteratorInterface<ParamType>* End() const {
- return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
- g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
- g8_.end(), g9_, g9_.end(), g10_, g10_.end());
- }
-
- private:
- class Iterator : public ParamIteratorInterface<ParamType> {
- public:
- Iterator(const ParamGeneratorInterface<ParamType>* base,
- const ParamGenerator<T1>& g1,
- const typename ParamGenerator<T1>::iterator& current1,
- const ParamGenerator<T2>& g2,
- const typename ParamGenerator<T2>::iterator& current2,
- const ParamGenerator<T3>& g3,
- const typename ParamGenerator<T3>::iterator& current3,
- const ParamGenerator<T4>& g4,
- const typename ParamGenerator<T4>::iterator& current4,
- const ParamGenerator<T5>& g5,
- const typename ParamGenerator<T5>::iterator& current5,
- const ParamGenerator<T6>& g6,
- const typename ParamGenerator<T6>::iterator& current6,
- const ParamGenerator<T7>& g7,
- const typename ParamGenerator<T7>::iterator& current7,
- const ParamGenerator<T8>& g8,
- const typename ParamGenerator<T8>::iterator& current8,
- const ParamGenerator<T9>& g9,
- const typename ParamGenerator<T9>::iterator& current9,
- const ParamGenerator<T10>& g10,
- const typename ParamGenerator<T10>::iterator& current10)
- : base_(base),
- begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
- begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
- begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
- begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
- begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
- begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
- begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
- begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
- begin9_(g9.begin()), end9_(g9.end()), current9_(current9),
- begin10_(g10.begin()), end10_(g10.end()), current10_(current10) {
- ComputeCurrentValue();
- }
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
- return base_;
- }
- // Advance should not be called on beyond-of-range iterators
- // so no component iterators must be beyond end of range, either.
- virtual void Advance() {
- assert(!AtEnd());
- ++current10_;
- if (current10_ == end10_) {
- current10_ = begin10_;
- ++current9_;
- }
- if (current9_ == end9_) {
- current9_ = begin9_;
- ++current8_;
- }
- if (current8_ == end8_) {
- current8_ = begin8_;
- ++current7_;
- }
- if (current7_ == end7_) {
- current7_ = begin7_;
- ++current6_;
- }
- if (current6_ == end6_) {
- current6_ = begin6_;
- ++current5_;
- }
- if (current5_ == end5_) {
- current5_ = begin5_;
- ++current4_;
- }
- if (current4_ == end4_) {
- current4_ = begin4_;
- ++current3_;
- }
- if (current3_ == end3_) {
- current3_ = begin3_;
- ++current2_;
- }
- if (current2_ == end2_) {
- current2_ = begin2_;
- ++current1_;
- }
- ComputeCurrentValue();
- }
- virtual ParamIteratorInterface<ParamType>* Clone() const {
- return new Iterator(*this);
- }
- virtual const ParamType* Current() const { return ¤t_value_; }
- virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const Iterator* typed_other =
- CheckedDowncastToActualType<const Iterator>(&other);
- // We must report iterators equal if they both point beyond their
- // respective ranges. That can happen in a variety of fashions,
- // so we have to consult AtEnd().
- return (AtEnd() && typed_other->AtEnd()) ||
- (
- current1_ == typed_other->current1_ &&
- current2_ == typed_other->current2_ &&
- current3_ == typed_other->current3_ &&
- current4_ == typed_other->current4_ &&
- current5_ == typed_other->current5_ &&
- current6_ == typed_other->current6_ &&
- current7_ == typed_other->current7_ &&
- current8_ == typed_other->current8_ &&
- current9_ == typed_other->current9_ &&
- current10_ == typed_other->current10_);
- }
-
- private:
- Iterator(const Iterator& other)
- : base_(other.base_),
- begin1_(other.begin1_),
- end1_(other.end1_),
- current1_(other.current1_),
- begin2_(other.begin2_),
- end2_(other.end2_),
- current2_(other.current2_),
- begin3_(other.begin3_),
- end3_(other.end3_),
- current3_(other.current3_),
- begin4_(other.begin4_),
- end4_(other.end4_),
- current4_(other.current4_),
- begin5_(other.begin5_),
- end5_(other.end5_),
- current5_(other.current5_),
- begin6_(other.begin6_),
- end6_(other.end6_),
- current6_(other.current6_),
- begin7_(other.begin7_),
- end7_(other.end7_),
- current7_(other.current7_),
- begin8_(other.begin8_),
- end8_(other.end8_),
- current8_(other.current8_),
- begin9_(other.begin9_),
- end9_(other.end9_),
- current9_(other.current9_),
- begin10_(other.begin10_),
- end10_(other.end10_),
- current10_(other.current10_) {
- ComputeCurrentValue();
- }
-
- void ComputeCurrentValue() {
- if (!AtEnd())
- current_value_ = ParamType(*current1_, *current2_, *current3_,
- *current4_, *current5_, *current6_, *current7_, *current8_,
- *current9_, *current10_);
- }
- bool AtEnd() const {
- // We must report iterator past the end of the range when either of the
- // component iterators has reached the end of its range.
- return
- current1_ == end1_ ||
- current2_ == end2_ ||
- current3_ == end3_ ||
- current4_ == end4_ ||
- current5_ == end5_ ||
- current6_ == end6_ ||
- current7_ == end7_ ||
- current8_ == end8_ ||
- current9_ == end9_ ||
- current10_ == end10_;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<ParamType>* const base_;
- // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
- // current[i]_ is the actual traversing iterator.
- const typename ParamGenerator<T1>::iterator begin1_;
- const typename ParamGenerator<T1>::iterator end1_;
- typename ParamGenerator<T1>::iterator current1_;
- const typename ParamGenerator<T2>::iterator begin2_;
- const typename ParamGenerator<T2>::iterator end2_;
- typename ParamGenerator<T2>::iterator current2_;
- const typename ParamGenerator<T3>::iterator begin3_;
- const typename ParamGenerator<T3>::iterator end3_;
- typename ParamGenerator<T3>::iterator current3_;
- const typename ParamGenerator<T4>::iterator begin4_;
- const typename ParamGenerator<T4>::iterator end4_;
- typename ParamGenerator<T4>::iterator current4_;
- const typename ParamGenerator<T5>::iterator begin5_;
- const typename ParamGenerator<T5>::iterator end5_;
- typename ParamGenerator<T5>::iterator current5_;
- const typename ParamGenerator<T6>::iterator begin6_;
- const typename ParamGenerator<T6>::iterator end6_;
- typename ParamGenerator<T6>::iterator current6_;
- const typename ParamGenerator<T7>::iterator begin7_;
- const typename ParamGenerator<T7>::iterator end7_;
- typename ParamGenerator<T7>::iterator current7_;
- const typename ParamGenerator<T8>::iterator begin8_;
- const typename ParamGenerator<T8>::iterator end8_;
- typename ParamGenerator<T8>::iterator current8_;
- const typename ParamGenerator<T9>::iterator begin9_;
- const typename ParamGenerator<T9>::iterator end9_;
- typename ParamGenerator<T9>::iterator current9_;
- const typename ParamGenerator<T10>::iterator begin10_;
- const typename ParamGenerator<T10>::iterator end10_;
- typename ParamGenerator<T10>::iterator current10_;
- ParamType current_value_;
- }; // class CartesianProductGenerator10::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductGenerator10& other);
-
- const ParamGenerator<T1> g1_;
- const ParamGenerator<T2> g2_;
- const ParamGenerator<T3> g3_;
- const ParamGenerator<T4> g4_;
- const ParamGenerator<T5> g5_;
- const ParamGenerator<T6> g6_;
- const ParamGenerator<T7> g7_;
- const ParamGenerator<T8> g8_;
- const ParamGenerator<T9> g9_;
- const ParamGenerator<T10> g10_;
-}; // class CartesianProductGenerator10
-
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Helper classes providing Combine() with polymorphic features. They allow
-// casting CartesianProductGeneratorN<T> to ParamGenerator<U> if T is
-// convertible to U.
-//
-template <class Generator1, class Generator2>
-class CartesianProductHolder2 {
- public:
-CartesianProductHolder2(const Generator1& g1, const Generator2& g2)
- : g1_(g1), g2_(g2) {}
- template <typename T1, typename T2>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2> >(
- new CartesianProductGenerator2<T1, T2>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder2& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
-}; // class CartesianProductHolder2
-
-template <class Generator1, class Generator2, class Generator3>
-class CartesianProductHolder3 {
- public:
-CartesianProductHolder3(const Generator1& g1, const Generator2& g2,
- const Generator3& g3)
- : g1_(g1), g2_(g2), g3_(g3) {}
- template <typename T1, typename T2, typename T3>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3> >(
- new CartesianProductGenerator3<T1, T2, T3>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder3& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
-}; // class CartesianProductHolder3
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4>
-class CartesianProductHolder4 {
- public:
-CartesianProductHolder4(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
- template <typename T1, typename T2, typename T3, typename T4>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4> >(
- new CartesianProductGenerator4<T1, T2, T3, T4>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder4& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
-}; // class CartesianProductHolder4
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4, class Generator5>
-class CartesianProductHolder5 {
- public:
-CartesianProductHolder5(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4, const Generator5& g5)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
- template <typename T1, typename T2, typename T3, typename T4, typename T5>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5> >(
- new CartesianProductGenerator5<T1, T2, T3, T4, T5>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_),
- static_cast<ParamGenerator<T5> >(g5_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder5& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
- const Generator5 g5_;
-}; // class CartesianProductHolder5
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4, class Generator5, class Generator6>
-class CartesianProductHolder6 {
- public:
-CartesianProductHolder6(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4, const Generator5& g5,
- const Generator6& g6)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
- template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6> >(
- new CartesianProductGenerator6<T1, T2, T3, T4, T5, T6>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_),
- static_cast<ParamGenerator<T5> >(g5_),
- static_cast<ParamGenerator<T6> >(g6_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder6& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
- const Generator5 g5_;
- const Generator6 g6_;
-}; // class CartesianProductHolder6
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4, class Generator5, class Generator6, class Generator7>
-class CartesianProductHolder7 {
- public:
-CartesianProductHolder7(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4, const Generator5& g5,
- const Generator6& g6, const Generator7& g7)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
- template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
- T7> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7> >(
- new CartesianProductGenerator7<T1, T2, T3, T4, T5, T6, T7>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_),
- static_cast<ParamGenerator<T5> >(g5_),
- static_cast<ParamGenerator<T6> >(g6_),
- static_cast<ParamGenerator<T7> >(g7_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder7& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
- const Generator5 g5_;
- const Generator6 g6_;
- const Generator7 g7_;
-}; // class CartesianProductHolder7
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4, class Generator5, class Generator6, class Generator7,
- class Generator8>
-class CartesianProductHolder8 {
- public:
-CartesianProductHolder8(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4, const Generator5& g5,
- const Generator6& g6, const Generator7& g7, const Generator8& g8)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
- g8_(g8) {}
- template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7,
- T8> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8> >(
- new CartesianProductGenerator8<T1, T2, T3, T4, T5, T6, T7, T8>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_),
- static_cast<ParamGenerator<T5> >(g5_),
- static_cast<ParamGenerator<T6> >(g6_),
- static_cast<ParamGenerator<T7> >(g7_),
- static_cast<ParamGenerator<T8> >(g8_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder8& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
- const Generator5 g5_;
- const Generator6 g6_;
- const Generator7 g7_;
- const Generator8 g8_;
-}; // class CartesianProductHolder8
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4, class Generator5, class Generator6, class Generator7,
- class Generator8, class Generator9>
-class CartesianProductHolder9 {
- public:
-CartesianProductHolder9(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4, const Generator5& g5,
- const Generator6& g6, const Generator7& g7, const Generator8& g8,
- const Generator9& g9)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
- g9_(g9) {}
- template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
- T9> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
- T9> >(
- new CartesianProductGenerator9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_),
- static_cast<ParamGenerator<T5> >(g5_),
- static_cast<ParamGenerator<T6> >(g6_),
- static_cast<ParamGenerator<T7> >(g7_),
- static_cast<ParamGenerator<T8> >(g8_),
- static_cast<ParamGenerator<T9> >(g9_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder9& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
- const Generator5 g5_;
- const Generator6 g6_;
- const Generator7 g7_;
- const Generator8 g8_;
- const Generator9 g9_;
-}; // class CartesianProductHolder9
-
-template <class Generator1, class Generator2, class Generator3,
- class Generator4, class Generator5, class Generator6, class Generator7,
- class Generator8, class Generator9, class Generator10>
-class CartesianProductHolder10 {
- public:
-CartesianProductHolder10(const Generator1& g1, const Generator2& g2,
- const Generator3& g3, const Generator4& g4, const Generator5& g5,
- const Generator6& g6, const Generator7& g7, const Generator8& g8,
- const Generator9& g9, const Generator10& g10)
- : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
- g9_(g9), g10_(g10) {}
- template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
- operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
- T9, T10> >() const {
- return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
- T9, T10> >(
- new CartesianProductGenerator10<T1, T2, T3, T4, T5, T6, T7, T8, T9,
- T10>(
- static_cast<ParamGenerator<T1> >(g1_),
- static_cast<ParamGenerator<T2> >(g2_),
- static_cast<ParamGenerator<T3> >(g3_),
- static_cast<ParamGenerator<T4> >(g4_),
- static_cast<ParamGenerator<T5> >(g5_),
- static_cast<ParamGenerator<T6> >(g6_),
- static_cast<ParamGenerator<T7> >(g7_),
- static_cast<ParamGenerator<T8> >(g8_),
- static_cast<ParamGenerator<T9> >(g9_),
- static_cast<ParamGenerator<T10> >(g10_)));
- }
-
- private:
- // No implementation - assignment is unsupported.
- void operator=(const CartesianProductHolder10& other);
-
- const Generator1 g1_;
- const Generator2 g2_;
- const Generator3 g3_;
- const Generator4 g4_;
- const Generator5 g5_;
- const Generator6 g6_;
- const Generator7 g7_;
- const Generator8 g8_;
- const Generator9 g9_;
- const Generator10 g10_;
-}; // class CartesianProductHolder10
-
-# endif // GTEST_HAS_COMBINE
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_HAS_PARAM_TEST
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+++ /dev/null
-// Copyright 2008 Google 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 Google 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.
-//
-// Author: vladl@google.com (Vlad Losev)
-
-// Type and function utilities for implementing parameterized tests.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
-
-#include <iterator>
-#include <utility>
-#include <vector>
-
-// scripts/fuse_gtest.py depends on gtest's own header being #included
-// *unconditionally*. Therefore these #includes cannot be moved
-// inside #if GTEST_HAS_PARAM_TEST.
-#include "gtest/internal/gtest-internal.h"
-#include "gtest/internal/gtest-linked_ptr.h"
-#include "gtest/internal/gtest-port.h"
-#include "gtest/gtest-printers.h"
-
-#if GTEST_HAS_PARAM_TEST
-
-namespace testing {
-namespace internal {
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Outputs a message explaining invalid registration of different
-// fixture class for the same test case. This may happen when
-// TEST_P macro is used to define two tests with the same name
-// but in different namespaces.
-GTEST_API_ void ReportInvalidTestCaseType(const char* test_case_name,
- const char* file, int line);
-
-template <typename> class ParamGeneratorInterface;
-template <typename> class ParamGenerator;
-
-// Interface for iterating over elements provided by an implementation
-// of ParamGeneratorInterface<T>.
-template <typename T>
-class ParamIteratorInterface {
- public:
- virtual ~ParamIteratorInterface() {}
- // A pointer to the base generator instance.
- // Used only for the purposes of iterator comparison
- // to make sure that two iterators belong to the same generator.
- virtual const ParamGeneratorInterface<T>* BaseGenerator() const = 0;
- // Advances iterator to point to the next element
- // provided by the generator. The caller is responsible
- // for not calling Advance() on an iterator equal to
- // BaseGenerator()->End().
- virtual void Advance() = 0;
- // Clones the iterator object. Used for implementing copy semantics
- // of ParamIterator<T>.
- virtual ParamIteratorInterface* Clone() const = 0;
- // Dereferences the current iterator and provides (read-only) access
- // to the pointed value. It is the caller's responsibility not to call
- // Current() on an iterator equal to BaseGenerator()->End().
- // Used for implementing ParamGenerator<T>::operator*().
- virtual const T* Current() const = 0;
- // Determines whether the given iterator and other point to the same
- // element in the sequence generated by the generator.
- // Used for implementing ParamGenerator<T>::operator==().
- virtual bool Equals(const ParamIteratorInterface& other) const = 0;
-};
-
-// Class iterating over elements provided by an implementation of
-// ParamGeneratorInterface<T>. It wraps ParamIteratorInterface<T>
-// and implements the const forward iterator concept.
-template <typename T>
-class ParamIterator {
- public:
- typedef T value_type;
- typedef const T& reference;
- typedef ptrdiff_t difference_type;
-
- // ParamIterator assumes ownership of the impl_ pointer.
- ParamIterator(const ParamIterator& other) : impl_(other.impl_->Clone()) {}
- ParamIterator& operator=(const ParamIterator& other) {
- if (this != &other)
- impl_.reset(other.impl_->Clone());
- return *this;
- }
-
- const T& operator*() const { return *impl_->Current(); }
- const T* operator->() const { return impl_->Current(); }
- // Prefix version of operator++.
- ParamIterator& operator++() {
- impl_->Advance();
- return *this;
- }
- // Postfix version of operator++.
- ParamIterator operator++(int /*unused*/) {
- ParamIteratorInterface<T>* clone = impl_->Clone();
- impl_->Advance();
- return ParamIterator(clone);
- }
- bool operator==(const ParamIterator& other) const {
- return impl_.get() == other.impl_.get() || impl_->Equals(*other.impl_);
- }
- bool operator!=(const ParamIterator& other) const {
- return !(*this == other);
- }
-
- private:
- friend class ParamGenerator<T>;
- explicit ParamIterator(ParamIteratorInterface<T>* impl) : impl_(impl) {}
- scoped_ptr<ParamIteratorInterface<T> > impl_;
-};
-
-// ParamGeneratorInterface<T> is the binary interface to access generators
-// defined in other translation units.
-template <typename T>
-class ParamGeneratorInterface {
- public:
- typedef T ParamType;
-
- virtual ~ParamGeneratorInterface() {}
-
- // Generator interface definition
- virtual ParamIteratorInterface<T>* Begin() const = 0;
- virtual ParamIteratorInterface<T>* End() const = 0;
-};
-
-// Wraps ParamGeneratorInterface<T> and provides general generator syntax
-// compatible with the STL Container concept.
-// This class implements copy initialization semantics and the contained
-// ParamGeneratorInterface<T> instance is shared among all copies
-// of the original object. This is possible because that instance is immutable.
-template<typename T>
-class ParamGenerator {
- public:
- typedef ParamIterator<T> iterator;
-
- explicit ParamGenerator(ParamGeneratorInterface<T>* impl) : impl_(impl) {}
- ParamGenerator(const ParamGenerator& other) : impl_(other.impl_) {}
-
- ParamGenerator& operator=(const ParamGenerator& other) {
- impl_ = other.impl_;
- return *this;
- }
-
- iterator begin() const { return iterator(impl_->Begin()); }
- iterator end() const { return iterator(impl_->End()); }
-
- private:
- linked_ptr<const ParamGeneratorInterface<T> > impl_;
-};
-
-// Generates values from a range of two comparable values. Can be used to
-// generate sequences of user-defined types that implement operator+() and
-// operator<().
-// This class is used in the Range() function.
-template <typename T, typename IncrementT>
-class RangeGenerator : public ParamGeneratorInterface<T> {
- public:
- RangeGenerator(T begin, T end, IncrementT step)
- : begin_(begin), end_(end),
- step_(step), end_index_(CalculateEndIndex(begin, end, step)) {}
- virtual ~RangeGenerator() {}
-
- virtual ParamIteratorInterface<T>* Begin() const {
- return new Iterator(this, begin_, 0, step_);
- }
- virtual ParamIteratorInterface<T>* End() const {
- return new Iterator(this, end_, end_index_, step_);
- }
-
- private:
- class Iterator : public ParamIteratorInterface<T> {
- public:
- Iterator(const ParamGeneratorInterface<T>* base, T value, int index,
- IncrementT step)
- : base_(base), value_(value), index_(index), step_(step) {}
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
- return base_;
- }
- virtual void Advance() {
- value_ = value_ + step_;
- index_++;
- }
- virtual ParamIteratorInterface<T>* Clone() const {
- return new Iterator(*this);
- }
- virtual const T* Current() const { return &value_; }
- virtual bool Equals(const ParamIteratorInterface<T>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- const int other_index =
- CheckedDowncastToActualType<const Iterator>(&other)->index_;
- return index_ == other_index;
- }
-
- private:
- Iterator(const Iterator& other)
- : ParamIteratorInterface<T>(),
- base_(other.base_), value_(other.value_), index_(other.index_),
- step_(other.step_) {}
-
- // No implementation - assignment is unsupported.
- void operator=(const Iterator& other);
-
- const ParamGeneratorInterface<T>* const base_;
- T value_;
- int index_;
- const IncrementT step_;
- }; // class RangeGenerator::Iterator
-
- static int CalculateEndIndex(const T& begin,
- const T& end,
- const IncrementT& step) {
- int end_index = 0;
- for (T i = begin; i < end; i = i + step)
- end_index++;
- return end_index;
- }
-
- // No implementation - assignment is unsupported.
- void operator=(const RangeGenerator& other);
-
- const T begin_;
- const T end_;
- const IncrementT step_;
- // The index for the end() iterator. All the elements in the generated
- // sequence are indexed (0-based) to aid iterator comparison.
- const int end_index_;
-}; // class RangeGenerator
-
-
-// Generates values from a pair of STL-style iterators. Used in the
-// ValuesIn() function. The elements are copied from the source range
-// since the source can be located on the stack, and the generator
-// is likely to persist beyond that stack frame.
-template <typename T>
-class ValuesInIteratorRangeGenerator : public ParamGeneratorInterface<T> {
- public:
- template <typename ForwardIterator>
- ValuesInIteratorRangeGenerator(ForwardIterator begin, ForwardIterator end)
- : container_(begin, end) {}
- virtual ~ValuesInIteratorRangeGenerator() {}
-
- virtual ParamIteratorInterface<T>* Begin() const {
- return new Iterator(this, container_.begin());
- }
- virtual ParamIteratorInterface<T>* End() const {
- return new Iterator(this, container_.end());
- }
-
- private:
- typedef typename ::std::vector<T> ContainerType;
-
- class Iterator : public ParamIteratorInterface<T> {
- public:
- Iterator(const ParamGeneratorInterface<T>* base,
- typename ContainerType::const_iterator iterator)
- : base_(base), iterator_(iterator) {}
- virtual ~Iterator() {}
-
- virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
- return base_;
- }
- virtual void Advance() {
- ++iterator_;
- value_.reset();
- }
- virtual ParamIteratorInterface<T>* Clone() const {
- return new Iterator(*this);
- }
- // We need to use cached value referenced by iterator_ because *iterator_
- // can return a temporary object (and of type other then T), so just
- // having "return &*iterator_;" doesn't work.
- // value_ is updated here and not in Advance() because Advance()
- // can advance iterator_ beyond the end of the range, and we cannot
- // detect that fact. The client code, on the other hand, is
- // responsible for not calling Current() on an out-of-range iterator.
- virtual const T* Current() const {
- if (value_.get() == NULL)
- value_.reset(new T(*iterator_));
- return value_.get();
- }
- virtual bool Equals(const ParamIteratorInterface<T>& other) const {
- // Having the same base generator guarantees that the other
- // iterator is of the same type and we can downcast.
- GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
- << "The program attempted to compare iterators "
- << "from different generators." << std::endl;
- return iterator_ ==
- CheckedDowncastToActualType<const Iterator>(&other)->iterator_;
- }
-
- private:
- Iterator(const Iterator& other)
- // The explicit constructor call suppresses a false warning
- // emitted by gcc when supplied with the -Wextra option.
- : ParamIteratorInterface<T>(),
- base_(other.base_),
- iterator_(other.iterator_) {}
-
- const ParamGeneratorInterface<T>* const base_;
- typename ContainerType::const_iterator iterator_;
- // A cached value of *iterator_. We keep it here to allow access by
- // pointer in the wrapping iterator's operator->().
- // value_ needs to be mutable to be accessed in Current().
- // Use of scoped_ptr helps manage cached value's lifetime,
- // which is bound by the lifespan of the iterator itself.
- mutable scoped_ptr<const T> value_;
- }; // class ValuesInIteratorRangeGenerator::Iterator
-
- // No implementation - assignment is unsupported.
- void operator=(const ValuesInIteratorRangeGenerator& other);
-
- const ContainerType container_;
-}; // class ValuesInIteratorRangeGenerator
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Stores a parameter value and later creates tests parameterized with that
-// value.
-template <class TestClass>
-class ParameterizedTestFactory : public TestFactoryBase {
- public:
- typedef typename TestClass::ParamType ParamType;
- explicit ParameterizedTestFactory(ParamType parameter) :
- parameter_(parameter) {}
- virtual Test* CreateTest() {
- TestClass::SetParam(¶meter_);
- return new TestClass();
- }
-
- private:
- const ParamType parameter_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestFactory);
-};
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// TestMetaFactoryBase is a base class for meta-factories that create
-// test factories for passing into MakeAndRegisterTestInfo function.
-template <class ParamType>
-class TestMetaFactoryBase {
- public:
- virtual ~TestMetaFactoryBase() {}
-
- virtual TestFactoryBase* CreateTestFactory(ParamType parameter) = 0;
-};
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// TestMetaFactory creates test factories for passing into
-// MakeAndRegisterTestInfo function. Since MakeAndRegisterTestInfo receives
-// ownership of test factory pointer, same factory object cannot be passed
-// into that method twice. But ParameterizedTestCaseInfo is going to call
-// it for each Test/Parameter value combination. Thus it needs meta factory
-// creator class.
-template <class TestCase>
-class TestMetaFactory
- : public TestMetaFactoryBase<typename TestCase::ParamType> {
- public:
- typedef typename TestCase::ParamType ParamType;
-
- TestMetaFactory() {}
-
- virtual TestFactoryBase* CreateTestFactory(ParamType parameter) {
- return new ParameterizedTestFactory<TestCase>(parameter);
- }
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestMetaFactory);
-};
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// ParameterizedTestCaseInfoBase is a generic interface
-// to ParameterizedTestCaseInfo classes. ParameterizedTestCaseInfoBase
-// accumulates test information provided by TEST_P macro invocations
-// and generators provided by INSTANTIATE_TEST_CASE_P macro invocations
-// and uses that information to register all resulting test instances
-// in RegisterTests method. The ParameterizeTestCaseRegistry class holds
-// a collection of pointers to the ParameterizedTestCaseInfo objects
-// and calls RegisterTests() on each of them when asked.
-class ParameterizedTestCaseInfoBase {
- public:
- virtual ~ParameterizedTestCaseInfoBase() {}
-
- // Base part of test case name for display purposes.
- virtual const string& GetTestCaseName() const = 0;
- // Test case id to verify identity.
- virtual TypeId GetTestCaseTypeId() const = 0;
- // UnitTest class invokes this method to register tests in this
- // test case right before running them in RUN_ALL_TESTS macro.
- // This method should not be called more then once on any single
- // instance of a ParameterizedTestCaseInfoBase derived class.
- virtual void RegisterTests() = 0;
-
- protected:
- ParameterizedTestCaseInfoBase() {}
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfoBase);
-};
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// ParameterizedTestCaseInfo accumulates tests obtained from TEST_P
-// macro invocations for a particular test case and generators
-// obtained from INSTANTIATE_TEST_CASE_P macro invocations for that
-// test case. It registers tests with all values generated by all
-// generators when asked.
-template <class TestCase>
-class ParameterizedTestCaseInfo : public ParameterizedTestCaseInfoBase {
- public:
- // ParamType and GeneratorCreationFunc are private types but are required
- // for declarations of public methods AddTestPattern() and
- // AddTestCaseInstantiation().
- typedef typename TestCase::ParamType ParamType;
- // A function that returns an instance of appropriate generator type.
- typedef ParamGenerator<ParamType>(GeneratorCreationFunc)();
-
- explicit ParameterizedTestCaseInfo(const char* name)
- : test_case_name_(name) {}
-
- // Test case base name for display purposes.
- virtual const string& GetTestCaseName() const { return test_case_name_; }
- // Test case id to verify identity.
- virtual TypeId GetTestCaseTypeId() const { return GetTypeId<TestCase>(); }
- // TEST_P macro uses AddTestPattern() to record information
- // about a single test in a LocalTestInfo structure.
- // test_case_name is the base name of the test case (without invocation
- // prefix). test_base_name is the name of an individual test without
- // parameter index. For the test SequenceA/FooTest.DoBar/1 FooTest is
- // test case base name and DoBar is test base name.
- void AddTestPattern(const char* test_case_name,
- const char* test_base_name,
- TestMetaFactoryBase<ParamType>* meta_factory) {
- tests_.push_back(linked_ptr<TestInfo>(new TestInfo(test_case_name,
- test_base_name,
- meta_factory)));
- }
- // INSTANTIATE_TEST_CASE_P macro uses AddGenerator() to record information
- // about a generator.
- int AddTestCaseInstantiation(const string& instantiation_name,
- GeneratorCreationFunc* func,
- const char* /* file */,
- int /* line */) {
- instantiations_.push_back(::std::make_pair(instantiation_name, func));
- return 0; // Return value used only to run this method in namespace scope.
- }
- // UnitTest class invokes this method to register tests in this test case
- // test cases right before running tests in RUN_ALL_TESTS macro.
- // This method should not be called more then once on any single
- // instance of a ParameterizedTestCaseInfoBase derived class.
- // UnitTest has a guard to prevent from calling this method more then once.
- virtual void RegisterTests() {
- for (typename TestInfoContainer::iterator test_it = tests_.begin();
- test_it != tests_.end(); ++test_it) {
- linked_ptr<TestInfo> test_info = *test_it;
- for (typename InstantiationContainer::iterator gen_it =
- instantiations_.begin(); gen_it != instantiations_.end();
- ++gen_it) {
- const string& instantiation_name = gen_it->first;
- ParamGenerator<ParamType> generator((*gen_it->second)());
-
- Message test_case_name_stream;
- if ( !instantiation_name.empty() )
- test_case_name_stream << instantiation_name << "/";
- test_case_name_stream << test_info->test_case_base_name;
-
- int i = 0;
- for (typename ParamGenerator<ParamType>::iterator param_it =
- generator.begin();
- param_it != generator.end(); ++param_it, ++i) {
- Message test_name_stream;
- test_name_stream << test_info->test_base_name << "/" << i;
- MakeAndRegisterTestInfo(
- test_case_name_stream.GetString().c_str(),
- test_name_stream.GetString().c_str(),
- NULL, // No type parameter.
- PrintToString(*param_it).c_str(),
- GetTestCaseTypeId(),
- TestCase::SetUpTestCase,
- TestCase::TearDownTestCase,
- test_info->test_meta_factory->CreateTestFactory(*param_it));
- } // for param_it
- } // for gen_it
- } // for test_it
- } // RegisterTests
-
- private:
- // LocalTestInfo structure keeps information about a single test registered
- // with TEST_P macro.
- struct TestInfo {
- TestInfo(const char* a_test_case_base_name,
- const char* a_test_base_name,
- TestMetaFactoryBase<ParamType>* a_test_meta_factory) :
- test_case_base_name(a_test_case_base_name),
- test_base_name(a_test_base_name),
- test_meta_factory(a_test_meta_factory) {}
-
- const string test_case_base_name;
- const string test_base_name;
- const scoped_ptr<TestMetaFactoryBase<ParamType> > test_meta_factory;
- };
- typedef ::std::vector<linked_ptr<TestInfo> > TestInfoContainer;
- // Keeps pairs of <Instantiation name, Sequence generator creation function>
- // received from INSTANTIATE_TEST_CASE_P macros.
- typedef ::std::vector<std::pair<string, GeneratorCreationFunc*> >
- InstantiationContainer;
-
- const string test_case_name_;
- TestInfoContainer tests_;
- InstantiationContainer instantiations_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfo);
-}; // class ParameterizedTestCaseInfo
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// ParameterizedTestCaseRegistry contains a map of ParameterizedTestCaseInfoBase
-// classes accessed by test case names. TEST_P and INSTANTIATE_TEST_CASE_P
-// macros use it to locate their corresponding ParameterizedTestCaseInfo
-// descriptors.
-class ParameterizedTestCaseRegistry {
- public:
- ParameterizedTestCaseRegistry() {}
- ~ParameterizedTestCaseRegistry() {
- for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
- it != test_case_infos_.end(); ++it) {
- delete *it;
- }
- }
-
- // Looks up or creates and returns a structure containing information about
- // tests and instantiations of a particular test case.
- template <class TestCase>
- ParameterizedTestCaseInfo<TestCase>* GetTestCasePatternHolder(
- const char* test_case_name,
- const char* file,
- int line) {
- ParameterizedTestCaseInfo<TestCase>* typed_test_info = NULL;
- for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
- it != test_case_infos_.end(); ++it) {
- if ((*it)->GetTestCaseName() == test_case_name) {
- if ((*it)->GetTestCaseTypeId() != GetTypeId<TestCase>()) {
- // Complain about incorrect usage of Google Test facilities
- // and terminate the program since we cannot guaranty correct
- // test case setup and tear-down in this case.
- ReportInvalidTestCaseType(test_case_name, file, line);
- posix::Abort();
- } else {
- // At this point we are sure that the object we found is of the same
- // type we are looking for, so we downcast it to that type
- // without further checks.
- typed_test_info = CheckedDowncastToActualType<
- ParameterizedTestCaseInfo<TestCase> >(*it);
- }
- break;
- }
- }
- if (typed_test_info == NULL) {
- typed_test_info = new ParameterizedTestCaseInfo<TestCase>(test_case_name);
- test_case_infos_.push_back(typed_test_info);
- }
- return typed_test_info;
- }
- void RegisterTests() {
- for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
- it != test_case_infos_.end(); ++it) {
- (*it)->RegisterTests();
- }
- }
-
- private:
- typedef ::std::vector<ParameterizedTestCaseInfoBase*> TestCaseInfoContainer;
-
- TestCaseInfoContainer test_case_infos_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseRegistry);
-};
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_HAS_PARAM_TEST
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Authors: wan@google.com (Zhanyong Wan)
-//
-// Low-level types and utilities for porting Google Test to various
-// platforms. They are subject to change without notice. DO NOT USE
-// THEM IN USER CODE.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
-
-// The user can define the following macros in the build script to
-// control Google Test's behavior. If the user doesn't define a macro
-// in this list, Google Test will define it.
-//
-// GTEST_HAS_CLONE - Define it to 1/0 to indicate that clone(2)
-// is/isn't available.
-// GTEST_HAS_EXCEPTIONS - Define it to 1/0 to indicate that exceptions
-// are enabled.
-// GTEST_HAS_GLOBAL_STRING - Define it to 1/0 to indicate that ::string
-// is/isn't available (some systems define
-// ::string, which is different to std::string).
-// GTEST_HAS_GLOBAL_WSTRING - Define it to 1/0 to indicate that ::string
-// is/isn't available (some systems define
-// ::wstring, which is different to std::wstring).
-// GTEST_HAS_POSIX_RE - Define it to 1/0 to indicate that POSIX regular
-// expressions are/aren't available.
-// GTEST_HAS_PTHREAD - Define it to 1/0 to indicate that <pthread.h>
-// is/isn't available.
-// GTEST_HAS_RTTI - Define it to 1/0 to indicate that RTTI is/isn't
-// enabled.
-// GTEST_HAS_STD_WSTRING - Define it to 1/0 to indicate that
-// std::wstring does/doesn't work (Google Test can
-// be used where std::wstring is unavailable).
-// GTEST_HAS_TR1_TUPLE - Define it to 1/0 to indicate tr1::tuple
-// is/isn't available.
-// GTEST_HAS_SEH - Define it to 1/0 to indicate whether the
-// compiler supports Microsoft's "Structured
-// Exception Handling".
-// GTEST_HAS_STREAM_REDIRECTION
-// - Define it to 1/0 to indicate whether the
-// platform supports I/O stream redirection using
-// dup() and dup2().
-// GTEST_USE_OWN_TR1_TUPLE - Define it to 1/0 to indicate whether Google
-// Test's own tr1 tuple implementation should be
-// used. Unused when the user sets
-// GTEST_HAS_TR1_TUPLE to 0.
-// GTEST_LINKED_AS_SHARED_LIBRARY
-// - Define to 1 when compiling tests that use
-// Google Test as a shared library (known as
-// DLL on Windows).
-// GTEST_CREATE_SHARED_LIBRARY
-// - Define to 1 when compiling Google Test itself
-// as a shared library.
-
-// This header defines the following utilities:
-//
-// Macros indicating the current platform (defined to 1 if compiled on
-// the given platform; otherwise undefined):
-// GTEST_OS_AIX - IBM AIX
-// GTEST_OS_CYGWIN - Cygwin
-// GTEST_OS_HPUX - HP-UX
-// GTEST_OS_LINUX - Linux
-// GTEST_OS_LINUX_ANDROID - Google Android
-// GTEST_OS_MAC - Mac OS X
-// GTEST_OS_NACL - Google Native Client (NaCl)
-// GTEST_OS_SOLARIS - Sun Solaris
-// GTEST_OS_SYMBIAN - Symbian
-// GTEST_OS_WINDOWS - Windows (Desktop, MinGW, or Mobile)
-// GTEST_OS_WINDOWS_DESKTOP - Windows Desktop
-// GTEST_OS_WINDOWS_MINGW - MinGW
-// GTEST_OS_WINDOWS_MOBILE - Windows Mobile
-// GTEST_OS_ZOS - z/OS
-//
-// Among the platforms, Cygwin, Linux, Max OS X, and Windows have the
-// most stable support. Since core members of the Google Test project
-// don't have access to other platforms, support for them may be less
-// stable. If you notice any problems on your platform, please notify
-// googletestframework@googlegroups.com (patches for fixing them are
-// even more welcome!).
-//
-// Note that it is possible that none of the GTEST_OS_* macros are defined.
-//
-// Macros indicating available Google Test features (defined to 1 if
-// the corresponding feature is supported; otherwise undefined):
-// GTEST_HAS_COMBINE - the Combine() function (for value-parameterized
-// tests)
-// GTEST_HAS_DEATH_TEST - death tests
-// GTEST_HAS_PARAM_TEST - value-parameterized tests
-// GTEST_HAS_TYPED_TEST - typed tests
-// GTEST_HAS_TYPED_TEST_P - type-parameterized tests
-// GTEST_USES_POSIX_RE - enhanced POSIX regex is used. Do not confuse with
-// GTEST_HAS_POSIX_RE (see above) which users can
-// define themselves.
-// GTEST_USES_SIMPLE_RE - our own simple regex is used;
-// the above two are mutually exclusive.
-// GTEST_CAN_COMPARE_NULL - accepts untyped NULL in EXPECT_EQ().
-//
-// Macros for basic C++ coding:
-// GTEST_AMBIGUOUS_ELSE_BLOCKER_ - for disabling a gcc warning.
-// GTEST_ATTRIBUTE_UNUSED_ - declares that a class' instances or a
-// variable don't have to be used.
-// GTEST_DISALLOW_ASSIGN_ - disables operator=.
-// GTEST_DISALLOW_COPY_AND_ASSIGN_ - disables copy ctor and operator=.
-// GTEST_MUST_USE_RESULT_ - declares that a function's result must be used.
-//
-// Synchronization:
-// Mutex, MutexLock, ThreadLocal, GetThreadCount()
-// - synchronization primitives.
-// GTEST_IS_THREADSAFE - defined to 1 to indicate that the above
-// synchronization primitives have real implementations
-// and Google Test is thread-safe; or 0 otherwise.
-//
-// Template meta programming:
-// is_pointer - as in TR1; needed on Symbian and IBM XL C/C++ only.
-// IteratorTraits - partial implementation of std::iterator_traits, which
-// is not available in libCstd when compiled with Sun C++.
-//
-// Smart pointers:
-// scoped_ptr - as in TR2.
-//
-// Regular expressions:
-// RE - a simple regular expression class using the POSIX
-// Extended Regular Expression syntax on UNIX-like
-// platforms, or a reduced regular exception syntax on
-// other platforms, including Windows.
-//
-// Logging:
-// GTEST_LOG_() - logs messages at the specified severity level.
-// LogToStderr() - directs all log messages to stderr.
-// FlushInfoLog() - flushes informational log messages.
-//
-// Stdout and stderr capturing:
-// CaptureStdout() - starts capturing stdout.
-// GetCapturedStdout() - stops capturing stdout and returns the captured
-// string.
-// CaptureStderr() - starts capturing stderr.
-// GetCapturedStderr() - stops capturing stderr and returns the captured
-// string.
-//
-// Integer types:
-// TypeWithSize - maps an integer to a int type.
-// Int32, UInt32, Int64, UInt64, TimeInMillis
-// - integers of known sizes.
-// BiggestInt - the biggest signed integer type.
-//
-// Command-line utilities:
-// GTEST_FLAG() - references a flag.
-// GTEST_DECLARE_*() - declares a flag.
-// GTEST_DEFINE_*() - defines a flag.
-// GetArgvs() - returns the command line as a vector of strings.
-//
-// Environment variable utilities:
-// GetEnv() - gets the value of an environment variable.
-// BoolFromGTestEnv() - parses a bool environment variable.
-// Int32FromGTestEnv() - parses an Int32 environment variable.
-// StringFromGTestEnv() - parses a string environment variable.
-
-#include <ctype.h> // for isspace, etc
-#include <stddef.h> // for ptrdiff_t
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#ifndef _WIN32_WCE
-# include <sys/types.h>
-# include <sys/stat.h>
-#endif // !_WIN32_WCE
-
-#include <iostream> // NOLINT
-#include <sstream> // NOLINT
-#include <string> // NOLINT
-
-#define GTEST_DEV_EMAIL_ "googletestframework@@googlegroups.com"
-#define GTEST_FLAG_PREFIX_ "gtest_"
-#define GTEST_FLAG_PREFIX_DASH_ "gtest-"
-#define GTEST_FLAG_PREFIX_UPPER_ "GTEST_"
-#define GTEST_NAME_ "Google Test"
-#define GTEST_PROJECT_URL_ "http://code.google.com/p/googletest/"
-
-// Determines the version of gcc that is used to compile this.
-#ifdef __GNUC__
-// 40302 means version 4.3.2.
-# define GTEST_GCC_VER_ \
- (__GNUC__*10000 + __GNUC_MINOR__*100 + __GNUC_PATCHLEVEL__)
-#endif // __GNUC__
-
-// Determines the platform on which Google Test is compiled.
-#ifdef __CYGWIN__
-# define GTEST_OS_CYGWIN 1
-#elif defined __SYMBIAN32__
-# define GTEST_OS_SYMBIAN 1
-#elif defined _WIN32
-# define GTEST_OS_WINDOWS 1
-# ifdef _WIN32_WCE
-# define GTEST_OS_WINDOWS_MOBILE 1
-# elif defined(__MINGW__) || defined(__MINGW32__)
-# define GTEST_OS_WINDOWS_MINGW 1
-# else
-# define GTEST_OS_WINDOWS_DESKTOP 1
-# endif // _WIN32_WCE
-#elif defined __APPLE__
-# define GTEST_OS_MAC 1
-#elif defined __linux__
-# define GTEST_OS_LINUX 1
-# ifdef ANDROID
-# define GTEST_OS_LINUX_ANDROID 1
-# endif // ANDROID
-#elif defined __MVS__
-# define GTEST_OS_ZOS 1
-#elif defined(__sun) && defined(__SVR4)
-# define GTEST_OS_SOLARIS 1
-#elif defined(_AIX)
-# define GTEST_OS_AIX 1
-#elif defined(__hpux)
-# define GTEST_OS_HPUX 1
-#elif defined __native_client__
-# define GTEST_OS_NACL 1
-#endif // __CYGWIN__
-
-// Brings in definitions for functions used in the testing::internal::posix
-// namespace (read, write, close, chdir, isatty, stat). We do not currently
-// use them on Windows Mobile.
-#if !GTEST_OS_WINDOWS
-// This assumes that non-Windows OSes provide unistd.h. For OSes where this
-// is not the case, we need to include headers that provide the functions
-// mentioned above.
-# include <unistd.h>
-# if !GTEST_OS_NACL
-// TODO(vladl@google.com): Remove this condition when Native Client SDK adds
-// strings.h (tracked in
-// http://code.google.com/p/nativeclient/issues/detail?id=1175).
-# include <strings.h> // Native Client doesn't provide strings.h.
-# endif
-#elif !GTEST_OS_WINDOWS_MOBILE
-# include <direct.h>
-# include <io.h>
-#endif
-
-// Defines this to true iff Google Test can use POSIX regular expressions.
-#ifndef GTEST_HAS_POSIX_RE
-# define GTEST_HAS_POSIX_RE (!GTEST_OS_WINDOWS)
-#endif
-
-#if GTEST_HAS_POSIX_RE
-
-// On some platforms, <regex.h> needs someone to define size_t, and
-// won't compile otherwise. We can #include it here as we already
-// included <stdlib.h>, which is guaranteed to define size_t through
-// <stddef.h>.
-# include <regex.h> // NOLINT
-
-# define GTEST_USES_POSIX_RE 1
-
-#elif GTEST_OS_WINDOWS
-
-// <regex.h> is not available on Windows. Use our own simple regex
-// implementation instead.
-# define GTEST_USES_SIMPLE_RE 1
-
-#else
-
-// <regex.h> may not be available on this platform. Use our own
-// simple regex implementation instead.
-# define GTEST_USES_SIMPLE_RE 1
-
-#endif // GTEST_HAS_POSIX_RE
-
-#ifndef GTEST_HAS_EXCEPTIONS
-// The user didn't tell us whether exceptions are enabled, so we need
-// to figure it out.
-# if defined(_MSC_VER) || defined(__BORLANDC__)
-// MSVC's and C++Builder's implementations of the STL use the _HAS_EXCEPTIONS
-// macro to enable exceptions, so we'll do the same.
-// Assumes that exceptions are enabled by default.
-# ifndef _HAS_EXCEPTIONS
-# define _HAS_EXCEPTIONS 1
-# endif // _HAS_EXCEPTIONS
-# define GTEST_HAS_EXCEPTIONS _HAS_EXCEPTIONS
-# elif defined(__GNUC__) && __EXCEPTIONS
-// gcc defines __EXCEPTIONS to 1 iff exceptions are enabled.
-# define GTEST_HAS_EXCEPTIONS 1
-# elif defined(__SUNPRO_CC)
-// Sun Pro CC supports exceptions. However, there is no compile-time way of
-// detecting whether they are enabled or not. Therefore, we assume that
-// they are enabled unless the user tells us otherwise.
-# define GTEST_HAS_EXCEPTIONS 1
-# elif defined(__IBMCPP__) && __EXCEPTIONS
-// xlC defines __EXCEPTIONS to 1 iff exceptions are enabled.
-# define GTEST_HAS_EXCEPTIONS 1
-# elif defined(__HP_aCC)
-// Exception handling is in effect by default in HP aCC compiler. It has to
-// be turned of by +noeh compiler option if desired.
-# define GTEST_HAS_EXCEPTIONS 1
-# else
-// For other compilers, we assume exceptions are disabled to be
-// conservative.
-# define GTEST_HAS_EXCEPTIONS 0
-# endif // defined(_MSC_VER) || defined(__BORLANDC__)
-#endif // GTEST_HAS_EXCEPTIONS
-
-#if !defined(GTEST_HAS_STD_STRING)
-// Even though we don't use this macro any longer, we keep it in case
-// some clients still depend on it.
-# define GTEST_HAS_STD_STRING 1
-#elif !GTEST_HAS_STD_STRING
-// The user told us that ::std::string isn't available.
-# error "Google Test cannot be used where ::std::string isn't available."
-#endif // !defined(GTEST_HAS_STD_STRING)
-
-#ifndef GTEST_HAS_GLOBAL_STRING
-// The user didn't tell us whether ::string is available, so we need
-// to figure it out.
-
-# define GTEST_HAS_GLOBAL_STRING 0
-
-#endif // GTEST_HAS_GLOBAL_STRING
-
-#ifndef GTEST_HAS_STD_WSTRING
-// The user didn't tell us whether ::std::wstring is available, so we need
-// to figure it out.
-// TODO(wan@google.com): uses autoconf to detect whether ::std::wstring
-// is available.
-
-// Cygwin 1.7 and below doesn't support ::std::wstring.
-// Solaris' libc++ doesn't support it either. Android has
-// no support for it at least as recent as Froyo (2.2).
-# define GTEST_HAS_STD_WSTRING \
- (!(GTEST_OS_LINUX_ANDROID || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS))
-
-#endif // GTEST_HAS_STD_WSTRING
-
-#ifndef GTEST_HAS_GLOBAL_WSTRING
-// The user didn't tell us whether ::wstring is available, so we need
-// to figure it out.
-# define GTEST_HAS_GLOBAL_WSTRING \
- (GTEST_HAS_STD_WSTRING && GTEST_HAS_GLOBAL_STRING)
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
-// Determines whether RTTI is available.
-#ifndef GTEST_HAS_RTTI
-// The user didn't tell us whether RTTI is enabled, so we need to
-// figure it out.
-
-# ifdef _MSC_VER
-
-# ifdef _CPPRTTI // MSVC defines this macro iff RTTI is enabled.
-# define GTEST_HAS_RTTI 1
-# else
-# define GTEST_HAS_RTTI 0
-# endif
-
-// Starting with version 4.3.2, gcc defines __GXX_RTTI iff RTTI is enabled.
-# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40302)
-
-# ifdef __GXX_RTTI
-# define GTEST_HAS_RTTI 1
-# else
-# define GTEST_HAS_RTTI 0
-# endif // __GXX_RTTI
-
-// Starting with version 9.0 IBM Visual Age defines __RTTI_ALL__ to 1 if
-// both the typeid and dynamic_cast features are present.
-# elif defined(__IBMCPP__) && (__IBMCPP__ >= 900)
-
-# ifdef __RTTI_ALL__
-# define GTEST_HAS_RTTI 1
-# else
-# define GTEST_HAS_RTTI 0
-# endif
-
-# else
-
-// For all other compilers, we assume RTTI is enabled.
-# define GTEST_HAS_RTTI 1
-
-# endif // _MSC_VER
-
-#endif // GTEST_HAS_RTTI
-
-// It's this header's responsibility to #include <typeinfo> when RTTI
-// is enabled.
-#if GTEST_HAS_RTTI
-# include <typeinfo>
-#endif
-
-// Determines whether Google Test can use the pthreads library.
-#ifndef GTEST_HAS_PTHREAD
-// The user didn't tell us explicitly, so we assume pthreads support is
-// available on Linux and Mac.
-//
-// To disable threading support in Google Test, add -DGTEST_HAS_PTHREAD=0
-// to your compiler flags.
-# define GTEST_HAS_PTHREAD (GTEST_OS_LINUX || GTEST_OS_MAC || GTEST_OS_HPUX)
-#endif // GTEST_HAS_PTHREAD
-
-#if GTEST_HAS_PTHREAD
-// gtest-port.h guarantees to #include <pthread.h> when GTEST_HAS_PTHREAD is
-// true.
-# include <pthread.h> // NOLINT
-
-// For timespec and nanosleep, used below.
-# include <time.h> // NOLINT
-#endif
-
-// Determines whether Google Test can use tr1/tuple. You can define
-// this macro to 0 to prevent Google Test from using tuple (any
-// feature depending on tuple with be disabled in this mode).
-#ifndef GTEST_HAS_TR1_TUPLE
-// The user didn't tell us not to do it, so we assume it's OK.
-# define GTEST_HAS_TR1_TUPLE 1
-#endif // GTEST_HAS_TR1_TUPLE
-
-// Determines whether Google Test's own tr1 tuple implementation
-// should be used.
-#ifndef GTEST_USE_OWN_TR1_TUPLE
-// The user didn't tell us, so we need to figure it out.
-
-// We use our own TR1 tuple if we aren't sure the user has an
-// implementation of it already. At this time, GCC 4.0.0+ and MSVC
-// 2010 are the only mainstream compilers that come with a TR1 tuple
-// implementation. NVIDIA's CUDA NVCC compiler pretends to be GCC by
-// defining __GNUC__ and friends, but cannot compile GCC's tuple
-// implementation. MSVC 2008 (9.0) provides TR1 tuple in a 323 MB
-// Feature Pack download, which we cannot assume the user has.
-# if (defined(__GNUC__) && !defined(__CUDACC__) && (GTEST_GCC_VER_ >= 40000)) \
- || _MSC_VER >= 1600
-# define GTEST_USE_OWN_TR1_TUPLE 0
-# else
-# define GTEST_USE_OWN_TR1_TUPLE 1
-# endif
-
-#endif // GTEST_USE_OWN_TR1_TUPLE
-
-// To avoid conditional compilation everywhere, we make it
-// gtest-port.h's responsibility to #include the header implementing
-// tr1/tuple.
-#if GTEST_HAS_TR1_TUPLE
-
-# if GTEST_USE_OWN_TR1_TUPLE
-# include "gtest/internal/gtest-tuple.h"
-# elif GTEST_OS_SYMBIAN
-
-// On Symbian, BOOST_HAS_TR1_TUPLE causes Boost's TR1 tuple library to
-// use STLport's tuple implementation, which unfortunately doesn't
-// work as the copy of STLport distributed with Symbian is incomplete.
-// By making sure BOOST_HAS_TR1_TUPLE is undefined, we force Boost to
-// use its own tuple implementation.
-# ifdef BOOST_HAS_TR1_TUPLE
-# undef BOOST_HAS_TR1_TUPLE
-# endif // BOOST_HAS_TR1_TUPLE
-
-// This prevents <boost/tr1/detail/config.hpp>, which defines
-// BOOST_HAS_TR1_TUPLE, from being #included by Boost's <tuple>.
-# define BOOST_TR1_DETAIL_CONFIG_HPP_INCLUDED
-# include <tuple>
-
-# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40000)
-// GCC 4.0+ implements tr1/tuple in the <tr1/tuple> header. This does
-// not conform to the TR1 spec, which requires the header to be <tuple>.
-
-# if !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
-// Until version 4.3.2, gcc has a bug that causes <tr1/functional>,
-// which is #included by <tr1/tuple>, to not compile when RTTI is
-// disabled. _TR1_FUNCTIONAL is the header guard for
-// <tr1/functional>. Hence the following #define is a hack to prevent
-// <tr1/functional> from being included.
-# define _TR1_FUNCTIONAL 1
-# include <tr1/tuple>
-# undef _TR1_FUNCTIONAL // Allows the user to #include
- // <tr1/functional> if he chooses to.
-# else
-# include <tr1/tuple> // NOLINT
-# endif // !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
-
-# else
-// If the compiler is not GCC 4.0+, we assume the user is using a
-// spec-conforming TR1 implementation.
-# include <tuple> // NOLINT
-# endif // GTEST_USE_OWN_TR1_TUPLE
-
-#endif // GTEST_HAS_TR1_TUPLE
-
-// Determines whether clone(2) is supported.
-// Usually it will only be available on Linux, excluding
-// Linux on the Itanium architecture.
-// Also see http://linux.die.net/man/2/clone.
-#ifndef GTEST_HAS_CLONE
-// The user didn't tell us, so we need to figure it out.
-
-# if GTEST_OS_LINUX && !defined(__ia64__)
-# define GTEST_HAS_CLONE 1
-# else
-# define GTEST_HAS_CLONE 0
-# endif // GTEST_OS_LINUX && !defined(__ia64__)
-
-#endif // GTEST_HAS_CLONE
-
-// Determines whether to support stream redirection. This is used to test
-// output correctness and to implement death tests.
-#ifndef GTEST_HAS_STREAM_REDIRECTION
-// By default, we assume that stream redirection is supported on all
-// platforms except known mobile ones.
-# if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN
-# define GTEST_HAS_STREAM_REDIRECTION 0
-# else
-# define GTEST_HAS_STREAM_REDIRECTION 1
-# endif // !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_SYMBIAN
-#endif // GTEST_HAS_STREAM_REDIRECTION
-
-// Determines whether to support death tests.
-// Google Test does not support death tests for VC 7.1 and earlier as
-// abort() in a VC 7.1 application compiled as GUI in debug config
-// pops up a dialog window that cannot be suppressed programmatically.
-#if (GTEST_OS_LINUX || GTEST_OS_MAC || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS || \
- (GTEST_OS_WINDOWS_DESKTOP && _MSC_VER >= 1400) || \
- GTEST_OS_WINDOWS_MINGW || GTEST_OS_AIX || GTEST_OS_HPUX)
-# define GTEST_HAS_DEATH_TEST 1
-# include <vector> // NOLINT
-#endif
-
-// We don't support MSVC 7.1 with exceptions disabled now. Therefore
-// all the compilers we care about are adequate for supporting
-// value-parameterized tests.
-#define GTEST_HAS_PARAM_TEST 1
-
-// Determines whether to support type-driven tests.
-
-// Typed tests need <typeinfo> and variadic macros, which GCC, VC++ 8.0,
-// Sun Pro CC, IBM Visual Age, and HP aCC support.
-#if defined(__GNUC__) || (_MSC_VER >= 1400) || defined(__SUNPRO_CC) || \
- defined(__IBMCPP__) || defined(__HP_aCC)
-# define GTEST_HAS_TYPED_TEST 1
-# define GTEST_HAS_TYPED_TEST_P 1
-#endif
-
-// Determines whether to support Combine(). This only makes sense when
-// value-parameterized tests are enabled. The implementation doesn't
-// work on Sun Studio since it doesn't understand templated conversion
-// operators.
-#if GTEST_HAS_PARAM_TEST && GTEST_HAS_TR1_TUPLE && !defined(__SUNPRO_CC)
-# define GTEST_HAS_COMBINE 1
-#endif
-
-// Determines whether the system compiler uses UTF-16 for encoding wide strings.
-#define GTEST_WIDE_STRING_USES_UTF16_ \
- (GTEST_OS_WINDOWS || GTEST_OS_CYGWIN || GTEST_OS_SYMBIAN || GTEST_OS_AIX)
-
-// Determines whether test results can be streamed to a socket.
-#if GTEST_OS_LINUX
-# define GTEST_CAN_STREAM_RESULTS_ 1
-#endif
-
-// Defines some utility macros.
-
-// The GNU compiler emits a warning if nested "if" statements are followed by
-// an "else" statement and braces are not used to explicitly disambiguate the
-// "else" binding. This leads to problems with code like:
-//
-// if (gate)
-// ASSERT_*(condition) << "Some message";
-//
-// The "switch (0) case 0:" idiom is used to suppress this.
-#ifdef __INTEL_COMPILER
-# define GTEST_AMBIGUOUS_ELSE_BLOCKER_
-#else
-# define GTEST_AMBIGUOUS_ELSE_BLOCKER_ switch (0) case 0: default: // NOLINT
-#endif
-
-// Use this annotation at the end of a struct/class definition to
-// prevent the compiler from optimizing away instances that are never
-// used. This is useful when all interesting logic happens inside the
-// c'tor and / or d'tor. Example:
-//
-// struct Foo {
-// Foo() { ... }
-// } GTEST_ATTRIBUTE_UNUSED_;
-//
-// Also use it after a variable or parameter declaration to tell the
-// compiler the variable/parameter does not have to be used.
-#if defined(__GNUC__) && !defined(COMPILER_ICC)
-# define GTEST_ATTRIBUTE_UNUSED_ __attribute__ ((unused))
-#else
-# define GTEST_ATTRIBUTE_UNUSED_
-#endif
-
-// A macro to disallow operator=
-// This should be used in the private: declarations for a class.
-#define GTEST_DISALLOW_ASSIGN_(type)\
- void operator=(type const &)
-
-// A macro to disallow copy constructor and operator=
-// This should be used in the private: declarations for a class.
-#define GTEST_DISALLOW_COPY_AND_ASSIGN_(type)\
- type(type const &);\
- GTEST_DISALLOW_ASSIGN_(type)
-
-// Tell the compiler to warn about unused return values for functions declared
-// with this macro. The macro should be used on function declarations
-// following the argument list:
-//
-// Sprocket* AllocateSprocket() GTEST_MUST_USE_RESULT_;
-#if defined(__GNUC__) && (GTEST_GCC_VER_ >= 30400) && !defined(COMPILER_ICC)
-# define GTEST_MUST_USE_RESULT_ __attribute__ ((warn_unused_result))
-#else
-# define GTEST_MUST_USE_RESULT_
-#endif // __GNUC__ && (GTEST_GCC_VER_ >= 30400) && !COMPILER_ICC
-
-// Determine whether the compiler supports Microsoft's Structured Exception
-// Handling. This is supported by several Windows compilers but generally
-// does not exist on any other system.
-#ifndef GTEST_HAS_SEH
-// The user didn't tell us, so we need to figure it out.
-
-# if defined(_MSC_VER) || defined(__BORLANDC__)
-// These two compilers are known to support SEH.
-# define GTEST_HAS_SEH 1
-# else
-// Assume no SEH.
-# define GTEST_HAS_SEH 0
-# endif
-
-#endif // GTEST_HAS_SEH
-
-#ifdef _MSC_VER
-
-# if GTEST_LINKED_AS_SHARED_LIBRARY
-# define GTEST_API_ __declspec(dllimport)
-# elif GTEST_CREATE_SHARED_LIBRARY
-# define GTEST_API_ __declspec(dllexport)
-# endif
-
-#endif // _MSC_VER
-
-#ifndef GTEST_API_
-# define GTEST_API_
-#endif
-
-#ifdef __GNUC__
-// Ask the compiler to never inline a given function.
-# define GTEST_NO_INLINE_ __attribute__((noinline))
-#else
-# define GTEST_NO_INLINE_
-#endif
-
-namespace testing {
-
-class Message;
-
-namespace internal {
-
-class String;
-
-// The GTEST_COMPILE_ASSERT_ macro can be used to verify that a compile time
-// expression is true. For example, you could use it to verify the
-// size of a static array:
-//
-// GTEST_COMPILE_ASSERT_(ARRAYSIZE(content_type_names) == CONTENT_NUM_TYPES,
-// content_type_names_incorrect_size);
-//
-// or to make sure a struct is smaller than a certain size:
-//
-// GTEST_COMPILE_ASSERT_(sizeof(foo) < 128, foo_too_large);
-//
-// The second argument to the macro is the name of the variable. If
-// the expression is false, most compilers will issue a warning/error
-// containing the name of the variable.
-
-template <bool>
-struct CompileAssert {
-};
-
-#define GTEST_COMPILE_ASSERT_(expr, msg) \
- typedef ::testing::internal::CompileAssert<(bool(expr))> \
- msg[bool(expr) ? 1 : -1]
-
-// Implementation details of GTEST_COMPILE_ASSERT_:
-//
-// - GTEST_COMPILE_ASSERT_ works by defining an array type that has -1
-// elements (and thus is invalid) when the expression is false.
-//
-// - The simpler definition
-//
-// #define GTEST_COMPILE_ASSERT_(expr, msg) typedef char msg[(expr) ? 1 : -1]
-//
-// does not work, as gcc supports variable-length arrays whose sizes
-// are determined at run-time (this is gcc's extension and not part
-// of the C++ standard). As a result, gcc fails to reject the
-// following code with the simple definition:
-//
-// int foo;
-// GTEST_COMPILE_ASSERT_(foo, msg); // not supposed to compile as foo is
-// // not a compile-time constant.
-//
-// - By using the type CompileAssert<(bool(expr))>, we ensures that
-// expr is a compile-time constant. (Template arguments must be
-// determined at compile-time.)
-//
-// - The outter parentheses in CompileAssert<(bool(expr))> are necessary
-// to work around a bug in gcc 3.4.4 and 4.0.1. If we had written
-//
-// CompileAssert<bool(expr)>
-//
-// instead, these compilers will refuse to compile
-//
-// GTEST_COMPILE_ASSERT_(5 > 0, some_message);
-//
-// (They seem to think the ">" in "5 > 0" marks the end of the
-// template argument list.)
-//
-// - The array size is (bool(expr) ? 1 : -1), instead of simply
-//
-// ((expr) ? 1 : -1).
-//
-// This is to avoid running into a bug in MS VC 7.1, which
-// causes ((0.0) ? 1 : -1) to incorrectly evaluate to 1.
-
-// StaticAssertTypeEqHelper is used by StaticAssertTypeEq defined in gtest.h.
-//
-// This template is declared, but intentionally undefined.
-template <typename T1, typename T2>
-struct StaticAssertTypeEqHelper;
-
-template <typename T>
-struct StaticAssertTypeEqHelper<T, T> {};
-
-#if GTEST_HAS_GLOBAL_STRING
-typedef ::string string;
-#else
-typedef ::std::string string;
-#endif // GTEST_HAS_GLOBAL_STRING
-
-#if GTEST_HAS_GLOBAL_WSTRING
-typedef ::wstring wstring;
-#elif GTEST_HAS_STD_WSTRING
-typedef ::std::wstring wstring;
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
-// A helper for suppressing warnings on constant condition. It just
-// returns 'condition'.
-GTEST_API_ bool IsTrue(bool condition);
-
-// Defines scoped_ptr.
-
-// This implementation of scoped_ptr is PARTIAL - it only contains
-// enough stuff to satisfy Google Test's need.
-template <typename T>
-class scoped_ptr {
- public:
- typedef T element_type;
-
- explicit scoped_ptr(T* p = NULL) : ptr_(p) {}
- ~scoped_ptr() { reset(); }
-
- T& operator*() const { return *ptr_; }
- T* operator->() const { return ptr_; }
- T* get() const { return ptr_; }
-
- T* release() {
- T* const ptr = ptr_;
- ptr_ = NULL;
- return ptr;
- }
-
- void reset(T* p = NULL) {
- if (p != ptr_) {
- if (IsTrue(sizeof(T) > 0)) { // Makes sure T is a complete type.
- delete ptr_;
- }
- ptr_ = p;
- }
- }
- private:
- T* ptr_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(scoped_ptr);
-};
-
-// Defines RE.
-
-// A simple C++ wrapper for <regex.h>. It uses the POSIX Extended
-// Regular Expression syntax.
-class GTEST_API_ RE {
- public:
- // A copy constructor is required by the Standard to initialize object
- // references from r-values.
- RE(const RE& other) { Init(other.pattern()); }
-
- // Constructs an RE from a string.
- RE(const ::std::string& regex) { Init(regex.c_str()); } // NOLINT
-
-#if GTEST_HAS_GLOBAL_STRING
-
- RE(const ::string& regex) { Init(regex.c_str()); } // NOLINT
-
-#endif // GTEST_HAS_GLOBAL_STRING
-
- RE(const char* regex) { Init(regex); } // NOLINT
- ~RE();
-
- // Returns the string representation of the regex.
- const char* pattern() const { return pattern_; }
-
- // FullMatch(str, re) returns true iff regular expression re matches
- // the entire str.
- // PartialMatch(str, re) returns true iff regular expression re
- // matches a substring of str (including str itself).
- //
- // TODO(wan@google.com): make FullMatch() and PartialMatch() work
- // when str contains NUL characters.
- static bool FullMatch(const ::std::string& str, const RE& re) {
- return FullMatch(str.c_str(), re);
- }
- static bool PartialMatch(const ::std::string& str, const RE& re) {
- return PartialMatch(str.c_str(), re);
- }
-
-#if GTEST_HAS_GLOBAL_STRING
-
- static bool FullMatch(const ::string& str, const RE& re) {
- return FullMatch(str.c_str(), re);
- }
- static bool PartialMatch(const ::string& str, const RE& re) {
- return PartialMatch(str.c_str(), re);
- }
-
-#endif // GTEST_HAS_GLOBAL_STRING
-
- static bool FullMatch(const char* str, const RE& re);
- static bool PartialMatch(const char* str, const RE& re);
-
- private:
- void Init(const char* regex);
-
- // We use a const char* instead of a string, as Google Test may be used
- // where string is not available. We also do not use Google Test's own
- // String type here, in order to simplify dependencies between the
- // files.
- const char* pattern_;
- bool is_valid_;
-
-#if GTEST_USES_POSIX_RE
-
- regex_t full_regex_; // For FullMatch().
- regex_t partial_regex_; // For PartialMatch().
-
-#else // GTEST_USES_SIMPLE_RE
-
- const char* full_pattern_; // For FullMatch();
-
-#endif
-
- GTEST_DISALLOW_ASSIGN_(RE);
-};
-
-// Formats a source file path and a line number as they would appear
-// in an error message from the compiler used to compile this code.
-GTEST_API_ ::std::string FormatFileLocation(const char* file, int line);
-
-// Formats a file location for compiler-independent XML output.
-// Although this function is not platform dependent, we put it next to
-// FormatFileLocation in order to contrast the two functions.
-GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(const char* file,
- int line);
-
-// Defines logging utilities:
-// GTEST_LOG_(severity) - logs messages at the specified severity level. The
-// message itself is streamed into the macro.
-// LogToStderr() - directs all log messages to stderr.
-// FlushInfoLog() - flushes informational log messages.
-
-enum GTestLogSeverity {
- GTEST_INFO,
- GTEST_WARNING,
- GTEST_ERROR,
- GTEST_FATAL
-};
-
-// Formats log entry severity, provides a stream object for streaming the
-// log message, and terminates the message with a newline when going out of
-// scope.
-class GTEST_API_ GTestLog {
- public:
- GTestLog(GTestLogSeverity severity, const char* file, int line);
-
- // Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
- ~GTestLog();
-
- ::std::ostream& GetStream() { return ::std::cerr; }
-
- private:
- const GTestLogSeverity severity_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestLog);
-};
-
-#define GTEST_LOG_(severity) \
- ::testing::internal::GTestLog(::testing::internal::GTEST_##severity, \
- __FILE__, __LINE__).GetStream()
-
-inline void LogToStderr() {}
-inline void FlushInfoLog() { fflush(NULL); }
-
-// INTERNAL IMPLEMENTATION - DO NOT USE.
-//
-// GTEST_CHECK_ is an all-mode assert. It aborts the program if the condition
-// is not satisfied.
-// Synopsys:
-// GTEST_CHECK_(boolean_condition);
-// or
-// GTEST_CHECK_(boolean_condition) << "Additional message";
-//
-// This checks the condition and if the condition is not satisfied
-// it prints message about the condition violation, including the
-// condition itself, plus additional message streamed into it, if any,
-// and then it aborts the program. It aborts the program irrespective of
-// whether it is built in the debug mode or not.
-#define GTEST_CHECK_(condition) \
- GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
- if (::testing::internal::IsTrue(condition)) \
- ; \
- else \
- GTEST_LOG_(FATAL) << "Condition " #condition " failed. "
-
-// An all-mode assert to verify that the given POSIX-style function
-// call returns 0 (indicating success). Known limitation: this
-// doesn't expand to a balanced 'if' statement, so enclose the macro
-// in {} if you need to use it as the only statement in an 'if'
-// branch.
-#define GTEST_CHECK_POSIX_SUCCESS_(posix_call) \
- if (const int gtest_error = (posix_call)) \
- GTEST_LOG_(FATAL) << #posix_call << "failed with error " \
- << gtest_error
-
-// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
-//
-// Use ImplicitCast_ as a safe version of static_cast for upcasting in
-// the type hierarchy (e.g. casting a Foo* to a SuperclassOfFoo* or a
-// const Foo*). When you use ImplicitCast_, the compiler checks that
-// the cast is safe. Such explicit ImplicitCast_s are necessary in
-// surprisingly many situations where C++ demands an exact type match
-// instead of an argument type convertable to a target type.
-//
-// The syntax for using ImplicitCast_ is the same as for static_cast:
-//
-// ImplicitCast_<ToType>(expr)
-//
-// ImplicitCast_ would have been part of the C++ standard library,
-// but the proposal was submitted too late. It will probably make
-// its way into the language in the future.
-//
-// This relatively ugly name is intentional. It prevents clashes with
-// similar functions users may have (e.g., implicit_cast). The internal
-// namespace alone is not enough because the function can be found by ADL.
-template<typename To>
-inline To ImplicitCast_(To x) { return x; }
-
-// When you upcast (that is, cast a pointer from type Foo to type
-// SuperclassOfFoo), it's fine to use ImplicitCast_<>, since upcasts
-// always succeed. When you downcast (that is, cast a pointer from
-// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
-// how do you know the pointer is really of type SubclassOfFoo? It
-// could be a bare Foo, or of type DifferentSubclassOfFoo. Thus,
-// when you downcast, you should use this macro. In debug mode, we
-// use dynamic_cast<> to double-check the downcast is legal (we die
-// if it's not). In normal mode, we do the efficient static_cast<>
-// instead. Thus, it's important to test in debug mode to make sure
-// the cast is legal!
-// This is the only place in the code we should use dynamic_cast<>.
-// In particular, you SHOULDN'T be using dynamic_cast<> in order to
-// do RTTI (eg code like this:
-// if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
-// if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
-// You should design the code some other way not to need this.
-//
-// This relatively ugly name is intentional. It prevents clashes with
-// similar functions users may have (e.g., down_cast). The internal
-// namespace alone is not enough because the function can be found by ADL.
-template<typename To, typename From> // use like this: DownCast_<T*>(foo);
-inline To DownCast_(From* f) { // so we only accept pointers
- // Ensures that To is a sub-type of From *. This test is here only
- // for compile-time type checking, and has no overhead in an
- // optimized build at run-time, as it will be optimized away
- // completely.
- if (false) {
- const To to = NULL;
- ::testing::internal::ImplicitCast_<From*>(to);
- }
-
-#if GTEST_HAS_RTTI
- // RTTI: debug mode only!
- GTEST_CHECK_(f == NULL || dynamic_cast<To>(f) != NULL);
-#endif
- return static_cast<To>(f);
-}
-
-// Downcasts the pointer of type Base to Derived.
-// Derived must be a subclass of Base. The parameter MUST
-// point to a class of type Derived, not any subclass of it.
-// When RTTI is available, the function performs a runtime
-// check to enforce this.
-template <class Derived, class Base>
-Derived* CheckedDowncastToActualType(Base* base) {
-#if GTEST_HAS_RTTI
- GTEST_CHECK_(typeid(*base) == typeid(Derived));
- return dynamic_cast<Derived*>(base); // NOLINT
-#else
- return static_cast<Derived*>(base); // Poor man's downcast.
-#endif
-}
-
-#if GTEST_HAS_STREAM_REDIRECTION
-
-// Defines the stderr capturer:
-// CaptureStdout - starts capturing stdout.
-// GetCapturedStdout - stops capturing stdout and returns the captured string.
-// CaptureStderr - starts capturing stderr.
-// GetCapturedStderr - stops capturing stderr and returns the captured string.
-//
-GTEST_API_ void CaptureStdout();
-GTEST_API_ String GetCapturedStdout();
-GTEST_API_ void CaptureStderr();
-GTEST_API_ String GetCapturedStderr();
-
-#endif // GTEST_HAS_STREAM_REDIRECTION
-
-
-#if GTEST_HAS_DEATH_TEST
-
-// A copy of all command line arguments. Set by InitGoogleTest().
-extern ::std::vector<String> g_argvs;
-
-// GTEST_HAS_DEATH_TEST implies we have ::std::string.
-const ::std::vector<String>& GetArgvs();
-
-#endif // GTEST_HAS_DEATH_TEST
-
-// Defines synchronization primitives.
-
-#if GTEST_HAS_PTHREAD
-
-// Sleeps for (roughly) n milli-seconds. This function is only for
-// testing Google Test's own constructs. Don't use it in user tests,
-// either directly or indirectly.
-inline void SleepMilliseconds(int n) {
- const timespec time = {
- 0, // 0 seconds.
- n * 1000L * 1000L, // And n ms.
- };
- nanosleep(&time, NULL);
-}
-
-// Allows a controller thread to pause execution of newly created
-// threads until notified. Instances of this class must be created
-// and destroyed in the controller thread.
-//
-// This class is only for testing Google Test's own constructs. Do not
-// use it in user tests, either directly or indirectly.
-class Notification {
- public:
- Notification() : notified_(false) {}
-
- // Notifies all threads created with this notification to start. Must
- // be called from the controller thread.
- void Notify() { notified_ = true; }
-
- // Blocks until the controller thread notifies. Must be called from a test
- // thread.
- void WaitForNotification() {
- while(!notified_) {
- SleepMilliseconds(10);
- }
- }
-
- private:
- volatile bool notified_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(Notification);
-};
-
-// As a C-function, ThreadFuncWithCLinkage cannot be templated itself.
-// Consequently, it cannot select a correct instantiation of ThreadWithParam
-// in order to call its Run(). Introducing ThreadWithParamBase as a
-// non-templated base class for ThreadWithParam allows us to bypass this
-// problem.
-class ThreadWithParamBase {
- public:
- virtual ~ThreadWithParamBase() {}
- virtual void Run() = 0;
-};
-
-// pthread_create() accepts a pointer to a function type with the C linkage.
-// According to the Standard (7.5/1), function types with different linkages
-// are different even if they are otherwise identical. Some compilers (for
-// example, SunStudio) treat them as different types. Since class methods
-// cannot be defined with C-linkage we need to define a free C-function to
-// pass into pthread_create().
-extern "C" inline void* ThreadFuncWithCLinkage(void* thread) {
- static_cast<ThreadWithParamBase*>(thread)->Run();
- return NULL;
-}
-
-// Helper class for testing Google Test's multi-threading constructs.
-// To use it, write:
-//
-// void ThreadFunc(int param) { /* Do things with param */ }
-// Notification thread_can_start;
-// ...
-// // The thread_can_start parameter is optional; you can supply NULL.
-// ThreadWithParam<int> thread(&ThreadFunc, 5, &thread_can_start);
-// thread_can_start.Notify();
-//
-// These classes are only for testing Google Test's own constructs. Do
-// not use them in user tests, either directly or indirectly.
-template <typename T>
-class ThreadWithParam : public ThreadWithParamBase {
- public:
- typedef void (*UserThreadFunc)(T);
-
- ThreadWithParam(
- UserThreadFunc func, T param, Notification* thread_can_start)
- : func_(func),
- param_(param),
- thread_can_start_(thread_can_start),
- finished_(false) {
- ThreadWithParamBase* const base = this;
- // The thread can be created only after all fields except thread_
- // have been initialized.
- GTEST_CHECK_POSIX_SUCCESS_(
- pthread_create(&thread_, 0, &ThreadFuncWithCLinkage, base));
- }
- ~ThreadWithParam() { Join(); }
-
- void Join() {
- if (!finished_) {
- GTEST_CHECK_POSIX_SUCCESS_(pthread_join(thread_, 0));
- finished_ = true;
- }
- }
-
- virtual void Run() {
- if (thread_can_start_ != NULL)
- thread_can_start_->WaitForNotification();
- func_(param_);
- }
-
- private:
- const UserThreadFunc func_; // User-supplied thread function.
- const T param_; // User-supplied parameter to the thread function.
- // When non-NULL, used to block execution until the controller thread
- // notifies.
- Notification* const thread_can_start_;
- bool finished_; // true iff we know that the thread function has finished.
- pthread_t thread_; // The native thread object.
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParam);
-};
-
-// MutexBase and Mutex implement mutex on pthreads-based platforms. They
-// are used in conjunction with class MutexLock:
-//
-// Mutex mutex;
-// ...
-// MutexLock lock(&mutex); // Acquires the mutex and releases it at the end
-// // of the current scope.
-//
-// MutexBase implements behavior for both statically and dynamically
-// allocated mutexes. Do not use MutexBase directly. Instead, write
-// the following to define a static mutex:
-//
-// GTEST_DEFINE_STATIC_MUTEX_(g_some_mutex);
-//
-// You can forward declare a static mutex like this:
-//
-// GTEST_DECLARE_STATIC_MUTEX_(g_some_mutex);
-//
-// To create a dynamic mutex, just define an object of type Mutex.
-class MutexBase {
- public:
- // Acquires this mutex.
- void Lock() {
- GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_lock(&mutex_));
- owner_ = pthread_self();
- }
-
- // Releases this mutex.
- void Unlock() {
- // We don't protect writing to owner_ here, as it's the caller's
- // responsibility to ensure that the current thread holds the
- // mutex when this is called.
- owner_ = 0;
- GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_unlock(&mutex_));
- }
-
- // Does nothing if the current thread holds the mutex. Otherwise, crashes
- // with high probability.
- void AssertHeld() const {
- GTEST_CHECK_(owner_ == pthread_self())
- << "The current thread is not holding the mutex @" << this;
- }
-
- // A static mutex may be used before main() is entered. It may even
- // be used before the dynamic initialization stage. Therefore we
- // must be able to initialize a static mutex object at link time.
- // This means MutexBase has to be a POD and its member variables
- // have to be public.
- public:
- pthread_mutex_t mutex_; // The underlying pthread mutex.
- pthread_t owner_; // The thread holding the mutex; 0 means no one holds it.
-};
-
-// Forward-declares a static mutex.
-# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
- extern ::testing::internal::MutexBase mutex
-
-// Defines and statically (i.e. at link time) initializes a static mutex.
-# define GTEST_DEFINE_STATIC_MUTEX_(mutex) \
- ::testing::internal::MutexBase mutex = { PTHREAD_MUTEX_INITIALIZER, 0 }
-
-// The Mutex class can only be used for mutexes created at runtime. It
-// shares its API with MutexBase otherwise.
-class Mutex : public MutexBase {
- public:
- Mutex() {
- GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, NULL));
- owner_ = 0;
- }
- ~Mutex() {
- GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_destroy(&mutex_));
- }
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(Mutex);
-};
-
-// We cannot name this class MutexLock as the ctor declaration would
-// conflict with a macro named MutexLock, which is defined on some
-// platforms. Hence the typedef trick below.
-class GTestMutexLock {
- public:
- explicit GTestMutexLock(MutexBase* mutex)
- : mutex_(mutex) { mutex_->Lock(); }
-
- ~GTestMutexLock() { mutex_->Unlock(); }
-
- private:
- MutexBase* const mutex_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestMutexLock);
-};
-
-typedef GTestMutexLock MutexLock;
-
-// Helpers for ThreadLocal.
-
-// pthread_key_create() requires DeleteThreadLocalValue() to have
-// C-linkage. Therefore it cannot be templatized to access
-// ThreadLocal<T>. Hence the need for class
-// ThreadLocalValueHolderBase.
-class ThreadLocalValueHolderBase {
- public:
- virtual ~ThreadLocalValueHolderBase() {}
-};
-
-// Called by pthread to delete thread-local data stored by
-// pthread_setspecific().
-extern "C" inline void DeleteThreadLocalValue(void* value_holder) {
- delete static_cast<ThreadLocalValueHolderBase*>(value_holder);
-}
-
-// Implements thread-local storage on pthreads-based systems.
-//
-// // Thread 1
-// ThreadLocal<int> tl(100); // 100 is the default value for each thread.
-//
-// // Thread 2
-// tl.set(150); // Changes the value for thread 2 only.
-// EXPECT_EQ(150, tl.get());
-//
-// // Thread 1
-// EXPECT_EQ(100, tl.get()); // In thread 1, tl has the original value.
-// tl.set(200);
-// EXPECT_EQ(200, tl.get());
-//
-// The template type argument T must have a public copy constructor.
-// In addition, the default ThreadLocal constructor requires T to have
-// a public default constructor.
-//
-// An object managed for a thread by a ThreadLocal instance is deleted
-// when the thread exits. Or, if the ThreadLocal instance dies in
-// that thread, when the ThreadLocal dies. It's the user's
-// responsibility to ensure that all other threads using a ThreadLocal
-// have exited when it dies, or the per-thread objects for those
-// threads will not be deleted.
-//
-// Google Test only uses global ThreadLocal objects. That means they
-// will die after main() has returned. Therefore, no per-thread
-// object managed by Google Test will be leaked as long as all threads
-// using Google Test have exited when main() returns.
-template <typename T>
-class ThreadLocal {
- public:
- ThreadLocal() : key_(CreateKey()),
- default_() {}
- explicit ThreadLocal(const T& value) : key_(CreateKey()),
- default_(value) {}
-
- ~ThreadLocal() {
- // Destroys the managed object for the current thread, if any.
- DeleteThreadLocalValue(pthread_getspecific(key_));
-
- // Releases resources associated with the key. This will *not*
- // delete managed objects for other threads.
- GTEST_CHECK_POSIX_SUCCESS_(pthread_key_delete(key_));
- }
-
- T* pointer() { return GetOrCreateValue(); }
- const T* pointer() const { return GetOrCreateValue(); }
- const T& get() const { return *pointer(); }
- void set(const T& value) { *pointer() = value; }
-
- private:
- // Holds a value of type T.
- class ValueHolder : public ThreadLocalValueHolderBase {
- public:
- explicit ValueHolder(const T& value) : value_(value) {}
-
- T* pointer() { return &value_; }
-
- private:
- T value_;
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolder);
- };
-
- static pthread_key_t CreateKey() {
- pthread_key_t key;
- // When a thread exits, DeleteThreadLocalValue() will be called on
- // the object managed for that thread.
- GTEST_CHECK_POSIX_SUCCESS_(
- pthread_key_create(&key, &DeleteThreadLocalValue));
- return key;
- }
-
- T* GetOrCreateValue() const {
- ThreadLocalValueHolderBase* const holder =
- static_cast<ThreadLocalValueHolderBase*>(pthread_getspecific(key_));
- if (holder != NULL) {
- return CheckedDowncastToActualType<ValueHolder>(holder)->pointer();
- }
-
- ValueHolder* const new_holder = new ValueHolder(default_);
- ThreadLocalValueHolderBase* const holder_base = new_holder;
- GTEST_CHECK_POSIX_SUCCESS_(pthread_setspecific(key_, holder_base));
- return new_holder->pointer();
- }
-
- // A key pthreads uses for looking up per-thread values.
- const pthread_key_t key_;
- const T default_; // The default value for each thread.
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocal);
-};
-
-# define GTEST_IS_THREADSAFE 1
-
-#else // GTEST_HAS_PTHREAD
-
-// A dummy implementation of synchronization primitives (mutex, lock,
-// and thread-local variable). Necessary for compiling Google Test where
-// mutex is not supported - using Google Test in multiple threads is not
-// supported on such platforms.
-
-class Mutex {
- public:
- Mutex() {}
- void AssertHeld() const {}
-};
-
-# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
- extern ::testing::internal::Mutex mutex
-
-# define GTEST_DEFINE_STATIC_MUTEX_(mutex) ::testing::internal::Mutex mutex
-
-class GTestMutexLock {
- public:
- explicit GTestMutexLock(Mutex*) {} // NOLINT
-};
-
-typedef GTestMutexLock MutexLock;
-
-template <typename T>
-class ThreadLocal {
- public:
- ThreadLocal() : value_() {}
- explicit ThreadLocal(const T& value) : value_(value) {}
- T* pointer() { return &value_; }
- const T* pointer() const { return &value_; }
- const T& get() const { return value_; }
- void set(const T& value) { value_ = value; }
- private:
- T value_;
-};
-
-// The above synchronization primitives have dummy implementations.
-// Therefore Google Test is not thread-safe.
-# define GTEST_IS_THREADSAFE 0
-
-#endif // GTEST_HAS_PTHREAD
-
-// Returns the number of threads running in the process, or 0 to indicate that
-// we cannot detect it.
-GTEST_API_ size_t GetThreadCount();
-
-// Passing non-POD classes through ellipsis (...) crashes the ARM
-// compiler and generates a warning in Sun Studio. The Nokia Symbian
-// and the IBM XL C/C++ compiler try to instantiate a copy constructor
-// for objects passed through ellipsis (...), failing for uncopyable
-// objects. We define this to ensure that only POD is passed through
-// ellipsis on these systems.
-#if defined(__SYMBIAN32__) || defined(__IBMCPP__) || defined(__SUNPRO_CC)
-// We lose support for NULL detection where the compiler doesn't like
-// passing non-POD classes through ellipsis (...).
-# define GTEST_ELLIPSIS_NEEDS_POD_ 1
-#else
-# define GTEST_CAN_COMPARE_NULL 1
-#endif
-
-// The Nokia Symbian and IBM XL C/C++ compilers cannot decide between
-// const T& and const T* in a function template. These compilers
-// _can_ decide between class template specializations for T and T*,
-// so a tr1::type_traits-like is_pointer works.
-#if defined(__SYMBIAN32__) || defined(__IBMCPP__)
-# define GTEST_NEEDS_IS_POINTER_ 1
-#endif
-
-template <bool bool_value>
-struct bool_constant {
- typedef bool_constant<bool_value> type;
- static const bool value = bool_value;
-};
-template <bool bool_value> const bool bool_constant<bool_value>::value;
-
-typedef bool_constant<false> false_type;
-typedef bool_constant<true> true_type;
-
-template <typename T>
-struct is_pointer : public false_type {};
-
-template <typename T>
-struct is_pointer<T*> : public true_type {};
-
-template <typename Iterator>
-struct IteratorTraits {
- typedef typename Iterator::value_type value_type;
-};
-
-template <typename T>
-struct IteratorTraits<T*> {
- typedef T value_type;
-};
-
-template <typename T>
-struct IteratorTraits<const T*> {
- typedef T value_type;
-};
-
-#if GTEST_OS_WINDOWS
-# define GTEST_PATH_SEP_ "\\"
-# define GTEST_HAS_ALT_PATH_SEP_ 1
-// The biggest signed integer type the compiler supports.
-typedef __int64 BiggestInt;
-#else
-# define GTEST_PATH_SEP_ "/"
-# define GTEST_HAS_ALT_PATH_SEP_ 0
-typedef long long BiggestInt; // NOLINT
-#endif // GTEST_OS_WINDOWS
-
-// Utilities for char.
-
-// isspace(int ch) and friends accept an unsigned char or EOF. char
-// may be signed, depending on the compiler (or compiler flags).
-// Therefore we need to cast a char to unsigned char before calling
-// isspace(), etc.
-
-inline bool IsAlpha(char ch) {
- return isalpha(static_cast<unsigned char>(ch)) != 0;
-}
-inline bool IsAlNum(char ch) {
- return isalnum(static_cast<unsigned char>(ch)) != 0;
-}
-inline bool IsDigit(char ch) {
- return isdigit(static_cast<unsigned char>(ch)) != 0;
-}
-inline bool IsLower(char ch) {
- return islower(static_cast<unsigned char>(ch)) != 0;
-}
-inline bool IsSpace(char ch) {
- return isspace(static_cast<unsigned char>(ch)) != 0;
-}
-inline bool IsUpper(char ch) {
- return isupper(static_cast<unsigned char>(ch)) != 0;
-}
-inline bool IsXDigit(char ch) {
- return isxdigit(static_cast<unsigned char>(ch)) != 0;
-}
-
-inline char ToLower(char ch) {
- return static_cast<char>(tolower(static_cast<unsigned char>(ch)));
-}
-inline char ToUpper(char ch) {
- return static_cast<char>(toupper(static_cast<unsigned char>(ch)));
-}
-
-// The testing::internal::posix namespace holds wrappers for common
-// POSIX functions. These wrappers hide the differences between
-// Windows/MSVC and POSIX systems. Since some compilers define these
-// standard functions as macros, the wrapper cannot have the same name
-// as the wrapped function.
-
-namespace posix {
-
-// Functions with a different name on Windows.
-
-#if GTEST_OS_WINDOWS
-
-typedef struct _stat StatStruct;
-
-# ifdef __BORLANDC__
-inline int IsATTY(int fd) { return isatty(fd); }
-inline int StrCaseCmp(const char* s1, const char* s2) {
- return stricmp(s1, s2);
-}
-inline char* StrDup(const char* src) { return strdup(src); }
-# else // !__BORLANDC__
-# if GTEST_OS_WINDOWS_MOBILE
-inline int IsATTY(int /* fd */) { return 0; }
-# else
-inline int IsATTY(int fd) { return _isatty(fd); }
-# endif // GTEST_OS_WINDOWS_MOBILE
-inline int StrCaseCmp(const char* s1, const char* s2) {
- return _stricmp(s1, s2);
-}
-inline char* StrDup(const char* src) { return _strdup(src); }
-# endif // __BORLANDC__
-
-# if GTEST_OS_WINDOWS_MOBILE
-inline int FileNo(FILE* file) { return reinterpret_cast<int>(_fileno(file)); }
-// Stat(), RmDir(), and IsDir() are not needed on Windows CE at this
-// time and thus not defined there.
-# else
-inline int FileNo(FILE* file) { return _fileno(file); }
-inline int Stat(const char* path, StatStruct* buf) { return _stat(path, buf); }
-inline int RmDir(const char* dir) { return _rmdir(dir); }
-inline bool IsDir(const StatStruct& st) {
- return (_S_IFDIR & st.st_mode) != 0;
-}
-# endif // GTEST_OS_WINDOWS_MOBILE
-
-#else
-
-typedef struct stat StatStruct;
-
-inline int FileNo(FILE* file) { return fileno(file); }
-inline int IsATTY(int fd) { return isatty(fd); }
-inline int Stat(const char* path, StatStruct* buf) { return stat(path, buf); }
-inline int StrCaseCmp(const char* s1, const char* s2) {
- return strcasecmp(s1, s2);
-}
-inline char* StrDup(const char* src) { return strdup(src); }
-inline int RmDir(const char* dir) { return rmdir(dir); }
-inline bool IsDir(const StatStruct& st) { return S_ISDIR(st.st_mode); }
-
-#endif // GTEST_OS_WINDOWS
-
-// Functions deprecated by MSVC 8.0.
-
-#ifdef _MSC_VER
-// Temporarily disable warning 4996 (deprecated function).
-# pragma warning(push)
-# pragma warning(disable:4996)
-#endif
-
-inline const char* StrNCpy(char* dest, const char* src, size_t n) {
- return strncpy(dest, src, n);
-}
-
-// ChDir(), FReopen(), FDOpen(), Read(), Write(), Close(), and
-// StrError() aren't needed on Windows CE at this time and thus not
-// defined there.
-
-#if !GTEST_OS_WINDOWS_MOBILE
-inline int ChDir(const char* dir) { return chdir(dir); }
-#endif
-inline FILE* FOpen(const char* path, const char* mode) {
- return fopen(path, mode);
-}
-#if !GTEST_OS_WINDOWS_MOBILE
-inline FILE *FReopen(const char* path, const char* mode, FILE* stream) {
- return freopen(path, mode, stream);
-}
-inline FILE* FDOpen(int fd, const char* mode) { return fdopen(fd, mode); }
-#endif
-inline int FClose(FILE* fp) { return fclose(fp); }
-#if !GTEST_OS_WINDOWS_MOBILE
-inline int Read(int fd, void* buf, unsigned int count) {
- return static_cast<int>(read(fd, buf, count));
-}
-inline int Write(int fd, const void* buf, unsigned int count) {
- return static_cast<int>(write(fd, buf, count));
-}
-inline int Close(int fd) { return close(fd); }
-inline const char* StrError(int errnum) { return strerror(errnum); }
-#endif
-inline const char* GetEnv(const char* name) {
-#if GTEST_OS_WINDOWS_MOBILE
- // We are on Windows CE, which has no environment variables.
- return NULL;
-#elif defined(__BORLANDC__) || defined(__SunOS_5_8) || defined(__SunOS_5_9)
- // Environment variables which we programmatically clear will be set to the
- // empty string rather than unset (NULL). Handle that case.
- const char* const env = getenv(name);
- return (env != NULL && env[0] != '\0') ? env : NULL;
-#else
- return getenv(name);
-#endif
-}
-
-#ifdef _MSC_VER
-# pragma warning(pop) // Restores the warning state.
-#endif
-
-#if GTEST_OS_WINDOWS_MOBILE
-// Windows CE has no C library. The abort() function is used in
-// several places in Google Test. This implementation provides a reasonable
-// imitation of standard behaviour.
-void Abort();
-#else
-inline void Abort() { abort(); }
-#endif // GTEST_OS_WINDOWS_MOBILE
-
-} // namespace posix
-
-// The maximum number a BiggestInt can represent. This definition
-// works no matter BiggestInt is represented in one's complement or
-// two's complement.
-//
-// We cannot rely on numeric_limits in STL, as __int64 and long long
-// are not part of standard C++ and numeric_limits doesn't need to be
-// defined for them.
-const BiggestInt kMaxBiggestInt =
- ~(static_cast<BiggestInt>(1) << (8*sizeof(BiggestInt) - 1));
-
-// This template class serves as a compile-time function from size to
-// type. It maps a size in bytes to a primitive type with that
-// size. e.g.
-//
-// TypeWithSize<4>::UInt
-//
-// is typedef-ed to be unsigned int (unsigned integer made up of 4
-// bytes).
-//
-// Such functionality should belong to STL, but I cannot find it
-// there.
-//
-// Google Test uses this class in the implementation of floating-point
-// comparison.
-//
-// For now it only handles UInt (unsigned int) as that's all Google Test
-// needs. Other types can be easily added in the future if need
-// arises.
-template <size_t size>
-class TypeWithSize {
- public:
- // This prevents the user from using TypeWithSize<N> with incorrect
- // values of N.
- typedef void UInt;
-};
-
-// The specialization for size 4.
-template <>
-class TypeWithSize<4> {
- public:
- // unsigned int has size 4 in both gcc and MSVC.
- //
- // As base/basictypes.h doesn't compile on Windows, we cannot use
- // uint32, uint64, and etc here.
- typedef int Int;
- typedef unsigned int UInt;
-};
-
-// The specialization for size 8.
-template <>
-class TypeWithSize<8> {
- public:
-
-#if GTEST_OS_WINDOWS
- typedef __int64 Int;
- typedef unsigned __int64 UInt;
-#else
- typedef long long Int; // NOLINT
- typedef unsigned long long UInt; // NOLINT
-#endif // GTEST_OS_WINDOWS
-};
-
-// Integer types of known sizes.
-typedef TypeWithSize<4>::Int Int32;
-typedef TypeWithSize<4>::UInt UInt32;
-typedef TypeWithSize<8>::Int Int64;
-typedef TypeWithSize<8>::UInt UInt64;
-typedef TypeWithSize<8>::Int TimeInMillis; // Represents time in milliseconds.
-
-// Utilities for command line flags and environment variables.
-
-// Macro for referencing flags.
-#define GTEST_FLAG(name) FLAGS_gtest_##name
-
-// Macros for declaring flags.
-#define GTEST_DECLARE_bool_(name) GTEST_API_ extern bool GTEST_FLAG(name)
-#define GTEST_DECLARE_int32_(name) \
- GTEST_API_ extern ::testing::internal::Int32 GTEST_FLAG(name)
-#define GTEST_DECLARE_string_(name) \
- GTEST_API_ extern ::testing::internal::String GTEST_FLAG(name)
-
-// Macros for defining flags.
-#define GTEST_DEFINE_bool_(name, default_val, doc) \
- GTEST_API_ bool GTEST_FLAG(name) = (default_val)
-#define GTEST_DEFINE_int32_(name, default_val, doc) \
- GTEST_API_ ::testing::internal::Int32 GTEST_FLAG(name) = (default_val)
-#define GTEST_DEFINE_string_(name, default_val, doc) \
- GTEST_API_ ::testing::internal::String GTEST_FLAG(name) = (default_val)
-
-// Parses 'str' for a 32-bit signed integer. If successful, writes the result
-// to *value and returns true; otherwise leaves *value unchanged and returns
-// false.
-// TODO(chandlerc): Find a better way to refactor flag and environment parsing
-// out of both gtest-port.cc and gtest.cc to avoid exporting this utility
-// function.
-bool ParseInt32(const Message& src_text, const char* str, Int32* value);
-
-// Parses a bool/Int32/string from the environment variable
-// corresponding to the given Google Test flag.
-bool BoolFromGTestEnv(const char* flag, bool default_val);
-GTEST_API_ Int32 Int32FromGTestEnv(const char* flag, Int32 default_val);
-const char* StringFromGTestEnv(const char* flag, const char* default_val);
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
-//
-// The Google C++ Testing Framework (Google Test)
-//
-// This header file declares the String class and functions used internally by
-// Google Test. They are subject to change without notice. They should not used
-// by code external to Google Test.
-//
-// This header file is #included by <gtest/internal/gtest-internal.h>.
-// It should not be #included by other files.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
-
-#ifdef __BORLANDC__
-// string.h is not guaranteed to provide strcpy on C++ Builder.
-# include <mem.h>
-#endif
-
-#include <string.h>
-#include "gtest/internal/gtest-port.h"
-
-#include <string>
-
-namespace testing {
-namespace internal {
-
-// String - a UTF-8 string class.
-//
-// For historic reasons, we don't use std::string.
-//
-// TODO(wan@google.com): replace this class with std::string or
-// implement it in terms of the latter.
-//
-// Note that String can represent both NULL and the empty string,
-// while std::string cannot represent NULL.
-//
-// NULL and the empty string are considered different. NULL is less
-// than anything (including the empty string) except itself.
-//
-// This class only provides minimum functionality necessary for
-// implementing Google Test. We do not intend to implement a full-fledged
-// string class here.
-//
-// Since the purpose of this class is to provide a substitute for
-// std::string on platforms where it cannot be used, we define a copy
-// constructor and assignment operators such that we don't need
-// conditional compilation in a lot of places.
-//
-// In order to make the representation efficient, the d'tor of String
-// is not virtual. Therefore DO NOT INHERIT FROM String.
-class GTEST_API_ String {
- public:
- // Static utility methods
-
- // Returns the input enclosed in double quotes if it's not NULL;
- // otherwise returns "(null)". For example, "\"Hello\"" is returned
- // for input "Hello".
- //
- // This is useful for printing a C string in the syntax of a literal.
- //
- // Known issue: escape sequences are not handled yet.
- static String ShowCStringQuoted(const char* c_str);
-
- // Clones a 0-terminated C string, allocating memory using new. The
- // caller is responsible for deleting the return value using
- // delete[]. Returns the cloned string, or NULL if the input is
- // NULL.
- //
- // This is different from strdup() in string.h, which allocates
- // memory using malloc().
- static const char* CloneCString(const char* c_str);
-
-#if GTEST_OS_WINDOWS_MOBILE
- // Windows CE does not have the 'ANSI' versions of Win32 APIs. To be
- // able to pass strings to Win32 APIs on CE we need to convert them
- // to 'Unicode', UTF-16.
-
- // Creates a UTF-16 wide string from the given ANSI string, allocating
- // memory using new. The caller is responsible for deleting the return
- // value using delete[]. Returns the wide string, or NULL if the
- // input is NULL.
- //
- // The wide string is created using the ANSI codepage (CP_ACP) to
- // match the behaviour of the ANSI versions of Win32 calls and the
- // C runtime.
- static LPCWSTR AnsiToUtf16(const char* c_str);
-
- // Creates an ANSI string from the given wide string, allocating
- // memory using new. The caller is responsible for deleting the return
- // value using delete[]. Returns the ANSI string, or NULL if the
- // input is NULL.
- //
- // The returned string is created using the ANSI codepage (CP_ACP) to
- // match the behaviour of the ANSI versions of Win32 calls and the
- // C runtime.
- static const char* Utf16ToAnsi(LPCWSTR utf16_str);
-#endif
-
- // Compares two C strings. Returns true iff they have the same content.
- //
- // Unlike strcmp(), this function can handle NULL argument(s). A
- // NULL C string is considered different to any non-NULL C string,
- // including the empty string.
- static bool CStringEquals(const char* lhs, const char* rhs);
-
- // Converts a wide C string to a String using the UTF-8 encoding.
- // NULL will be converted to "(null)". If an error occurred during
- // the conversion, "(failed to convert from wide string)" is
- // returned.
- static String ShowWideCString(const wchar_t* wide_c_str);
-
- // Similar to ShowWideCString(), except that this function encloses
- // the converted string in double quotes.
- static String ShowWideCStringQuoted(const wchar_t* wide_c_str);
-
- // Compares two wide C strings. Returns true iff they have the same
- // content.
- //
- // Unlike wcscmp(), this function can handle NULL argument(s). A
- // NULL C string is considered different to any non-NULL C string,
- // including the empty string.
- static bool WideCStringEquals(const wchar_t* lhs, const wchar_t* rhs);
-
- // Compares two C strings, ignoring case. Returns true iff they
- // have the same content.
- //
- // Unlike strcasecmp(), this function can handle NULL argument(s).
- // A NULL C string is considered different to any non-NULL C string,
- // including the empty string.
- static bool CaseInsensitiveCStringEquals(const char* lhs,
- const char* rhs);
-
- // Compares two wide C strings, ignoring case. Returns true iff they
- // have the same content.
- //
- // Unlike wcscasecmp(), this function can handle NULL argument(s).
- // A NULL C string is considered different to any non-NULL wide C string,
- // including the empty string.
- // NB: The implementations on different platforms slightly differ.
- // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
- // environment variable. On GNU platform this method uses wcscasecmp
- // which compares according to LC_CTYPE category of the current locale.
- // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
- // current locale.
- static bool CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
- const wchar_t* rhs);
-
- // Formats a list of arguments to a String, using the same format
- // spec string as for printf.
- //
- // We do not use the StringPrintf class as it is not universally
- // available.
- //
- // The result is limited to 4096 characters (including the tailing
- // 0). If 4096 characters are not enough to format the input,
- // "<buffer exceeded>" is returned.
- static String Format(const char* format, ...);
-
- // C'tors
-
- // The default c'tor constructs a NULL string.
- String() : c_str_(NULL), length_(0) {}
-
- // Constructs a String by cloning a 0-terminated C string.
- String(const char* a_c_str) { // NOLINT
- if (a_c_str == NULL) {
- c_str_ = NULL;
- length_ = 0;
- } else {
- ConstructNonNull(a_c_str, strlen(a_c_str));
- }
- }
-
- // Constructs a String by copying a given number of chars from a
- // buffer. E.g. String("hello", 3) creates the string "hel",
- // String("a\0bcd", 4) creates "a\0bc", String(NULL, 0) creates "",
- // and String(NULL, 1) results in access violation.
- String(const char* buffer, size_t a_length) {
- ConstructNonNull(buffer, a_length);
- }
-
- // The copy c'tor creates a new copy of the string. The two
- // String objects do not share content.
- String(const String& str) : c_str_(NULL), length_(0) { *this = str; }
-
- // D'tor. String is intended to be a final class, so the d'tor
- // doesn't need to be virtual.
- ~String() { delete[] c_str_; }
-
- // Allows a String to be implicitly converted to an ::std::string or
- // ::string, and vice versa. Converting a String containing a NULL
- // pointer to ::std::string or ::string is undefined behavior.
- // Converting a ::std::string or ::string containing an embedded NUL
- // character to a String will result in the prefix up to the first
- // NUL character.
- String(const ::std::string& str) {
- ConstructNonNull(str.c_str(), str.length());
- }
-
- operator ::std::string() const { return ::std::string(c_str(), length()); }
-
-#if GTEST_HAS_GLOBAL_STRING
- String(const ::string& str) {
- ConstructNonNull(str.c_str(), str.length());
- }
-
- operator ::string() const { return ::string(c_str(), length()); }
-#endif // GTEST_HAS_GLOBAL_STRING
-
- // Returns true iff this is an empty string (i.e. "").
- bool empty() const { return (c_str() != NULL) && (length() == 0); }
-
- // Compares this with another String.
- // Returns < 0 if this is less than rhs, 0 if this is equal to rhs, or > 0
- // if this is greater than rhs.
- int Compare(const String& rhs) const;
-
- // Returns true iff this String equals the given C string. A NULL
- // string and a non-NULL string are considered not equal.
- bool operator==(const char* a_c_str) const { return Compare(a_c_str) == 0; }
-
- // Returns true iff this String is less than the given String. A
- // NULL string is considered less than "".
- bool operator<(const String& rhs) const { return Compare(rhs) < 0; }
-
- // Returns true iff this String doesn't equal the given C string. A NULL
- // string and a non-NULL string are considered not equal.
- bool operator!=(const char* a_c_str) const { return !(*this == a_c_str); }
-
- // Returns true iff this String ends with the given suffix. *Any*
- // String is considered to end with a NULL or empty suffix.
- bool EndsWith(const char* suffix) const;
-
- // Returns true iff this String ends with the given suffix, not considering
- // case. Any String is considered to end with a NULL or empty suffix.
- bool EndsWithCaseInsensitive(const char* suffix) const;
-
- // Returns the length of the encapsulated string, or 0 if the
- // string is NULL.
- size_t length() const { return length_; }
-
- // Gets the 0-terminated C string this String object represents.
- // The String object still owns the string. Therefore the caller
- // should NOT delete the return value.
- const char* c_str() const { return c_str_; }
-
- // Assigns a C string to this object. Self-assignment works.
- const String& operator=(const char* a_c_str) {
- return *this = String(a_c_str);
- }
-
- // Assigns a String object to this object. Self-assignment works.
- const String& operator=(const String& rhs) {
- if (this != &rhs) {
- delete[] c_str_;
- if (rhs.c_str() == NULL) {
- c_str_ = NULL;
- length_ = 0;
- } else {
- ConstructNonNull(rhs.c_str(), rhs.length());
- }
- }
-
- return *this;
- }
-
- private:
- // Constructs a non-NULL String from the given content. This
- // function can only be called when c_str_ has not been allocated.
- // ConstructNonNull(NULL, 0) results in an empty string ("").
- // ConstructNonNull(NULL, non_zero) is undefined behavior.
- void ConstructNonNull(const char* buffer, size_t a_length) {
- char* const str = new char[a_length + 1];
- memcpy(str, buffer, a_length);
- str[a_length] = '\0';
- c_str_ = str;
- length_ = a_length;
- }
-
- const char* c_str_;
- size_t length_;
-}; // class String
-
-// Streams a String to an ostream. Each '\0' character in the String
-// is replaced with "\\0".
-inline ::std::ostream& operator<<(::std::ostream& os, const String& str) {
- if (str.c_str() == NULL) {
- os << "(null)";
- } else {
- const char* const c_str = str.c_str();
- for (size_t i = 0; i != str.length(); i++) {
- if (c_str[i] == '\0') {
- os << "\\0";
- } else {
- os << c_str[i];
- }
- }
- }
- return os;
-}
-
-// Gets the content of the stringstream's buffer as a String. Each '\0'
-// character in the buffer is replaced with "\\0".
-GTEST_API_ String StringStreamToString(::std::stringstream* stream);
-
-// Converts a streamable value to a String. A NULL pointer is
-// converted to "(null)". When the input value is a ::string,
-// ::std::string, ::wstring, or ::std::wstring object, each NUL
-// character in it is replaced with "\\0".
-
-// Declared here but defined in gtest.h, so that it has access
-// to the definition of the Message class, required by the ARM
-// compiler.
-template <typename T>
-String StreamableToString(const T& streamable);
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+++ /dev/null
-// This file was GENERATED by a script. DO NOT EDIT BY HAND!!!
-
-// Copyright 2009 Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-// Implements a subset of TR1 tuple needed by Google Test and Google Mock.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
-
-#include <utility> // For ::std::pair.
-
-// The compiler used in Symbian has a bug that prevents us from declaring the
-// tuple template as a friend (it complains that tuple is redefined). This
-// hack bypasses the bug by declaring the members that should otherwise be
-// private as public.
-// Sun Studio versions < 12 also have the above bug.
-#if defined(__SYMBIAN32__) || (defined(__SUNPRO_CC) && __SUNPRO_CC < 0x590)
-# define GTEST_DECLARE_TUPLE_AS_FRIEND_ public:
-#else
-# define GTEST_DECLARE_TUPLE_AS_FRIEND_ \
- template <GTEST_10_TYPENAMES_(U)> friend class tuple; \
- private:
-#endif
-
-// GTEST_n_TUPLE_(T) is the type of an n-tuple.
-#define GTEST_0_TUPLE_(T) tuple<>
-#define GTEST_1_TUPLE_(T) tuple<T##0, void, void, void, void, void, void, \
- void, void, void>
-#define GTEST_2_TUPLE_(T) tuple<T##0, T##1, void, void, void, void, void, \
- void, void, void>
-#define GTEST_3_TUPLE_(T) tuple<T##0, T##1, T##2, void, void, void, void, \
- void, void, void>
-#define GTEST_4_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, void, void, void, \
- void, void, void>
-#define GTEST_5_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, void, void, \
- void, void, void>
-#define GTEST_6_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, void, \
- void, void, void>
-#define GTEST_7_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
- void, void, void>
-#define GTEST_8_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
- T##7, void, void>
-#define GTEST_9_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
- T##7, T##8, void>
-#define GTEST_10_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
- T##7, T##8, T##9>
-
-// GTEST_n_TYPENAMES_(T) declares a list of n typenames.
-#define GTEST_0_TYPENAMES_(T)
-#define GTEST_1_TYPENAMES_(T) typename T##0
-#define GTEST_2_TYPENAMES_(T) typename T##0, typename T##1
-#define GTEST_3_TYPENAMES_(T) typename T##0, typename T##1, typename T##2
-#define GTEST_4_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3
-#define GTEST_5_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3, typename T##4
-#define GTEST_6_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3, typename T##4, typename T##5
-#define GTEST_7_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3, typename T##4, typename T##5, typename T##6
-#define GTEST_8_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3, typename T##4, typename T##5, typename T##6, typename T##7
-#define GTEST_9_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3, typename T##4, typename T##5, typename T##6, \
- typename T##7, typename T##8
-#define GTEST_10_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
- typename T##3, typename T##4, typename T##5, typename T##6, \
- typename T##7, typename T##8, typename T##9
-
-// In theory, defining stuff in the ::std namespace is undefined
-// behavior. We can do this as we are playing the role of a standard
-// library vendor.
-namespace std {
-namespace tr1 {
-
-template <typename T0 = void, typename T1 = void, typename T2 = void,
- typename T3 = void, typename T4 = void, typename T5 = void,
- typename T6 = void, typename T7 = void, typename T8 = void,
- typename T9 = void>
-class tuple;
-
-// Anything in namespace gtest_internal is Google Test's INTERNAL
-// IMPLEMENTATION DETAIL and MUST NOT BE USED DIRECTLY in user code.
-namespace gtest_internal {
-
-// ByRef<T>::type is T if T is a reference; otherwise it's const T&.
-template <typename T>
-struct ByRef { typedef const T& type; }; // NOLINT
-template <typename T>
-struct ByRef<T&> { typedef T& type; }; // NOLINT
-
-// A handy wrapper for ByRef.
-#define GTEST_BY_REF_(T) typename ::std::tr1::gtest_internal::ByRef<T>::type
-
-// AddRef<T>::type is T if T is a reference; otherwise it's T&. This
-// is the same as tr1::add_reference<T>::type.
-template <typename T>
-struct AddRef { typedef T& type; }; // NOLINT
-template <typename T>
-struct AddRef<T&> { typedef T& type; }; // NOLINT
-
-// A handy wrapper for AddRef.
-#define GTEST_ADD_REF_(T) typename ::std::tr1::gtest_internal::AddRef<T>::type
-
-// A helper for implementing get<k>().
-template <int k> class Get;
-
-// A helper for implementing tuple_element<k, T>. kIndexValid is true
-// iff k < the number of fields in tuple type T.
-template <bool kIndexValid, int kIndex, class Tuple>
-struct TupleElement;
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 0, GTEST_10_TUPLE_(T)> { typedef T0 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 1, GTEST_10_TUPLE_(T)> { typedef T1 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 2, GTEST_10_TUPLE_(T)> { typedef T2 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 3, GTEST_10_TUPLE_(T)> { typedef T3 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 4, GTEST_10_TUPLE_(T)> { typedef T4 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 5, GTEST_10_TUPLE_(T)> { typedef T5 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 6, GTEST_10_TUPLE_(T)> { typedef T6 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 7, GTEST_10_TUPLE_(T)> { typedef T7 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 8, GTEST_10_TUPLE_(T)> { typedef T8 type; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct TupleElement<true, 9, GTEST_10_TUPLE_(T)> { typedef T9 type; };
-
-} // namespace gtest_internal
-
-template <>
-class tuple<> {
- public:
- tuple() {}
- tuple(const tuple& /* t */) {}
- tuple& operator=(const tuple& /* t */) { return *this; }
-};
-
-template <GTEST_1_TYPENAMES_(T)>
-class GTEST_1_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0) : f0_(f0) {}
-
- tuple(const tuple& t) : f0_(t.f0_) {}
-
- template <GTEST_1_TYPENAMES_(U)>
- tuple(const GTEST_1_TUPLE_(U)& t) : f0_(t.f0_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_1_TYPENAMES_(U)>
- tuple& operator=(const GTEST_1_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_1_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_1_TUPLE_(U)& t) {
- f0_ = t.f0_;
- return *this;
- }
-
- T0 f0_;
-};
-
-template <GTEST_2_TYPENAMES_(T)>
-class GTEST_2_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1) : f0_(f0),
- f1_(f1) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_) {}
-
- template <GTEST_2_TYPENAMES_(U)>
- tuple(const GTEST_2_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_) {}
- template <typename U0, typename U1>
- tuple(const ::std::pair<U0, U1>& p) : f0_(p.first), f1_(p.second) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_2_TYPENAMES_(U)>
- tuple& operator=(const GTEST_2_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
- template <typename U0, typename U1>
- tuple& operator=(const ::std::pair<U0, U1>& p) {
- f0_ = p.first;
- f1_ = p.second;
- return *this;
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_2_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_2_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
-};
-
-template <GTEST_3_TYPENAMES_(T)>
-class GTEST_3_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2) : f0_(f0), f1_(f1), f2_(f2) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
-
- template <GTEST_3_TYPENAMES_(U)>
- tuple(const GTEST_3_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_3_TYPENAMES_(U)>
- tuple& operator=(const GTEST_3_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_3_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_3_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
-};
-
-template <GTEST_4_TYPENAMES_(T)>
-class GTEST_4_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3) : f0_(f0), f1_(f1), f2_(f2),
- f3_(f3) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_) {}
-
- template <GTEST_4_TYPENAMES_(U)>
- tuple(const GTEST_4_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_4_TYPENAMES_(U)>
- tuple& operator=(const GTEST_4_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_4_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_4_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
-};
-
-template <GTEST_5_TYPENAMES_(T)>
-class GTEST_5_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_(), f4_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3,
- GTEST_BY_REF_(T4) f4) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
- f4_(t.f4_) {}
-
- template <GTEST_5_TYPENAMES_(U)>
- tuple(const GTEST_5_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_), f4_(t.f4_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_5_TYPENAMES_(U)>
- tuple& operator=(const GTEST_5_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_5_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_5_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- f4_ = t.f4_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
- T4 f4_;
-};
-
-template <GTEST_6_TYPENAMES_(T)>
-class GTEST_6_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
- GTEST_BY_REF_(T5) f5) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
- f5_(f5) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
- f4_(t.f4_), f5_(t.f5_) {}
-
- template <GTEST_6_TYPENAMES_(U)>
- tuple(const GTEST_6_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_), f4_(t.f4_), f5_(t.f5_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_6_TYPENAMES_(U)>
- tuple& operator=(const GTEST_6_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_6_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_6_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- f4_ = t.f4_;
- f5_ = t.f5_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
- T4 f4_;
- T5 f5_;
-};
-
-template <GTEST_7_TYPENAMES_(T)>
-class GTEST_7_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
- GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6) : f0_(f0), f1_(f1), f2_(f2),
- f3_(f3), f4_(f4), f5_(f5), f6_(f6) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
- f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
-
- template <GTEST_7_TYPENAMES_(U)>
- tuple(const GTEST_7_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_7_TYPENAMES_(U)>
- tuple& operator=(const GTEST_7_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_7_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_7_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- f4_ = t.f4_;
- f5_ = t.f5_;
- f6_ = t.f6_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
- T4 f4_;
- T5 f5_;
- T6 f6_;
-};
-
-template <GTEST_8_TYPENAMES_(T)>
-class GTEST_8_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
- GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6,
- GTEST_BY_REF_(T7) f7) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
- f5_(f5), f6_(f6), f7_(f7) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
- f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
-
- template <GTEST_8_TYPENAMES_(U)>
- tuple(const GTEST_8_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_8_TYPENAMES_(U)>
- tuple& operator=(const GTEST_8_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_8_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_8_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- f4_ = t.f4_;
- f5_ = t.f5_;
- f6_ = t.f6_;
- f7_ = t.f7_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
- T4 f4_;
- T5 f5_;
- T6 f6_;
- T7 f7_;
-};
-
-template <GTEST_9_TYPENAMES_(T)>
-class GTEST_9_TUPLE_(T) {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
- GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
- GTEST_BY_REF_(T8) f8) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
- f5_(f5), f6_(f6), f7_(f7), f8_(f8) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
- f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
-
- template <GTEST_9_TYPENAMES_(U)>
- tuple(const GTEST_9_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_9_TYPENAMES_(U)>
- tuple& operator=(const GTEST_9_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_9_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_9_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- f4_ = t.f4_;
- f5_ = t.f5_;
- f6_ = t.f6_;
- f7_ = t.f7_;
- f8_ = t.f8_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
- T4 f4_;
- T5 f5_;
- T6 f6_;
- T7 f7_;
- T8 f8_;
-};
-
-template <GTEST_10_TYPENAMES_(T)>
-class tuple {
- public:
- template <int k> friend class gtest_internal::Get;
-
- tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_(),
- f9_() {}
-
- explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
- GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
- GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
- GTEST_BY_REF_(T8) f8, GTEST_BY_REF_(T9) f9) : f0_(f0), f1_(f1), f2_(f2),
- f3_(f3), f4_(f4), f5_(f5), f6_(f6), f7_(f7), f8_(f8), f9_(f9) {}
-
- tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
- f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_), f9_(t.f9_) {}
-
- template <GTEST_10_TYPENAMES_(U)>
- tuple(const GTEST_10_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
- f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_),
- f9_(t.f9_) {}
-
- tuple& operator=(const tuple& t) { return CopyFrom(t); }
-
- template <GTEST_10_TYPENAMES_(U)>
- tuple& operator=(const GTEST_10_TUPLE_(U)& t) {
- return CopyFrom(t);
- }
-
- GTEST_DECLARE_TUPLE_AS_FRIEND_
-
- template <GTEST_10_TYPENAMES_(U)>
- tuple& CopyFrom(const GTEST_10_TUPLE_(U)& t) {
- f0_ = t.f0_;
- f1_ = t.f1_;
- f2_ = t.f2_;
- f3_ = t.f3_;
- f4_ = t.f4_;
- f5_ = t.f5_;
- f6_ = t.f6_;
- f7_ = t.f7_;
- f8_ = t.f8_;
- f9_ = t.f9_;
- return *this;
- }
-
- T0 f0_;
- T1 f1_;
- T2 f2_;
- T3 f3_;
- T4 f4_;
- T5 f5_;
- T6 f6_;
- T7 f7_;
- T8 f8_;
- T9 f9_;
-};
-
-// 6.1.3.2 Tuple creation functions.
-
-// Known limitations: we don't support passing an
-// std::tr1::reference_wrapper<T> to make_tuple(). And we don't
-// implement tie().
-
-inline tuple<> make_tuple() { return tuple<>(); }
-
-template <GTEST_1_TYPENAMES_(T)>
-inline GTEST_1_TUPLE_(T) make_tuple(const T0& f0) {
- return GTEST_1_TUPLE_(T)(f0);
-}
-
-template <GTEST_2_TYPENAMES_(T)>
-inline GTEST_2_TUPLE_(T) make_tuple(const T0& f0, const T1& f1) {
- return GTEST_2_TUPLE_(T)(f0, f1);
-}
-
-template <GTEST_3_TYPENAMES_(T)>
-inline GTEST_3_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2) {
- return GTEST_3_TUPLE_(T)(f0, f1, f2);
-}
-
-template <GTEST_4_TYPENAMES_(T)>
-inline GTEST_4_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3) {
- return GTEST_4_TUPLE_(T)(f0, f1, f2, f3);
-}
-
-template <GTEST_5_TYPENAMES_(T)>
-inline GTEST_5_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3, const T4& f4) {
- return GTEST_5_TUPLE_(T)(f0, f1, f2, f3, f4);
-}
-
-template <GTEST_6_TYPENAMES_(T)>
-inline GTEST_6_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3, const T4& f4, const T5& f5) {
- return GTEST_6_TUPLE_(T)(f0, f1, f2, f3, f4, f5);
-}
-
-template <GTEST_7_TYPENAMES_(T)>
-inline GTEST_7_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3, const T4& f4, const T5& f5, const T6& f6) {
- return GTEST_7_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6);
-}
-
-template <GTEST_8_TYPENAMES_(T)>
-inline GTEST_8_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7) {
- return GTEST_8_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7);
-}
-
-template <GTEST_9_TYPENAMES_(T)>
-inline GTEST_9_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
- const T8& f8) {
- return GTEST_9_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8);
-}
-
-template <GTEST_10_TYPENAMES_(T)>
-inline GTEST_10_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
- const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
- const T8& f8, const T9& f9) {
- return GTEST_10_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8, f9);
-}
-
-// 6.1.3.3 Tuple helper classes.
-
-template <typename Tuple> struct tuple_size;
-
-template <GTEST_0_TYPENAMES_(T)>
-struct tuple_size<GTEST_0_TUPLE_(T)> { static const int value = 0; };
-
-template <GTEST_1_TYPENAMES_(T)>
-struct tuple_size<GTEST_1_TUPLE_(T)> { static const int value = 1; };
-
-template <GTEST_2_TYPENAMES_(T)>
-struct tuple_size<GTEST_2_TUPLE_(T)> { static const int value = 2; };
-
-template <GTEST_3_TYPENAMES_(T)>
-struct tuple_size<GTEST_3_TUPLE_(T)> { static const int value = 3; };
-
-template <GTEST_4_TYPENAMES_(T)>
-struct tuple_size<GTEST_4_TUPLE_(T)> { static const int value = 4; };
-
-template <GTEST_5_TYPENAMES_(T)>
-struct tuple_size<GTEST_5_TUPLE_(T)> { static const int value = 5; };
-
-template <GTEST_6_TYPENAMES_(T)>
-struct tuple_size<GTEST_6_TUPLE_(T)> { static const int value = 6; };
-
-template <GTEST_7_TYPENAMES_(T)>
-struct tuple_size<GTEST_7_TUPLE_(T)> { static const int value = 7; };
-
-template <GTEST_8_TYPENAMES_(T)>
-struct tuple_size<GTEST_8_TUPLE_(T)> { static const int value = 8; };
-
-template <GTEST_9_TYPENAMES_(T)>
-struct tuple_size<GTEST_9_TUPLE_(T)> { static const int value = 9; };
-
-template <GTEST_10_TYPENAMES_(T)>
-struct tuple_size<GTEST_10_TUPLE_(T)> { static const int value = 10; };
-
-template <int k, class Tuple>
-struct tuple_element {
- typedef typename gtest_internal::TupleElement<
- k < (tuple_size<Tuple>::value), k, Tuple>::type type;
-};
-
-#define GTEST_TUPLE_ELEMENT_(k, Tuple) typename tuple_element<k, Tuple >::type
-
-// 6.1.3.4 Element access.
-
-namespace gtest_internal {
-
-template <>
-class Get<0> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
- Field(Tuple& t) { return t.f0_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
- ConstField(const Tuple& t) { return t.f0_; }
-};
-
-template <>
-class Get<1> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
- Field(Tuple& t) { return t.f1_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
- ConstField(const Tuple& t) { return t.f1_; }
-};
-
-template <>
-class Get<2> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
- Field(Tuple& t) { return t.f2_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
- ConstField(const Tuple& t) { return t.f2_; }
-};
-
-template <>
-class Get<3> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
- Field(Tuple& t) { return t.f3_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
- ConstField(const Tuple& t) { return t.f3_; }
-};
-
-template <>
-class Get<4> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
- Field(Tuple& t) { return t.f4_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
- ConstField(const Tuple& t) { return t.f4_; }
-};
-
-template <>
-class Get<5> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
- Field(Tuple& t) { return t.f5_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
- ConstField(const Tuple& t) { return t.f5_; }
-};
-
-template <>
-class Get<6> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
- Field(Tuple& t) { return t.f6_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
- ConstField(const Tuple& t) { return t.f6_; }
-};
-
-template <>
-class Get<7> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
- Field(Tuple& t) { return t.f7_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
- ConstField(const Tuple& t) { return t.f7_; }
-};
-
-template <>
-class Get<8> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
- Field(Tuple& t) { return t.f8_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
- ConstField(const Tuple& t) { return t.f8_; }
-};
-
-template <>
-class Get<9> {
- public:
- template <class Tuple>
- static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
- Field(Tuple& t) { return t.f9_; } // NOLINT
-
- template <class Tuple>
- static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
- ConstField(const Tuple& t) { return t.f9_; }
-};
-
-} // namespace gtest_internal
-
-template <int k, GTEST_10_TYPENAMES_(T)>
-GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
-get(GTEST_10_TUPLE_(T)& t) {
- return gtest_internal::Get<k>::Field(t);
-}
-
-template <int k, GTEST_10_TYPENAMES_(T)>
-GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
-get(const GTEST_10_TUPLE_(T)& t) {
- return gtest_internal::Get<k>::ConstField(t);
-}
-
-// 6.1.3.5 Relational operators
-
-// We only implement == and !=, as we don't have a need for the rest yet.
-
-namespace gtest_internal {
-
-// SameSizeTuplePrefixComparator<k, k>::Eq(t1, t2) returns true if the
-// first k fields of t1 equals the first k fields of t2.
-// SameSizeTuplePrefixComparator(k1, k2) would be a compiler error if
-// k1 != k2.
-template <int kSize1, int kSize2>
-struct SameSizeTuplePrefixComparator;
-
-template <>
-struct SameSizeTuplePrefixComparator<0, 0> {
- template <class Tuple1, class Tuple2>
- static bool Eq(const Tuple1& /* t1 */, const Tuple2& /* t2 */) {
- return true;
- }
-};
-
-template <int k>
-struct SameSizeTuplePrefixComparator<k, k> {
- template <class Tuple1, class Tuple2>
- static bool Eq(const Tuple1& t1, const Tuple2& t2) {
- return SameSizeTuplePrefixComparator<k - 1, k - 1>::Eq(t1, t2) &&
- ::std::tr1::get<k - 1>(t1) == ::std::tr1::get<k - 1>(t2);
- }
-};
-
-} // namespace gtest_internal
-
-template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
-inline bool operator==(const GTEST_10_TUPLE_(T)& t,
- const GTEST_10_TUPLE_(U)& u) {
- return gtest_internal::SameSizeTuplePrefixComparator<
- tuple_size<GTEST_10_TUPLE_(T)>::value,
- tuple_size<GTEST_10_TUPLE_(U)>::value>::Eq(t, u);
-}
-
-template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
-inline bool operator!=(const GTEST_10_TUPLE_(T)& t,
- const GTEST_10_TUPLE_(U)& u) { return !(t == u); }
-
-// 6.1.4 Pairs.
-// Unimplemented.
-
-} // namespace tr1
-} // namespace std
-
-#undef GTEST_0_TUPLE_
-#undef GTEST_1_TUPLE_
-#undef GTEST_2_TUPLE_
-#undef GTEST_3_TUPLE_
-#undef GTEST_4_TUPLE_
-#undef GTEST_5_TUPLE_
-#undef GTEST_6_TUPLE_
-#undef GTEST_7_TUPLE_
-#undef GTEST_8_TUPLE_
-#undef GTEST_9_TUPLE_
-#undef GTEST_10_TUPLE_
-
-#undef GTEST_0_TYPENAMES_
-#undef GTEST_1_TYPENAMES_
-#undef GTEST_2_TYPENAMES_
-#undef GTEST_3_TYPENAMES_
-#undef GTEST_4_TYPENAMES_
-#undef GTEST_5_TYPENAMES_
-#undef GTEST_6_TYPENAMES_
-#undef GTEST_7_TYPENAMES_
-#undef GTEST_8_TYPENAMES_
-#undef GTEST_9_TYPENAMES_
-#undef GTEST_10_TYPENAMES_
-
-#undef GTEST_DECLARE_TUPLE_AS_FRIEND_
-#undef GTEST_BY_REF_
-#undef GTEST_ADD_REF_
-#undef GTEST_TUPLE_ELEMENT_
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+++ /dev/null
-// This file was GENERATED by command:
-// pump.py gtest-type-util.h.pump
-// DO NOT EDIT BY HAND!!!
-
-// Copyright 2008 Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-// Type utilities needed for implementing typed and type-parameterized
-// tests. This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
-//
-// Currently we support at most 50 types in a list, and at most 50
-// type-parameterized tests in one type-parameterized test case.
-// Please contact googletestframework@googlegroups.com if you need
-// more.
-
-#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
-#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
-
-#include "gtest/internal/gtest-port.h"
-#include "gtest/internal/gtest-string.h"
-
-// #ifdef __GNUC__ is too general here. It is possible to use gcc without using
-// libstdc++ (which is where cxxabi.h comes from).
-# ifdef __GLIBCXX__
-# include <cxxabi.h>
-# elif defined(__HP_aCC)
-# include <acxx_demangle.h>
-# endif // __GLIBCXX__
-
-namespace testing {
-namespace internal {
-
-// GetTypeName<T>() returns a human-readable name of type T.
-// NB: This function is also used in Google Mock, so don't move it inside of
-// the typed-test-only section below.
-template <typename T>
-String GetTypeName() {
-# if GTEST_HAS_RTTI
-
- const char* const name = typeid(T).name();
-# if defined(__GLIBCXX__) || defined(__HP_aCC)
- int status = 0;
- // gcc's implementation of typeid(T).name() mangles the type name,
- // so we have to demangle it.
-# ifdef __GLIBCXX__
- using abi::__cxa_demangle;
-# endif // __GLIBCXX__
- char* const readable_name = __cxa_demangle(name, 0, 0, &status);
- const String name_str(status == 0 ? readable_name : name);
- free(readable_name);
- return name_str;
-# else
- return name;
-# endif // __GLIBCXX__ || __HP_aCC
-
-# else
-
- return "<type>";
-
-# endif // GTEST_HAS_RTTI
-}
-
-#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
-
-// AssertyTypeEq<T1, T2>::type is defined iff T1 and T2 are the same
-// type. This can be used as a compile-time assertion to ensure that
-// two types are equal.
-
-template <typename T1, typename T2>
-struct AssertTypeEq;
-
-template <typename T>
-struct AssertTypeEq<T, T> {
- typedef bool type;
-};
-
-// A unique type used as the default value for the arguments of class
-// template Types. This allows us to simulate variadic templates
-// (e.g. Types<int>, Type<int, double>, and etc), which C++ doesn't
-// support directly.
-struct None {};
-
-// The following family of struct and struct templates are used to
-// represent type lists. In particular, TypesN<T1, T2, ..., TN>
-// represents a type list with N types (T1, T2, ..., and TN) in it.
-// Except for Types0, every struct in the family has two member types:
-// Head for the first type in the list, and Tail for the rest of the
-// list.
-
-// The empty type list.
-struct Types0 {};
-
-// Type lists of length 1, 2, 3, and so on.
-
-template <typename T1>
-struct Types1 {
- typedef T1 Head;
- typedef Types0 Tail;
-};
-template <typename T1, typename T2>
-struct Types2 {
- typedef T1 Head;
- typedef Types1<T2> Tail;
-};
-
-template <typename T1, typename T2, typename T3>
-struct Types3 {
- typedef T1 Head;
- typedef Types2<T2, T3> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4>
-struct Types4 {
- typedef T1 Head;
- typedef Types3<T2, T3, T4> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5>
-struct Types5 {
- typedef T1 Head;
- typedef Types4<T2, T3, T4, T5> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
-struct Types6 {
- typedef T1 Head;
- typedef Types5<T2, T3, T4, T5, T6> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
-struct Types7 {
- typedef T1 Head;
- typedef Types6<T2, T3, T4, T5, T6, T7> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
-struct Types8 {
- typedef T1 Head;
- typedef Types7<T2, T3, T4, T5, T6, T7, T8> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
-struct Types9 {
- typedef T1 Head;
- typedef Types8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
-struct Types10 {
- typedef T1 Head;
- typedef Types9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11>
-struct Types11 {
- typedef T1 Head;
- typedef Types10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12>
-struct Types12 {
- typedef T1 Head;
- typedef Types11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13>
-struct Types13 {
- typedef T1 Head;
- typedef Types12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14>
-struct Types14 {
- typedef T1 Head;
- typedef Types13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15>
-struct Types15 {
- typedef T1 Head;
- typedef Types14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16>
-struct Types16 {
- typedef T1 Head;
- typedef Types15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17>
-struct Types17 {
- typedef T1 Head;
- typedef Types16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18>
-struct Types18 {
- typedef T1 Head;
- typedef Types17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19>
-struct Types19 {
- typedef T1 Head;
- typedef Types18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20>
-struct Types20 {
- typedef T1 Head;
- typedef Types19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21>
-struct Types21 {
- typedef T1 Head;
- typedef Types20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22>
-struct Types22 {
- typedef T1 Head;
- typedef Types21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23>
-struct Types23 {
- typedef T1 Head;
- typedef Types22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24>
-struct Types24 {
- typedef T1 Head;
- typedef Types23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25>
-struct Types25 {
- typedef T1 Head;
- typedef Types24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26>
-struct Types26 {
- typedef T1 Head;
- typedef Types25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27>
-struct Types27 {
- typedef T1 Head;
- typedef Types26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28>
-struct Types28 {
- typedef T1 Head;
- typedef Types27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29>
-struct Types29 {
- typedef T1 Head;
- typedef Types28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30>
-struct Types30 {
- typedef T1 Head;
- typedef Types29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31>
-struct Types31 {
- typedef T1 Head;
- typedef Types30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32>
-struct Types32 {
- typedef T1 Head;
- typedef Types31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33>
-struct Types33 {
- typedef T1 Head;
- typedef Types32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34>
-struct Types34 {
- typedef T1 Head;
- typedef Types33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35>
-struct Types35 {
- typedef T1 Head;
- typedef Types34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36>
-struct Types36 {
- typedef T1 Head;
- typedef Types35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37>
-struct Types37 {
- typedef T1 Head;
- typedef Types36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38>
-struct Types38 {
- typedef T1 Head;
- typedef Types37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39>
-struct Types39 {
- typedef T1 Head;
- typedef Types38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40>
-struct Types40 {
- typedef T1 Head;
- typedef Types39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41>
-struct Types41 {
- typedef T1 Head;
- typedef Types40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42>
-struct Types42 {
- typedef T1 Head;
- typedef Types41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43>
-struct Types43 {
- typedef T1 Head;
- typedef Types42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44>
-struct Types44 {
- typedef T1 Head;
- typedef Types43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45>
-struct Types45 {
- typedef T1 Head;
- typedef Types44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46>
-struct Types46 {
- typedef T1 Head;
- typedef Types45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47>
-struct Types47 {
- typedef T1 Head;
- typedef Types46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48>
-struct Types48 {
- typedef T1 Head;
- typedef Types47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49>
-struct Types49 {
- typedef T1 Head;
- typedef Types48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48, T49> Tail;
-};
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49, typename T50>
-struct Types50 {
- typedef T1 Head;
- typedef Types49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48, T49, T50> Tail;
-};
-
-
-} // namespace internal
-
-// We don't want to require the users to write TypesN<...> directly,
-// as that would require them to count the length. Types<...> is much
-// easier to write, but generates horrible messages when there is a
-// compiler error, as gcc insists on printing out each template
-// argument, even if it has the default value (this means Types<int>
-// will appear as Types<int, None, None, ..., None> in the compiler
-// errors).
-//
-// Our solution is to combine the best part of the two approaches: a
-// user would write Types<T1, ..., TN>, and Google Test will translate
-// that to TypesN<T1, ..., TN> internally to make error messages
-// readable. The translation is done by the 'type' member of the
-// Types template.
-template <typename T1 = internal::None, typename T2 = internal::None,
- typename T3 = internal::None, typename T4 = internal::None,
- typename T5 = internal::None, typename T6 = internal::None,
- typename T7 = internal::None, typename T8 = internal::None,
- typename T9 = internal::None, typename T10 = internal::None,
- typename T11 = internal::None, typename T12 = internal::None,
- typename T13 = internal::None, typename T14 = internal::None,
- typename T15 = internal::None, typename T16 = internal::None,
- typename T17 = internal::None, typename T18 = internal::None,
- typename T19 = internal::None, typename T20 = internal::None,
- typename T21 = internal::None, typename T22 = internal::None,
- typename T23 = internal::None, typename T24 = internal::None,
- typename T25 = internal::None, typename T26 = internal::None,
- typename T27 = internal::None, typename T28 = internal::None,
- typename T29 = internal::None, typename T30 = internal::None,
- typename T31 = internal::None, typename T32 = internal::None,
- typename T33 = internal::None, typename T34 = internal::None,
- typename T35 = internal::None, typename T36 = internal::None,
- typename T37 = internal::None, typename T38 = internal::None,
- typename T39 = internal::None, typename T40 = internal::None,
- typename T41 = internal::None, typename T42 = internal::None,
- typename T43 = internal::None, typename T44 = internal::None,
- typename T45 = internal::None, typename T46 = internal::None,
- typename T47 = internal::None, typename T48 = internal::None,
- typename T49 = internal::None, typename T50 = internal::None>
-struct Types {
- typedef internal::Types50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
-};
-
-template <>
-struct Types<internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types0 type;
-};
-template <typename T1>
-struct Types<T1, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types1<T1> type;
-};
-template <typename T1, typename T2>
-struct Types<T1, T2, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types2<T1, T2> type;
-};
-template <typename T1, typename T2, typename T3>
-struct Types<T1, T2, T3, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types3<T1, T2, T3> type;
-};
-template <typename T1, typename T2, typename T3, typename T4>
-struct Types<T1, T2, T3, T4, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types4<T1, T2, T3, T4> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5>
-struct Types<T1, T2, T3, T4, T5, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types5<T1, T2, T3, T4, T5> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6>
-struct Types<T1, T2, T3, T4, T5, T6, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types6<T1, T2, T3, T4, T5, T6> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7>
-struct Types<T1, T2, T3, T4, T5, T6, T7, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types7<T1, T2, T3, T4, T5, T6, T7> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types8<T1, T2, T3, T4, T5, T6, T7, T8> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
- T12> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
- T26> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
- T40> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, internal::None,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None, internal::None> {
- typedef internal::Types43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- internal::None, internal::None, internal::None, internal::None,
- internal::None, internal::None> {
- typedef internal::Types44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
- internal::None, internal::None, internal::None, internal::None,
- internal::None> {
- typedef internal::Types45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
- T46, internal::None, internal::None, internal::None, internal::None> {
- typedef internal::Types46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45, T46> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
- T46, T47, internal::None, internal::None, internal::None> {
- typedef internal::Types47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45, T46, T47> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
- T46, T47, T48, internal::None, internal::None> {
- typedef internal::Types48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45, T46, T47, T48> type;
-};
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49>
-struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
- T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
- T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
- T46, T47, T48, T49, internal::None> {
- typedef internal::Types49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45, T46, T47, T48, T49> type;
-};
-
-namespace internal {
-
-# define GTEST_TEMPLATE_ template <typename T> class
-
-// The template "selector" struct TemplateSel<Tmpl> is used to
-// represent Tmpl, which must be a class template with one type
-// parameter, as a type. TemplateSel<Tmpl>::Bind<T>::type is defined
-// as the type Tmpl<T>. This allows us to actually instantiate the
-// template "selected" by TemplateSel<Tmpl>.
-//
-// This trick is necessary for simulating typedef for class templates,
-// which C++ doesn't support directly.
-template <GTEST_TEMPLATE_ Tmpl>
-struct TemplateSel {
- template <typename T>
- struct Bind {
- typedef Tmpl<T> type;
- };
-};
-
-# define GTEST_BIND_(TmplSel, T) \
- TmplSel::template Bind<T>::type
-
-// A unique struct template used as the default value for the
-// arguments of class template Templates. This allows us to simulate
-// variadic templates (e.g. Templates<int>, Templates<int, double>,
-// and etc), which C++ doesn't support directly.
-template <typename T>
-struct NoneT {};
-
-// The following family of struct and struct templates are used to
-// represent template lists. In particular, TemplatesN<T1, T2, ...,
-// TN> represents a list of N templates (T1, T2, ..., and TN). Except
-// for Templates0, every struct in the family has two member types:
-// Head for the selector of the first template in the list, and Tail
-// for the rest of the list.
-
-// The empty template list.
-struct Templates0 {};
-
-// Template lists of length 1, 2, 3, and so on.
-
-template <GTEST_TEMPLATE_ T1>
-struct Templates1 {
- typedef TemplateSel<T1> Head;
- typedef Templates0 Tail;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
-struct Templates2 {
- typedef TemplateSel<T1> Head;
- typedef Templates1<T2> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
-struct Templates3 {
- typedef TemplateSel<T1> Head;
- typedef Templates2<T2, T3> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4>
-struct Templates4 {
- typedef TemplateSel<T1> Head;
- typedef Templates3<T2, T3, T4> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
-struct Templates5 {
- typedef TemplateSel<T1> Head;
- typedef Templates4<T2, T3, T4, T5> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
-struct Templates6 {
- typedef TemplateSel<T1> Head;
- typedef Templates5<T2, T3, T4, T5, T6> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7>
-struct Templates7 {
- typedef TemplateSel<T1> Head;
- typedef Templates6<T2, T3, T4, T5, T6, T7> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
-struct Templates8 {
- typedef TemplateSel<T1> Head;
- typedef Templates7<T2, T3, T4, T5, T6, T7, T8> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
-struct Templates9 {
- typedef TemplateSel<T1> Head;
- typedef Templates8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10>
-struct Templates10 {
- typedef TemplateSel<T1> Head;
- typedef Templates9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
-struct Templates11 {
- typedef TemplateSel<T1> Head;
- typedef Templates10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
-struct Templates12 {
- typedef TemplateSel<T1> Head;
- typedef Templates11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13>
-struct Templates13 {
- typedef TemplateSel<T1> Head;
- typedef Templates12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
-struct Templates14 {
- typedef TemplateSel<T1> Head;
- typedef Templates13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
-struct Templates15 {
- typedef TemplateSel<T1> Head;
- typedef Templates14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16>
-struct Templates16 {
- typedef TemplateSel<T1> Head;
- typedef Templates15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
-struct Templates17 {
- typedef TemplateSel<T1> Head;
- typedef Templates16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
-struct Templates18 {
- typedef TemplateSel<T1> Head;
- typedef Templates17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19>
-struct Templates19 {
- typedef TemplateSel<T1> Head;
- typedef Templates18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
-struct Templates20 {
- typedef TemplateSel<T1> Head;
- typedef Templates19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
-struct Templates21 {
- typedef TemplateSel<T1> Head;
- typedef Templates20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22>
-struct Templates22 {
- typedef TemplateSel<T1> Head;
- typedef Templates21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
-struct Templates23 {
- typedef TemplateSel<T1> Head;
- typedef Templates22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
-struct Templates24 {
- typedef TemplateSel<T1> Head;
- typedef Templates23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25>
-struct Templates25 {
- typedef TemplateSel<T1> Head;
- typedef Templates24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
-struct Templates26 {
- typedef TemplateSel<T1> Head;
- typedef Templates25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
-struct Templates27 {
- typedef TemplateSel<T1> Head;
- typedef Templates26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28>
-struct Templates28 {
- typedef TemplateSel<T1> Head;
- typedef Templates27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
-struct Templates29 {
- typedef TemplateSel<T1> Head;
- typedef Templates28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
-struct Templates30 {
- typedef TemplateSel<T1> Head;
- typedef Templates29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31>
-struct Templates31 {
- typedef TemplateSel<T1> Head;
- typedef Templates30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
-struct Templates32 {
- typedef TemplateSel<T1> Head;
- typedef Templates31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
-struct Templates33 {
- typedef TemplateSel<T1> Head;
- typedef Templates32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34>
-struct Templates34 {
- typedef TemplateSel<T1> Head;
- typedef Templates33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
-struct Templates35 {
- typedef TemplateSel<T1> Head;
- typedef Templates34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
-struct Templates36 {
- typedef TemplateSel<T1> Head;
- typedef Templates35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37>
-struct Templates37 {
- typedef TemplateSel<T1> Head;
- typedef Templates36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
-struct Templates38 {
- typedef TemplateSel<T1> Head;
- typedef Templates37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
-struct Templates39 {
- typedef TemplateSel<T1> Head;
- typedef Templates38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40>
-struct Templates40 {
- typedef TemplateSel<T1> Head;
- typedef Templates39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
-struct Templates41 {
- typedef TemplateSel<T1> Head;
- typedef Templates40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
-struct Templates42 {
- typedef TemplateSel<T1> Head;
- typedef Templates41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43>
-struct Templates43 {
- typedef TemplateSel<T1> Head;
- typedef Templates42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
-struct Templates44 {
- typedef TemplateSel<T1> Head;
- typedef Templates43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
-struct Templates45 {
- typedef TemplateSel<T1> Head;
- typedef Templates44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44, T45> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46>
-struct Templates46 {
- typedef TemplateSel<T1> Head;
- typedef Templates45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44, T45, T46> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
-struct Templates47 {
- typedef TemplateSel<T1> Head;
- typedef Templates46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44, T45, T46, T47> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
-struct Templates48 {
- typedef TemplateSel<T1> Head;
- typedef Templates47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44, T45, T46, T47, T48> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
- GTEST_TEMPLATE_ T49>
-struct Templates49 {
- typedef TemplateSel<T1> Head;
- typedef Templates48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44, T45, T46, T47, T48, T49> Tail;
-};
-
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
- GTEST_TEMPLATE_ T49, GTEST_TEMPLATE_ T50>
-struct Templates50 {
- typedef TemplateSel<T1> Head;
- typedef Templates49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
- T43, T44, T45, T46, T47, T48, T49, T50> Tail;
-};
-
-
-// We don't want to require the users to write TemplatesN<...> directly,
-// as that would require them to count the length. Templates<...> is much
-// easier to write, but generates horrible messages when there is a
-// compiler error, as gcc insists on printing out each template
-// argument, even if it has the default value (this means Templates<list>
-// will appear as Templates<list, NoneT, NoneT, ..., NoneT> in the compiler
-// errors).
-//
-// Our solution is to combine the best part of the two approaches: a
-// user would write Templates<T1, ..., TN>, and Google Test will translate
-// that to TemplatesN<T1, ..., TN> internally to make error messages
-// readable. The translation is done by the 'type' member of the
-// Templates template.
-template <GTEST_TEMPLATE_ T1 = NoneT, GTEST_TEMPLATE_ T2 = NoneT,
- GTEST_TEMPLATE_ T3 = NoneT, GTEST_TEMPLATE_ T4 = NoneT,
- GTEST_TEMPLATE_ T5 = NoneT, GTEST_TEMPLATE_ T6 = NoneT,
- GTEST_TEMPLATE_ T7 = NoneT, GTEST_TEMPLATE_ T8 = NoneT,
- GTEST_TEMPLATE_ T9 = NoneT, GTEST_TEMPLATE_ T10 = NoneT,
- GTEST_TEMPLATE_ T11 = NoneT, GTEST_TEMPLATE_ T12 = NoneT,
- GTEST_TEMPLATE_ T13 = NoneT, GTEST_TEMPLATE_ T14 = NoneT,
- GTEST_TEMPLATE_ T15 = NoneT, GTEST_TEMPLATE_ T16 = NoneT,
- GTEST_TEMPLATE_ T17 = NoneT, GTEST_TEMPLATE_ T18 = NoneT,
- GTEST_TEMPLATE_ T19 = NoneT, GTEST_TEMPLATE_ T20 = NoneT,
- GTEST_TEMPLATE_ T21 = NoneT, GTEST_TEMPLATE_ T22 = NoneT,
- GTEST_TEMPLATE_ T23 = NoneT, GTEST_TEMPLATE_ T24 = NoneT,
- GTEST_TEMPLATE_ T25 = NoneT, GTEST_TEMPLATE_ T26 = NoneT,
- GTEST_TEMPLATE_ T27 = NoneT, GTEST_TEMPLATE_ T28 = NoneT,
- GTEST_TEMPLATE_ T29 = NoneT, GTEST_TEMPLATE_ T30 = NoneT,
- GTEST_TEMPLATE_ T31 = NoneT, GTEST_TEMPLATE_ T32 = NoneT,
- GTEST_TEMPLATE_ T33 = NoneT, GTEST_TEMPLATE_ T34 = NoneT,
- GTEST_TEMPLATE_ T35 = NoneT, GTEST_TEMPLATE_ T36 = NoneT,
- GTEST_TEMPLATE_ T37 = NoneT, GTEST_TEMPLATE_ T38 = NoneT,
- GTEST_TEMPLATE_ T39 = NoneT, GTEST_TEMPLATE_ T40 = NoneT,
- GTEST_TEMPLATE_ T41 = NoneT, GTEST_TEMPLATE_ T42 = NoneT,
- GTEST_TEMPLATE_ T43 = NoneT, GTEST_TEMPLATE_ T44 = NoneT,
- GTEST_TEMPLATE_ T45 = NoneT, GTEST_TEMPLATE_ T46 = NoneT,
- GTEST_TEMPLATE_ T47 = NoneT, GTEST_TEMPLATE_ T48 = NoneT,
- GTEST_TEMPLATE_ T49 = NoneT, GTEST_TEMPLATE_ T50 = NoneT>
-struct Templates {
- typedef Templates50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
-};
-
-template <>
-struct Templates<NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT> {
- typedef Templates0 type;
-};
-template <GTEST_TEMPLATE_ T1>
-struct Templates<T1, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT> {
- typedef Templates1<T1> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
-struct Templates<T1, T2, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT> {
- typedef Templates2<T1, T2> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
-struct Templates<T1, T2, T3, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates3<T1, T2, T3> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4>
-struct Templates<T1, T2, T3, T4, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates4<T1, T2, T3, T4> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
-struct Templates<T1, T2, T3, T4, T5, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates5<T1, T2, T3, T4, T5> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
-struct Templates<T1, T2, T3, T4, T5, T6, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates6<T1, T2, T3, T4, T5, T6> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates7<T1, T2, T3, T4, T5, T6, T7> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates8<T1, T2, T3, T4, T5, T6, T7, T8> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT> {
- typedef Templates18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT> {
- typedef Templates19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT> {
- typedef Templates20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT> {
- typedef Templates21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT> {
- typedef Templates22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT> {
- typedef Templates23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT> {
- typedef Templates24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT> {
- typedef Templates25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT> {
- typedef Templates26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT> {
- typedef Templates27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT> {
- typedef Templates28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT> {
- typedef Templates29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, NoneT, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, NoneT, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, NoneT, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, NoneT, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, NoneT,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- T45, NoneT, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44, T45> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- T45, T46, NoneT, NoneT, NoneT, NoneT> {
- typedef Templates46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44, T45, T46> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- T45, T46, T47, NoneT, NoneT, NoneT> {
- typedef Templates47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44, T45, T46, T47> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- T45, T46, T47, T48, NoneT, NoneT> {
- typedef Templates48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44, T45, T46, T47, T48> type;
-};
-template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
- GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
- GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
- GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
- GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
- GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
- GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
- GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
- GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
- GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
- GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
- GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
- GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
- GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
- GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
- GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
- GTEST_TEMPLATE_ T49>
-struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
- T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
- T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
- T45, T46, T47, T48, T49, NoneT> {
- typedef Templates49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
- T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
- T42, T43, T44, T45, T46, T47, T48, T49> type;
-};
-
-// The TypeList template makes it possible to use either a single type
-// or a Types<...> list in TYPED_TEST_CASE() and
-// INSTANTIATE_TYPED_TEST_CASE_P().
-
-template <typename T>
-struct TypeList { typedef Types1<T> type; };
-
-template <typename T1, typename T2, typename T3, typename T4, typename T5,
- typename T6, typename T7, typename T8, typename T9, typename T10,
- typename T11, typename T12, typename T13, typename T14, typename T15,
- typename T16, typename T17, typename T18, typename T19, typename T20,
- typename T21, typename T22, typename T23, typename T24, typename T25,
- typename T26, typename T27, typename T28, typename T29, typename T30,
- typename T31, typename T32, typename T33, typename T34, typename T35,
- typename T36, typename T37, typename T38, typename T39, typename T40,
- typename T41, typename T42, typename T43, typename T44, typename T45,
- typename T46, typename T47, typename T48, typename T49, typename T50>
-struct TypeList<Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
- T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
- T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
- T44, T45, T46, T47, T48, T49, T50> > {
- typedef typename Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
- T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
- T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
- T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>::type type;
-};
-
-#endif // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+++ /dev/null
-// Copyright 2008, Google 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 Google 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.
-//
-// Author: mheule@google.com (Markus Heule)
-//
-// Google C++ Testing Framework (Google Test)
-//
-// Sometimes it's desirable to build Google Test by compiling a single file.
-// This file serves this purpose.
-
-// This line ensures that gtest.h can be compiled on its own, even
-// when it's fused.
-#include "gtest/gtest.h"
-
-// The following lines pull in the real gtest *.cc files.
-#include "src/gtest.cc"
-#include "src/gtest-death-test.cc"
-#include "src/gtest-filepath.cc"
-#include "src/gtest-port.cc"
-#include "src/gtest-printers.cc"
-#include "src/gtest-test-part.cc"
-#include "src/gtest-typed-test.cc"
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan), vladl@google.com (Vlad Losev)
-//
-// This file implements death tests.
-
-#ifdef __GNUC__
-#pragma GCC system_header
-#endif
-
-#include "gtest/gtest-death-test.h"
-#include "gtest/internal/gtest-port.h"
-
-#if GTEST_HAS_DEATH_TEST
-
-# if GTEST_OS_MAC
-# include <crt_externs.h>
-# endif // GTEST_OS_MAC
-
-# include <errno.h>
-# include <fcntl.h>
-# include <limits.h>
-# include <stdarg.h>
-
-# if GTEST_OS_WINDOWS
-# include <windows.h>
-# else
-# include <sys/mman.h>
-# include <sys/wait.h>
-# endif // GTEST_OS_WINDOWS
-
-#endif // GTEST_HAS_DEATH_TEST
-
-#include "gtest/gtest-message.h"
-#include "gtest/internal/gtest-string.h"
-
-// Indicates that this translation unit is part of Google Test's
-// implementation. It must come before gtest-internal-inl.h is
-// included, or there will be a compiler error. This trick is to
-// prevent a user from accidentally including gtest-internal-inl.h in
-// his code.
-#define GTEST_IMPLEMENTATION_ 1
-#include "src/gtest-internal-inl.h"
-#undef GTEST_IMPLEMENTATION_
-
-namespace testing {
-
-// Constants.
-
-// The default death test style.
-static const char kDefaultDeathTestStyle[] = "fast";
-
-GTEST_DEFINE_string_(
- death_test_style,
- internal::StringFromGTestEnv("death_test_style", kDefaultDeathTestStyle),
- "Indicates how to run a death test in a forked child process: "
- "\"threadsafe\" (child process re-executes the test binary "
- "from the beginning, running only the specific death test) or "
- "\"fast\" (child process runs the death test immediately "
- "after forking).");
-
-GTEST_DEFINE_bool_(
- death_test_use_fork,
- internal::BoolFromGTestEnv("death_test_use_fork", false),
- "Instructs to use fork()/_exit() instead of clone() in death tests. "
- "Ignored and always uses fork() on POSIX systems where clone() is not "
- "implemented. Useful when running under valgrind or similar tools if "
- "those do not support clone(). Valgrind 3.3.1 will just fail if "
- "it sees an unsupported combination of clone() flags. "
- "It is not recommended to use this flag w/o valgrind though it will "
- "work in 99% of the cases. Once valgrind is fixed, this flag will "
- "most likely be removed.");
-
-namespace internal {
-GTEST_DEFINE_string_(
- internal_run_death_test, "",
- "Indicates the file, line number, temporal index of "
- "the single death test to run, and a file descriptor to "
- "which a success code may be sent, all separated by "
- "colons. This flag is specified if and only if the current "
- "process is a sub-process launched for running a thread-safe "
- "death test. FOR INTERNAL USE ONLY.");
-} // namespace internal
-
-#if GTEST_HAS_DEATH_TEST
-
-// ExitedWithCode constructor.
-ExitedWithCode::ExitedWithCode(int exit_code) : exit_code_(exit_code) {
-}
-
-// ExitedWithCode function-call operator.
-bool ExitedWithCode::operator()(int exit_status) const {
-# if GTEST_OS_WINDOWS
-
- return exit_status == exit_code_;
-
-# else
-
- return WIFEXITED(exit_status) && WEXITSTATUS(exit_status) == exit_code_;
-
-# endif // GTEST_OS_WINDOWS
-}
-
-# if !GTEST_OS_WINDOWS
-// KilledBySignal constructor.
-KilledBySignal::KilledBySignal(int signum) : signum_(signum) {
-}
-
-// KilledBySignal function-call operator.
-bool KilledBySignal::operator()(int exit_status) const {
- return WIFSIGNALED(exit_status) && WTERMSIG(exit_status) == signum_;
-}
-# endif // !GTEST_OS_WINDOWS
-
-namespace internal {
-
-// Utilities needed for death tests.
-
-// Generates a textual description of a given exit code, in the format
-// specified by wait(2).
-static String ExitSummary(int exit_code) {
- Message m;
-
-# if GTEST_OS_WINDOWS
-
- m << "Exited with exit status " << exit_code;
-
-# else
-
- if (WIFEXITED(exit_code)) {
- m << "Exited with exit status " << WEXITSTATUS(exit_code);
- } else if (WIFSIGNALED(exit_code)) {
- m << "Terminated by signal " << WTERMSIG(exit_code);
- }
-# ifdef WCOREDUMP
- if (WCOREDUMP(exit_code)) {
- m << " (core dumped)";
- }
-# endif
-# endif // GTEST_OS_WINDOWS
-
- return m.GetString();
-}
-
-// Returns true if exit_status describes a process that was terminated
-// by a signal, or exited normally with a nonzero exit code.
-bool ExitedUnsuccessfully(int exit_status) {
- return !ExitedWithCode(0)(exit_status);
-}
-
-# if !GTEST_OS_WINDOWS
-// Generates a textual failure message when a death test finds more than
-// one thread running, or cannot determine the number of threads, prior
-// to executing the given statement. It is the responsibility of the
-// caller not to pass a thread_count of 1.
-static String DeathTestThreadWarning(size_t thread_count) {
- Message msg;
- msg << "Death tests use fork(), which is unsafe particularly"
- << " in a threaded context. For this test, " << GTEST_NAME_ << " ";
- if (thread_count == 0)
- msg << "couldn't detect the number of threads.";
- else
- msg << "detected " << thread_count << " threads.";
- return msg.GetString();
-}
-# endif // !GTEST_OS_WINDOWS
-
-// Flag characters for reporting a death test that did not die.
-static const char kDeathTestLived = 'L';
-static const char kDeathTestReturned = 'R';
-static const char kDeathTestThrew = 'T';
-static const char kDeathTestInternalError = 'I';
-
-// An enumeration describing all of the possible ways that a death test can
-// conclude. DIED means that the process died while executing the test
-// code; LIVED means that process lived beyond the end of the test code;
-// RETURNED means that the test statement attempted to execute a return
-// statement, which is not allowed; THREW means that the test statement
-// returned control by throwing an exception. IN_PROGRESS means the test
-// has not yet concluded.
-// TODO(vladl@google.com): Unify names and possibly values for
-// AbortReason, DeathTestOutcome, and flag characters above.
-enum DeathTestOutcome { IN_PROGRESS, DIED, LIVED, RETURNED, THREW };
-
-// Routine for aborting the program which is safe to call from an
-// exec-style death test child process, in which case the error
-// message is propagated back to the parent process. Otherwise, the
-// message is simply printed to stderr. In either case, the program
-// then exits with status 1.
-void DeathTestAbort(const String& message) {
- // On a POSIX system, this function may be called from a threadsafe-style
- // death test child process, which operates on a very small stack. Use
- // the heap for any additional non-minuscule memory requirements.
- const InternalRunDeathTestFlag* const flag =
- GetUnitTestImpl()->internal_run_death_test_flag();
- if (flag != NULL) {
- FILE* parent = posix::FDOpen(flag->write_fd(), "w");
- fputc(kDeathTestInternalError, parent);
- fprintf(parent, "%s", message.c_str());
- fflush(parent);
- _exit(1);
- } else {
- fprintf(stderr, "%s", message.c_str());
- fflush(stderr);
- posix::Abort();
- }
-}
-
-// A replacement for CHECK that calls DeathTestAbort if the assertion
-// fails.
-# define GTEST_DEATH_TEST_CHECK_(expression) \
- do { \
- if (!::testing::internal::IsTrue(expression)) { \
- DeathTestAbort(::testing::internal::String::Format( \
- "CHECK failed: File %s, line %d: %s", \
- __FILE__, __LINE__, #expression)); \
- } \
- } while (::testing::internal::AlwaysFalse())
-
-// This macro is similar to GTEST_DEATH_TEST_CHECK_, but it is meant for
-// evaluating any system call that fulfills two conditions: it must return
-// -1 on failure, and set errno to EINTR when it is interrupted and
-// should be tried again. The macro expands to a loop that repeatedly
-// evaluates the expression as long as it evaluates to -1 and sets
-// errno to EINTR. If the expression evaluates to -1 but errno is
-// something other than EINTR, DeathTestAbort is called.
-# define GTEST_DEATH_TEST_CHECK_SYSCALL_(expression) \
- do { \
- int gtest_retval; \
- do { \
- gtest_retval = (expression); \
- } while (gtest_retval == -1 && errno == EINTR); \
- if (gtest_retval == -1) { \
- DeathTestAbort(::testing::internal::String::Format( \
- "CHECK failed: File %s, line %d: %s != -1", \
- __FILE__, __LINE__, #expression)); \
- } \
- } while (::testing::internal::AlwaysFalse())
-
-// Returns the message describing the last system error in errno.
-String GetLastErrnoDescription() {
- return String(errno == 0 ? "" : posix::StrError(errno));
-}
-
-// This is called from a death test parent process to read a failure
-// message from the death test child process and log it with the FATAL
-// severity. On Windows, the message is read from a pipe handle. On other
-// platforms, it is read from a file descriptor.
-static void FailFromInternalError(int fd) {
- Message error;
- char buffer[256];
- int num_read;
-
- do {
- while ((num_read = posix::Read(fd, buffer, 255)) > 0) {
- buffer[num_read] = '\0';
- error << buffer;
- }
- } while (num_read == -1 && errno == EINTR);
-
- if (num_read == 0) {
- GTEST_LOG_(FATAL) << error.GetString();
- } else {
- const int last_error = errno;
- GTEST_LOG_(FATAL) << "Error while reading death test internal: "
- << GetLastErrnoDescription() << " [" << last_error << "]";
- }
-}
-
-// Death test constructor. Increments the running death test count
-// for the current test.
-DeathTest::DeathTest() {
- TestInfo* const info = GetUnitTestImpl()->current_test_info();
- if (info == NULL) {
- DeathTestAbort("Cannot run a death test outside of a TEST or "
- "TEST_F construct");
- }
-}
-
-// Creates and returns a death test by dispatching to the current
-// death test factory.
-bool DeathTest::Create(const char* statement, const RE* regex,
- const char* file, int line, DeathTest** test) {
- return GetUnitTestImpl()->death_test_factory()->Create(
- statement, regex, file, line, test);
-}
-
-const char* DeathTest::LastMessage() {
- return last_death_test_message_.c_str();
-}
-
-void DeathTest::set_last_death_test_message(const String& message) {
- last_death_test_message_ = message;
-}
-
-String DeathTest::last_death_test_message_;
-
-// Provides cross platform implementation for some death functionality.
-class DeathTestImpl : public DeathTest {
- protected:
- DeathTestImpl(const char* a_statement, const RE* a_regex)
- : statement_(a_statement),
- regex_(a_regex),
- spawned_(false),
- status_(-1),
- outcome_(IN_PROGRESS),
- read_fd_(-1),
- write_fd_(-1) {}
-
- // read_fd_ is expected to be closed and cleared by a derived class.
- ~DeathTestImpl() { GTEST_DEATH_TEST_CHECK_(read_fd_ == -1); }
-
- void Abort(AbortReason reason);
- virtual bool Passed(bool status_ok);
-
- const char* statement() const { return statement_; }
- const RE* regex() const { return regex_; }
- bool spawned() const { return spawned_; }
- void set_spawned(bool is_spawned) { spawned_ = is_spawned; }
- int status() const { return status_; }
- void set_status(int a_status) { status_ = a_status; }
- DeathTestOutcome outcome() const { return outcome_; }
- void set_outcome(DeathTestOutcome an_outcome) { outcome_ = an_outcome; }
- int read_fd() const { return read_fd_; }
- void set_read_fd(int fd) { read_fd_ = fd; }
- int write_fd() const { return write_fd_; }
- void set_write_fd(int fd) { write_fd_ = fd; }
-
- // Called in the parent process only. Reads the result code of the death
- // test child process via a pipe, interprets it to set the outcome_
- // member, and closes read_fd_. Outputs diagnostics and terminates in
- // case of unexpected codes.
- void ReadAndInterpretStatusByte();
-
- private:
- // The textual content of the code this object is testing. This class
- // doesn't own this string and should not attempt to delete it.
- const char* const statement_;
- // The regular expression which test output must match. DeathTestImpl
- // doesn't own this object and should not attempt to delete it.
- const RE* const regex_;
- // True if the death test child process has been successfully spawned.
- bool spawned_;
- // The exit status of the child process.
- int status_;
- // How the death test concluded.
- DeathTestOutcome outcome_;
- // Descriptor to the read end of the pipe to the child process. It is
- // always -1 in the child process. The child keeps its write end of the
- // pipe in write_fd_.
- int read_fd_;
- // Descriptor to the child's write end of the pipe to the parent process.
- // It is always -1 in the parent process. The parent keeps its end of the
- // pipe in read_fd_.
- int write_fd_;
-};
-
-// Called in the parent process only. Reads the result code of the death
-// test child process via a pipe, interprets it to set the outcome_
-// member, and closes read_fd_. Outputs diagnostics and terminates in
-// case of unexpected codes.
-void DeathTestImpl::ReadAndInterpretStatusByte() {
- char flag;
- int bytes_read;
-
- // The read() here blocks until data is available (signifying the
- // failure of the death test) or until the pipe is closed (signifying
- // its success), so it's okay to call this in the parent before
- // the child process has exited.
- do {
- bytes_read = posix::Read(read_fd(), &flag, 1);
- } while (bytes_read == -1 && errno == EINTR);
-
- if (bytes_read == 0) {
- set_outcome(DIED);
- } else if (bytes_read == 1) {
- switch (flag) {
- case kDeathTestReturned:
- set_outcome(RETURNED);
- break;
- case kDeathTestThrew:
- set_outcome(THREW);
- break;
- case kDeathTestLived:
- set_outcome(LIVED);
- break;
- case kDeathTestInternalError:
- FailFromInternalError(read_fd()); // Does not return.
- break;
- default:
- GTEST_LOG_(FATAL) << "Death test child process reported "
- << "unexpected status byte ("
- << static_cast<unsigned int>(flag) << ")";
- }
- } else {
- GTEST_LOG_(FATAL) << "Read from death test child process failed: "
- << GetLastErrnoDescription();
- }
- GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Close(read_fd()));
- set_read_fd(-1);
-}
-
-// Signals that the death test code which should have exited, didn't.
-// Should be called only in a death test child process.
-// Writes a status byte to the child's status file descriptor, then
-// calls _exit(1).
-void DeathTestImpl::Abort(AbortReason reason) {
- // The parent process considers the death test to be a failure if
- // it finds any data in our pipe. So, here we write a single flag byte
- // to the pipe, then exit.
- const char status_ch =
- reason == TEST_DID_NOT_DIE ? kDeathTestLived :
- reason == TEST_THREW_EXCEPTION ? kDeathTestThrew : kDeathTestReturned;
-
- GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Write(write_fd(), &status_ch, 1));
- // We are leaking the descriptor here because on some platforms (i.e.,
- // when built as Windows DLL), destructors of global objects will still
- // run after calling _exit(). On such systems, write_fd_ will be
- // indirectly closed from the destructor of UnitTestImpl, causing double
- // close if it is also closed here. On debug configurations, double close
- // may assert. As there are no in-process buffers to flush here, we are
- // relying on the OS to close the descriptor after the process terminates
- // when the destructors are not run.
- _exit(1); // Exits w/o any normal exit hooks (we were supposed to crash)
-}
-
-// Returns an indented copy of stderr output for a death test.
-// This makes distinguishing death test output lines from regular log lines
-// much easier.
-static ::std::string FormatDeathTestOutput(const ::std::string& output) {
- ::std::string ret;
- for (size_t at = 0; ; ) {
- const size_t line_end = output.find('\n', at);
- ret += "[ DEATH ] ";
- if (line_end == ::std::string::npos) {
- ret += output.substr(at);
- break;
- }
- ret += output.substr(at, line_end + 1 - at);
- at = line_end + 1;
- }
- return ret;
-}
-
-// Assesses the success or failure of a death test, using both private
-// members which have previously been set, and one argument:
-//
-// Private data members:
-// outcome: An enumeration describing how the death test
-// concluded: DIED, LIVED, THREW, or RETURNED. The death test
-// fails in the latter three cases.
-// status: The exit status of the child process. On *nix, it is in the
-// in the format specified by wait(2). On Windows, this is the
-// value supplied to the ExitProcess() API or a numeric code
-// of the exception that terminated the program.
-// regex: A regular expression object to be applied to
-// the test's captured standard error output; the death test
-// fails if it does not match.
-//
-// Argument:
-// status_ok: true if exit_status is acceptable in the context of
-// this particular death test, which fails if it is false
-//
-// Returns true iff all of the above conditions are met. Otherwise, the
-// first failing condition, in the order given above, is the one that is
-// reported. Also sets the last death test message string.
-bool DeathTestImpl::Passed(bool status_ok) {
- if (!spawned())
- return false;
-
- const String error_message = GetCapturedStderr();
-
- bool success = false;
- Message buffer;
-
- buffer << "Death test: " << statement() << "\n";
- switch (outcome()) {
- case LIVED:
- buffer << " Result: failed to die.\n"
- << " Error msg:\n" << FormatDeathTestOutput(error_message);
- break;
- case THREW:
- buffer << " Result: threw an exception.\n"
- << " Error msg:\n" << FormatDeathTestOutput(error_message);
- break;
- case RETURNED:
- buffer << " Result: illegal return in test statement.\n"
- << " Error msg:\n" << FormatDeathTestOutput(error_message);
- break;
- case DIED:
- if (status_ok) {
- const bool matched = RE::PartialMatch(error_message.c_str(), *regex());
- if (matched) {
- success = true;
- } else {
- buffer << " Result: died but not with expected error.\n"
- << " Expected: " << regex()->pattern() << "\n"
- << "Actual msg:\n" << FormatDeathTestOutput(error_message);
- }
- } else {
- buffer << " Result: died but not with expected exit code:\n"
- << " " << ExitSummary(status()) << "\n"
- << "Actual msg:\n" << FormatDeathTestOutput(error_message);
- }
- break;
- case IN_PROGRESS:
- default:
- GTEST_LOG_(FATAL)
- << "DeathTest::Passed somehow called before conclusion of test";
- }
-
- DeathTest::set_last_death_test_message(buffer.GetString());
- return success;
-}
-
-# if GTEST_OS_WINDOWS
-// WindowsDeathTest implements death tests on Windows. Due to the
-// specifics of starting new processes on Windows, death tests there are
-// always threadsafe, and Google Test considers the
-// --gtest_death_test_style=fast setting to be equivalent to
-// --gtest_death_test_style=threadsafe there.
-//
-// A few implementation notes: Like the Linux version, the Windows
-// implementation uses pipes for child-to-parent communication. But due to
-// the specifics of pipes on Windows, some extra steps are required:
-//
-// 1. The parent creates a communication pipe and stores handles to both
-// ends of it.
-// 2. The parent starts the child and provides it with the information
-// necessary to acquire the handle to the write end of the pipe.
-// 3. The child acquires the write end of the pipe and signals the parent
-// using a Windows event.
-// 4. Now the parent can release the write end of the pipe on its side. If
-// this is done before step 3, the object's reference count goes down to
-// 0 and it is destroyed, preventing the child from acquiring it. The
-// parent now has to release it, or read operations on the read end of
-// the pipe will not return when the child terminates.
-// 5. The parent reads child's output through the pipe (outcome code and
-// any possible error messages) from the pipe, and its stderr and then
-// determines whether to fail the test.
-//
-// Note: to distinguish Win32 API calls from the local method and function
-// calls, the former are explicitly resolved in the global namespace.
-//
-class WindowsDeathTest : public DeathTestImpl {
- public:
- WindowsDeathTest(const char* a_statement,
- const RE* a_regex,
- const char* file,
- int line)
- : DeathTestImpl(a_statement, a_regex), file_(file), line_(line) {}
-
- // All of these virtual functions are inherited from DeathTest.
- virtual int Wait();
- virtual TestRole AssumeRole();
-
- private:
- // The name of the file in which the death test is located.
- const char* const file_;
- // The line number on which the death test is located.
- const int line_;
- // Handle to the write end of the pipe to the child process.
- AutoHandle write_handle_;
- // Child process handle.
- AutoHandle child_handle_;
- // Event the child process uses to signal the parent that it has
- // acquired the handle to the write end of the pipe. After seeing this
- // event the parent can release its own handles to make sure its
- // ReadFile() calls return when the child terminates.
- AutoHandle event_handle_;
-};
-
-// Waits for the child in a death test to exit, returning its exit
-// status, or 0 if no child process exists. As a side effect, sets the
-// outcome data member.
-int WindowsDeathTest::Wait() {
- if (!spawned())
- return 0;
-
- // Wait until the child either signals that it has acquired the write end
- // of the pipe or it dies.
- const HANDLE wait_handles[2] = { child_handle_.Get(), event_handle_.Get() };
- switch (::WaitForMultipleObjects(2,
- wait_handles,
- FALSE, // Waits for any of the handles.
- INFINITE)) {
- case WAIT_OBJECT_0:
- case WAIT_OBJECT_0 + 1:
- break;
- default:
- GTEST_DEATH_TEST_CHECK_(false); // Should not get here.
- }
-
- // The child has acquired the write end of the pipe or exited.
- // We release the handle on our side and continue.
- write_handle_.Reset();
- event_handle_.Reset();
-
- ReadAndInterpretStatusByte();
-
- // Waits for the child process to exit if it haven't already. This
- // returns immediately if the child has already exited, regardless of
- // whether previous calls to WaitForMultipleObjects synchronized on this
- // handle or not.
- GTEST_DEATH_TEST_CHECK_(
- WAIT_OBJECT_0 == ::WaitForSingleObject(child_handle_.Get(),
- INFINITE));
- DWORD status_code;
- GTEST_DEATH_TEST_CHECK_(
- ::GetExitCodeProcess(child_handle_.Get(), &status_code) != FALSE);
- child_handle_.Reset();
- set_status(static_cast<int>(status_code));
- return status();
-}
-
-// The AssumeRole process for a Windows death test. It creates a child
-// process with the same executable as the current process to run the
-// death test. The child process is given the --gtest_filter and
-// --gtest_internal_run_death_test flags such that it knows to run the
-// current death test only.
-DeathTest::TestRole WindowsDeathTest::AssumeRole() {
- const UnitTestImpl* const impl = GetUnitTestImpl();
- const InternalRunDeathTestFlag* const flag =
- impl->internal_run_death_test_flag();
- const TestInfo* const info = impl->current_test_info();
- const int death_test_index = info->result()->death_test_count();
-
- if (flag != NULL) {
- // ParseInternalRunDeathTestFlag() has performed all the necessary
- // processing.
- set_write_fd(flag->write_fd());
- return EXECUTE_TEST;
- }
-
- // WindowsDeathTest uses an anonymous pipe to communicate results of
- // a death test.
- SECURITY_ATTRIBUTES handles_are_inheritable = {
- sizeof(SECURITY_ATTRIBUTES), NULL, TRUE };
- HANDLE read_handle, write_handle;
- GTEST_DEATH_TEST_CHECK_(
- ::CreatePipe(&read_handle, &write_handle, &handles_are_inheritable,
- 0) // Default buffer size.
- != FALSE);
- set_read_fd(::_open_osfhandle(reinterpret_cast<intptr_t>(read_handle),
- O_RDONLY));
- write_handle_.Reset(write_handle);
- event_handle_.Reset(::CreateEvent(
- &handles_are_inheritable,
- TRUE, // The event will automatically reset to non-signaled state.
- FALSE, // The initial state is non-signalled.
- NULL)); // The even is unnamed.
- GTEST_DEATH_TEST_CHECK_(event_handle_.Get() != NULL);
- const String filter_flag = String::Format("--%s%s=%s.%s",
- GTEST_FLAG_PREFIX_, kFilterFlag,
- info->test_case_name(),
- info->name());
- const String internal_flag = String::Format(
- "--%s%s=%s|%d|%d|%u|%Iu|%Iu",
- GTEST_FLAG_PREFIX_,
- kInternalRunDeathTestFlag,
- file_, line_,
- death_test_index,
- static_cast<unsigned int>(::GetCurrentProcessId()),
- // size_t has the same with as pointers on both 32-bit and 64-bit
- // Windows platforms.
- // See http://msdn.microsoft.com/en-us/library/tcxf1dw6.aspx.
- reinterpret_cast<size_t>(write_handle),
- reinterpret_cast<size_t>(event_handle_.Get()));
-
- char executable_path[_MAX_PATH + 1]; // NOLINT
- GTEST_DEATH_TEST_CHECK_(
- _MAX_PATH + 1 != ::GetModuleFileNameA(NULL,
- executable_path,
- _MAX_PATH));
-
- String command_line = String::Format("%s %s \"%s\"",
- ::GetCommandLineA(),
- filter_flag.c_str(),
- internal_flag.c_str());
-
- DeathTest::set_last_death_test_message("");
-
- CaptureStderr();
- // Flush the log buffers since the log streams are shared with the child.
- FlushInfoLog();
-
- // The child process will share the standard handles with the parent.
- STARTUPINFOA startup_info;
- memset(&startup_info, 0, sizeof(STARTUPINFO));
- startup_info.dwFlags = STARTF_USESTDHANDLES;
- startup_info.hStdInput = ::GetStdHandle(STD_INPUT_HANDLE);
- startup_info.hStdOutput = ::GetStdHandle(STD_OUTPUT_HANDLE);
- startup_info.hStdError = ::GetStdHandle(STD_ERROR_HANDLE);
-
- PROCESS_INFORMATION process_info;
- GTEST_DEATH_TEST_CHECK_(::CreateProcessA(
- executable_path,
- const_cast<char*>(command_line.c_str()),
- NULL, // Retuned process handle is not inheritable.
- NULL, // Retuned thread handle is not inheritable.
- TRUE, // Child inherits all inheritable handles (for write_handle_).
- 0x0, // Default creation flags.
- NULL, // Inherit the parent's environment.
- UnitTest::GetInstance()->original_working_dir(),
- &startup_info,
- &process_info) != FALSE);
- child_handle_.Reset(process_info.hProcess);
- ::CloseHandle(process_info.hThread);
- set_spawned(true);
- return OVERSEE_TEST;
-}
-# else // We are not on Windows.
-
-// ForkingDeathTest provides implementations for most of the abstract
-// methods of the DeathTest interface. Only the AssumeRole method is
-// left undefined.
-class ForkingDeathTest : public DeathTestImpl {
- public:
- ForkingDeathTest(const char* statement, const RE* regex);
-
- // All of these virtual functions are inherited from DeathTest.
- virtual int Wait();
-
- protected:
- void set_child_pid(pid_t child_pid) { child_pid_ = child_pid; }
-
- private:
- // PID of child process during death test; 0 in the child process itself.
- pid_t child_pid_;
-};
-
-// Constructs a ForkingDeathTest.
-ForkingDeathTest::ForkingDeathTest(const char* a_statement, const RE* a_regex)
- : DeathTestImpl(a_statement, a_regex),
- child_pid_(-1) {}
-
-// Waits for the child in a death test to exit, returning its exit
-// status, or 0 if no child process exists. As a side effect, sets the
-// outcome data member.
-int ForkingDeathTest::Wait() {
- if (!spawned())
- return 0;
-
- ReadAndInterpretStatusByte();
-
- int status_value;
- GTEST_DEATH_TEST_CHECK_SYSCALL_(waitpid(child_pid_, &status_value, 0));
- set_status(status_value);
- return status_value;
-}
-
-// A concrete death test class that forks, then immediately runs the test
-// in the child process.
-class NoExecDeathTest : public ForkingDeathTest {
- public:
- NoExecDeathTest(const char* a_statement, const RE* a_regex) :
- ForkingDeathTest(a_statement, a_regex) { }
- virtual TestRole AssumeRole();
-};
-
-// The AssumeRole process for a fork-and-run death test. It implements a
-// straightforward fork, with a simple pipe to transmit the status byte.
-DeathTest::TestRole NoExecDeathTest::AssumeRole() {
- const size_t thread_count = GetThreadCount();
- if (thread_count != 1) {
- GTEST_LOG_(WARNING) << DeathTestThreadWarning(thread_count);
- }
-
- int pipe_fd[2];
- GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
-
- DeathTest::set_last_death_test_message("");
- CaptureStderr();
- // When we fork the process below, the log file buffers are copied, but the
- // file descriptors are shared. We flush all log files here so that closing
- // the file descriptors in the child process doesn't throw off the
- // synchronization between descriptors and buffers in the parent process.
- // This is as close to the fork as possible to avoid a race condition in case
- // there are multiple threads running before the death test, and another
- // thread writes to the log file.
- FlushInfoLog();
-
- const pid_t child_pid = fork();
- GTEST_DEATH_TEST_CHECK_(child_pid != -1);
- set_child_pid(child_pid);
- if (child_pid == 0) {
- GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[0]));
- set_write_fd(pipe_fd[1]);
- // Redirects all logging to stderr in the child process to prevent
- // concurrent writes to the log files. We capture stderr in the parent
- // process and append the child process' output to a log.
- LogToStderr();
- // Event forwarding to the listeners of event listener API mush be shut
- // down in death test subprocesses.
- GetUnitTestImpl()->listeners()->SuppressEventForwarding();
- return EXECUTE_TEST;
- } else {
- GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
- set_read_fd(pipe_fd[0]);
- set_spawned(true);
- return OVERSEE_TEST;
- }
-}
-
-// A concrete death test class that forks and re-executes the main
-// program from the beginning, with command-line flags set that cause
-// only this specific death test to be run.
-class ExecDeathTest : public ForkingDeathTest {
- public:
- ExecDeathTest(const char* a_statement, const RE* a_regex,
- const char* file, int line) :
- ForkingDeathTest(a_statement, a_regex), file_(file), line_(line) { }
- virtual TestRole AssumeRole();
- private:
- // The name of the file in which the death test is located.
- const char* const file_;
- // The line number on which the death test is located.
- const int line_;
-};
-
-// Utility class for accumulating command-line arguments.
-class Arguments {
- public:
- Arguments() {
- args_.push_back(NULL);
- }
-
- ~Arguments() {
- for (std::vector<char*>::iterator i = args_.begin(); i != args_.end();
- ++i) {
- free(*i);
- }
- }
- void AddArgument(const char* argument) {
- args_.insert(args_.end() - 1, posix::StrDup(argument));
- }
-
- template <typename Str>
- void AddArguments(const ::std::vector<Str>& arguments) {
- for (typename ::std::vector<Str>::const_iterator i = arguments.begin();
- i != arguments.end();
- ++i) {
- args_.insert(args_.end() - 1, posix::StrDup(i->c_str()));
- }
- }
- char* const* Argv() {
- return &args_[0];
- }
- private:
- std::vector<char*> args_;
-};
-
-// A struct that encompasses the arguments to the child process of a
-// threadsafe-style death test process.
-struct ExecDeathTestArgs {
- char* const* argv; // Command-line arguments for the child's call to exec
- int close_fd; // File descriptor to close; the read end of a pipe
-};
-
-# if GTEST_OS_MAC
-inline char** GetEnviron() {
- // When Google Test is built as a framework on MacOS X, the environ variable
- // is unavailable. Apple's documentation (man environ) recommends using
- // _NSGetEnviron() instead.
- return *_NSGetEnviron();
-}
-# else
-// Some POSIX platforms expect you to declare environ. extern "C" makes
-// it reside in the global namespace.
-extern "C" char** environ;
-inline char** GetEnviron() { return environ; }
-# endif // GTEST_OS_MAC
-
-// The main function for a threadsafe-style death test child process.
-// This function is called in a clone()-ed process and thus must avoid
-// any potentially unsafe operations like malloc or libc functions.
-static int ExecDeathTestChildMain(void* child_arg) {
- ExecDeathTestArgs* const args = static_cast<ExecDeathTestArgs*>(child_arg);
- GTEST_DEATH_TEST_CHECK_SYSCALL_(close(args->close_fd));
-
- // We need to execute the test program in the same environment where
- // it was originally invoked. Therefore we change to the original
- // working directory first.
- const char* const original_dir =
- UnitTest::GetInstance()->original_working_dir();
- // We can safely call chdir() as it's a direct system call.
- if (chdir(original_dir) != 0) {
- DeathTestAbort(String::Format("chdir(\"%s\") failed: %s",
- original_dir,
- GetLastErrnoDescription().c_str()));
- return EXIT_FAILURE;
- }
-
- // We can safely call execve() as it's a direct system call. We
- // cannot use execvp() as it's a libc function and thus potentially
- // unsafe. Since execve() doesn't search the PATH, the user must
- // invoke the test program via a valid path that contains at least
- // one path separator.
- execve(args->argv[0], args->argv, GetEnviron());
- DeathTestAbort(String::Format("execve(%s, ...) in %s failed: %s",
- args->argv[0],
- original_dir,
- GetLastErrnoDescription().c_str()));
- return EXIT_FAILURE;
-}
-
-// Two utility routines that together determine the direction the stack
-// grows.
-// This could be accomplished more elegantly by a single recursive
-// function, but we want to guard against the unlikely possibility of
-// a smart compiler optimizing the recursion away.
-//
-// GTEST_NO_INLINE_ is required to prevent GCC 4.6 from inlining
-// StackLowerThanAddress into StackGrowsDown, which then doesn't give
-// correct answer.
-bool StackLowerThanAddress(const void* ptr) GTEST_NO_INLINE_;
-bool StackLowerThanAddress(const void* ptr) {
- int dummy;
- return &dummy < ptr;
-}
-
-bool StackGrowsDown() {
- int dummy;
- return StackLowerThanAddress(&dummy);
-}
-
-// A threadsafe implementation of fork(2) for threadsafe-style death tests
-// that uses clone(2). It dies with an error message if anything goes
-// wrong.
-static pid_t ExecDeathTestFork(char* const* argv, int close_fd) {
- ExecDeathTestArgs args = { argv, close_fd };
- pid_t child_pid = -1;
-
-# if GTEST_HAS_CLONE
- const bool use_fork = GTEST_FLAG(death_test_use_fork);
-
- if (!use_fork) {
- static const bool stack_grows_down = StackGrowsDown();
- const size_t stack_size = getpagesize();
- // MMAP_ANONYMOUS is not defined on Mac, so we use MAP_ANON instead.
- void* const stack = mmap(NULL, stack_size, PROT_READ | PROT_WRITE,
- MAP_ANON | MAP_PRIVATE, -1, 0);
- GTEST_DEATH_TEST_CHECK_(stack != MAP_FAILED);
- void* const stack_top =
- static_cast<char*>(stack) + (stack_grows_down ? stack_size : 0);
-
- child_pid = clone(&ExecDeathTestChildMain, stack_top, SIGCHLD, &args);
-
- GTEST_DEATH_TEST_CHECK_(munmap(stack, stack_size) != -1);
- }
-# else
- const bool use_fork = true;
-# endif // GTEST_HAS_CLONE
-
- if (use_fork && (child_pid = fork()) == 0) {
- ExecDeathTestChildMain(&args);
- _exit(0);
- }
-
- GTEST_DEATH_TEST_CHECK_(child_pid != -1);
- return child_pid;
-}
-
-// The AssumeRole process for a fork-and-exec death test. It re-executes the
-// main program from the beginning, setting the --gtest_filter
-// and --gtest_internal_run_death_test flags to cause only the current
-// death test to be re-run.
-DeathTest::TestRole ExecDeathTest::AssumeRole() {
- const UnitTestImpl* const impl = GetUnitTestImpl();
- const InternalRunDeathTestFlag* const flag =
- impl->internal_run_death_test_flag();
- const TestInfo* const info = impl->current_test_info();
- const int death_test_index = info->result()->death_test_count();
-
- if (flag != NULL) {
- set_write_fd(flag->write_fd());
- return EXECUTE_TEST;
- }
-
- int pipe_fd[2];
- GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
- // Clear the close-on-exec flag on the write end of the pipe, lest
- // it be closed when the child process does an exec:
- GTEST_DEATH_TEST_CHECK_(fcntl(pipe_fd[1], F_SETFD, 0) != -1);
-
- const String filter_flag =
- String::Format("--%s%s=%s.%s",
- GTEST_FLAG_PREFIX_, kFilterFlag,
- info->test_case_name(), info->name());
- const String internal_flag =
- String::Format("--%s%s=%s|%d|%d|%d",
- GTEST_FLAG_PREFIX_, kInternalRunDeathTestFlag,
- file_, line_, death_test_index, pipe_fd[1]);
- Arguments args;
- args.AddArguments(GetArgvs());
- args.AddArgument(filter_flag.c_str());
- args.AddArgument(internal_flag.c_str());
-
- DeathTest::set_last_death_test_message("");
-
- CaptureStderr();
- // See the comment in NoExecDeathTest::AssumeRole for why the next line
- // is necessary.
- FlushInfoLog();
-
- const pid_t child_pid = ExecDeathTestFork(args.Argv(), pipe_fd[0]);
- GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
- set_child_pid(child_pid);
- set_read_fd(pipe_fd[0]);
- set_spawned(true);
- return OVERSEE_TEST;
-}
-
-# endif // !GTEST_OS_WINDOWS
-
-// Creates a concrete DeathTest-derived class that depends on the
-// --gtest_death_test_style flag, and sets the pointer pointed to
-// by the "test" argument to its address. If the test should be
-// skipped, sets that pointer to NULL. Returns true, unless the
-// flag is set to an invalid value.
-bool DefaultDeathTestFactory::Create(const char* statement, const RE* regex,
- const char* file, int line,
- DeathTest** test) {
- UnitTestImpl* const impl = GetUnitTestImpl();
- const InternalRunDeathTestFlag* const flag =
- impl->internal_run_death_test_flag();
- const int death_test_index = impl->current_test_info()
- ->increment_death_test_count();
-
- if (flag != NULL) {
- if (death_test_index > flag->index()) {
- DeathTest::set_last_death_test_message(String::Format(
- "Death test count (%d) somehow exceeded expected maximum (%d)",
- death_test_index, flag->index()));
- return false;
- }
-
- if (!(flag->file() == file && flag->line() == line &&
- flag->index() == death_test_index)) {
- *test = NULL;
- return true;
- }
- }
-
-# if GTEST_OS_WINDOWS
-
- if (GTEST_FLAG(death_test_style) == "threadsafe" ||
- GTEST_FLAG(death_test_style) == "fast") {
- *test = new WindowsDeathTest(statement, regex, file, line);
- }
-
-# else
-
- if (GTEST_FLAG(death_test_style) == "threadsafe") {
- *test = new ExecDeathTest(statement, regex, file, line);
- } else if (GTEST_FLAG(death_test_style) == "fast") {
- *test = new NoExecDeathTest(statement, regex);
- }
-
-# endif // GTEST_OS_WINDOWS
-
- else { // NOLINT - this is more readable than unbalanced brackets inside #if.
- DeathTest::set_last_death_test_message(String::Format(
- "Unknown death test style \"%s\" encountered",
- GTEST_FLAG(death_test_style).c_str()));
- return false;
- }
-
- return true;
-}
-
-// Splits a given string on a given delimiter, populating a given
-// vector with the fields. GTEST_HAS_DEATH_TEST implies that we have
-// ::std::string, so we can use it here.
-static void SplitString(const ::std::string& str, char delimiter,
- ::std::vector< ::std::string>* dest) {
- ::std::vector< ::std::string> parsed;
- ::std::string::size_type pos = 0;
- while (::testing::internal::AlwaysTrue()) {
- const ::std::string::size_type colon = str.find(delimiter, pos);
- if (colon == ::std::string::npos) {
- parsed.push_back(str.substr(pos));
- break;
- } else {
- parsed.push_back(str.substr(pos, colon - pos));
- pos = colon + 1;
- }
- }
- dest->swap(parsed);
-}
-
-# if GTEST_OS_WINDOWS
-// Recreates the pipe and event handles from the provided parameters,
-// signals the event, and returns a file descriptor wrapped around the pipe
-// handle. This function is called in the child process only.
-int GetStatusFileDescriptor(unsigned int parent_process_id,
- size_t write_handle_as_size_t,
- size_t event_handle_as_size_t) {
- AutoHandle parent_process_handle(::OpenProcess(PROCESS_DUP_HANDLE,
- FALSE, // Non-inheritable.
- parent_process_id));
- if (parent_process_handle.Get() == INVALID_HANDLE_VALUE) {
- DeathTestAbort(String::Format("Unable to open parent process %u",
- parent_process_id));
- }
-
- // TODO(vladl@google.com): Replace the following check with a
- // compile-time assertion when available.
- GTEST_CHECK_(sizeof(HANDLE) <= sizeof(size_t));
-
- const HANDLE write_handle =
- reinterpret_cast<HANDLE>(write_handle_as_size_t);
- HANDLE dup_write_handle;
-
- // The newly initialized handle is accessible only in in the parent
- // process. To obtain one accessible within the child, we need to use
- // DuplicateHandle.
- if (!::DuplicateHandle(parent_process_handle.Get(), write_handle,
- ::GetCurrentProcess(), &dup_write_handle,
- 0x0, // Requested privileges ignored since
- // DUPLICATE_SAME_ACCESS is used.
- FALSE, // Request non-inheritable handler.
- DUPLICATE_SAME_ACCESS)) {
- DeathTestAbort(String::Format(
- "Unable to duplicate the pipe handle %Iu from the parent process %u",
- write_handle_as_size_t, parent_process_id));
- }
-
- const HANDLE event_handle = reinterpret_cast<HANDLE>(event_handle_as_size_t);
- HANDLE dup_event_handle;
-
- if (!::DuplicateHandle(parent_process_handle.Get(), event_handle,
- ::GetCurrentProcess(), &dup_event_handle,
- 0x0,
- FALSE,
- DUPLICATE_SAME_ACCESS)) {
- DeathTestAbort(String::Format(
- "Unable to duplicate the event handle %Iu from the parent process %u",
- event_handle_as_size_t, parent_process_id));
- }
-
- const int write_fd =
- ::_open_osfhandle(reinterpret_cast<intptr_t>(dup_write_handle), O_APPEND);
- if (write_fd == -1) {
- DeathTestAbort(String::Format(
- "Unable to convert pipe handle %Iu to a file descriptor",
- write_handle_as_size_t));
- }
-
- // Signals the parent that the write end of the pipe has been acquired
- // so the parent can release its own write end.
- ::SetEvent(dup_event_handle);
-
- return write_fd;
-}
-# endif // GTEST_OS_WINDOWS
-
-// Returns a newly created InternalRunDeathTestFlag object with fields
-// initialized from the GTEST_FLAG(internal_run_death_test) flag if
-// the flag is specified; otherwise returns NULL.
-InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag() {
- if (GTEST_FLAG(internal_run_death_test) == "") return NULL;
-
- // GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we
- // can use it here.
- int line = -1;
- int index = -1;
- ::std::vector< ::std::string> fields;
- SplitString(GTEST_FLAG(internal_run_death_test).c_str(), '|', &fields);
- int write_fd = -1;
-
-# if GTEST_OS_WINDOWS
-
- unsigned int parent_process_id = 0;
- size_t write_handle_as_size_t = 0;
- size_t event_handle_as_size_t = 0;
-
- if (fields.size() != 6
- || !ParseNaturalNumber(fields[1], &line)
- || !ParseNaturalNumber(fields[2], &index)
- || !ParseNaturalNumber(fields[3], &parent_process_id)
- || !ParseNaturalNumber(fields[4], &write_handle_as_size_t)
- || !ParseNaturalNumber(fields[5], &event_handle_as_size_t)) {
- DeathTestAbort(String::Format(
- "Bad --gtest_internal_run_death_test flag: %s",
- GTEST_FLAG(internal_run_death_test).c_str()));
- }
- write_fd = GetStatusFileDescriptor(parent_process_id,
- write_handle_as_size_t,
- event_handle_as_size_t);
-# else
-
- if (fields.size() != 4
- || !ParseNaturalNumber(fields[1], &line)
- || !ParseNaturalNumber(fields[2], &index)
- || !ParseNaturalNumber(fields[3], &write_fd)) {
- DeathTestAbort(String::Format(
- "Bad --gtest_internal_run_death_test flag: %s",
- GTEST_FLAG(internal_run_death_test).c_str()));
- }
-
-# endif // GTEST_OS_WINDOWS
-
- return new InternalRunDeathTestFlag(fields[0], line, index, write_fd);
-}
-
-} // namespace internal
-
-#endif // GTEST_HAS_DEATH_TEST
-
-} // namespace testing
+++ /dev/null
-// Copyright 2008, Google 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 Google 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.
-//
-// Authors: keith.ray@gmail.com (Keith Ray)
-
-#include "gtest/internal/gtest-filepath.h"
-#include "gtest/internal/gtest-port.h"
-
-#include <stdlib.h>
-
-#if GTEST_OS_WINDOWS_MOBILE
-# include <windows.h>
-#elif GTEST_OS_WINDOWS
-# include <direct.h>
-# include <io.h>
-#elif GTEST_OS_SYMBIAN || GTEST_OS_NACL
-// Symbian OpenC and NaCl have PATH_MAX in sys/syslimits.h
-# include <sys/syslimits.h>
-#else
-# include <limits.h>
-# include <climits> // Some Linux distributions define PATH_MAX here.
-#endif // GTEST_OS_WINDOWS_MOBILE
-
-#if GTEST_OS_WINDOWS
-# define GTEST_PATH_MAX_ _MAX_PATH
-#elif defined(PATH_MAX)
-# define GTEST_PATH_MAX_ PATH_MAX
-#elif defined(_XOPEN_PATH_MAX)
-# define GTEST_PATH_MAX_ _XOPEN_PATH_MAX
-#else
-# define GTEST_PATH_MAX_ _POSIX_PATH_MAX
-#endif // GTEST_OS_WINDOWS
-
-#include "gtest/internal/gtest-string.h"
-
-namespace testing {
-namespace internal {
-
-#if GTEST_OS_WINDOWS
-// On Windows, '\\' is the standard path separator, but many tools and the
-// Windows API also accept '/' as an alternate path separator. Unless otherwise
-// noted, a file path can contain either kind of path separators, or a mixture
-// of them.
-const char kPathSeparator = '\\';
-const char kAlternatePathSeparator = '/';
-const char kPathSeparatorString[] = "\\";
-const char kAlternatePathSeparatorString[] = "/";
-# if GTEST_OS_WINDOWS_MOBILE
-// Windows CE doesn't have a current directory. You should not use
-// the current directory in tests on Windows CE, but this at least
-// provides a reasonable fallback.
-const char kCurrentDirectoryString[] = "\\";
-// Windows CE doesn't define INVALID_FILE_ATTRIBUTES
-const DWORD kInvalidFileAttributes = 0xffffffff;
-# else
-const char kCurrentDirectoryString[] = ".\\";
-# endif // GTEST_OS_WINDOWS_MOBILE
-#else
-const char kPathSeparator = '/';
-const char kPathSeparatorString[] = "/";
-const char kCurrentDirectoryString[] = "./";
-#endif // GTEST_OS_WINDOWS
-
-// Returns whether the given character is a valid path separator.
-static bool IsPathSeparator(char c) {
-#if GTEST_HAS_ALT_PATH_SEP_
- return (c == kPathSeparator) || (c == kAlternatePathSeparator);
-#else
- return c == kPathSeparator;
-#endif
-}
-
-// Returns the current working directory, or "" if unsuccessful.
-FilePath FilePath::GetCurrentDir() {
-#if GTEST_OS_WINDOWS_MOBILE
- // Windows CE doesn't have a current directory, so we just return
- // something reasonable.
- return FilePath(kCurrentDirectoryString);
-#elif GTEST_OS_WINDOWS
- char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
- return FilePath(_getcwd(cwd, sizeof(cwd)) == NULL ? "" : cwd);
-#else
- char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
- return FilePath(getcwd(cwd, sizeof(cwd)) == NULL ? "" : cwd);
-#endif // GTEST_OS_WINDOWS_MOBILE
-}
-
-// Returns a copy of the FilePath with the case-insensitive extension removed.
-// Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
-// FilePath("dir/file"). If a case-insensitive extension is not
-// found, returns a copy of the original FilePath.
-FilePath FilePath::RemoveExtension(const char* extension) const {
- String dot_extension(String::Format(".%s", extension));
- if (pathname_.EndsWithCaseInsensitive(dot_extension.c_str())) {
- return FilePath(String(pathname_.c_str(), pathname_.length() - 4));
- }
- return *this;
-}
-
-// Returns a pointer to the last occurence of a valid path separator in
-// the FilePath. On Windows, for example, both '/' and '\' are valid path
-// separators. Returns NULL if no path separator was found.
-const char* FilePath::FindLastPathSeparator() const {
- const char* const last_sep = strrchr(c_str(), kPathSeparator);
-#if GTEST_HAS_ALT_PATH_SEP_
- const char* const last_alt_sep = strrchr(c_str(), kAlternatePathSeparator);
- // Comparing two pointers of which only one is NULL is undefined.
- if (last_alt_sep != NULL &&
- (last_sep == NULL || last_alt_sep > last_sep)) {
- return last_alt_sep;
- }
-#endif
- return last_sep;
-}
-
-// Returns a copy of the FilePath with the directory part removed.
-// Example: FilePath("path/to/file").RemoveDirectoryName() returns
-// FilePath("file"). If there is no directory part ("just_a_file"), it returns
-// the FilePath unmodified. If there is no file part ("just_a_dir/") it
-// returns an empty FilePath ("").
-// On Windows platform, '\' is the path separator, otherwise it is '/'.
-FilePath FilePath::RemoveDirectoryName() const {
- const char* const last_sep = FindLastPathSeparator();
- return last_sep ? FilePath(String(last_sep + 1)) : *this;
-}
-
-// RemoveFileName returns the directory path with the filename removed.
-// Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
-// If the FilePath is "a_file" or "/a_file", RemoveFileName returns
-// FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
-// not have a file, like "just/a/dir/", it returns the FilePath unmodified.
-// On Windows platform, '\' is the path separator, otherwise it is '/'.
-FilePath FilePath::RemoveFileName() const {
- const char* const last_sep = FindLastPathSeparator();
- String dir;
- if (last_sep) {
- dir = String(c_str(), last_sep + 1 - c_str());
- } else {
- dir = kCurrentDirectoryString;
- }
- return FilePath(dir);
-}
-
-// Helper functions for naming files in a directory for xml output.
-
-// Given directory = "dir", base_name = "test", number = 0,
-// extension = "xml", returns "dir/test.xml". If number is greater
-// than zero (e.g., 12), returns "dir/test_12.xml".
-// On Windows platform, uses \ as the separator rather than /.
-FilePath FilePath::MakeFileName(const FilePath& directory,
- const FilePath& base_name,
- int number,
- const char* extension) {
- String file;
- if (number == 0) {
- file = String::Format("%s.%s", base_name.c_str(), extension);
- } else {
- file = String::Format("%s_%d.%s", base_name.c_str(), number, extension);
- }
- return ConcatPaths(directory, FilePath(file));
-}
-
-// Given directory = "dir", relative_path = "test.xml", returns "dir/test.xml".
-// On Windows, uses \ as the separator rather than /.
-FilePath FilePath::ConcatPaths(const FilePath& directory,
- const FilePath& relative_path) {
- if (directory.IsEmpty())
- return relative_path;
- const FilePath dir(directory.RemoveTrailingPathSeparator());
- return FilePath(String::Format("%s%c%s", dir.c_str(), kPathSeparator,
- relative_path.c_str()));
-}
-
-// Returns true if pathname describes something findable in the file-system,
-// either a file, directory, or whatever.
-bool FilePath::FileOrDirectoryExists() const {
-#if GTEST_OS_WINDOWS_MOBILE
- LPCWSTR unicode = String::AnsiToUtf16(pathname_.c_str());
- const DWORD attributes = GetFileAttributes(unicode);
- delete [] unicode;
- return attributes != kInvalidFileAttributes;
-#else
- posix::StatStruct file_stat;
- return posix::Stat(pathname_.c_str(), &file_stat) == 0;
-#endif // GTEST_OS_WINDOWS_MOBILE
-}
-
-// Returns true if pathname describes a directory in the file-system
-// that exists.
-bool FilePath::DirectoryExists() const {
- bool result = false;
-#if GTEST_OS_WINDOWS
- // Don't strip off trailing separator if path is a root directory on
- // Windows (like "C:\\").
- const FilePath& path(IsRootDirectory() ? *this :
- RemoveTrailingPathSeparator());
-#else
- const FilePath& path(*this);
-#endif
-
-#if GTEST_OS_WINDOWS_MOBILE
- LPCWSTR unicode = String::AnsiToUtf16(path.c_str());
- const DWORD attributes = GetFileAttributes(unicode);
- delete [] unicode;
- if ((attributes != kInvalidFileAttributes) &&
- (attributes & FILE_ATTRIBUTE_DIRECTORY)) {
- result = true;
- }
-#else
- posix::StatStruct file_stat;
- result = posix::Stat(path.c_str(), &file_stat) == 0 &&
- posix::IsDir(file_stat);
-#endif // GTEST_OS_WINDOWS_MOBILE
-
- return result;
-}
-
-// Returns true if pathname describes a root directory. (Windows has one
-// root directory per disk drive.)
-bool FilePath::IsRootDirectory() const {
-#if GTEST_OS_WINDOWS
- // TODO(wan@google.com): on Windows a network share like
- // \\server\share can be a root directory, although it cannot be the
- // current directory. Handle this properly.
- return pathname_.length() == 3 && IsAbsolutePath();
-#else
- return pathname_.length() == 1 && IsPathSeparator(pathname_.c_str()[0]);
-#endif
-}
-
-// Returns true if pathname describes an absolute path.
-bool FilePath::IsAbsolutePath() const {
- const char* const name = pathname_.c_str();
-#if GTEST_OS_WINDOWS
- return pathname_.length() >= 3 &&
- ((name[0] >= 'a' && name[0] <= 'z') ||
- (name[0] >= 'A' && name[0] <= 'Z')) &&
- name[1] == ':' &&
- IsPathSeparator(name[2]);
-#else
- return IsPathSeparator(name[0]);
-#endif
-}
-
-// Returns a pathname for a file that does not currently exist. The pathname
-// will be directory/base_name.extension or
-// directory/base_name_<number>.extension if directory/base_name.extension
-// already exists. The number will be incremented until a pathname is found
-// that does not already exist.
-// Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
-// There could be a race condition if two or more processes are calling this
-// function at the same time -- they could both pick the same filename.
-FilePath FilePath::GenerateUniqueFileName(const FilePath& directory,
- const FilePath& base_name,
- const char* extension) {
- FilePath full_pathname;
- int number = 0;
- do {
- full_pathname.Set(MakeFileName(directory, base_name, number++, extension));
- } while (full_pathname.FileOrDirectoryExists());
- return full_pathname;
-}
-
-// Returns true if FilePath ends with a path separator, which indicates that
-// it is intended to represent a directory. Returns false otherwise.
-// This does NOT check that a directory (or file) actually exists.
-bool FilePath::IsDirectory() const {
- return !pathname_.empty() &&
- IsPathSeparator(pathname_.c_str()[pathname_.length() - 1]);
-}
-
-// Create directories so that path exists. Returns true if successful or if
-// the directories already exist; returns false if unable to create directories
-// for any reason.
-bool FilePath::CreateDirectoriesRecursively() const {
- if (!this->IsDirectory()) {
- return false;
- }
-
- if (pathname_.length() == 0 || this->DirectoryExists()) {
- return true;
- }
-
- const FilePath parent(this->RemoveTrailingPathSeparator().RemoveFileName());
- return parent.CreateDirectoriesRecursively() && this->CreateFolder();
-}
-
-// Create the directory so that path exists. Returns true if successful or
-// if the directory already exists; returns false if unable to create the
-// directory for any reason, including if the parent directory does not
-// exist. Not named "CreateDirectory" because that's a macro on Windows.
-bool FilePath::CreateFolder() const {
-#if GTEST_OS_WINDOWS_MOBILE
- FilePath removed_sep(this->RemoveTrailingPathSeparator());
- LPCWSTR unicode = String::AnsiToUtf16(removed_sep.c_str());
- int result = CreateDirectory(unicode, NULL) ? 0 : -1;
- delete [] unicode;
-#elif GTEST_OS_WINDOWS
- int result = _mkdir(pathname_.c_str());
-#else
- int result = mkdir(pathname_.c_str(), 0777);
-#endif // GTEST_OS_WINDOWS_MOBILE
-
- if (result == -1) {
- return this->DirectoryExists(); // An error is OK if the directory exists.
- }
- return true; // No error.
-}
-
-// If input name has a trailing separator character, remove it and return the
-// name, otherwise return the name string unmodified.
-// On Windows platform, uses \ as the separator, other platforms use /.
-FilePath FilePath::RemoveTrailingPathSeparator() const {
- return IsDirectory()
- ? FilePath(String(pathname_.c_str(), pathname_.length() - 1))
- : *this;
-}
-
-// Removes any redundant separators that might be in the pathname.
-// For example, "bar///foo" becomes "bar/foo". Does not eliminate other
-// redundancies that might be in a pathname involving "." or "..".
-// TODO(wan@google.com): handle Windows network shares (e.g. \\server\share).
-void FilePath::Normalize() {
- if (pathname_.c_str() == NULL) {
- pathname_ = "";
- return;
- }
- const char* src = pathname_.c_str();
- char* const dest = new char[pathname_.length() + 1];
- char* dest_ptr = dest;
- memset(dest_ptr, 0, pathname_.length() + 1);
-
- while (*src != '\0') {
- *dest_ptr = *src;
- if (!IsPathSeparator(*src)) {
- src++;
- } else {
-#if GTEST_HAS_ALT_PATH_SEP_
- if (*dest_ptr == kAlternatePathSeparator) {
- *dest_ptr = kPathSeparator;
- }
-#endif
- while (IsPathSeparator(*src))
- src++;
- }
- dest_ptr++;
- }
- *dest_ptr = '\0';
- pathname_ = dest;
- delete[] dest;
-}
-
-} // namespace internal
-} // namespace testing
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-
-// Utility functions and classes used by the Google C++ testing framework.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// This file contains purely Google Test's internal implementation. Please
-// DO NOT #INCLUDE IT IN A USER PROGRAM.
-
-#ifndef GTEST_SRC_GTEST_INTERNAL_INL_H_
-#define GTEST_SRC_GTEST_INTERNAL_INL_H_
-
-// GTEST_IMPLEMENTATION_ is defined to 1 iff the current translation unit is
-// part of Google Test's implementation; otherwise it's undefined.
-#if !GTEST_IMPLEMENTATION_
-// A user is trying to include this from his code - just say no.
-# error "gtest-internal-inl.h is part of Google Test's internal implementation."
-# error "It must not be included except by Google Test itself."
-#endif // GTEST_IMPLEMENTATION_
-
-#ifndef _WIN32_WCE
-# include <errno.h>
-#endif // !_WIN32_WCE
-#include <stddef.h>
-#include <stdlib.h> // For strtoll/_strtoul64/malloc/free.
-#include <string.h> // For memmove.
-
-#include <algorithm>
-#include <string>
-#include <vector>
-
-#include "gtest/internal/gtest-port.h"
-
-#if GTEST_OS_WINDOWS
-# include <windows.h> // NOLINT
-#endif // GTEST_OS_WINDOWS
-
-#include "gtest/gtest.h" // NOLINT
-#include "gtest/gtest-spi.h"
-
-namespace testing {
-
-// Declares the flags.
-//
-// We don't want the users to modify this flag in the code, but want
-// Google Test's own unit tests to be able to access it. Therefore we
-// declare it here as opposed to in gtest.h.
-GTEST_DECLARE_bool_(death_test_use_fork);
-
-namespace internal {
-
-// The value of GetTestTypeId() as seen from within the Google Test
-// library. This is solely for testing GetTestTypeId().
-GTEST_API_ extern const TypeId kTestTypeIdInGoogleTest;
-
-// Names of the flags (needed for parsing Google Test flags).
-const char kAlsoRunDisabledTestsFlag[] = "also_run_disabled_tests";
-const char kBreakOnFailureFlag[] = "break_on_failure";
-const char kCatchExceptionsFlag[] = "catch_exceptions";
-const char kColorFlag[] = "color";
-const char kFilterFlag[] = "filter";
-const char kListTestsFlag[] = "list_tests";
-const char kOutputFlag[] = "output";
-const char kPrintTimeFlag[] = "print_time";
-const char kRandomSeedFlag[] = "random_seed";
-const char kRepeatFlag[] = "repeat";
-const char kShuffleFlag[] = "shuffle";
-const char kStackTraceDepthFlag[] = "stack_trace_depth";
-const char kStreamResultToFlag[] = "stream_result_to";
-const char kThrowOnFailureFlag[] = "throw_on_failure";
-
-// A valid random seed must be in [1, kMaxRandomSeed].
-const int kMaxRandomSeed = 99999;
-
-// g_help_flag is true iff the --help flag or an equivalent form is
-// specified on the command line.
-GTEST_API_ extern bool g_help_flag;
-
-// Returns the current time in milliseconds.
-GTEST_API_ TimeInMillis GetTimeInMillis();
-
-// Returns true iff Google Test should use colors in the output.
-GTEST_API_ bool ShouldUseColor(bool stdout_is_tty);
-
-// Formats the given time in milliseconds as seconds.
-GTEST_API_ std::string FormatTimeInMillisAsSeconds(TimeInMillis ms);
-
-// Parses a string for an Int32 flag, in the form of "--flag=value".
-//
-// On success, stores the value of the flag in *value, and returns
-// true. On failure, returns false without changing *value.
-GTEST_API_ bool ParseInt32Flag(
- const char* str, const char* flag, Int32* value);
-
-// Returns a random seed in range [1, kMaxRandomSeed] based on the
-// given --gtest_random_seed flag value.
-inline int GetRandomSeedFromFlag(Int32 random_seed_flag) {
- const unsigned int raw_seed = (random_seed_flag == 0) ?
- static_cast<unsigned int>(GetTimeInMillis()) :
- static_cast<unsigned int>(random_seed_flag);
-
- // Normalizes the actual seed to range [1, kMaxRandomSeed] such that
- // it's easy to type.
- const int normalized_seed =
- static_cast<int>((raw_seed - 1U) %
- static_cast<unsigned int>(kMaxRandomSeed)) + 1;
- return normalized_seed;
-}
-
-// Returns the first valid random seed after 'seed'. The behavior is
-// undefined if 'seed' is invalid. The seed after kMaxRandomSeed is
-// considered to be 1.
-inline int GetNextRandomSeed(int seed) {
- GTEST_CHECK_(1 <= seed && seed <= kMaxRandomSeed)
- << "Invalid random seed " << seed << " - must be in [1, "
- << kMaxRandomSeed << "].";
- const int next_seed = seed + 1;
- return (next_seed > kMaxRandomSeed) ? 1 : next_seed;
-}
-
-// This class saves the values of all Google Test flags in its c'tor, and
-// restores them in its d'tor.
-class GTestFlagSaver {
- public:
- // The c'tor.
- GTestFlagSaver() {
- also_run_disabled_tests_ = GTEST_FLAG(also_run_disabled_tests);
- break_on_failure_ = GTEST_FLAG(break_on_failure);
- catch_exceptions_ = GTEST_FLAG(catch_exceptions);
- color_ = GTEST_FLAG(color);
- death_test_style_ = GTEST_FLAG(death_test_style);
- death_test_use_fork_ = GTEST_FLAG(death_test_use_fork);
- filter_ = GTEST_FLAG(filter);
- internal_run_death_test_ = GTEST_FLAG(internal_run_death_test);
- list_tests_ = GTEST_FLAG(list_tests);
- output_ = GTEST_FLAG(output);
- print_time_ = GTEST_FLAG(print_time);
- random_seed_ = GTEST_FLAG(random_seed);
- repeat_ = GTEST_FLAG(repeat);
- shuffle_ = GTEST_FLAG(shuffle);
- stack_trace_depth_ = GTEST_FLAG(stack_trace_depth);
- stream_result_to_ = GTEST_FLAG(stream_result_to);
- throw_on_failure_ = GTEST_FLAG(throw_on_failure);
- }
-
- // The d'tor is not virtual. DO NOT INHERIT FROM THIS CLASS.
- ~GTestFlagSaver() {
- GTEST_FLAG(also_run_disabled_tests) = also_run_disabled_tests_;
- GTEST_FLAG(break_on_failure) = break_on_failure_;
- GTEST_FLAG(catch_exceptions) = catch_exceptions_;
- GTEST_FLAG(color) = color_;
- GTEST_FLAG(death_test_style) = death_test_style_;
- GTEST_FLAG(death_test_use_fork) = death_test_use_fork_;
- GTEST_FLAG(filter) = filter_;
- GTEST_FLAG(internal_run_death_test) = internal_run_death_test_;
- GTEST_FLAG(list_tests) = list_tests_;
- GTEST_FLAG(output) = output_;
- GTEST_FLAG(print_time) = print_time_;
- GTEST_FLAG(random_seed) = random_seed_;
- GTEST_FLAG(repeat) = repeat_;
- GTEST_FLAG(shuffle) = shuffle_;
- GTEST_FLAG(stack_trace_depth) = stack_trace_depth_;
- GTEST_FLAG(stream_result_to) = stream_result_to_;
- GTEST_FLAG(throw_on_failure) = throw_on_failure_;
- }
- private:
- // Fields for saving the original values of flags.
- bool also_run_disabled_tests_;
- bool break_on_failure_;
- bool catch_exceptions_;
- String color_;
- String death_test_style_;
- bool death_test_use_fork_;
- String filter_;
- String internal_run_death_test_;
- bool list_tests_;
- String output_;
- bool print_time_;
- bool pretty_;
- internal::Int32 random_seed_;
- internal::Int32 repeat_;
- bool shuffle_;
- internal::Int32 stack_trace_depth_;
- String stream_result_to_;
- bool throw_on_failure_;
-} GTEST_ATTRIBUTE_UNUSED_;
-
-// Converts a Unicode code point to a narrow string in UTF-8 encoding.
-// code_point parameter is of type UInt32 because wchar_t may not be
-// wide enough to contain a code point.
-// The output buffer str must containt at least 32 characters.
-// The function returns the address of the output buffer.
-// If the code_point is not a valid Unicode code point
-// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be output
-// as '(Invalid Unicode 0xXXXXXXXX)'.
-GTEST_API_ char* CodePointToUtf8(UInt32 code_point, char* str);
-
-// Converts a wide string to a narrow string in UTF-8 encoding.
-// The wide string is assumed to have the following encoding:
-// UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
-// UTF-32 if sizeof(wchar_t) == 4 (on Linux)
-// Parameter str points to a null-terminated wide string.
-// Parameter num_chars may additionally limit the number
-// of wchar_t characters processed. -1 is used when the entire string
-// should be processed.
-// If the string contains code points that are not valid Unicode code points
-// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
-// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
-// and contains invalid UTF-16 surrogate pairs, values in those pairs
-// will be encoded as individual Unicode characters from Basic Normal Plane.
-GTEST_API_ String WideStringToUtf8(const wchar_t* str, int num_chars);
-
-// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
-// if the variable is present. If a file already exists at this location, this
-// function will write over it. If the variable is present, but the file cannot
-// be created, prints an error and exits.
-void WriteToShardStatusFileIfNeeded();
-
-// Checks whether sharding is enabled by examining the relevant
-// environment variable values. If the variables are present,
-// but inconsistent (e.g., shard_index >= total_shards), prints
-// an error and exits. If in_subprocess_for_death_test, sharding is
-// disabled because it must only be applied to the original test
-// process. Otherwise, we could filter out death tests we intended to execute.
-GTEST_API_ bool ShouldShard(const char* total_shards_str,
- const char* shard_index_str,
- bool in_subprocess_for_death_test);
-
-// Parses the environment variable var as an Int32. If it is unset,
-// returns default_val. If it is not an Int32, prints an error and
-// and aborts.
-GTEST_API_ Int32 Int32FromEnvOrDie(const char* env_var, Int32 default_val);
-
-// Given the total number of shards, the shard index, and the test id,
-// returns true iff the test should be run on this shard. The test id is
-// some arbitrary but unique non-negative integer assigned to each test
-// method. Assumes that 0 <= shard_index < total_shards.
-GTEST_API_ bool ShouldRunTestOnShard(
- int total_shards, int shard_index, int test_id);
-
-// STL container utilities.
-
-// Returns the number of elements in the given container that satisfy
-// the given predicate.
-template <class Container, typename Predicate>
-inline int CountIf(const Container& c, Predicate predicate) {
- // Implemented as an explicit loop since std::count_if() in libCstd on
- // Solaris has a non-standard signature.
- int count = 0;
- for (typename Container::const_iterator it = c.begin(); it != c.end(); ++it) {
- if (predicate(*it))
- ++count;
- }
- return count;
-}
-
-// Applies a function/functor to each element in the container.
-template <class Container, typename Functor>
-void ForEach(const Container& c, Functor functor) {
- std::for_each(c.begin(), c.end(), functor);
-}
-
-// Returns the i-th element of the vector, or default_value if i is not
-// in range [0, v.size()).
-template <typename E>
-inline E GetElementOr(const std::vector<E>& v, int i, E default_value) {
- return (i < 0 || i >= static_cast<int>(v.size())) ? default_value : v[i];
-}
-
-// Performs an in-place shuffle of a range of the vector's elements.
-// 'begin' and 'end' are element indices as an STL-style range;
-// i.e. [begin, end) are shuffled, where 'end' == size() means to
-// shuffle to the end of the vector.
-template <typename E>
-void ShuffleRange(internal::Random* random, int begin, int end,
- std::vector<E>* v) {
- const int size = static_cast<int>(v->size());
- GTEST_CHECK_(0 <= begin && begin <= size)
- << "Invalid shuffle range start " << begin << ": must be in range [0, "
- << size << "].";
- GTEST_CHECK_(begin <= end && end <= size)
- << "Invalid shuffle range finish " << end << ": must be in range ["
- << begin << ", " << size << "].";
-
- // Fisher-Yates shuffle, from
- // http://en.wikipedia.org/wiki/Fisher-Yates_shuffle
- for (int range_width = end - begin; range_width >= 2; range_width--) {
- const int last_in_range = begin + range_width - 1;
- const int selected = begin + random->Generate(range_width);
- std::swap((*v)[selected], (*v)[last_in_range]);
- }
-}
-
-// Performs an in-place shuffle of the vector's elements.
-template <typename E>
-inline void Shuffle(internal::Random* random, std::vector<E>* v) {
- ShuffleRange(random, 0, static_cast<int>(v->size()), v);
-}
-
-// A function for deleting an object. Handy for being used as a
-// functor.
-template <typename T>
-static void Delete(T* x) {
- delete x;
-}
-
-// A predicate that checks the key of a TestProperty against a known key.
-//
-// TestPropertyKeyIs is copyable.
-class TestPropertyKeyIs {
- public:
- // Constructor.
- //
- // TestPropertyKeyIs has NO default constructor.
- explicit TestPropertyKeyIs(const char* key)
- : key_(key) {}
-
- // Returns true iff the test name of test property matches on key_.
- bool operator()(const TestProperty& test_property) const {
- return String(test_property.key()).Compare(key_) == 0;
- }
-
- private:
- String key_;
-};
-
-// Class UnitTestOptions.
-//
-// This class contains functions for processing options the user
-// specifies when running the tests. It has only static members.
-//
-// In most cases, the user can specify an option using either an
-// environment variable or a command line flag. E.g. you can set the
-// test filter using either GTEST_FILTER or --gtest_filter. If both
-// the variable and the flag are present, the latter overrides the
-// former.
-class GTEST_API_ UnitTestOptions {
- public:
- // Functions for processing the gtest_output flag.
-
- // Returns the output format, or "" for normal printed output.
- static String GetOutputFormat();
-
- // Returns the absolute path of the requested output file, or the
- // default (test_detail.xml in the original working directory) if
- // none was explicitly specified.
- static String GetAbsolutePathToOutputFile();
-
- // Functions for processing the gtest_filter flag.
-
- // Returns true iff the wildcard pattern matches the string. The
- // first ':' or '\0' character in pattern marks the end of it.
- //
- // This recursive algorithm isn't very efficient, but is clear and
- // works well enough for matching test names, which are short.
- static bool PatternMatchesString(const char *pattern, const char *str);
-
- // Returns true iff the user-specified filter matches the test case
- // name and the test name.
- static bool FilterMatchesTest(const String &test_case_name,
- const String &test_name);
-
-#if GTEST_OS_WINDOWS
- // Function for supporting the gtest_catch_exception flag.
-
- // Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
- // given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
- // This function is useful as an __except condition.
- static int GTestShouldProcessSEH(DWORD exception_code);
-#endif // GTEST_OS_WINDOWS
-
- // Returns true if "name" matches the ':' separated list of glob-style
- // filters in "filter".
- static bool MatchesFilter(const String& name, const char* filter);
-};
-
-// Returns the current application's name, removing directory path if that
-// is present. Used by UnitTestOptions::GetOutputFile.
-GTEST_API_ FilePath GetCurrentExecutableName();
-
-// The role interface for getting the OS stack trace as a string.
-class OsStackTraceGetterInterface {
- public:
- OsStackTraceGetterInterface() {}
- virtual ~OsStackTraceGetterInterface() {}
-
- // Returns the current OS stack trace as a String. Parameters:
- //
- // max_depth - the maximum number of stack frames to be included
- // in the trace.
- // skip_count - the number of top frames to be skipped; doesn't count
- // against max_depth.
- virtual String CurrentStackTrace(int max_depth, int skip_count) = 0;
-
- // UponLeavingGTest() should be called immediately before Google Test calls
- // user code. It saves some information about the current stack that
- // CurrentStackTrace() will use to find and hide Google Test stack frames.
- virtual void UponLeavingGTest() = 0;
-
- private:
- GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetterInterface);
-};
-
-// A working implementation of the OsStackTraceGetterInterface interface.
-class OsStackTraceGetter : public OsStackTraceGetterInterface {
- public:
- OsStackTraceGetter() : caller_frame_(NULL) {}
- virtual String CurrentStackTrace(int max_depth, int skip_count);
- virtual void UponLeavingGTest();
-
- // This string is inserted in place of stack frames that are part of
- // Google Test's implementation.
- static const char* const kElidedFramesMarker;
-
- private:
- Mutex mutex_; // protects all internal state
-
- // We save the stack frame below the frame that calls user code.
- // We do this because the address of the frame immediately below
- // the user code changes between the call to UponLeavingGTest()
- // and any calls to CurrentStackTrace() from within the user code.
- void* caller_frame_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetter);
-};
-
-// Information about a Google Test trace point.
-struct TraceInfo {
- const char* file;
- int line;
- String message;
-};
-
-// This is the default global test part result reporter used in UnitTestImpl.
-// This class should only be used by UnitTestImpl.
-class DefaultGlobalTestPartResultReporter
- : public TestPartResultReporterInterface {
- public:
- explicit DefaultGlobalTestPartResultReporter(UnitTestImpl* unit_test);
- // Implements the TestPartResultReporterInterface. Reports the test part
- // result in the current test.
- virtual void ReportTestPartResult(const TestPartResult& result);
-
- private:
- UnitTestImpl* const unit_test_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultGlobalTestPartResultReporter);
-};
-
-// This is the default per thread test part result reporter used in
-// UnitTestImpl. This class should only be used by UnitTestImpl.
-class DefaultPerThreadTestPartResultReporter
- : public TestPartResultReporterInterface {
- public:
- explicit DefaultPerThreadTestPartResultReporter(UnitTestImpl* unit_test);
- // Implements the TestPartResultReporterInterface. The implementation just
- // delegates to the current global test part result reporter of *unit_test_.
- virtual void ReportTestPartResult(const TestPartResult& result);
-
- private:
- UnitTestImpl* const unit_test_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultPerThreadTestPartResultReporter);
-};
-
-// The private implementation of the UnitTest class. We don't protect
-// the methods under a mutex, as this class is not accessible by a
-// user and the UnitTest class that delegates work to this class does
-// proper locking.
-class GTEST_API_ UnitTestImpl {
- public:
- explicit UnitTestImpl(UnitTest* parent);
- virtual ~UnitTestImpl();
-
- // There are two different ways to register your own TestPartResultReporter.
- // You can register your own repoter to listen either only for test results
- // from the current thread or for results from all threads.
- // By default, each per-thread test result repoter just passes a new
- // TestPartResult to the global test result reporter, which registers the
- // test part result for the currently running test.
-
- // Returns the global test part result reporter.
- TestPartResultReporterInterface* GetGlobalTestPartResultReporter();
-
- // Sets the global test part result reporter.
- void SetGlobalTestPartResultReporter(
- TestPartResultReporterInterface* reporter);
-
- // Returns the test part result reporter for the current thread.
- TestPartResultReporterInterface* GetTestPartResultReporterForCurrentThread();
-
- // Sets the test part result reporter for the current thread.
- void SetTestPartResultReporterForCurrentThread(
- TestPartResultReporterInterface* reporter);
-
- // Gets the number of successful test cases.
- int successful_test_case_count() const;
-
- // Gets the number of failed test cases.
- int failed_test_case_count() const;
-
- // Gets the number of all test cases.
- int total_test_case_count() const;
-
- // Gets the number of all test cases that contain at least one test
- // that should run.
- int test_case_to_run_count() const;
-
- // Gets the number of successful tests.
- int successful_test_count() const;
-
- // Gets the number of failed tests.
- int failed_test_count() const;
-
- // Gets the number of disabled tests.
- int disabled_test_count() const;
-
- // Gets the number of all tests.
- int total_test_count() const;
-
- // Gets the number of tests that should run.
- int test_to_run_count() const;
-
- // Gets the elapsed time, in milliseconds.
- TimeInMillis elapsed_time() const { return elapsed_time_; }
-
- // Returns true iff the unit test passed (i.e. all test cases passed).
- bool Passed() const { return !Failed(); }
-
- // Returns true iff the unit test failed (i.e. some test case failed
- // or something outside of all tests failed).
- bool Failed() const {
- return failed_test_case_count() > 0 || ad_hoc_test_result()->Failed();
- }
-
- // Gets the i-th test case among all the test cases. i can range from 0 to
- // total_test_case_count() - 1. If i is not in that range, returns NULL.
- const TestCase* GetTestCase(int i) const {
- const int index = GetElementOr(test_case_indices_, i, -1);
- return index < 0 ? NULL : test_cases_[i];
- }
-
- // Gets the i-th test case among all the test cases. i can range from 0 to
- // total_test_case_count() - 1. If i is not in that range, returns NULL.
- TestCase* GetMutableTestCase(int i) {
- const int index = GetElementOr(test_case_indices_, i, -1);
- return index < 0 ? NULL : test_cases_[index];
- }
-
- // Provides access to the event listener list.
- TestEventListeners* listeners() { return &listeners_; }
-
- // Returns the TestResult for the test that's currently running, or
- // the TestResult for the ad hoc test if no test is running.
- TestResult* current_test_result();
-
- // Returns the TestResult for the ad hoc test.
- const TestResult* ad_hoc_test_result() const { return &ad_hoc_test_result_; }
-
- // Sets the OS stack trace getter.
- //
- // Does nothing if the input and the current OS stack trace getter
- // are the same; otherwise, deletes the old getter and makes the
- // input the current getter.
- void set_os_stack_trace_getter(OsStackTraceGetterInterface* getter);
-
- // Returns the current OS stack trace getter if it is not NULL;
- // otherwise, creates an OsStackTraceGetter, makes it the current
- // getter, and returns it.
- OsStackTraceGetterInterface* os_stack_trace_getter();
-
- // Returns the current OS stack trace as a String.
- //
- // The maximum number of stack frames to be included is specified by
- // the gtest_stack_trace_depth flag. The skip_count parameter
- // specifies the number of top frames to be skipped, which doesn't
- // count against the number of frames to be included.
- //
- // For example, if Foo() calls Bar(), which in turn calls
- // CurrentOsStackTraceExceptTop(1), Foo() will be included in the
- // trace but Bar() and CurrentOsStackTraceExceptTop() won't.
- String CurrentOsStackTraceExceptTop(int skip_count);
-
- // Finds and returns a TestCase with the given name. If one doesn't
- // exist, creates one and returns it.
- //
- // Arguments:
- //
- // test_case_name: name of the test case
- // type_param: the name of the test's type parameter, or NULL if
- // this is not a typed or a type-parameterized test.
- // set_up_tc: pointer to the function that sets up the test case
- // tear_down_tc: pointer to the function that tears down the test case
- TestCase* GetTestCase(const char* test_case_name,
- const char* type_param,
- Test::SetUpTestCaseFunc set_up_tc,
- Test::TearDownTestCaseFunc tear_down_tc);
-
- // Adds a TestInfo to the unit test.
- //
- // Arguments:
- //
- // set_up_tc: pointer to the function that sets up the test case
- // tear_down_tc: pointer to the function that tears down the test case
- // test_info: the TestInfo object
- void AddTestInfo(Test::SetUpTestCaseFunc set_up_tc,
- Test::TearDownTestCaseFunc tear_down_tc,
- TestInfo* test_info) {
- // In order to support thread-safe death tests, we need to
- // remember the original working directory when the test program
- // was first invoked. We cannot do this in RUN_ALL_TESTS(), as
- // the user may have changed the current directory before calling
- // RUN_ALL_TESTS(). Therefore we capture the current directory in
- // AddTestInfo(), which is called to register a TEST or TEST_F
- // before main() is reached.
- if (original_working_dir_.IsEmpty()) {
- original_working_dir_.Set(FilePath::GetCurrentDir());
- GTEST_CHECK_(!original_working_dir_.IsEmpty())
- << "Failed to get the current working directory.";
- }
-
- GetTestCase(test_info->test_case_name(),
- test_info->type_param(),
- set_up_tc,
- tear_down_tc)->AddTestInfo(test_info);
- }
-
-#if GTEST_HAS_PARAM_TEST
- // Returns ParameterizedTestCaseRegistry object used to keep track of
- // value-parameterized tests and instantiate and register them.
- internal::ParameterizedTestCaseRegistry& parameterized_test_registry() {
- return parameterized_test_registry_;
- }
-#endif // GTEST_HAS_PARAM_TEST
-
- // Sets the TestCase object for the test that's currently running.
- void set_current_test_case(TestCase* a_current_test_case) {
- current_test_case_ = a_current_test_case;
- }
-
- // Sets the TestInfo object for the test that's currently running. If
- // current_test_info is NULL, the assertion results will be stored in
- // ad_hoc_test_result_.
- void set_current_test_info(TestInfo* a_current_test_info) {
- current_test_info_ = a_current_test_info;
- }
-
- // Registers all parameterized tests defined using TEST_P and
- // INSTANTIATE_TEST_CASE_P, creating regular tests for each test/parameter
- // combination. This method can be called more then once; it has guards
- // protecting from registering the tests more then once. If
- // value-parameterized tests are disabled, RegisterParameterizedTests is
- // present but does nothing.
- void RegisterParameterizedTests();
-
- // Runs all tests in this UnitTest object, prints the result, and
- // returns true if all tests are successful. If any exception is
- // thrown during a test, this test is considered to be failed, but
- // the rest of the tests will still be run.
- bool RunAllTests();
-
- // Clears the results of all tests, except the ad hoc tests.
- void ClearNonAdHocTestResult() {
- ForEach(test_cases_, TestCase::ClearTestCaseResult);
- }
-
- // Clears the results of ad-hoc test assertions.
- void ClearAdHocTestResult() {
- ad_hoc_test_result_.Clear();
- }
-
- enum ReactionToSharding {
- HONOR_SHARDING_PROTOCOL,
- IGNORE_SHARDING_PROTOCOL
- };
-
- // Matches the full name of each test against the user-specified
- // filter to decide whether the test should run, then records the
- // result in each TestCase and TestInfo object.
- // If shard_tests == HONOR_SHARDING_PROTOCOL, further filters tests
- // based on sharding variables in the environment.
- // Returns the number of tests that should run.
- int FilterTests(ReactionToSharding shard_tests);
-
- // Prints the names of the tests matching the user-specified filter flag.
- void ListTestsMatchingFilter();
-
- const TestCase* current_test_case() const { return current_test_case_; }
- TestInfo* current_test_info() { return current_test_info_; }
- const TestInfo* current_test_info() const { return current_test_info_; }
-
- // Returns the vector of environments that need to be set-up/torn-down
- // before/after the tests are run.
- std::vector<Environment*>& environments() { return environments_; }
-
- // Getters for the per-thread Google Test trace stack.
- std::vector<TraceInfo>& gtest_trace_stack() {
- return *(gtest_trace_stack_.pointer());
- }
- const std::vector<TraceInfo>& gtest_trace_stack() const {
- return gtest_trace_stack_.get();
- }
-
-#if GTEST_HAS_DEATH_TEST
- void InitDeathTestSubprocessControlInfo() {
- internal_run_death_test_flag_.reset(ParseInternalRunDeathTestFlag());
- }
- // Returns a pointer to the parsed --gtest_internal_run_death_test
- // flag, or NULL if that flag was not specified.
- // This information is useful only in a death test child process.
- // Must not be called before a call to InitGoogleTest.
- const InternalRunDeathTestFlag* internal_run_death_test_flag() const {
- return internal_run_death_test_flag_.get();
- }
-
- // Returns a pointer to the current death test factory.
- internal::DeathTestFactory* death_test_factory() {
- return death_test_factory_.get();
- }
-
- void SuppressTestEventsIfInSubprocess();
-
- friend class ReplaceDeathTestFactory;
-#endif // GTEST_HAS_DEATH_TEST
-
- // Initializes the event listener performing XML output as specified by
- // UnitTestOptions. Must not be called before InitGoogleTest.
- void ConfigureXmlOutput();
-
-#if GTEST_CAN_STREAM_RESULTS_
- // Initializes the event listener for streaming test results to a socket.
- // Must not be called before InitGoogleTest.
- void ConfigureStreamingOutput();
-#endif
-
- // Performs initialization dependent upon flag values obtained in
- // ParseGoogleTestFlagsOnly. Is called from InitGoogleTest after the call to
- // ParseGoogleTestFlagsOnly. In case a user neglects to call InitGoogleTest
- // this function is also called from RunAllTests. Since this function can be
- // called more than once, it has to be idempotent.
- void PostFlagParsingInit();
-
- // Gets the random seed used at the start of the current test iteration.
- int random_seed() const { return random_seed_; }
-
- // Gets the random number generator.
- internal::Random* random() { return &random_; }
-
- // Shuffles all test cases, and the tests within each test case,
- // making sure that death tests are still run first.
- void ShuffleTests();
-
- // Restores the test cases and tests to their order before the first shuffle.
- void UnshuffleTests();
-
- // Returns the value of GTEST_FLAG(catch_exceptions) at the moment
- // UnitTest::Run() starts.
- bool catch_exceptions() const { return catch_exceptions_; }
-
- private:
- friend class ::testing::UnitTest;
-
- // Used by UnitTest::Run() to capture the state of
- // GTEST_FLAG(catch_exceptions) at the moment it starts.
- void set_catch_exceptions(bool value) { catch_exceptions_ = value; }
-
- // The UnitTest object that owns this implementation object.
- UnitTest* const parent_;
-
- // The working directory when the first TEST() or TEST_F() was
- // executed.
- internal::FilePath original_working_dir_;
-
- // The default test part result reporters.
- DefaultGlobalTestPartResultReporter default_global_test_part_result_reporter_;
- DefaultPerThreadTestPartResultReporter
- default_per_thread_test_part_result_reporter_;
-
- // Points to (but doesn't own) the global test part result reporter.
- TestPartResultReporterInterface* global_test_part_result_repoter_;
-
- // Protects read and write access to global_test_part_result_reporter_.
- internal::Mutex global_test_part_result_reporter_mutex_;
-
- // Points to (but doesn't own) the per-thread test part result reporter.
- internal::ThreadLocal<TestPartResultReporterInterface*>
- per_thread_test_part_result_reporter_;
-
- // The vector of environments that need to be set-up/torn-down
- // before/after the tests are run.
- std::vector<Environment*> environments_;
-
- // The vector of TestCases in their original order. It owns the
- // elements in the vector.
- std::vector<TestCase*> test_cases_;
-
- // Provides a level of indirection for the test case list to allow
- // easy shuffling and restoring the test case order. The i-th
- // element of this vector is the index of the i-th test case in the
- // shuffled order.
- std::vector<int> test_case_indices_;
-
-#if GTEST_HAS_PARAM_TEST
- // ParameterizedTestRegistry object used to register value-parameterized
- // tests.
- internal::ParameterizedTestCaseRegistry parameterized_test_registry_;
-
- // Indicates whether RegisterParameterizedTests() has been called already.
- bool parameterized_tests_registered_;
-#endif // GTEST_HAS_PARAM_TEST
-
- // Index of the last death test case registered. Initially -1.
- int last_death_test_case_;
-
- // This points to the TestCase for the currently running test. It
- // changes as Google Test goes through one test case after another.
- // When no test is running, this is set to NULL and Google Test
- // stores assertion results in ad_hoc_test_result_. Initially NULL.
- TestCase* current_test_case_;
-
- // This points to the TestInfo for the currently running test. It
- // changes as Google Test goes through one test after another. When
- // no test is running, this is set to NULL and Google Test stores
- // assertion results in ad_hoc_test_result_. Initially NULL.
- TestInfo* current_test_info_;
-
- // Normally, a user only writes assertions inside a TEST or TEST_F,
- // or inside a function called by a TEST or TEST_F. Since Google
- // Test keeps track of which test is current running, it can
- // associate such an assertion with the test it belongs to.
- //
- // If an assertion is encountered when no TEST or TEST_F is running,
- // Google Test attributes the assertion result to an imaginary "ad hoc"
- // test, and records the result in ad_hoc_test_result_.
- TestResult ad_hoc_test_result_;
-
- // The list of event listeners that can be used to track events inside
- // Google Test.
- TestEventListeners listeners_;
-
- // The OS stack trace getter. Will be deleted when the UnitTest
- // object is destructed. By default, an OsStackTraceGetter is used,
- // but the user can set this field to use a custom getter if that is
- // desired.
- OsStackTraceGetterInterface* os_stack_trace_getter_;
-
- // True iff PostFlagParsingInit() has been called.
- bool post_flag_parse_init_performed_;
-
- // The random number seed used at the beginning of the test run.
- int random_seed_;
-
- // Our random number generator.
- internal::Random random_;
-
- // How long the test took to run, in milliseconds.
- TimeInMillis elapsed_time_;
-
-#if GTEST_HAS_DEATH_TEST
- // The decomposed components of the gtest_internal_run_death_test flag,
- // parsed when RUN_ALL_TESTS is called.
- internal::scoped_ptr<InternalRunDeathTestFlag> internal_run_death_test_flag_;
- internal::scoped_ptr<internal::DeathTestFactory> death_test_factory_;
-#endif // GTEST_HAS_DEATH_TEST
-
- // A per-thread stack of traces created by the SCOPED_TRACE() macro.
- internal::ThreadLocal<std::vector<TraceInfo> > gtest_trace_stack_;
-
- // The value of GTEST_FLAG(catch_exceptions) at the moment RunAllTests()
- // starts.
- bool catch_exceptions_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTestImpl);
-}; // class UnitTestImpl
-
-// Convenience function for accessing the global UnitTest
-// implementation object.
-inline UnitTestImpl* GetUnitTestImpl() {
- return UnitTest::GetInstance()->impl();
-}
-
-#if GTEST_USES_SIMPLE_RE
-
-// Internal helper functions for implementing the simple regular
-// expression matcher.
-GTEST_API_ bool IsInSet(char ch, const char* str);
-GTEST_API_ bool IsAsciiDigit(char ch);
-GTEST_API_ bool IsAsciiPunct(char ch);
-GTEST_API_ bool IsRepeat(char ch);
-GTEST_API_ bool IsAsciiWhiteSpace(char ch);
-GTEST_API_ bool IsAsciiWordChar(char ch);
-GTEST_API_ bool IsValidEscape(char ch);
-GTEST_API_ bool AtomMatchesChar(bool escaped, char pattern, char ch);
-GTEST_API_ bool ValidateRegex(const char* regex);
-GTEST_API_ bool MatchRegexAtHead(const char* regex, const char* str);
-GTEST_API_ bool MatchRepetitionAndRegexAtHead(
- bool escaped, char ch, char repeat, const char* regex, const char* str);
-GTEST_API_ bool MatchRegexAnywhere(const char* regex, const char* str);
-
-#endif // GTEST_USES_SIMPLE_RE
-
-// Parses the command line for Google Test flags, without initializing
-// other parts of Google Test.
-GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, char** argv);
-GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv);
-
-#if GTEST_HAS_DEATH_TEST
-
-// Returns the message describing the last system error, regardless of the
-// platform.
-GTEST_API_ String GetLastErrnoDescription();
-
-# if GTEST_OS_WINDOWS
-// Provides leak-safe Windows kernel handle ownership.
-class AutoHandle {
- public:
- AutoHandle() : handle_(INVALID_HANDLE_VALUE) {}
- explicit AutoHandle(HANDLE handle) : handle_(handle) {}
-
- ~AutoHandle() { Reset(); }
-
- HANDLE Get() const { return handle_; }
- void Reset() { Reset(INVALID_HANDLE_VALUE); }
- void Reset(HANDLE handle) {
- if (handle != handle_) {
- if (handle_ != INVALID_HANDLE_VALUE)
- ::CloseHandle(handle_);
- handle_ = handle;
- }
- }
-
- private:
- HANDLE handle_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(AutoHandle);
-};
-# endif // GTEST_OS_WINDOWS
-
-// Attempts to parse a string into a positive integer pointed to by the
-// number parameter. Returns true if that is possible.
-// GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we can use
-// it here.
-template <typename Integer>
-bool ParseNaturalNumber(const ::std::string& str, Integer* number) {
- // Fail fast if the given string does not begin with a digit;
- // this bypasses strtoXXX's "optional leading whitespace and plus
- // or minus sign" semantics, which are undesirable here.
- if (str.empty() || !IsDigit(str[0])) {
- return false;
- }
- errno = 0;
-
- char* end;
- // BiggestConvertible is the largest integer type that system-provided
- // string-to-number conversion routines can return.
-
-# if GTEST_OS_WINDOWS && !defined(__GNUC__)
-
- // MSVC and C++ Builder define __int64 instead of the standard long long.
- typedef unsigned __int64 BiggestConvertible;
- const BiggestConvertible parsed = _strtoui64(str.c_str(), &end, 10);
-
-# else
-
- typedef unsigned long long BiggestConvertible; // NOLINT
- const BiggestConvertible parsed = strtoull(str.c_str(), &end, 10);
-
-# endif // GTEST_OS_WINDOWS && !defined(__GNUC__)
-
- const bool parse_success = *end == '\0' && errno == 0;
-
- // TODO(vladl@google.com): Convert this to compile time assertion when it is
- // available.
- GTEST_CHECK_(sizeof(Integer) <= sizeof(parsed));
-
- const Integer result = static_cast<Integer>(parsed);
- if (parse_success && static_cast<BiggestConvertible>(result) == parsed) {
- *number = result;
- return true;
- }
- return false;
-}
-#endif // GTEST_HAS_DEATH_TEST
-
-// TestResult contains some private methods that should be hidden from
-// Google Test user but are required for testing. This class allow our tests
-// to access them.
-//
-// This class is supplied only for the purpose of testing Google Test's own
-// constructs. Do not use it in user tests, either directly or indirectly.
-class TestResultAccessor {
- public:
- static void RecordProperty(TestResult* test_result,
- const TestProperty& property) {
- test_result->RecordProperty(property);
- }
-
- static void ClearTestPartResults(TestResult* test_result) {
- test_result->ClearTestPartResults();
- }
-
- static const std::vector<testing::TestPartResult>& test_part_results(
- const TestResult& test_result) {
- return test_result.test_part_results();
- }
-};
-
-} // namespace internal
-} // namespace testing
-
-#endif // GTEST_SRC_GTEST_INTERNAL_INL_H_
+++ /dev/null
-// Copyright 2008, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-#include "gtest/internal/gtest-port.h"
-
-#include <limits.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-
-#if GTEST_OS_WINDOWS_MOBILE
-# include <windows.h> // For TerminateProcess()
-#elif GTEST_OS_WINDOWS
-# include <io.h>
-# include <sys/stat.h>
-#else
-# include <unistd.h>
-#endif // GTEST_OS_WINDOWS_MOBILE
-
-#if GTEST_OS_MAC
-# include <mach/mach_init.h>
-# include <mach/task.h>
-# include <mach/vm_map.h>
-#endif // GTEST_OS_MAC
-
-#include "gtest/gtest-spi.h"
-#include "gtest/gtest-message.h"
-#include "gtest/internal/gtest-internal.h"
-#include "gtest/internal/gtest-string.h"
-
-// Indicates that this translation unit is part of Google Test's
-// implementation. It must come before gtest-internal-inl.h is
-// included, or there will be a compiler error. This trick is to
-// prevent a user from accidentally including gtest-internal-inl.h in
-// his code.
-#define GTEST_IMPLEMENTATION_ 1
-#include "src/gtest-internal-inl.h"
-#undef GTEST_IMPLEMENTATION_
-
-namespace testing {
-namespace internal {
-
-#if defined(_MSC_VER) || defined(__BORLANDC__)
-// MSVC and C++Builder do not provide a definition of STDERR_FILENO.
-const int kStdOutFileno = 1;
-const int kStdErrFileno = 2;
-#else
-const int kStdOutFileno = STDOUT_FILENO;
-const int kStdErrFileno = STDERR_FILENO;
-#endif // _MSC_VER
-
-#if GTEST_OS_MAC
-
-// Returns the number of threads running in the process, or 0 to indicate that
-// we cannot detect it.
-size_t GetThreadCount() {
- const task_t task = mach_task_self();
- mach_msg_type_number_t thread_count;
- thread_act_array_t thread_list;
- const kern_return_t status = task_threads(task, &thread_list, &thread_count);
- if (status == KERN_SUCCESS) {
- // task_threads allocates resources in thread_list and we need to free them
- // to avoid leaks.
- vm_deallocate(task,
- reinterpret_cast<vm_address_t>(thread_list),
- sizeof(thread_t) * thread_count);
- return static_cast<size_t>(thread_count);
- } else {
- return 0;
- }
-}
-
-#else
-
-size_t GetThreadCount() {
- // There's no portable way to detect the number of threads, so we just
- // return 0 to indicate that we cannot detect it.
- return 0;
-}
-
-#endif // GTEST_OS_MAC
-
-#if GTEST_USES_POSIX_RE
-
-// Implements RE. Currently only needed for death tests.
-
-RE::~RE() {
- if (is_valid_) {
- // regfree'ing an invalid regex might crash because the content
- // of the regex is undefined. Since the regex's are essentially
- // the same, one cannot be valid (or invalid) without the other
- // being so too.
- regfree(&partial_regex_);
- regfree(&full_regex_);
- }
- free(const_cast<char*>(pattern_));
-}
-
-// Returns true iff regular expression re matches the entire str.
-bool RE::FullMatch(const char* str, const RE& re) {
- if (!re.is_valid_) return false;
-
- regmatch_t match;
- return regexec(&re.full_regex_, str, 1, &match, 0) == 0;
-}
-
-// Returns true iff regular expression re matches a substring of str
-// (including str itself).
-bool RE::PartialMatch(const char* str, const RE& re) {
- if (!re.is_valid_) return false;
-
- regmatch_t match;
- return regexec(&re.partial_regex_, str, 1, &match, 0) == 0;
-}
-
-// Initializes an RE from its string representation.
-void RE::Init(const char* regex) {
- pattern_ = posix::StrDup(regex);
-
- // Reserves enough bytes to hold the regular expression used for a
- // full match.
- const size_t full_regex_len = strlen(regex) + 10;
- char* const full_pattern = new char[full_regex_len];
-
- snprintf(full_pattern, full_regex_len, "^(%s)$", regex);
- is_valid_ = regcomp(&full_regex_, full_pattern, REG_EXTENDED) == 0;
- // We want to call regcomp(&partial_regex_, ...) even if the
- // previous expression returns false. Otherwise partial_regex_ may
- // not be properly initialized can may cause trouble when it's
- // freed.
- //
- // Some implementation of POSIX regex (e.g. on at least some
- // versions of Cygwin) doesn't accept the empty string as a valid
- // regex. We change it to an equivalent form "()" to be safe.
- if (is_valid_) {
- const char* const partial_regex = (*regex == '\0') ? "()" : regex;
- is_valid_ = regcomp(&partial_regex_, partial_regex, REG_EXTENDED) == 0;
- }
- EXPECT_TRUE(is_valid_)
- << "Regular expression \"" << regex
- << "\" is not a valid POSIX Extended regular expression.";
-
- delete[] full_pattern;
-}
-
-#elif GTEST_USES_SIMPLE_RE
-
-// Returns true iff ch appears anywhere in str (excluding the
-// terminating '\0' character).
-bool IsInSet(char ch, const char* str) {
- return ch != '\0' && strchr(str, ch) != NULL;
-}
-
-// Returns true iff ch belongs to the given classification. Unlike
-// similar functions in <ctype.h>, these aren't affected by the
-// current locale.
-bool IsAsciiDigit(char ch) { return '0' <= ch && ch <= '9'; }
-bool IsAsciiPunct(char ch) {
- return IsInSet(ch, "^-!\"#$%&'()*+,./:;<=>?@[\\]_`{|}~");
-}
-bool IsRepeat(char ch) { return IsInSet(ch, "?*+"); }
-bool IsAsciiWhiteSpace(char ch) { return IsInSet(ch, " \f\n\r\t\v"); }
-bool IsAsciiWordChar(char ch) {
- return ('a' <= ch && ch <= 'z') || ('A' <= ch && ch <= 'Z') ||
- ('0' <= ch && ch <= '9') || ch == '_';
-}
-
-// Returns true iff "\\c" is a supported escape sequence.
-bool IsValidEscape(char c) {
- return (IsAsciiPunct(c) || IsInSet(c, "dDfnrsStvwW"));
-}
-
-// Returns true iff the given atom (specified by escaped and pattern)
-// matches ch. The result is undefined if the atom is invalid.
-bool AtomMatchesChar(bool escaped, char pattern_char, char ch) {
- if (escaped) { // "\\p" where p is pattern_char.
- switch (pattern_char) {
- case 'd': return IsAsciiDigit(ch);
- case 'D': return !IsAsciiDigit(ch);
- case 'f': return ch == '\f';
- case 'n': return ch == '\n';
- case 'r': return ch == '\r';
- case 's': return IsAsciiWhiteSpace(ch);
- case 'S': return !IsAsciiWhiteSpace(ch);
- case 't': return ch == '\t';
- case 'v': return ch == '\v';
- case 'w': return IsAsciiWordChar(ch);
- case 'W': return !IsAsciiWordChar(ch);
- }
- return IsAsciiPunct(pattern_char) && pattern_char == ch;
- }
-
- return (pattern_char == '.' && ch != '\n') || pattern_char == ch;
-}
-
-// Helper function used by ValidateRegex() to format error messages.
-String FormatRegexSyntaxError(const char* regex, int index) {
- return (Message() << "Syntax error at index " << index
- << " in simple regular expression \"" << regex << "\": ").GetString();
-}
-
-// Generates non-fatal failures and returns false if regex is invalid;
-// otherwise returns true.
-bool ValidateRegex(const char* regex) {
- if (regex == NULL) {
- // TODO(wan@google.com): fix the source file location in the
- // assertion failures to match where the regex is used in user
- // code.
- ADD_FAILURE() << "NULL is not a valid simple regular expression.";
- return false;
- }
-
- bool is_valid = true;
-
- // True iff ?, *, or + can follow the previous atom.
- bool prev_repeatable = false;
- for (int i = 0; regex[i]; i++) {
- if (regex[i] == '\\') { // An escape sequence
- i++;
- if (regex[i] == '\0') {
- ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
- << "'\\' cannot appear at the end.";
- return false;
- }
-
- if (!IsValidEscape(regex[i])) {
- ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
- << "invalid escape sequence \"\\" << regex[i] << "\".";
- is_valid = false;
- }
- prev_repeatable = true;
- } else { // Not an escape sequence.
- const char ch = regex[i];
-
- if (ch == '^' && i > 0) {
- ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
- << "'^' can only appear at the beginning.";
- is_valid = false;
- } else if (ch == '$' && regex[i + 1] != '\0') {
- ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
- << "'$' can only appear at the end.";
- is_valid = false;
- } else if (IsInSet(ch, "()[]{}|")) {
- ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
- << "'" << ch << "' is unsupported.";
- is_valid = false;
- } else if (IsRepeat(ch) && !prev_repeatable) {
- ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
- << "'" << ch << "' can only follow a repeatable token.";
- is_valid = false;
- }
-
- prev_repeatable = !IsInSet(ch, "^$?*+");
- }
- }
-
- return is_valid;
-}
-
-// Matches a repeated regex atom followed by a valid simple regular
-// expression. The regex atom is defined as c if escaped is false,
-// or \c otherwise. repeat is the repetition meta character (?, *,
-// or +). The behavior is undefined if str contains too many
-// characters to be indexable by size_t, in which case the test will
-// probably time out anyway. We are fine with this limitation as
-// std::string has it too.
-bool MatchRepetitionAndRegexAtHead(
- bool escaped, char c, char repeat, const char* regex,
- const char* str) {
- const size_t min_count = (repeat == '+') ? 1 : 0;
- const size_t max_count = (repeat == '?') ? 1 :
- static_cast<size_t>(-1) - 1;
- // We cannot call numeric_limits::max() as it conflicts with the
- // max() macro on Windows.
-
- for (size_t i = 0; i <= max_count; ++i) {
- // We know that the atom matches each of the first i characters in str.
- if (i >= min_count && MatchRegexAtHead(regex, str + i)) {
- // We have enough matches at the head, and the tail matches too.
- // Since we only care about *whether* the pattern matches str
- // (as opposed to *how* it matches), there is no need to find a
- // greedy match.
- return true;
- }
- if (str[i] == '\0' || !AtomMatchesChar(escaped, c, str[i]))
- return false;
- }
- return false;
-}
-
-// Returns true iff regex matches a prefix of str. regex must be a
-// valid simple regular expression and not start with "^", or the
-// result is undefined.
-bool MatchRegexAtHead(const char* regex, const char* str) {
- if (*regex == '\0') // An empty regex matches a prefix of anything.
- return true;
-
- // "$" only matches the end of a string. Note that regex being
- // valid guarantees that there's nothing after "$" in it.
- if (*regex == '$')
- return *str == '\0';
-
- // Is the first thing in regex an escape sequence?
- const bool escaped = *regex == '\\';
- if (escaped)
- ++regex;
- if (IsRepeat(regex[1])) {
- // MatchRepetitionAndRegexAtHead() calls MatchRegexAtHead(), so
- // here's an indirect recursion. It terminates as the regex gets
- // shorter in each recursion.
- return MatchRepetitionAndRegexAtHead(
- escaped, regex[0], regex[1], regex + 2, str);
- } else {
- // regex isn't empty, isn't "$", and doesn't start with a
- // repetition. We match the first atom of regex with the first
- // character of str and recurse.
- return (*str != '\0') && AtomMatchesChar(escaped, *regex, *str) &&
- MatchRegexAtHead(regex + 1, str + 1);
- }
-}
-
-// Returns true iff regex matches any substring of str. regex must be
-// a valid simple regular expression, or the result is undefined.
-//
-// The algorithm is recursive, but the recursion depth doesn't exceed
-// the regex length, so we won't need to worry about running out of
-// stack space normally. In rare cases the time complexity can be
-// exponential with respect to the regex length + the string length,
-// but usually it's must faster (often close to linear).
-bool MatchRegexAnywhere(const char* regex, const char* str) {
- if (regex == NULL || str == NULL)
- return false;
-
- if (*regex == '^')
- return MatchRegexAtHead(regex + 1, str);
-
- // A successful match can be anywhere in str.
- do {
- if (MatchRegexAtHead(regex, str))
- return true;
- } while (*str++ != '\0');
- return false;
-}
-
-// Implements the RE class.
-
-RE::~RE() {
- free(const_cast<char*>(pattern_));
- free(const_cast<char*>(full_pattern_));
-}
-
-// Returns true iff regular expression re matches the entire str.
-bool RE::FullMatch(const char* str, const RE& re) {
- return re.is_valid_ && MatchRegexAnywhere(re.full_pattern_, str);
-}
-
-// Returns true iff regular expression re matches a substring of str
-// (including str itself).
-bool RE::PartialMatch(const char* str, const RE& re) {
- return re.is_valid_ && MatchRegexAnywhere(re.pattern_, str);
-}
-
-// Initializes an RE from its string representation.
-void RE::Init(const char* regex) {
- pattern_ = full_pattern_ = NULL;
- if (regex != NULL) {
- pattern_ = posix::StrDup(regex);
- }
-
- is_valid_ = ValidateRegex(regex);
- if (!is_valid_) {
- // No need to calculate the full pattern when the regex is invalid.
- return;
- }
-
- const size_t len = strlen(regex);
- // Reserves enough bytes to hold the regular expression used for a
- // full match: we need space to prepend a '^', append a '$', and
- // terminate the string with '\0'.
- char* buffer = static_cast<char*>(malloc(len + 3));
- full_pattern_ = buffer;
-
- if (*regex != '^')
- *buffer++ = '^'; // Makes sure full_pattern_ starts with '^'.
-
- // We don't use snprintf or strncpy, as they trigger a warning when
- // compiled with VC++ 8.0.
- memcpy(buffer, regex, len);
- buffer += len;
-
- if (len == 0 || regex[len - 1] != '$')
- *buffer++ = '$'; // Makes sure full_pattern_ ends with '$'.
-
- *buffer = '\0';
-}
-
-#endif // GTEST_USES_POSIX_RE
-
-const char kUnknownFile[] = "unknown file";
-
-// Formats a source file path and a line number as they would appear
-// in an error message from the compiler used to compile this code.
-GTEST_API_ ::std::string FormatFileLocation(const char* file, int line) {
- const char* const file_name = file == NULL ? kUnknownFile : file;
-
- if (line < 0) {
- return String::Format("%s:", file_name).c_str();
- }
-#ifdef _MSC_VER
- return String::Format("%s(%d):", file_name, line).c_str();
-#else
- return String::Format("%s:%d:", file_name, line).c_str();
-#endif // _MSC_VER
-}
-
-// Formats a file location for compiler-independent XML output.
-// Although this function is not platform dependent, we put it next to
-// FormatFileLocation in order to contrast the two functions.
-// Note that FormatCompilerIndependentFileLocation() does NOT append colon
-// to the file location it produces, unlike FormatFileLocation().
-GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(
- const char* file, int line) {
- const char* const file_name = file == NULL ? kUnknownFile : file;
-
- if (line < 0)
- return file_name;
- else
- return String::Format("%s:%d", file_name, line).c_str();
-}
-
-
-GTestLog::GTestLog(GTestLogSeverity severity, const char* file, int line)
- : severity_(severity) {
- const char* const marker =
- severity == GTEST_INFO ? "[ INFO ]" :
- severity == GTEST_WARNING ? "[WARNING]" :
- severity == GTEST_ERROR ? "[ ERROR ]" : "[ FATAL ]";
- GetStream() << ::std::endl << marker << " "
- << FormatFileLocation(file, line).c_str() << ": ";
-}
-
-// Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
-GTestLog::~GTestLog() {
- GetStream() << ::std::endl;
- if (severity_ == GTEST_FATAL) {
- fflush(stderr);
- posix::Abort();
- }
-}
-// Disable Microsoft deprecation warnings for POSIX functions called from
-// this class (creat, dup, dup2, and close)
-#ifdef _MSC_VER
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif // _MSC_VER
-
-#if GTEST_HAS_STREAM_REDIRECTION
-
-// Object that captures an output stream (stdout/stderr).
-class CapturedStream {
- public:
- // The ctor redirects the stream to a temporary file.
- CapturedStream(int fd) : fd_(fd), uncaptured_fd_(dup(fd)) {
-
-# if GTEST_OS_WINDOWS
- char temp_dir_path[MAX_PATH + 1] = { '\0' }; // NOLINT
- char temp_file_path[MAX_PATH + 1] = { '\0' }; // NOLINT
-
- ::GetTempPathA(sizeof(temp_dir_path), temp_dir_path);
- const UINT success = ::GetTempFileNameA(temp_dir_path,
- "gtest_redir",
- 0, // Generate unique file name.
- temp_file_path);
- GTEST_CHECK_(success != 0)
- << "Unable to create a temporary file in " << temp_dir_path;
- const int captured_fd = creat(temp_file_path, _S_IREAD | _S_IWRITE);
- GTEST_CHECK_(captured_fd != -1) << "Unable to open temporary file "
- << temp_file_path;
- filename_ = temp_file_path;
-# else
- // There's no guarantee that a test has write access to the
- // current directory, so we create the temporary file in the /tmp
- // directory instead.
- char name_template[] = "/tmp/captured_stream.XXXXXX";
- const int captured_fd = mkstemp(name_template);
- filename_ = name_template;
-# endif // GTEST_OS_WINDOWS
- fflush(NULL);
- dup2(captured_fd, fd_);
- close(captured_fd);
- }
-
- ~CapturedStream() {
- remove(filename_.c_str());
- }
-
- String GetCapturedString() {
- if (uncaptured_fd_ != -1) {
- // Restores the original stream.
- fflush(NULL);
- dup2(uncaptured_fd_, fd_);
- close(uncaptured_fd_);
- uncaptured_fd_ = -1;
- }
-
- FILE* const file = posix::FOpen(filename_.c_str(), "r");
- const String content = ReadEntireFile(file);
- posix::FClose(file);
- return content;
- }
-
- private:
- // Reads the entire content of a file as a String.
- static String ReadEntireFile(FILE* file);
-
- // Returns the size (in bytes) of a file.
- static size_t GetFileSize(FILE* file);
-
- const int fd_; // A stream to capture.
- int uncaptured_fd_;
- // Name of the temporary file holding the stderr output.
- ::std::string filename_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(CapturedStream);
-};
-
-// Returns the size (in bytes) of a file.
-size_t CapturedStream::GetFileSize(FILE* file) {
- fseek(file, 0, SEEK_END);
- return static_cast<size_t>(ftell(file));
-}
-
-// Reads the entire content of a file as a string.
-String CapturedStream::ReadEntireFile(FILE* file) {
- const size_t file_size = GetFileSize(file);
- char* const buffer = new char[file_size];
-
- size_t bytes_last_read = 0; // # of bytes read in the last fread()
- size_t bytes_read = 0; // # of bytes read so far
-
- fseek(file, 0, SEEK_SET);
-
- // Keeps reading the file until we cannot read further or the
- // pre-determined file size is reached.
- do {
- bytes_last_read = fread(buffer+bytes_read, 1, file_size-bytes_read, file);
- bytes_read += bytes_last_read;
- } while (bytes_last_read > 0 && bytes_read < file_size);
-
- const String content(buffer, bytes_read);
- delete[] buffer;
-
- return content;
-}
-
-# ifdef _MSC_VER
-# pragma warning(pop)
-# endif // _MSC_VER
-
-static CapturedStream* g_captured_stderr = NULL;
-static CapturedStream* g_captured_stdout = NULL;
-
-// Starts capturing an output stream (stdout/stderr).
-void CaptureStream(int fd, const char* stream_name, CapturedStream** stream) {
- if (*stream != NULL) {
- GTEST_LOG_(FATAL) << "Only one " << stream_name
- << " capturer can exist at a time.";
- }
- *stream = new CapturedStream(fd);
-}
-
-// Stops capturing the output stream and returns the captured string.
-String GetCapturedStream(CapturedStream** captured_stream) {
- const String content = (*captured_stream)->GetCapturedString();
-
- delete *captured_stream;
- *captured_stream = NULL;
-
- return content;
-}
-
-// Starts capturing stdout.
-void CaptureStdout() {
- CaptureStream(kStdOutFileno, "stdout", &g_captured_stdout);
-}
-
-// Starts capturing stderr.
-void CaptureStderr() {
- CaptureStream(kStdErrFileno, "stderr", &g_captured_stderr);
-}
-
-// Stops capturing stdout and returns the captured string.
-String GetCapturedStdout() { return GetCapturedStream(&g_captured_stdout); }
-
-// Stops capturing stderr and returns the captured string.
-String GetCapturedStderr() { return GetCapturedStream(&g_captured_stderr); }
-
-#endif // GTEST_HAS_STREAM_REDIRECTION
-
-#if GTEST_HAS_DEATH_TEST
-
-// A copy of all command line arguments. Set by InitGoogleTest().
-::std::vector<String> g_argvs;
-
-// Returns the command line as a vector of strings.
-const ::std::vector<String>& GetArgvs() { return g_argvs; }
-
-#endif // GTEST_HAS_DEATH_TEST
-
-#if GTEST_OS_WINDOWS_MOBILE
-namespace posix {
-void Abort() {
- DebugBreak();
- TerminateProcess(GetCurrentProcess(), 1);
-}
-} // namespace posix
-#endif // GTEST_OS_WINDOWS_MOBILE
-
-// Returns the name of the environment variable corresponding to the
-// given flag. For example, FlagToEnvVar("foo") will return
-// "GTEST_FOO" in the open-source version.
-static String FlagToEnvVar(const char* flag) {
- const String full_flag =
- (Message() << GTEST_FLAG_PREFIX_ << flag).GetString();
-
- Message env_var;
- for (size_t i = 0; i != full_flag.length(); i++) {
- env_var << ToUpper(full_flag.c_str()[i]);
- }
-
- return env_var.GetString();
-}
-
-// Parses 'str' for a 32-bit signed integer. If successful, writes
-// the result to *value and returns true; otherwise leaves *value
-// unchanged and returns false.
-bool ParseInt32(const Message& src_text, const char* str, Int32* value) {
- // Parses the environment variable as a decimal integer.
- char* end = NULL;
- const long long_value = strtol(str, &end, 10); // NOLINT
-
- // Has strtol() consumed all characters in the string?
- if (*end != '\0') {
- // No - an invalid character was encountered.
- Message msg;
- msg << "WARNING: " << src_text
- << " is expected to be a 32-bit integer, but actually"
- << " has value \"" << str << "\".\n";
- printf("%s", msg.GetString().c_str());
- fflush(stdout);
- return false;
- }
-
- // Is the parsed value in the range of an Int32?
- const Int32 result = static_cast<Int32>(long_value);
- if (long_value == LONG_MAX || long_value == LONG_MIN ||
- // The parsed value overflows as a long. (strtol() returns
- // LONG_MAX or LONG_MIN when the input overflows.)
- result != long_value
- // The parsed value overflows as an Int32.
- ) {
- Message msg;
- msg << "WARNING: " << src_text
- << " is expected to be a 32-bit integer, but actually"
- << " has value " << str << ", which overflows.\n";
- printf("%s", msg.GetString().c_str());
- fflush(stdout);
- return false;
- }
-
- *value = result;
- return true;
-}
-
-// Reads and returns the Boolean environment variable corresponding to
-// the given flag; if it's not set, returns default_value.
-//
-// The value is considered true iff it's not "0".
-bool BoolFromGTestEnv(const char* flag, bool default_value) {
- const String env_var = FlagToEnvVar(flag);
- const char* const string_value = posix::GetEnv(env_var.c_str());
- return string_value == NULL ?
- default_value : strcmp(string_value, "0") != 0;
-}
-
-// Reads and returns a 32-bit integer stored in the environment
-// variable corresponding to the given flag; if it isn't set or
-// doesn't represent a valid 32-bit integer, returns default_value.
-Int32 Int32FromGTestEnv(const char* flag, Int32 default_value) {
- const String env_var = FlagToEnvVar(flag);
- const char* const string_value = posix::GetEnv(env_var.c_str());
- if (string_value == NULL) {
- // The environment variable is not set.
- return default_value;
- }
-
- Int32 result = default_value;
- if (!ParseInt32(Message() << "Environment variable " << env_var,
- string_value, &result)) {
- printf("The default value %s is used.\n",
- (Message() << default_value).GetString().c_str());
- fflush(stdout);
- return default_value;
- }
-
- return result;
-}
-
-// Reads and returns the string environment variable corresponding to
-// the given flag; if it's not set, returns default_value.
-const char* StringFromGTestEnv(const char* flag, const char* default_value) {
- const String env_var = FlagToEnvVar(flag);
- const char* const value = posix::GetEnv(env_var.c_str());
- return value == NULL ? default_value : value;
-}
-
-} // namespace internal
-} // namespace testing
+++ /dev/null
-// Copyright 2007, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-// Google Test - The Google C++ Testing Framework
-//
-// This file implements a universal value printer that can print a
-// value of any type T:
-//
-// void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
-//
-// It uses the << operator when possible, and prints the bytes in the
-// object otherwise. A user can override its behavior for a class
-// type Foo by defining either operator<<(::std::ostream&, const Foo&)
-// or void PrintTo(const Foo&, ::std::ostream*) in the namespace that
-// defines Foo.
-
-#include "gtest/gtest-printers.h"
-#include <ctype.h>
-#include <stdio.h>
-#include <ostream> // NOLINT
-#include <string>
-#include "gtest/internal/gtest-port.h"
-
-namespace testing {
-
-namespace {
-
-using ::std::ostream;
-
-#if GTEST_OS_WINDOWS_MOBILE // Windows CE does not define _snprintf_s.
-# define snprintf _snprintf
-#elif _MSC_VER >= 1400 // VC 8.0 and later deprecate snprintf and _snprintf.
-# define snprintf _snprintf_s
-#elif _MSC_VER
-# define snprintf _snprintf
-#endif // GTEST_OS_WINDOWS_MOBILE
-
-// Prints a segment of bytes in the given object.
-void PrintByteSegmentInObjectTo(const unsigned char* obj_bytes, size_t start,
- size_t count, ostream* os) {
- char text[5] = "";
- for (size_t i = 0; i != count; i++) {
- const size_t j = start + i;
- if (i != 0) {
- // Organizes the bytes into groups of 2 for easy parsing by
- // human.
- if ((j % 2) == 0)
- *os << ' ';
- else
- *os << '-';
- }
- snprintf(text, sizeof(text), "%02X", obj_bytes[j]);
- *os << text;
- }
-}
-
-// Prints the bytes in the given value to the given ostream.
-void PrintBytesInObjectToImpl(const unsigned char* obj_bytes, size_t count,
- ostream* os) {
- // Tells the user how big the object is.
- *os << count << "-byte object <";
-
- const size_t kThreshold = 132;
- const size_t kChunkSize = 64;
- // If the object size is bigger than kThreshold, we'll have to omit
- // some details by printing only the first and the last kChunkSize
- // bytes.
- // TODO(wan): let the user control the threshold using a flag.
- if (count < kThreshold) {
- PrintByteSegmentInObjectTo(obj_bytes, 0, count, os);
- } else {
- PrintByteSegmentInObjectTo(obj_bytes, 0, kChunkSize, os);
- *os << " ... ";
- // Rounds up to 2-byte boundary.
- const size_t resume_pos = (count - kChunkSize + 1)/2*2;
- PrintByteSegmentInObjectTo(obj_bytes, resume_pos, count - resume_pos, os);
- }
- *os << ">";
-}
-
-} // namespace
-
-namespace internal2 {
-
-// Delegates to PrintBytesInObjectToImpl() to print the bytes in the
-// given object. The delegation simplifies the implementation, which
-// uses the << operator and thus is easier done outside of the
-// ::testing::internal namespace, which contains a << operator that
-// sometimes conflicts with the one in STL.
-void PrintBytesInObjectTo(const unsigned char* obj_bytes, size_t count,
- ostream* os) {
- PrintBytesInObjectToImpl(obj_bytes, count, os);
-}
-
-} // namespace internal2
-
-namespace internal {
-
-// Depending on the value of a char (or wchar_t), we print it in one
-// of three formats:
-// - as is if it's a printable ASCII (e.g. 'a', '2', ' '),
-// - as a hexidecimal escape sequence (e.g. '\x7F'), or
-// - as a special escape sequence (e.g. '\r', '\n').
-enum CharFormat {
- kAsIs,
- kHexEscape,
- kSpecialEscape
-};
-
-// Returns true if c is a printable ASCII character. We test the
-// value of c directly instead of calling isprint(), which is buggy on
-// Windows Mobile.
-inline bool IsPrintableAscii(wchar_t c) {
- return 0x20 <= c && c <= 0x7E;
-}
-
-// Prints a wide or narrow char c as a character literal without the
-// quotes, escaping it when necessary; returns how c was formatted.
-// The template argument UnsignedChar is the unsigned version of Char,
-// which is the type of c.
-template <typename UnsignedChar, typename Char>
-static CharFormat PrintAsCharLiteralTo(Char c, ostream* os) {
- switch (static_cast<wchar_t>(c)) {
- case L'\0':
- *os << "\\0";
- break;
- case L'\'':
- *os << "\\'";
- break;
- case L'\\':
- *os << "\\\\";
- break;
- case L'\a':
- *os << "\\a";
- break;
- case L'\b':
- *os << "\\b";
- break;
- case L'\f':
- *os << "\\f";
- break;
- case L'\n':
- *os << "\\n";
- break;
- case L'\r':
- *os << "\\r";
- break;
- case L'\t':
- *os << "\\t";
- break;
- case L'\v':
- *os << "\\v";
- break;
- default:
- if (IsPrintableAscii(c)) {
- *os << static_cast<char>(c);
- return kAsIs;
- } else {
- *os << String::Format("\\x%X", static_cast<UnsignedChar>(c));
- return kHexEscape;
- }
- }
- return kSpecialEscape;
-}
-
-// Prints a char c as if it's part of a string literal, escaping it when
-// necessary; returns how c was formatted.
-static CharFormat PrintAsWideStringLiteralTo(wchar_t c, ostream* os) {
- switch (c) {
- case L'\'':
- *os << "'";
- return kAsIs;
- case L'"':
- *os << "\\\"";
- return kSpecialEscape;
- default:
- return PrintAsCharLiteralTo<wchar_t>(c, os);
- }
-}
-
-// Prints a char c as if it's part of a string literal, escaping it when
-// necessary; returns how c was formatted.
-static CharFormat PrintAsNarrowStringLiteralTo(char c, ostream* os) {
- return PrintAsWideStringLiteralTo(static_cast<unsigned char>(c), os);
-}
-
-// Prints a wide or narrow character c and its code. '\0' is printed
-// as "'\\0'", other unprintable characters are also properly escaped
-// using the standard C++ escape sequence. The template argument
-// UnsignedChar is the unsigned version of Char, which is the type of c.
-template <typename UnsignedChar, typename Char>
-void PrintCharAndCodeTo(Char c, ostream* os) {
- // First, print c as a literal in the most readable form we can find.
- *os << ((sizeof(c) > 1) ? "L'" : "'");
- const CharFormat format = PrintAsCharLiteralTo<UnsignedChar>(c, os);
- *os << "'";
-
- // To aid user debugging, we also print c's code in decimal, unless
- // it's 0 (in which case c was printed as '\\0', making the code
- // obvious).
- if (c == 0)
- return;
- *os << " (" << String::Format("%d", c).c_str();
-
- // For more convenience, we print c's code again in hexidecimal,
- // unless c was already printed in the form '\x##' or the code is in
- // [1, 9].
- if (format == kHexEscape || (1 <= c && c <= 9)) {
- // Do nothing.
- } else {
- *os << String::Format(", 0x%X",
- static_cast<UnsignedChar>(c)).c_str();
- }
- *os << ")";
-}
-
-void PrintTo(unsigned char c, ::std::ostream* os) {
- PrintCharAndCodeTo<unsigned char>(c, os);
-}
-void PrintTo(signed char c, ::std::ostream* os) {
- PrintCharAndCodeTo<unsigned char>(c, os);
-}
-
-// Prints a wchar_t as a symbol if it is printable or as its internal
-// code otherwise and also as its code. L'\0' is printed as "L'\\0'".
-void PrintTo(wchar_t wc, ostream* os) {
- PrintCharAndCodeTo<wchar_t>(wc, os);
-}
-
-// Prints the given array of characters to the ostream.
-// The array starts at *begin, the length is len, it may include '\0' characters
-// and may not be null-terminated.
-static void PrintCharsAsStringTo(const char* begin, size_t len, ostream* os) {
- *os << "\"";
- bool is_previous_hex = false;
- for (size_t index = 0; index < len; ++index) {
- const char cur = begin[index];
- if (is_previous_hex && IsXDigit(cur)) {
- // Previous character is of '\x..' form and this character can be
- // interpreted as another hexadecimal digit in its number. Break string to
- // disambiguate.
- *os << "\" \"";
- }
- is_previous_hex = PrintAsNarrowStringLiteralTo(cur, os) == kHexEscape;
- }
- *os << "\"";
-}
-
-// Prints a (const) char array of 'len' elements, starting at address 'begin'.
-void UniversalPrintArray(const char* begin, size_t len, ostream* os) {
- PrintCharsAsStringTo(begin, len, os);
-}
-
-// Prints the given array of wide characters to the ostream.
-// The array starts at *begin, the length is len, it may include L'\0'
-// characters and may not be null-terminated.
-static void PrintWideCharsAsStringTo(const wchar_t* begin, size_t len,
- ostream* os) {
- *os << "L\"";
- bool is_previous_hex = false;
- for (size_t index = 0; index < len; ++index) {
- const wchar_t cur = begin[index];
- if (is_previous_hex && isascii(cur) && IsXDigit(static_cast<char>(cur))) {
- // Previous character is of '\x..' form and this character can be
- // interpreted as another hexadecimal digit in its number. Break string to
- // disambiguate.
- *os << "\" L\"";
- }
- is_previous_hex = PrintAsWideStringLiteralTo(cur, os) == kHexEscape;
- }
- *os << "\"";
-}
-
-// Prints the given C string to the ostream.
-void PrintTo(const char* s, ostream* os) {
- if (s == NULL) {
- *os << "NULL";
- } else {
- *os << ImplicitCast_<const void*>(s) << " pointing to ";
- PrintCharsAsStringTo(s, strlen(s), os);
- }
-}
-
-// MSVC compiler can be configured to define whar_t as a typedef
-// of unsigned short. Defining an overload for const wchar_t* in that case
-// would cause pointers to unsigned shorts be printed as wide strings,
-// possibly accessing more memory than intended and causing invalid
-// memory accesses. MSVC defines _NATIVE_WCHAR_T_DEFINED symbol when
-// wchar_t is implemented as a native type.
-#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
-// Prints the given wide C string to the ostream.
-void PrintTo(const wchar_t* s, ostream* os) {
- if (s == NULL) {
- *os << "NULL";
- } else {
- *os << ImplicitCast_<const void*>(s) << " pointing to ";
- PrintWideCharsAsStringTo(s, wcslen(s), os);
- }
-}
-#endif // wchar_t is native
-
-// Prints a ::string object.
-#if GTEST_HAS_GLOBAL_STRING
-void PrintStringTo(const ::string& s, ostream* os) {
- PrintCharsAsStringTo(s.data(), s.size(), os);
-}
-#endif // GTEST_HAS_GLOBAL_STRING
-
-void PrintStringTo(const ::std::string& s, ostream* os) {
- PrintCharsAsStringTo(s.data(), s.size(), os);
-}
-
-// Prints a ::wstring object.
-#if GTEST_HAS_GLOBAL_WSTRING
-void PrintWideStringTo(const ::wstring& s, ostream* os) {
- PrintWideCharsAsStringTo(s.data(), s.size(), os);
-}
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
-#if GTEST_HAS_STD_WSTRING
-void PrintWideStringTo(const ::std::wstring& s, ostream* os) {
- PrintWideCharsAsStringTo(s.data(), s.size(), os);
-}
-#endif // GTEST_HAS_STD_WSTRING
-
-} // namespace internal
-
-} // namespace testing
+++ /dev/null
-// Copyright 2008, Google 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 Google 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.
-//
-// Author: mheule@google.com (Markus Heule)
-//
-// The Google C++ Testing Framework (Google Test)
-
-#include "gtest/gtest-test-part.h"
-
-// Indicates that this translation unit is part of Google Test's
-// implementation. It must come before gtest-internal-inl.h is
-// included, or there will be a compiler error. This trick is to
-// prevent a user from accidentally including gtest-internal-inl.h in
-// his code.
-#define GTEST_IMPLEMENTATION_ 1
-#include "src/gtest-internal-inl.h"
-#undef GTEST_IMPLEMENTATION_
-
-namespace testing {
-
-using internal::GetUnitTestImpl;
-
-// Gets the summary of the failure message by omitting the stack trace
-// in it.
-internal::String TestPartResult::ExtractSummary(const char* message) {
- const char* const stack_trace = strstr(message, internal::kStackTraceMarker);
- return stack_trace == NULL ? internal::String(message) :
- internal::String(message, stack_trace - message);
-}
-
-// Prints a TestPartResult object.
-std::ostream& operator<<(std::ostream& os, const TestPartResult& result) {
- return os
- << result.file_name() << ":" << result.line_number() << ": "
- << (result.type() == TestPartResult::kSuccess ? "Success" :
- result.type() == TestPartResult::kFatalFailure ? "Fatal failure" :
- "Non-fatal failure") << ":\n"
- << result.message() << std::endl;
-}
-
-// Appends a TestPartResult to the array.
-void TestPartResultArray::Append(const TestPartResult& result) {
- array_.push_back(result);
-}
-
-// Returns the TestPartResult at the given index (0-based).
-const TestPartResult& TestPartResultArray::GetTestPartResult(int index) const {
- if (index < 0 || index >= size()) {
- printf("\nInvalid index (%d) into TestPartResultArray.\n", index);
- internal::posix::Abort();
- }
-
- return array_[index];
-}
-
-// Returns the number of TestPartResult objects in the array.
-int TestPartResultArray::size() const {
- return static_cast<int>(array_.size());
-}
-
-namespace internal {
-
-HasNewFatalFailureHelper::HasNewFatalFailureHelper()
- : has_new_fatal_failure_(false),
- original_reporter_(GetUnitTestImpl()->
- GetTestPartResultReporterForCurrentThread()) {
- GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(this);
-}
-
-HasNewFatalFailureHelper::~HasNewFatalFailureHelper() {
- GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(
- original_reporter_);
-}
-
-void HasNewFatalFailureHelper::ReportTestPartResult(
- const TestPartResult& result) {
- if (result.fatally_failed())
- has_new_fatal_failure_ = true;
- original_reporter_->ReportTestPartResult(result);
-}
-
-} // namespace internal
-
-} // namespace testing
+++ /dev/null
-// Copyright 2008 Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-
-#include "gtest/gtest-typed-test.h"
-#include "gtest/gtest.h"
-
-namespace testing {
-namespace internal {
-
-#if GTEST_HAS_TYPED_TEST_P
-
-// Skips to the first non-space char in str. Returns an empty string if str
-// contains only whitespace characters.
-static const char* SkipSpaces(const char* str) {
- while (IsSpace(*str))
- str++;
- return str;
-}
-
-// Verifies that registered_tests match the test names in
-// defined_test_names_; returns registered_tests if successful, or
-// aborts the program otherwise.
-const char* TypedTestCasePState::VerifyRegisteredTestNames(
- const char* file, int line, const char* registered_tests) {
- typedef ::std::set<const char*>::const_iterator DefinedTestIter;
- registered_ = true;
-
- // Skip initial whitespace in registered_tests since some
- // preprocessors prefix stringizied literals with whitespace.
- registered_tests = SkipSpaces(registered_tests);
-
- Message errors;
- ::std::set<String> tests;
- for (const char* names = registered_tests; names != NULL;
- names = SkipComma(names)) {
- const String name = GetPrefixUntilComma(names);
- if (tests.count(name) != 0) {
- errors << "Test " << name << " is listed more than once.\n";
- continue;
- }
-
- bool found = false;
- for (DefinedTestIter it = defined_test_names_.begin();
- it != defined_test_names_.end();
- ++it) {
- if (name == *it) {
- found = true;
- break;
- }
- }
-
- if (found) {
- tests.insert(name);
- } else {
- errors << "No test named " << name
- << " can be found in this test case.\n";
- }
- }
-
- for (DefinedTestIter it = defined_test_names_.begin();
- it != defined_test_names_.end();
- ++it) {
- if (tests.count(*it) == 0) {
- errors << "You forgot to list test " << *it << ".\n";
- }
- }
-
- const String& errors_str = errors.GetString();
- if (errors_str != "") {
- fprintf(stderr, "%s %s", FormatFileLocation(file, line).c_str(),
- errors_str.c_str());
- fflush(stderr);
- posix::Abort();
- }
-
- return registered_tests;
-}
-
-#endif // GTEST_HAS_TYPED_TEST_P
-
-} // namespace internal
-} // namespace testing
+++ /dev/null
-// Copyright 2005, Google 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 Google 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.
-//
-// Author: wan@google.com (Zhanyong Wan)
-//
-// The Google C++ Testing Framework (Google Test)
-
-#include "gtest/gtest.h"
-#include "gtest/gtest-spi.h"
-
-#include <ctype.h>
-#include <math.h>
-#include <stdarg.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <wchar.h>
-#include <wctype.h>
-
-#include <algorithm>
-#include <ostream> // NOLINT
-#include <sstream>
-#include <vector>
-
-#if GTEST_OS_LINUX
-
-// TODO(kenton@google.com): Use autoconf to detect availability of
-// gettimeofday().
-# define GTEST_HAS_GETTIMEOFDAY_ 1
-
-# include <fcntl.h> // NOLINT
-# include <limits.h> // NOLINT
-# include <sched.h> // NOLINT
-// Declares vsnprintf(). This header is not available on Windows.
-# include <strings.h> // NOLINT
-# include <sys/mman.h> // NOLINT
-# include <sys/time.h> // NOLINT
-# include <unistd.h> // NOLINT
-# include <string>
-
-#elif GTEST_OS_SYMBIAN
-# define GTEST_HAS_GETTIMEOFDAY_ 1
-# include <sys/time.h> // NOLINT
-
-#elif GTEST_OS_ZOS
-# define GTEST_HAS_GETTIMEOFDAY_ 1
-# include <sys/time.h> // NOLINT
-
-// On z/OS we additionally need strings.h for strcasecmp.
-# include <strings.h> // NOLINT
-
-#elif GTEST_OS_WINDOWS_MOBILE // We are on Windows CE.
-
-# include <windows.h> // NOLINT
-
-#elif GTEST_OS_WINDOWS // We are on Windows proper.
-
-# include <io.h> // NOLINT
-# include <sys/timeb.h> // NOLINT
-# include <sys/types.h> // NOLINT
-# include <sys/stat.h> // NOLINT
-
-# if GTEST_OS_WINDOWS_MINGW
-// MinGW has gettimeofday() but not _ftime64().
-// TODO(kenton@google.com): Use autoconf to detect availability of
-// gettimeofday().
-// TODO(kenton@google.com): There are other ways to get the time on
-// Windows, like GetTickCount() or GetSystemTimeAsFileTime(). MinGW
-// supports these. consider using them instead.
-# define GTEST_HAS_GETTIMEOFDAY_ 1
-# include <sys/time.h> // NOLINT
-# endif // GTEST_OS_WINDOWS_MINGW
-
-// cpplint thinks that the header is already included, so we want to
-// silence it.
-# include <windows.h> // NOLINT
-
-#else
-
-// Assume other platforms have gettimeofday().
-// TODO(kenton@google.com): Use autoconf to detect availability of
-// gettimeofday().
-# define GTEST_HAS_GETTIMEOFDAY_ 1
-
-// cpplint thinks that the header is already included, so we want to
-// silence it.
-# include <sys/time.h> // NOLINT
-# include <unistd.h> // NOLINT
-
-#endif // GTEST_OS_LINUX
-
-#if GTEST_HAS_EXCEPTIONS
-# include <stdexcept>
-#endif
-
-#if GTEST_CAN_STREAM_RESULTS_
-# include <arpa/inet.h> // NOLINT
-# include <netdb.h> // NOLINT
-#endif
-
-// Indicates that this translation unit is part of Google Test's
-// implementation. It must come before gtest-internal-inl.h is
-// included, or there will be a compiler error. This trick is to
-// prevent a user from accidentally including gtest-internal-inl.h in
-// his code.
-#define GTEST_IMPLEMENTATION_ 1
-#include "src/gtest-internal-inl.h"
-#undef GTEST_IMPLEMENTATION_
-
-#if GTEST_OS_WINDOWS
-# define vsnprintf _vsnprintf
-#endif // GTEST_OS_WINDOWS
-
-namespace testing {
-
-using internal::CountIf;
-using internal::ForEach;
-using internal::GetElementOr;
-using internal::Shuffle;
-
-// Constants.
-
-// A test whose test case name or test name matches this filter is
-// disabled and not run.
-static const char kDisableTestFilter[] = "DISABLED_*:*/DISABLED_*";
-
-// A test case whose name matches this filter is considered a death
-// test case and will be run before test cases whose name doesn't
-// match this filter.
-static const char kDeathTestCaseFilter[] = "*DeathTest:*DeathTest/*";
-
-// A test filter that matches everything.
-static const char kUniversalFilter[] = "*";
-
-// The default output file for XML output.
-static const char kDefaultOutputFile[] = "test_detail.xml";
-
-// The environment variable name for the test shard index.
-static const char kTestShardIndex[] = "GTEST_SHARD_INDEX";
-// The environment variable name for the total number of test shards.
-static const char kTestTotalShards[] = "GTEST_TOTAL_SHARDS";
-// The environment variable name for the test shard status file.
-static const char kTestShardStatusFile[] = "GTEST_SHARD_STATUS_FILE";
-
-namespace internal {
-
-// The text used in failure messages to indicate the start of the
-// stack trace.
-const char kStackTraceMarker[] = "\nStack trace:\n";
-
-// g_help_flag is true iff the --help flag or an equivalent form is
-// specified on the command line.
-bool g_help_flag = false;
-
-} // namespace internal
-
-GTEST_DEFINE_bool_(
- also_run_disabled_tests,
- internal::BoolFromGTestEnv("also_run_disabled_tests", false),
- "Run disabled tests too, in addition to the tests normally being run.");
-
-GTEST_DEFINE_bool_(
- break_on_failure,
- internal::BoolFromGTestEnv("break_on_failure", false),
- "True iff a failed assertion should be a debugger break-point.");
-
-GTEST_DEFINE_bool_(
- catch_exceptions,
- internal::BoolFromGTestEnv("catch_exceptions", true),
- "True iff " GTEST_NAME_
- " should catch exceptions and treat them as test failures.");
-
-GTEST_DEFINE_string_(
- color,
- internal::StringFromGTestEnv("color", "auto"),
- "Whether to use colors in the output. Valid values: yes, no, "
- "and auto. 'auto' means to use colors if the output is "
- "being sent to a terminal and the TERM environment variable "
- "is set to xterm, xterm-color, xterm-256color, linux or cygwin.");
-
-GTEST_DEFINE_string_(
- filter,
- internal::StringFromGTestEnv("filter", kUniversalFilter),
- "A colon-separated list of glob (not regex) patterns "
- "for filtering the tests to run, optionally followed by a "
- "'-' and a : separated list of negative patterns (tests to "
- "exclude). A test is run if it matches one of the positive "
- "patterns and does not match any of the negative patterns.");
-
-GTEST_DEFINE_bool_(list_tests, false,
- "List all tests without running them.");
-
-GTEST_DEFINE_string_(
- output,
- internal::StringFromGTestEnv("output", ""),
- "A format (currently must be \"xml\"), optionally followed "
- "by a colon and an output file name or directory. A directory "
- "is indicated by a trailing pathname separator. "
- "Examples: \"xml:filename.xml\", \"xml::directoryname/\". "
- "If a directory is specified, output files will be created "
- "within that directory, with file-names based on the test "
- "executable's name and, if necessary, made unique by adding "
- "digits.");
-
-GTEST_DEFINE_bool_(
- print_time,
- internal::BoolFromGTestEnv("print_time", true),
- "True iff " GTEST_NAME_
- " should display elapsed time in text output.");
-
-GTEST_DEFINE_int32_(
- random_seed,
- internal::Int32FromGTestEnv("random_seed", 0),
- "Random number seed to use when shuffling test orders. Must be in range "
- "[1, 99999], or 0 to use a seed based on the current time.");
-
-GTEST_DEFINE_int32_(
- repeat,
- internal::Int32FromGTestEnv("repeat", 1),
- "How many times to repeat each test. Specify a negative number "
- "for repeating forever. Useful for shaking out flaky tests.");
-
-GTEST_DEFINE_bool_(
- show_internal_stack_frames, false,
- "True iff " GTEST_NAME_ " should include internal stack frames when "
- "printing test failure stack traces.");
-
-GTEST_DEFINE_bool_(
- shuffle,
- internal::BoolFromGTestEnv("shuffle", false),
- "True iff " GTEST_NAME_
- " should randomize tests' order on every run.");
-
-GTEST_DEFINE_int32_(
- stack_trace_depth,
- internal::Int32FromGTestEnv("stack_trace_depth", kMaxStackTraceDepth),
- "The maximum number of stack frames to print when an "
- "assertion fails. The valid range is 0 through 100, inclusive.");
-
-GTEST_DEFINE_string_(
- stream_result_to,
- internal::StringFromGTestEnv("stream_result_to", ""),
- "This flag specifies the host name and the port number on which to stream "
- "test results. Example: \"localhost:555\". The flag is effective only on "
- "Linux.");
-
-GTEST_DEFINE_bool_(
- throw_on_failure,
- internal::BoolFromGTestEnv("throw_on_failure", false),
- "When this flag is specified, a failed assertion will throw an exception "
- "if exceptions are enabled or exit the program with a non-zero code "
- "otherwise.");
-
-namespace internal {
-
-// Generates a random number from [0, range), using a Linear
-// Congruential Generator (LCG). Crashes if 'range' is 0 or greater
-// than kMaxRange.
-UInt32 Random::Generate(UInt32 range) {
- // These constants are the same as are used in glibc's rand(3).
- state_ = (1103515245U*state_ + 12345U) % kMaxRange;
-
- GTEST_CHECK_(range > 0)
- << "Cannot generate a number in the range [0, 0).";
- GTEST_CHECK_(range <= kMaxRange)
- << "Generation of a number in [0, " << range << ") was requested, "
- << "but this can only generate numbers in [0, " << kMaxRange << ").";
-
- // Converting via modulus introduces a bit of downward bias, but
- // it's simple, and a linear congruential generator isn't too good
- // to begin with.
- return state_ % range;
-}
-
-// GTestIsInitialized() returns true iff the user has initialized
-// Google Test. Useful for catching the user mistake of not initializing
-// Google Test before calling RUN_ALL_TESTS().
-//
-// A user must call testing::InitGoogleTest() to initialize Google
-// Test. g_init_gtest_count is set to the number of times
-// InitGoogleTest() has been called. We don't protect this variable
-// under a mutex as it is only accessed in the main thread.
-int g_init_gtest_count = 0;
-static bool GTestIsInitialized() { return g_init_gtest_count != 0; }
-
-// Iterates over a vector of TestCases, keeping a running sum of the
-// results of calling a given int-returning method on each.
-// Returns the sum.
-static int SumOverTestCaseList(const std::vector<TestCase*>& case_list,
- int (TestCase::*method)() const) {
- int sum = 0;
- for (size_t i = 0; i < case_list.size(); i++) {
- sum += (case_list[i]->*method)();
- }
- return sum;
-}
-
-// Returns true iff the test case passed.
-static bool TestCasePassed(const TestCase* test_case) {
- return test_case->should_run() && test_case->Passed();
-}
-
-// Returns true iff the test case failed.
-static bool TestCaseFailed(const TestCase* test_case) {
- return test_case->should_run() && test_case->Failed();
-}
-
-// Returns true iff test_case contains at least one test that should
-// run.
-static bool ShouldRunTestCase(const TestCase* test_case) {
- return test_case->should_run();
-}
-
-// AssertHelper constructor.
-AssertHelper::AssertHelper(TestPartResult::Type type,
- const char* file,
- int line,
- const char* message)
- : data_(new AssertHelperData(type, file, line, message)) {
-}
-
-AssertHelper::~AssertHelper() {
- delete data_;
-}
-
-// Message assignment, for assertion streaming support.
-void AssertHelper::operator=(const Message& message) const {
- UnitTest::GetInstance()->
- AddTestPartResult(data_->type, data_->file, data_->line,
- AppendUserMessage(data_->message, message),
- UnitTest::GetInstance()->impl()
- ->CurrentOsStackTraceExceptTop(1)
- // Skips the stack frame for this function itself.
- ); // NOLINT
-}
-
-// Mutex for linked pointers.
-GTEST_DEFINE_STATIC_MUTEX_(g_linked_ptr_mutex);
-
-// Application pathname gotten in InitGoogleTest.
-String g_executable_path;
-
-// Returns the current application's name, removing directory path if that
-// is present.
-FilePath GetCurrentExecutableName() {
- FilePath result;
-
-#if GTEST_OS_WINDOWS
- result.Set(FilePath(g_executable_path).RemoveExtension("exe"));
-#else
- result.Set(FilePath(g_executable_path));
-#endif // GTEST_OS_WINDOWS
-
- return result.RemoveDirectoryName();
-}
-
-// Functions for processing the gtest_output flag.
-
-// Returns the output format, or "" for normal printed output.
-String UnitTestOptions::GetOutputFormat() {
- const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
- if (gtest_output_flag == NULL) return String("");
-
- const char* const colon = strchr(gtest_output_flag, ':');
- return (colon == NULL) ?
- String(gtest_output_flag) :
- String(gtest_output_flag, colon - gtest_output_flag);
-}
-
-// Returns the name of the requested output file, or the default if none
-// was explicitly specified.
-String UnitTestOptions::GetAbsolutePathToOutputFile() {
- const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
- if (gtest_output_flag == NULL)
- return String("");
-
- const char* const colon = strchr(gtest_output_flag, ':');
- if (colon == NULL)
- return String(internal::FilePath::ConcatPaths(
- internal::FilePath(
- UnitTest::GetInstance()->original_working_dir()),
- internal::FilePath(kDefaultOutputFile)).ToString() );
-
- internal::FilePath output_name(colon + 1);
- if (!output_name.IsAbsolutePath())
- // TODO(wan@google.com): on Windows \some\path is not an absolute
- // path (as its meaning depends on the current drive), yet the
- // following logic for turning it into an absolute path is wrong.
- // Fix it.
- output_name = internal::FilePath::ConcatPaths(
- internal::FilePath(UnitTest::GetInstance()->original_working_dir()),
- internal::FilePath(colon + 1));
-
- if (!output_name.IsDirectory())
- return output_name.ToString();
-
- internal::FilePath result(internal::FilePath::GenerateUniqueFileName(
- output_name, internal::GetCurrentExecutableName(),
- GetOutputFormat().c_str()));
- return result.ToString();
-}
-
-// Returns true iff the wildcard pattern matches the string. The
-// first ':' or '\0' character in pattern marks the end of it.
-//
-// This recursive algorithm isn't very efficient, but is clear and
-// works well enough for matching test names, which are short.
-bool UnitTestOptions::PatternMatchesString(const char *pattern,
- const char *str) {
- switch (*pattern) {
- case '\0':
- case ':': // Either ':' or '\0' marks the end of the pattern.
- return *str == '\0';
- case '?': // Matches any single character.
- return *str != '\0' && PatternMatchesString(pattern + 1, str + 1);
- case '*': // Matches any string (possibly empty) of characters.
- return (*str != '\0' && PatternMatchesString(pattern, str + 1)) ||
- PatternMatchesString(pattern + 1, str);
- default: // Non-special character. Matches itself.
- return *pattern == *str &&
- PatternMatchesString(pattern + 1, str + 1);
- }
-}
-
-bool UnitTestOptions::MatchesFilter(const String& name, const char* filter) {
- const char *cur_pattern = filter;
- for (;;) {
- if (PatternMatchesString(cur_pattern, name.c_str())) {
- return true;
- }
-
- // Finds the next pattern in the filter.
- cur_pattern = strchr(cur_pattern, ':');
-
- // Returns if no more pattern can be found.
- if (cur_pattern == NULL) {
- return false;
- }
-
- // Skips the pattern separater (the ':' character).
- cur_pattern++;
- }
-}
-
-// TODO(keithray): move String function implementations to gtest-string.cc.
-
-// Returns true iff the user-specified filter matches the test case
-// name and the test name.
-bool UnitTestOptions::FilterMatchesTest(const String &test_case_name,
- const String &test_name) {
- const String& full_name = String::Format("%s.%s",
- test_case_name.c_str(),
- test_name.c_str());
-
- // Split --gtest_filter at '-', if there is one, to separate into
- // positive filter and negative filter portions
- const char* const p = GTEST_FLAG(filter).c_str();
- const char* const dash = strchr(p, '-');
- String positive;
- String negative;
- if (dash == NULL) {
- positive = GTEST_FLAG(filter).c_str(); // Whole string is a positive filter
- negative = String("");
- } else {
- positive = String(p, dash - p); // Everything up to the dash
- negative = String(dash+1); // Everything after the dash
- if (positive.empty()) {
- // Treat '-test1' as the same as '*-test1'
- positive = kUniversalFilter;
- }
- }
-
- // A filter is a colon-separated list of patterns. It matches a
- // test if any pattern in it matches the test.
- return (MatchesFilter(full_name, positive.c_str()) &&
- !MatchesFilter(full_name, negative.c_str()));
-}
-
-#if GTEST_HAS_SEH
-// Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
-// given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
-// This function is useful as an __except condition.
-int UnitTestOptions::GTestShouldProcessSEH(DWORD exception_code) {
- // Google Test should handle a SEH exception if:
- // 1. the user wants it to, AND
- // 2. this is not a breakpoint exception, AND
- // 3. this is not a C++ exception (VC++ implements them via SEH,
- // apparently).
- //
- // SEH exception code for C++ exceptions.
- // (see http://support.microsoft.com/kb/185294 for more information).
- const DWORD kCxxExceptionCode = 0xe06d7363;
-
- bool should_handle = true;
-
- if (!GTEST_FLAG(catch_exceptions))
- should_handle = false;
- else if (exception_code == EXCEPTION_BREAKPOINT)
- should_handle = false;
- else if (exception_code == kCxxExceptionCode)
- should_handle = false;
-
- return should_handle ? EXCEPTION_EXECUTE_HANDLER : EXCEPTION_CONTINUE_SEARCH;
-}
-#endif // GTEST_HAS_SEH
-
-} // namespace internal
-
-// The c'tor sets this object as the test part result reporter used by
-// Google Test. The 'result' parameter specifies where to report the
-// results. Intercepts only failures from the current thread.
-ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
- TestPartResultArray* result)
- : intercept_mode_(INTERCEPT_ONLY_CURRENT_THREAD),
- result_(result) {
- Init();
-}
-
-// The c'tor sets this object as the test part result reporter used by
-// Google Test. The 'result' parameter specifies where to report the
-// results.
-ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
- InterceptMode intercept_mode, TestPartResultArray* result)
- : intercept_mode_(intercept_mode),
- result_(result) {
- Init();
-}
-
-void ScopedFakeTestPartResultReporter::Init() {
- internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
- if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
- old_reporter_ = impl->GetGlobalTestPartResultReporter();
- impl->SetGlobalTestPartResultReporter(this);
- } else {
- old_reporter_ = impl->GetTestPartResultReporterForCurrentThread();
- impl->SetTestPartResultReporterForCurrentThread(this);
- }
-}
-
-// The d'tor restores the test part result reporter used by Google Test
-// before.
-ScopedFakeTestPartResultReporter::~ScopedFakeTestPartResultReporter() {
- internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
- if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
- impl->SetGlobalTestPartResultReporter(old_reporter_);
- } else {
- impl->SetTestPartResultReporterForCurrentThread(old_reporter_);
- }
-}
-
-// Increments the test part result count and remembers the result.
-// This method is from the TestPartResultReporterInterface interface.
-void ScopedFakeTestPartResultReporter::ReportTestPartResult(
- const TestPartResult& result) {
- result_->Append(result);
-}
-
-namespace internal {
-
-// Returns the type ID of ::testing::Test. We should always call this
-// instead of GetTypeId< ::testing::Test>() to get the type ID of
-// testing::Test. This is to work around a suspected linker bug when
-// using Google Test as a framework on Mac OS X. The bug causes
-// GetTypeId< ::testing::Test>() to return different values depending
-// on whether the call is from the Google Test framework itself or
-// from user test code. GetTestTypeId() is guaranteed to always
-// return the same value, as it always calls GetTypeId<>() from the
-// gtest.cc, which is within the Google Test framework.
-TypeId GetTestTypeId() {
- return GetTypeId<Test>();
-}
-
-// The value of GetTestTypeId() as seen from within the Google Test
-// library. This is solely for testing GetTestTypeId().
-extern const TypeId kTestTypeIdInGoogleTest = GetTestTypeId();
-
-// This predicate-formatter checks that 'results' contains a test part
-// failure of the given type and that the failure message contains the
-// given substring.
-AssertionResult HasOneFailure(const char* /* results_expr */,
- const char* /* type_expr */,
- const char* /* substr_expr */,
- const TestPartResultArray& results,
- TestPartResult::Type type,
- const string& substr) {
- const String expected(type == TestPartResult::kFatalFailure ?
- "1 fatal failure" :
- "1 non-fatal failure");
- Message msg;
- if (results.size() != 1) {
- msg << "Expected: " << expected << "\n"
- << " Actual: " << results.size() << " failures";
- for (int i = 0; i < results.size(); i++) {
- msg << "\n" << results.GetTestPartResult(i);
- }
- return AssertionFailure() << msg;
- }
-
- const TestPartResult& r = results.GetTestPartResult(0);
- if (r.type() != type) {
- return AssertionFailure() << "Expected: " << expected << "\n"
- << " Actual:\n"
- << r;
- }
-
- if (strstr(r.message(), substr.c_str()) == NULL) {
- return AssertionFailure() << "Expected: " << expected << " containing \""
- << substr << "\"\n"
- << " Actual:\n"
- << r;
- }
-
- return AssertionSuccess();
-}
-
-// The constructor of SingleFailureChecker remembers where to look up
-// test part results, what type of failure we expect, and what
-// substring the failure message should contain.
-SingleFailureChecker:: SingleFailureChecker(
- const TestPartResultArray* results,
- TestPartResult::Type type,
- const string& substr)
- : results_(results),
- type_(type),
- substr_(substr) {}
-
-// The destructor of SingleFailureChecker verifies that the given
-// TestPartResultArray contains exactly one failure that has the given
-// type and contains the given substring. If that's not the case, a
-// non-fatal failure will be generated.
-SingleFailureChecker::~SingleFailureChecker() {
- EXPECT_PRED_FORMAT3(HasOneFailure, *results_, type_, substr_);
-}
-
-DefaultGlobalTestPartResultReporter::DefaultGlobalTestPartResultReporter(
- UnitTestImpl* unit_test) : unit_test_(unit_test) {}
-
-void DefaultGlobalTestPartResultReporter::ReportTestPartResult(
- const TestPartResult& result) {
- unit_test_->current_test_result()->AddTestPartResult(result);
- unit_test_->listeners()->repeater()->OnTestPartResult(result);
-}
-
-DefaultPerThreadTestPartResultReporter::DefaultPerThreadTestPartResultReporter(
- UnitTestImpl* unit_test) : unit_test_(unit_test) {}
-
-void DefaultPerThreadTestPartResultReporter::ReportTestPartResult(
- const TestPartResult& result) {
- unit_test_->GetGlobalTestPartResultReporter()->ReportTestPartResult(result);
-}
-
-// Returns the global test part result reporter.
-TestPartResultReporterInterface*
-UnitTestImpl::GetGlobalTestPartResultReporter() {
- internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
- return global_test_part_result_repoter_;
-}
-
-// Sets the global test part result reporter.
-void UnitTestImpl::SetGlobalTestPartResultReporter(
- TestPartResultReporterInterface* reporter) {
- internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
- global_test_part_result_repoter_ = reporter;
-}
-
-// Returns the test part result reporter for the current thread.
-TestPartResultReporterInterface*
-UnitTestImpl::GetTestPartResultReporterForCurrentThread() {
- return per_thread_test_part_result_reporter_.get();
-}
-
-// Sets the test part result reporter for the current thread.
-void UnitTestImpl::SetTestPartResultReporterForCurrentThread(
- TestPartResultReporterInterface* reporter) {
- per_thread_test_part_result_reporter_.set(reporter);
-}
-
-// Gets the number of successful test cases.
-int UnitTestImpl::successful_test_case_count() const {
- return CountIf(test_cases_, TestCasePassed);
-}
-
-// Gets the number of failed test cases.
-int UnitTestImpl::failed_test_case_count() const {
- return CountIf(test_cases_, TestCaseFailed);
-}
-
-// Gets the number of all test cases.
-int UnitTestImpl::total_test_case_count() const {
- return static_cast<int>(test_cases_.size());
-}
-
-// Gets the number of all test cases that contain at least one test
-// that should run.
-int UnitTestImpl::test_case_to_run_count() const {
- return CountIf(test_cases_, ShouldRunTestCase);
-}
-
-// Gets the number of successful tests.
-int UnitTestImpl::successful_test_count() const {
- return SumOverTestCaseList(test_cases_, &TestCase::successful_test_count);
-}
-
-// Gets the number of failed tests.
-int UnitTestImpl::failed_test_count() const {
- return SumOverTestCaseList(test_cases_, &TestCase::failed_test_count);
-}
-
-// Gets the number of disabled tests.
-int UnitTestImpl::disabled_test_count() const {
- return SumOverTestCaseList(test_cases_, &TestCase::disabled_test_count);
-}
-
-// Gets the number of all tests.
-int UnitTestImpl::total_test_count() const {
- return SumOverTestCaseList(test_cases_, &TestCase::total_test_count);
-}
-
-// Gets the number of tests that should run.
-int UnitTestImpl::test_to_run_count() const {
- return SumOverTestCaseList(test_cases_, &TestCase::test_to_run_count);
-}
-
-// Returns the current OS stack trace as a String.
-//
-// The maximum number of stack frames to be included is specified by
-// the gtest_stack_trace_depth flag. The skip_count parameter
-// specifies the number of top frames to be skipped, which doesn't
-// count against the number of frames to be included.
-//
-// For example, if Foo() calls Bar(), which in turn calls
-// CurrentOsStackTraceExceptTop(1), Foo() will be included in the
-// trace but Bar() and CurrentOsStackTraceExceptTop() won't.
-String UnitTestImpl::CurrentOsStackTraceExceptTop(int skip_count) {
- (void)skip_count;
- return String("");
-}
-
-// Returns the current time in milliseconds.
-TimeInMillis GetTimeInMillis() {
-#if GTEST_OS_WINDOWS_MOBILE || defined(__BORLANDC__)
- // Difference between 1970-01-01 and 1601-01-01 in milliseconds.
- // http://analogous.blogspot.com/2005/04/epoch.html
- const TimeInMillis kJavaEpochToWinFileTimeDelta =
- static_cast<TimeInMillis>(116444736UL) * 100000UL;
- const DWORD kTenthMicrosInMilliSecond = 10000;
-
- SYSTEMTIME now_systime;
- FILETIME now_filetime;
- ULARGE_INTEGER now_int64;
- // TODO(kenton@google.com): Shouldn't this just use
- // GetSystemTimeAsFileTime()?
- GetSystemTime(&now_systime);
- if (SystemTimeToFileTime(&now_systime, &now_filetime)) {
- now_int64.LowPart = now_filetime.dwLowDateTime;
- now_int64.HighPart = now_filetime.dwHighDateTime;
- now_int64.QuadPart = (now_int64.QuadPart / kTenthMicrosInMilliSecond) -
- kJavaEpochToWinFileTimeDelta;
- return now_int64.QuadPart;
- }
- return 0;
-#elif GTEST_OS_WINDOWS && !GTEST_HAS_GETTIMEOFDAY_
- __timeb64 now;
-
-# ifdef _MSC_VER
-
- // MSVC 8 deprecates _ftime64(), so we want to suppress warning 4996
- // (deprecated function) there.
- // TODO(kenton@google.com): Use GetTickCount()? Or use
- // SystemTimeToFileTime()
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4996) // Temporarily disables warning 4996.
- _ftime64(&now);
-# pragma warning(pop) // Restores the warning state.
-# else
-
- _ftime64(&now);
-
-# endif // _MSC_VER
-
- return static_cast<TimeInMillis>(now.time) * 1000 + now.millitm;
-#elif GTEST_HAS_GETTIMEOFDAY_
- struct timeval now;
- gettimeofday(&now, NULL);
- return static_cast<TimeInMillis>(now.tv_sec) * 1000 + now.tv_usec / 1000;
-#else
-# error "Don't know how to get the current time on your system."
-#endif
-}
-
-// Utilities
-
-// class String
-
-// Returns the input enclosed in double quotes if it's not NULL;
-// otherwise returns "(null)". For example, "\"Hello\"" is returned
-// for input "Hello".
-//
-// This is useful for printing a C string in the syntax of a literal.
-//
-// Known issue: escape sequences are not handled yet.
-String String::ShowCStringQuoted(const char* c_str) {
- return c_str ? String::Format("\"%s\"", c_str) : String("(null)");
-}
-
-// Copies at most length characters from str into a newly-allocated
-// piece of memory of size length+1. The memory is allocated with new[].
-// A terminating null byte is written to the memory, and a pointer to it
-// is returned. If str is NULL, NULL is returned.
-static char* CloneString(const char* str, size_t length) {
- if (str == NULL) {
- return NULL;
- } else {
- char* const clone = new char[length + 1];
- posix::StrNCpy(clone, str, length);
- clone[length] = '\0';
- return clone;
- }
-}
-
-// Clones a 0-terminated C string, allocating memory using new. The
-// caller is responsible for deleting[] the return value. Returns the
-// cloned string, or NULL if the input is NULL.
-const char * String::CloneCString(const char* c_str) {
- return (c_str == NULL) ?
- NULL : CloneString(c_str, strlen(c_str));
-}
-
-#if GTEST_OS_WINDOWS_MOBILE
-// Creates a UTF-16 wide string from the given ANSI string, allocating
-// memory using new. The caller is responsible for deleting the return
-// value using delete[]. Returns the wide string, or NULL if the
-// input is NULL.
-LPCWSTR String::AnsiToUtf16(const char* ansi) {
- if (!ansi) return NULL;
- const int length = strlen(ansi);
- const int unicode_length =
- MultiByteToWideChar(CP_ACP, 0, ansi, length,
- NULL, 0);
- WCHAR* unicode = new WCHAR[unicode_length + 1];
- MultiByteToWideChar(CP_ACP, 0, ansi, length,
- unicode, unicode_length);
- unicode[unicode_length] = 0;
- return unicode;
-}
-
-// Creates an ANSI string from the given wide string, allocating
-// memory using new. The caller is responsible for deleting the return
-// value using delete[]. Returns the ANSI string, or NULL if the
-// input is NULL.
-const char* String::Utf16ToAnsi(LPCWSTR utf16_str) {
- if (!utf16_str) return NULL;
- const int ansi_length =
- WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
- NULL, 0, NULL, NULL);
- char* ansi = new char[ansi_length + 1];
- WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
- ansi, ansi_length, NULL, NULL);
- ansi[ansi_length] = 0;
- return ansi;
-}
-
-#endif // GTEST_OS_WINDOWS_MOBILE
-
-// Compares two C strings. Returns true iff they have the same content.
-//
-// Unlike strcmp(), this function can handle NULL argument(s). A NULL
-// C string is considered different to any non-NULL C string,
-// including the empty string.
-bool String::CStringEquals(const char * lhs, const char * rhs) {
- if ( lhs == NULL ) return rhs == NULL;
-
- if ( rhs == NULL ) return false;
-
- return strcmp(lhs, rhs) == 0;
-}
-
-#if GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
-
-// Converts an array of wide chars to a narrow string using the UTF-8
-// encoding, and streams the result to the given Message object.
-static void StreamWideCharsToMessage(const wchar_t* wstr, size_t length,
- Message* msg) {
- // TODO(wan): consider allowing a testing::String object to
- // contain '\0'. This will make it behave more like std::string,
- // and will allow ToUtf8String() to return the correct encoding
- // for '\0' s.t. we can get rid of the conditional here (and in
- // several other places).
- for (size_t i = 0; i != length; ) { // NOLINT
- if (wstr[i] != L'\0') {
- *msg << WideStringToUtf8(wstr + i, static_cast<int>(length - i));
- while (i != length && wstr[i] != L'\0')
- i++;
- } else {
- *msg << '\0';
- i++;
- }
- }
-}
-
-#endif // GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
-
-} // namespace internal
-
-#if GTEST_HAS_STD_WSTRING
-// Converts the given wide string to a narrow string using the UTF-8
-// encoding, and streams the result to this Message object.
-Message& Message::operator <<(const ::std::wstring& wstr) {
- internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
- return *this;
-}
-#endif // GTEST_HAS_STD_WSTRING
-
-#if GTEST_HAS_GLOBAL_WSTRING
-// Converts the given wide string to a narrow string using the UTF-8
-// encoding, and streams the result to this Message object.
-Message& Message::operator <<(const ::wstring& wstr) {
- internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
- return *this;
-}
-#endif // GTEST_HAS_GLOBAL_WSTRING
-
-// AssertionResult constructors.
-// Used in EXPECT_TRUE/FALSE(assertion_result).
-AssertionResult::AssertionResult(const AssertionResult& other)
- : success_(other.success_),
- message_(other.message_.get() != NULL ?
- new ::std::string(*other.message_) :
- static_cast< ::std::string*>(NULL)) {
-}
-
-// Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
-AssertionResult AssertionResult::operator!() const {
- AssertionResult negation(!success_);
- if (message_.get() != NULL)
- negation << *message_;
- return negation;
-}
-
-// Makes a successful assertion result.
-AssertionResult AssertionSuccess() {
- return AssertionResult(true);
-}
-
-// Makes a failed assertion result.
-AssertionResult AssertionFailure() {
- return AssertionResult(false);
-}
-
-// Makes a failed assertion result with the given failure message.
-// Deprecated; use AssertionFailure() << message.
-AssertionResult AssertionFailure(const Message& message) {
- return AssertionFailure() << message;
-}
-
-namespace internal {
-
-// Constructs and returns the message for an equality assertion
-// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
-//
-// The first four parameters are the expressions used in the assertion
-// and their values, as strings. For example, for ASSERT_EQ(foo, bar)
-// where foo is 5 and bar is 6, we have:
-//
-// expected_expression: "foo"
-// actual_expression: "bar"
-// expected_value: "5"
-// actual_value: "6"
-//
-// The ignoring_case parameter is true iff the assertion is a
-// *_STRCASEEQ*. When it's true, the string " (ignoring case)" will
-// be inserted into the message.
-AssertionResult EqFailure(const char* expected_expression,
- const char* actual_expression,
- const String& expected_value,
- const String& actual_value,
- bool ignoring_case) {
- Message msg;
- msg << "Value of: " << actual_expression;
- if (actual_value != actual_expression) {
- msg << "\n Actual: " << actual_value;
- }
-
- msg << "\nExpected: " << expected_expression;
- if (ignoring_case) {
- msg << " (ignoring case)";
- }
- if (expected_value != expected_expression) {
- msg << "\nWhich is: " << expected_value;
- }
-
- return AssertionFailure() << msg;
-}
-
-// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
-String GetBoolAssertionFailureMessage(const AssertionResult& assertion_result,
- const char* expression_text,
- const char* actual_predicate_value,
- const char* expected_predicate_value) {
- const char* actual_message = assertion_result.message();
- Message msg;
- msg << "Value of: " << expression_text
- << "\n Actual: " << actual_predicate_value;
- if (actual_message[0] != '\0')
- msg << " (" << actual_message << ")";
- msg << "\nExpected: " << expected_predicate_value;
- return msg.GetString();
-}
-
-// Helper function for implementing ASSERT_NEAR.
-AssertionResult DoubleNearPredFormat(const char* expr1,
- const char* expr2,
- const char* abs_error_expr,
- double val1,
- double val2,
- double abs_error) {
- const double diff = fabs(val1 - val2);
- if (diff <= abs_error) return AssertionSuccess();
-
- // TODO(wan): do not print the value of an expression if it's
- // already a literal.
- return AssertionFailure()
- << "The difference between " << expr1 << " and " << expr2
- << " is " << diff << ", which exceeds " << abs_error_expr << ", where\n"
- << expr1 << " evaluates to " << val1 << ",\n"
- << expr2 << " evaluates to " << val2 << ", and\n"
- << abs_error_expr << " evaluates to " << abs_error << ".";
-}
-
-
-// Helper template for implementing FloatLE() and DoubleLE().
-template <typename RawType>
-AssertionResult FloatingPointLE(const char* expr1,
- const char* expr2,
- RawType val1,
- RawType val2) {
- // Returns success if val1 is less than val2,
- if (val1 < val2) {
- return AssertionSuccess();
- }
-
- // or if val1 is almost equal to val2.
- const FloatingPoint<RawType> lhs(val1), rhs(val2);
- if (lhs.AlmostEquals(rhs)) {
- return AssertionSuccess();
- }
-
- // Note that the above two checks will both fail if either val1 or
- // val2 is NaN, as the IEEE floating-point standard requires that
- // any predicate involving a NaN must return false.
-
- ::std::stringstream val1_ss;
- val1_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
- << val1;
-
- ::std::stringstream val2_ss;
- val2_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
- << val2;
-
- return AssertionFailure()
- << "Expected: (" << expr1 << ") <= (" << expr2 << ")\n"
- << " Actual: " << StringStreamToString(&val1_ss) << " vs "
- << StringStreamToString(&val2_ss);
-}
-
-} // namespace internal
-
-// Asserts that val1 is less than, or almost equal to, val2. Fails
-// otherwise. In particular, it fails if either val1 or val2 is NaN.
-AssertionResult FloatLE(const char* expr1, const char* expr2,
- float val1, float val2) {
- return internal::FloatingPointLE<float>(expr1, expr2, val1, val2);
-}
-
-// Asserts that val1 is less than, or almost equal to, val2. Fails
-// otherwise. In particular, it fails if either val1 or val2 is NaN.
-AssertionResult DoubleLE(const char* expr1, const char* expr2,
- double val1, double val2) {
- return internal::FloatingPointLE<double>(expr1, expr2, val1, val2);
-}
-
-namespace internal {
-
-// The helper function for {ASSERT|EXPECT}_EQ with int or enum
-// arguments.
-AssertionResult CmpHelperEQ(const char* expected_expression,
- const char* actual_expression,
- BiggestInt expected,
- BiggestInt actual) {
- if (expected == actual) {
- return AssertionSuccess();
- }
-
- return EqFailure(expected_expression,
- actual_expression,
- FormatForComparisonFailureMessage(expected, actual),
- FormatForComparisonFailureMessage(actual, expected),
- false);
-}
-
-// A macro for implementing the helper functions needed to implement
-// ASSERT_?? and EXPECT_?? with integer or enum arguments. It is here
-// just to avoid copy-and-paste of similar code.
-#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
-AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
- BiggestInt val1, BiggestInt val2) {\
- if (val1 op val2) {\
- return AssertionSuccess();\
- } else {\
- return AssertionFailure() \
- << "Expected: (" << expr1 << ") " #op " (" << expr2\
- << "), actual: " << FormatForComparisonFailureMessage(val1, val2)\
- << " vs " << FormatForComparisonFailureMessage(val2, val1);\
- }\
-}
-
-// Implements the helper function for {ASSERT|EXPECT}_NE with int or
-// enum arguments.
-GTEST_IMPL_CMP_HELPER_(NE, !=)
-// Implements the helper function for {ASSERT|EXPECT}_LE with int or
-// enum arguments.
-GTEST_IMPL_CMP_HELPER_(LE, <=)
-// Implements the helper function for {ASSERT|EXPECT}_LT with int or
-// enum arguments.
-GTEST_IMPL_CMP_HELPER_(LT, < )
-// Implements the helper function for {ASSERT|EXPECT}_GE with int or
-// enum arguments.
-GTEST_IMPL_CMP_HELPER_(GE, >=)
-// Implements the helper function for {ASSERT|EXPECT}_GT with int or
-// enum arguments.
-GTEST_IMPL_CMP_HELPER_(GT, > )
-
-#undef GTEST_IMPL_CMP_HELPER_
-
-// The helper function for {ASSERT|EXPECT}_STREQ.
-AssertionResult CmpHelperSTREQ(const char* expected_expression,
- const char* actual_expression,
- const char* expected,
- const char* actual) {
- if (String::CStringEquals(expected, actual)) {
- return AssertionSuccess();
- }
-
- return EqFailure(expected_expression,
- actual_expression,
- String::ShowCStringQuoted(expected),
- String::ShowCStringQuoted(actual),
- false);
-}
-
-// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
-AssertionResult CmpHelperSTRCASEEQ(const char* expected_expression,
- const char* actual_expression,
- const char* expected,
- const char* actual) {
- if (String::CaseInsensitiveCStringEquals(expected, actual)) {
- return AssertionSuccess();
- }
-
- return EqFailure(expected_expression,
- actual_expression,
- String::ShowCStringQuoted(expected),
- String::ShowCStringQuoted(actual),
- true);
-}
-
-// The helper function for {ASSERT|EXPECT}_STRNE.
-AssertionResult CmpHelperSTRNE(const char* s1_expression,
- const char* s2_expression,
- const char* s1,
- const char* s2) {
- if (!String::CStringEquals(s1, s2)) {
- return AssertionSuccess();
- } else {
- return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
- << s2_expression << "), actual: \""
- << s1 << "\" vs \"" << s2 << "\"";
- }
-}
-
-// The helper function for {ASSERT|EXPECT}_STRCASENE.
-AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
- const char* s2_expression,
- const char* s1,
- const char* s2) {
- if (!String::CaseInsensitiveCStringEquals(s1, s2)) {
- return AssertionSuccess();
- } else {
- return AssertionFailure()
- << "Expected: (" << s1_expression << ") != ("
- << s2_expression << ") (ignoring case), actual: \""
- << s1 << "\" vs \"" << s2 << "\"";
- }
-}
-
-} // namespace internal
-
-namespace {
-
-// Helper functions for implementing IsSubString() and IsNotSubstring().
-
-// This group of overloaded functions return true iff needle is a
-// substring of haystack. NULL is considered a substring of itself
-// only.
-
-bool IsSubstringPred(const char* needle, const char* haystack) {
- if (needle == NULL || haystack == NULL)
- return needle == haystack;
-
- return strstr(haystack, needle) != NULL;
-}
-
-bool IsSubstringPred(const wchar_t* needle, const wchar_t* haystack) {
- if (needle == NULL || haystack == NULL)
- return needle == haystack;
-
- return wcsstr(haystack, needle) != NULL;
-}
-
-// StringType here can be either ::std::string or ::std::wstring.
-template <typename StringType>
-bool IsSubstringPred(const StringType& needle,
- const StringType& haystack) {
- return haystack.find(needle) != StringType::npos;
-}
-
-// This function implements either IsSubstring() or IsNotSubstring(),
-// depending on the value of the expected_to_be_substring parameter.
-// StringType here can be const char*, const wchar_t*, ::std::string,
-// or ::std::wstring.
-template <typename StringType>
-AssertionResult IsSubstringImpl(
- bool expected_to_be_substring,
- const char* needle_expr, const char* haystack_expr,
- const StringType& needle, const StringType& haystack) {
- if (IsSubstringPred(needle, haystack) == expected_to_be_substring)
- return AssertionSuccess();
-
- const bool is_wide_string = sizeof(needle[0]) > 1;
- const char* const begin_string_quote = is_wide_string ? "L\"" : "\"";
- return AssertionFailure()
- << "Value of: " << needle_expr << "\n"
- << " Actual: " << begin_string_quote << needle << "\"\n"
- << "Expected: " << (expected_to_be_substring ? "" : "not ")
- << "a substring of " << haystack_expr << "\n"
- << "Which is: " << begin_string_quote << haystack << "\"";
-}
-
-} // namespace
-
-// IsSubstring() and IsNotSubstring() check whether needle is a
-// substring of haystack (NULL is considered a substring of itself
-// only), and return an appropriate error message when they fail.
-
-AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const char* needle, const char* haystack) {
- return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
-}
-
-AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const wchar_t* needle, const wchar_t* haystack) {
- return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
-}
-
-AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const char* needle, const char* haystack) {
- return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
-}
-
-AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const wchar_t* needle, const wchar_t* haystack) {
- return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
-}
-
-AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::string& needle, const ::std::string& haystack) {
- return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
-}
-
-AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::string& needle, const ::std::string& haystack) {
- return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
-}
-
-#if GTEST_HAS_STD_WSTRING
-AssertionResult IsSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::wstring& needle, const ::std::wstring& haystack) {
- return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
-}
-
-AssertionResult IsNotSubstring(
- const char* needle_expr, const char* haystack_expr,
- const ::std::wstring& needle, const ::std::wstring& haystack) {
- return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
-}
-#endif // GTEST_HAS_STD_WSTRING
-
-namespace internal {
-
-#if GTEST_OS_WINDOWS
-
-namespace {
-
-// Helper function for IsHRESULT{SuccessFailure} predicates
-AssertionResult HRESULTFailureHelper(const char* expr,
- const char* expected,
- long hr) { // NOLINT
-# if GTEST_OS_WINDOWS_MOBILE
-
- // Windows CE doesn't support FormatMessage.
- const char error_text[] = "";
-
-# else
-
- // Looks up the human-readable system message for the HRESULT code
- // and since we're not passing any params to FormatMessage, we don't
- // want inserts expanded.
- const DWORD kFlags = FORMAT_MESSAGE_FROM_SYSTEM |
- FORMAT_MESSAGE_IGNORE_INSERTS;
- const DWORD kBufSize = 4096; // String::Format can't exceed this length.
- // Gets the system's human readable message string for this HRESULT.
- char error_text[kBufSize] = { '\0' };
- DWORD message_length = ::FormatMessageA(kFlags,
- 0, // no source, we're asking system
- hr, // the error
- 0, // no line width restrictions
- error_text, // output buffer
- kBufSize, // buf size
- NULL); // no arguments for inserts
- // Trims tailing white space (FormatMessage leaves a trailing cr-lf)
- for (; message_length && IsSpace(error_text[message_length - 1]);
- --message_length) {
- error_text[message_length - 1] = '\0';
- }
-
-# endif // GTEST_OS_WINDOWS_MOBILE
-
- const String error_hex(String::Format("0x%08X ", hr));
- return ::testing::AssertionFailure()
- << "Expected: " << expr << " " << expected << ".\n"
- << " Actual: " << error_hex << error_text << "\n";
-}
-
-} // namespace
-
-AssertionResult IsHRESULTSuccess(const char* expr, long hr) { // NOLINT
- if (SUCCEEDED(hr)) {
- return AssertionSuccess();
- }
- return HRESULTFailureHelper(expr, "succeeds", hr);
-}
-
-AssertionResult IsHRESULTFailure(const char* expr, long hr) { // NOLINT
- if (FAILED(hr)) {
- return AssertionSuccess();
- }
- return HRESULTFailureHelper(expr, "fails", hr);
-}
-
-#endif // GTEST_OS_WINDOWS
-
-// Utility functions for encoding Unicode text (wide strings) in
-// UTF-8.
-
-// A Unicode code-point can have upto 21 bits, and is encoded in UTF-8
-// like this:
-//
-// Code-point length Encoding
-// 0 - 7 bits 0xxxxxxx
-// 8 - 11 bits 110xxxxx 10xxxxxx
-// 12 - 16 bits 1110xxxx 10xxxxxx 10xxxxxx
-// 17 - 21 bits 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
-
-// The maximum code-point a one-byte UTF-8 sequence can represent.
-const UInt32 kMaxCodePoint1 = (static_cast<UInt32>(1) << 7) - 1;
-
-// The maximum code-point a two-byte UTF-8 sequence can represent.
-const UInt32 kMaxCodePoint2 = (static_cast<UInt32>(1) << (5 + 6)) - 1;
-
-// The maximum code-point a three-byte UTF-8 sequence can represent.
-const UInt32 kMaxCodePoint3 = (static_cast<UInt32>(1) << (4 + 2*6)) - 1;
-
-// The maximum code-point a four-byte UTF-8 sequence can represent.
-const UInt32 kMaxCodePoint4 = (static_cast<UInt32>(1) << (3 + 3*6)) - 1;
-
-// Chops off the n lowest bits from a bit pattern. Returns the n
-// lowest bits. As a side effect, the original bit pattern will be
-// shifted to the right by n bits.
-inline UInt32 ChopLowBits(UInt32* bits, int n) {
- const UInt32 low_bits = *bits & ((static_cast<UInt32>(1) << n) - 1);
- *bits >>= n;
- return low_bits;
-}
-
-// Converts a Unicode code point to a narrow string in UTF-8 encoding.
-// code_point parameter is of type UInt32 because wchar_t may not be
-// wide enough to contain a code point.
-// The output buffer str must containt at least 32 characters.
-// The function returns the address of the output buffer.
-// If the code_point is not a valid Unicode code point
-// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be output
-// as '(Invalid Unicode 0xXXXXXXXX)'.
-char* CodePointToUtf8(UInt32 code_point, char* str) {
- if (code_point <= kMaxCodePoint1) {
- str[1] = '\0';
- str[0] = static_cast<char>(code_point); // 0xxxxxxx
- } else if (code_point <= kMaxCodePoint2) {
- str[2] = '\0';
- str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
- str[0] = static_cast<char>(0xC0 | code_point); // 110xxxxx
- } else if (code_point <= kMaxCodePoint3) {
- str[3] = '\0';
- str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
- str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
- str[0] = static_cast<char>(0xE0 | code_point); // 1110xxxx
- } else if (code_point <= kMaxCodePoint4) {
- str[4] = '\0';
- str[3] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
- str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
- str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
- str[0] = static_cast<char>(0xF0 | code_point); // 11110xxx
- } else {
- // The longest string String::Format can produce when invoked
- // with these parameters is 28 character long (not including
- // the terminating nul character). We are asking for 32 character
- // buffer just in case. This is also enough for strncpy to
- // null-terminate the destination string.
- posix::StrNCpy(
- str, String::Format("(Invalid Unicode 0x%X)", code_point).c_str(), 32);
- str[31] = '\0'; // Makes sure no change in the format to strncpy leaves
- // the result unterminated.
- }
- return str;
-}
-
-// The following two functions only make sense if the the system
-// uses UTF-16 for wide string encoding. All supported systems
-// with 16 bit wchar_t (Windows, Cygwin, Symbian OS) do use UTF-16.
-
-// Determines if the arguments constitute UTF-16 surrogate pair
-// and thus should be combined into a single Unicode code point
-// using CreateCodePointFromUtf16SurrogatePair.
-inline bool IsUtf16SurrogatePair(wchar_t first, wchar_t second) {
- return sizeof(wchar_t) == 2 &&
- (first & 0xFC00) == 0xD800 && (second & 0xFC00) == 0xDC00;
-}
-
-// Creates a Unicode code point from UTF16 surrogate pair.
-inline UInt32 CreateCodePointFromUtf16SurrogatePair(wchar_t first,
- wchar_t second) {
- const UInt32 mask = (1 << 10) - 1;
- return (sizeof(wchar_t) == 2) ?
- (((first & mask) << 10) | (second & mask)) + 0x10000 :
- // This function should not be called when the condition is
- // false, but we provide a sensible default in case it is.
- static_cast<UInt32>(first);
-}
-
-// Converts a wide string to a narrow string in UTF-8 encoding.
-// The wide string is assumed to have the following encoding:
-// UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
-// UTF-32 if sizeof(wchar_t) == 4 (on Linux)
-// Parameter str points to a null-terminated wide string.
-// Parameter num_chars may additionally limit the number
-// of wchar_t characters processed. -1 is used when the entire string
-// should be processed.
-// If the string contains code points that are not valid Unicode code points
-// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
-// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
-// and contains invalid UTF-16 surrogate pairs, values in those pairs
-// will be encoded as individual Unicode characters from Basic Normal Plane.
-String WideStringToUtf8(const wchar_t* str, int num_chars) {
- if (num_chars == -1)
- num_chars = static_cast<int>(wcslen(str));
-
- ::std::stringstream stream;
- for (int i = 0; i < num_chars; ++i) {
- UInt32 unicode_code_point;
-
- if (str[i] == L'\0') {
- break;
- } else if (i + 1 < num_chars && IsUtf16SurrogatePair(str[i], str[i + 1])) {
- unicode_code_point = CreateCodePointFromUtf16SurrogatePair(str[i],
- str[i + 1]);
- i++;
- } else {
- unicode_code_point = static_cast<UInt32>(str[i]);
- }
-
- char buffer[32]; // CodePointToUtf8 requires a buffer this big.
- stream << CodePointToUtf8(unicode_code_point, buffer);
- }
- return StringStreamToString(&stream);
-}
-
-// Converts a wide C string to a String using the UTF-8 encoding.
-// NULL will be converted to "(null)".
-String String::ShowWideCString(const wchar_t * wide_c_str) {
- if (wide_c_str == NULL) return String("(null)");
-
- return String(internal::WideStringToUtf8(wide_c_str, -1).c_str());
-}
-
-// Similar to ShowWideCString(), except that this function encloses
-// the converted string in double quotes.
-String String::ShowWideCStringQuoted(const wchar_t* wide_c_str) {
- if (wide_c_str == NULL) return String("(null)");
-
- return String::Format("L\"%s\"",
- String::ShowWideCString(wide_c_str).c_str());
-}
-
-// Compares two wide C strings. Returns true iff they have the same
-// content.
-//
-// Unlike wcscmp(), this function can handle NULL argument(s). A NULL
-// C string is considered different to any non-NULL C string,
-// including the empty string.
-bool String::WideCStringEquals(const wchar_t * lhs, const wchar_t * rhs) {
- if (lhs == NULL) return rhs == NULL;
-
- if (rhs == NULL) return false;
-
- return wcscmp(lhs, rhs) == 0;
-}
-
-// Helper function for *_STREQ on wide strings.
-AssertionResult CmpHelperSTREQ(const char* expected_expression,
- const char* actual_expression,
- const wchar_t* expected,
- const wchar_t* actual) {
- if (String::WideCStringEquals(expected, actual)) {
- return AssertionSuccess();
- }
-
- return EqFailure(expected_expression,
- actual_expression,
- String::ShowWideCStringQuoted(expected),
- String::ShowWideCStringQuoted(actual),
- false);
-}
-
-// Helper function for *_STRNE on wide strings.
-AssertionResult CmpHelperSTRNE(const char* s1_expression,
- const char* s2_expression,
- const wchar_t* s1,
- const wchar_t* s2) {
- if (!String::WideCStringEquals(s1, s2)) {
- return AssertionSuccess();
- }
-
- return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
- << s2_expression << "), actual: "
- << String::ShowWideCStringQuoted(s1)
- << " vs " << String::ShowWideCStringQuoted(s2);
-}
-
-// Compares two C strings, ignoring case. Returns true iff they have
-// the same content.
-//
-// Unlike strcasecmp(), this function can handle NULL argument(s). A
-// NULL C string is considered different to any non-NULL C string,
-// including the empty string.
-bool String::CaseInsensitiveCStringEquals(const char * lhs, const char * rhs) {
- if (lhs == NULL)
- return rhs == NULL;
- if (rhs == NULL)
- return false;
- return posix::StrCaseCmp(lhs, rhs) == 0;
-}
-
- // Compares two wide C strings, ignoring case. Returns true iff they
- // have the same content.
- //
- // Unlike wcscasecmp(), this function can handle NULL argument(s).
- // A NULL C string is considered different to any non-NULL wide C string,
- // including the empty string.
- // NB: The implementations on different platforms slightly differ.
- // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
- // environment variable. On GNU platform this method uses wcscasecmp
- // which compares according to LC_CTYPE category of the current locale.
- // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
- // current locale.
-bool String::CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
- const wchar_t* rhs) {
- if (lhs == NULL) return rhs == NULL;
-
- if (rhs == NULL) return false;
-
-#if GTEST_OS_WINDOWS
- return _wcsicmp(lhs, rhs) == 0;
-#elif GTEST_OS_LINUX && !GTEST_OS_LINUX_ANDROID
- return wcscasecmp(lhs, rhs) == 0;
-#else
- // Android, Mac OS X and Cygwin don't define wcscasecmp.
- // Other unknown OSes may not define it either.
- wint_t left, right;
- do {
- left = towlower(*lhs++);
- right = towlower(*rhs++);
- } while (left && left == right);
- return left == right;
-#endif // OS selector
-}
-
-// Compares this with another String.
-// Returns < 0 if this is less than rhs, 0 if this is equal to rhs, or > 0
-// if this is greater than rhs.
-int String::Compare(const String & rhs) const {
- const char* const lhs_c_str = c_str();
- const char* const rhs_c_str = rhs.c_str();
-
- if (lhs_c_str == NULL) {
- return rhs_c_str == NULL ? 0 : -1; // NULL < anything except NULL
- } else if (rhs_c_str == NULL) {
- return 1;
- }
-
- const size_t shorter_str_len =
- length() <= rhs.length() ? length() : rhs.length();
- for (size_t i = 0; i != shorter_str_len; i++) {
- if (lhs_c_str[i] < rhs_c_str[i]) {
- return -1;
- } else if (lhs_c_str[i] > rhs_c_str[i]) {
- return 1;
- }
- }
- return (length() < rhs.length()) ? -1 :
- (length() > rhs.length()) ? 1 : 0;
-}
-
-// Returns true iff this String ends with the given suffix. *Any*
-// String is considered to end with a NULL or empty suffix.
-bool String::EndsWith(const char* suffix) const {
- if (suffix == NULL || CStringEquals(suffix, "")) return true;
-
- if (c_str() == NULL) return false;
-
- const size_t this_len = strlen(c_str());
- const size_t suffix_len = strlen(suffix);
- return (this_len >= suffix_len) &&
- CStringEquals(c_str() + this_len - suffix_len, suffix);
-}
-
-// Returns true iff this String ends with the given suffix, ignoring case.
-// Any String is considered to end with a NULL or empty suffix.
-bool String::EndsWithCaseInsensitive(const char* suffix) const {
- if (suffix == NULL || CStringEquals(suffix, "")) return true;
-
- if (c_str() == NULL) return false;
-
- const size_t this_len = strlen(c_str());
- const size_t suffix_len = strlen(suffix);
- return (this_len >= suffix_len) &&
- CaseInsensitiveCStringEquals(c_str() + this_len - suffix_len, suffix);
-}
-
-// Formats a list of arguments to a String, using the same format
-// spec string as for printf.
-//
-// We do not use the StringPrintf class as it is not universally
-// available.
-//
-// The result is limited to 4096 characters (including the tailing 0).
-// If 4096 characters are not enough to format the input, or if
-// there's an error, "<formatting error or buffer exceeded>" is
-// returned.
-String String::Format(const char * format, ...) {
- va_list args;
- va_start(args, format);
-
- char buffer[4096];
- const int kBufferSize = sizeof(buffer)/sizeof(buffer[0]);
-
- // MSVC 8 deprecates vsnprintf(), so we want to suppress warning
- // 4996 (deprecated function) there.
-#ifdef _MSC_VER // We are using MSVC.
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4996) // Temporarily disables warning 4996.
-
- const int size = vsnprintf(buffer, kBufferSize, format, args);
-
-# pragma warning(pop) // Restores the warning state.
-#else // We are not using MSVC.
- const int size = vsnprintf(buffer, kBufferSize, format, args);
-#endif // _MSC_VER
- va_end(args);
-
- // vsnprintf()'s behavior is not portable. When the buffer is not
- // big enough, it returns a negative value in MSVC, and returns the
- // needed buffer size on Linux. When there is an output error, it
- // always returns a negative value. For simplicity, we lump the two
- // error cases together.
- if (size < 0 || size >= kBufferSize) {
- return String("<formatting error or buffer exceeded>");
- } else {
- return String(buffer, size);
- }
-}
-
-// Converts the buffer in a stringstream to a String, converting NUL
-// bytes to "\\0" along the way.
-String StringStreamToString(::std::stringstream* ss) {
- const ::std::string& str = ss->str();
- const char* const start = str.c_str();
- const char* const end = start + str.length();
-
- // We need to use a helper stringstream to do this transformation
- // because String doesn't support push_back().
- ::std::stringstream helper;
- for (const char* ch = start; ch != end; ++ch) {
- if (*ch == '\0') {
- helper << "\\0"; // Replaces NUL with "\\0";
- } else {
- helper.put(*ch);
- }
- }
-
- return String(helper.str().c_str());
-}
-
-// Appends the user-supplied message to the Google-Test-generated message.
-String AppendUserMessage(const String& gtest_msg,
- const Message& user_msg) {
- // Appends the user message if it's non-empty.
- const String user_msg_string = user_msg.GetString();
- if (user_msg_string.empty()) {
- return gtest_msg;
- }
-
- Message msg;
- msg << gtest_msg << "\n" << user_msg_string;
-
- return msg.GetString();
-}
-
-} // namespace internal
-
-// class TestResult
-
-// Creates an empty TestResult.
-TestResult::TestResult()
- : death_test_count_(0),
- elapsed_time_(0) {
-}
-
-// D'tor.
-TestResult::~TestResult() {
-}
-
-// Returns the i-th test part result among all the results. i can
-// range from 0 to total_part_count() - 1. If i is not in that range,
-// aborts the program.
-const TestPartResult& TestResult::GetTestPartResult(int i) const {
- if (i < 0 || i >= total_part_count())
- internal::posix::Abort();
- return test_part_results_.at(i);
-}
-
-// Returns the i-th test property. i can range from 0 to
-// test_property_count() - 1. If i is not in that range, aborts the
-// program.
-const TestProperty& TestResult::GetTestProperty(int i) const {
- if (i < 0 || i >= test_property_count())
- internal::posix::Abort();
- return test_properties_.at(i);
-}
-
-// Clears the test part results.
-void TestResult::ClearTestPartResults() {
- test_part_results_.clear();
-}
-
-// Adds a test part result to the list.
-void TestResult::AddTestPartResult(const TestPartResult& test_part_result) {
- test_part_results_.push_back(test_part_result);
-}
-
-// Adds a test property to the list. If a property with the same key as the
-// supplied property is already represented, the value of this test_property
-// replaces the old value for that key.
-void TestResult::RecordProperty(const TestProperty& test_property) {
- if (!ValidateTestProperty(test_property)) {
- return;
- }
- internal::MutexLock lock(&test_properites_mutex_);
- const std::vector<TestProperty>::iterator property_with_matching_key =
- std::find_if(test_properties_.begin(), test_properties_.end(),
- internal::TestPropertyKeyIs(test_property.key()));
- if (property_with_matching_key == test_properties_.end()) {
- test_properties_.push_back(test_property);
- return;
- }
- property_with_matching_key->SetValue(test_property.value());
-}
-
-// Adds a failure if the key is a reserved attribute of Google Test
-// testcase tags. Returns true if the property is valid.
-bool TestResult::ValidateTestProperty(const TestProperty& test_property) {
- internal::String key(test_property.key());
- if (key == "name" || key == "status" || key == "time" || key == "classname") {
- ADD_FAILURE()
- << "Reserved key used in RecordProperty(): "
- << key
- << " ('name', 'status', 'time', and 'classname' are reserved by "
- << GTEST_NAME_ << ")";
- return false;
- }
- return true;
-}
-
-// Clears the object.
-void TestResult::Clear() {
- test_part_results_.clear();
- test_properties_.clear();
- death_test_count_ = 0;
- elapsed_time_ = 0;
-}
-
-// Returns true iff the test failed.
-bool TestResult::Failed() const {
- for (int i = 0; i < total_part_count(); ++i) {
- if (GetTestPartResult(i).failed())
- return true;
- }
- return false;
-}
-
-// Returns true iff the test part fatally failed.
-static bool TestPartFatallyFailed(const TestPartResult& result) {
- return result.fatally_failed();
-}
-
-// Returns true iff the test fatally failed.
-bool TestResult::HasFatalFailure() const {
- return CountIf(test_part_results_, TestPartFatallyFailed) > 0;
-}
-
-// Returns true iff the test part non-fatally failed.
-static bool TestPartNonfatallyFailed(const TestPartResult& result) {
- return result.nonfatally_failed();
-}
-
-// Returns true iff the test has a non-fatal failure.
-bool TestResult::HasNonfatalFailure() const {
- return CountIf(test_part_results_, TestPartNonfatallyFailed) > 0;
-}
-
-// Gets the number of all test parts. This is the sum of the number
-// of successful test parts and the number of failed test parts.
-int TestResult::total_part_count() const {
- return static_cast<int>(test_part_results_.size());
-}
-
-// Returns the number of the test properties.
-int TestResult::test_property_count() const {
- return static_cast<int>(test_properties_.size());
-}
-
-// class Test
-
-// Creates a Test object.
-
-// The c'tor saves the values of all Google Test flags.
-Test::Test()
- : gtest_flag_saver_(new internal::GTestFlagSaver) {
-}
-
-// The d'tor restores the values of all Google Test flags.
-Test::~Test() {
- delete gtest_flag_saver_;
-}
-
-// Sets up the test fixture.
-//
-// A sub-class may override this.
-void Test::SetUp() {
-}
-
-// Tears down the test fixture.
-//
-// A sub-class may override this.
-void Test::TearDown() {
-}
-
-// Allows user supplied key value pairs to be recorded for later output.
-void Test::RecordProperty(const char* key, const char* value) {
- UnitTest::GetInstance()->RecordPropertyForCurrentTest(key, value);
-}
-
-// Allows user supplied key value pairs to be recorded for later output.
-void Test::RecordProperty(const char* key, int value) {
- Message value_message;
- value_message << value;
- RecordProperty(key, value_message.GetString().c_str());
-}
-
-namespace internal {
-
-void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
- const String& message) {
- // This function is a friend of UnitTest and as such has access to
- // AddTestPartResult.
- UnitTest::GetInstance()->AddTestPartResult(
- result_type,
- NULL, // No info about the source file where the exception occurred.
- -1, // We have no info on which line caused the exception.
- message,
- String()); // No stack trace, either.
-}
-
-} // namespace internal
-
-// Google Test requires all tests in the same test case to use the same test
-// fixture class. This function checks if the current test has the
-// same fixture class as the first test in the current test case. If
-// yes, it returns true; otherwise it generates a Google Test failure and
-// returns false.
-bool Test::HasSameFixtureClass() {
- internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
- const TestCase* const test_case = impl->current_test_case();
-
- // Info about the first test in the current test case.
- const TestInfo* const first_test_info = test_case->test_info_list()[0];
- const internal::TypeId first_fixture_id = first_test_info->fixture_class_id_;
- const char* const first_test_name = first_test_info->name();
-
- // Info about the current test.
- const TestInfo* const this_test_info = impl->current_test_info();
- const internal::TypeId this_fixture_id = this_test_info->fixture_class_id_;
- const char* const this_test_name = this_test_info->name();
-
- if (this_fixture_id != first_fixture_id) {
- // Is the first test defined using TEST?
- const bool first_is_TEST = first_fixture_id == internal::GetTestTypeId();
- // Is this test defined using TEST?
- const bool this_is_TEST = this_fixture_id == internal::GetTestTypeId();
-
- if (first_is_TEST || this_is_TEST) {
- // The user mixed TEST and TEST_F in this test case - we'll tell
- // him/her how to fix it.
-
- // Gets the name of the TEST and the name of the TEST_F. Note
- // that first_is_TEST and this_is_TEST cannot both be true, as
- // the fixture IDs are different for the two tests.
- const char* const TEST_name =
- first_is_TEST ? first_test_name : this_test_name;
- const char* const TEST_F_name =
- first_is_TEST ? this_test_name : first_test_name;
-
- ADD_FAILURE()
- << "All tests in the same test case must use the same test fixture\n"
- << "class, so mixing TEST_F and TEST in the same test case is\n"
- << "illegal. In test case " << this_test_info->test_case_name()
- << ",\n"
- << "test " << TEST_F_name << " is defined using TEST_F but\n"
- << "test " << TEST_name << " is defined using TEST. You probably\n"
- << "want to change the TEST to TEST_F or move it to another test\n"
- << "case.";
- } else {
- // The user defined two fixture classes with the same name in
- // two namespaces - we'll tell him/her how to fix it.
- ADD_FAILURE()
- << "All tests in the same test case must use the same test fixture\n"
- << "class. However, in test case "
- << this_test_info->test_case_name() << ",\n"
- << "you defined test " << first_test_name
- << " and test " << this_test_name << "\n"
- << "using two different test fixture classes. This can happen if\n"
- << "the two classes are from different namespaces or translation\n"
- << "units and have the same name. You should probably rename one\n"
- << "of the classes to put the tests into different test cases.";
- }
- return false;
- }
-
- return true;
-}
-
-#if GTEST_HAS_SEH
-
-// Adds an "exception thrown" fatal failure to the current test. This
-// function returns its result via an output parameter pointer because VC++
-// prohibits creation of objects with destructors on stack in functions
-// using __try (see error C2712).
-static internal::String* FormatSehExceptionMessage(DWORD exception_code,
- const char* location) {
- Message message;
- message << "SEH exception with code 0x" << std::setbase(16) <<
- exception_code << std::setbase(10) << " thrown in " << location << ".";
-
- return new internal::String(message.GetString());
-}
-
-#endif // GTEST_HAS_SEH
-
-#if GTEST_HAS_EXCEPTIONS
-
-// Adds an "exception thrown" fatal failure to the current test.
-static internal::String FormatCxxExceptionMessage(const char* description,
- const char* location) {
- Message message;
- if (description != NULL) {
- message << "C++ exception with description \"" << description << "\"";
- } else {
- message << "Unknown C++ exception";
- }
- message << " thrown in " << location << ".";
-
- return message.GetString();
-}
-
-static internal::String PrintTestPartResultToString(
- const TestPartResult& test_part_result);
-
-// A failed Google Test assertion will throw an exception of this type when
-// GTEST_FLAG(throw_on_failure) is true (if exceptions are enabled). We
-// derive it from std::runtime_error, which is for errors presumably
-// detectable only at run time. Since std::runtime_error inherits from
-// std::exception, many testing frameworks know how to extract and print the
-// message inside it.
-class GoogleTestFailureException : public ::std::runtime_error {
- public:
- explicit GoogleTestFailureException(const TestPartResult& failure)
- : ::std::runtime_error(PrintTestPartResultToString(failure).c_str()) {}
-};
-#endif // GTEST_HAS_EXCEPTIONS
-
-namespace internal {
-// We put these helper functions in the internal namespace as IBM's xlC
-// compiler rejects the code if they were declared static.
-
-// Runs the given method and handles SEH exceptions it throws, when
-// SEH is supported; returns the 0-value for type Result in case of an
-// SEH exception. (Microsoft compilers cannot handle SEH and C++
-// exceptions in the same function. Therefore, we provide a separate
-// wrapper function for handling SEH exceptions.)
-template <class T, typename Result>
-Result HandleSehExceptionsInMethodIfSupported(
- T* object, Result (T::*method)(), const char* location) {
-#if GTEST_HAS_SEH
- __try {
- return (object->*method)();
- } __except (internal::UnitTestOptions::GTestShouldProcessSEH( // NOLINT
- GetExceptionCode())) {
- // We create the exception message on the heap because VC++ prohibits
- // creation of objects with destructors on stack in functions using __try
- // (see error C2712).
- internal::String* exception_message = FormatSehExceptionMessage(
- GetExceptionCode(), location);
- internal::ReportFailureInUnknownLocation(TestPartResult::kFatalFailure,
- *exception_message);
- delete exception_message;
- return static_cast<Result>(0);
- }
-#else
- (void)location;
- return (object->*method)();
-#endif // GTEST_HAS_SEH
-}
-
-// Runs the given method and catches and reports C++ and/or SEH-style
-// exceptions, if they are supported; returns the 0-value for type
-// Result in case of an SEH exception.
-template <class T, typename Result>
-Result HandleExceptionsInMethodIfSupported(
- T* object, Result (T::*method)(), const char* location) {
- // NOTE: The user code can affect the way in which Google Test handles
- // exceptions by setting GTEST_FLAG(catch_exceptions), but only before
- // RUN_ALL_TESTS() starts. It is technically possible to check the flag
- // after the exception is caught and either report or re-throw the
- // exception based on the flag's value:
- //
- // try {
- // // Perform the test method.
- // } catch (...) {
- // if (GTEST_FLAG(catch_exceptions))
- // // Report the exception as failure.
- // else
- // throw; // Re-throws the original exception.
- // }
- //
- // However, the purpose of this flag is to allow the program to drop into
- // the debugger when the exception is thrown. On most platforms, once the
- // control enters the catch block, the exception origin information is
- // lost and the debugger will stop the program at the point of the
- // re-throw in this function -- instead of at the point of the original
- // throw statement in the code under test. For this reason, we perform
- // the check early, sacrificing the ability to affect Google Test's
- // exception handling in the method where the exception is thrown.
- if (internal::GetUnitTestImpl()->catch_exceptions()) {
-#if GTEST_HAS_EXCEPTIONS
- try {
- return HandleSehExceptionsInMethodIfSupported(object, method, location);
- } catch (const GoogleTestFailureException&) { // NOLINT
- // This exception doesn't originate in code under test. It makes no
- // sense to report it as a test failure.
- throw;
- } catch (const std::exception& e) { // NOLINT
- internal::ReportFailureInUnknownLocation(
- TestPartResult::kFatalFailure,
- FormatCxxExceptionMessage(e.what(), location));
- } catch (...) { // NOLINT
- internal::ReportFailureInUnknownLocation(
- TestPartResult::kFatalFailure,
- FormatCxxExceptionMessage(NULL, location));
- }
- return static_cast<Result>(0);
-#else
- return HandleSehExceptionsInMethodIfSupported(object, method, location);
-#endif // GTEST_HAS_EXCEPTIONS
- } else {
- return (object->*method)();
- }
-}
-
-} // namespace internal
-
-// Runs the test and updates the test result.
-void Test::Run() {
- if (!HasSameFixtureClass()) return;
-
- internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
- impl->os_stack_trace_getter()->UponLeavingGTest();
- internal::HandleExceptionsInMethodIfSupported(this, &Test::SetUp, "SetUp()");
- // We will run the test only if SetUp() was successful.
- if (!HasFatalFailure()) {
- impl->os_stack_trace_getter()->UponLeavingGTest();
- internal::HandleExceptionsInMethodIfSupported(
- this, &Test::TestBody, "the test body");
- }
-
- // However, we want to clean up as much as possible. Hence we will
- // always call TearDown(), even if SetUp() or the test body has
- // failed.
- impl->os_stack_trace_getter()->UponLeavingGTest();
- internal::HandleExceptionsInMethodIfSupported(
- this, &Test::TearDown, "TearDown()");
-}
-
-// Returns true iff the current test has a fatal failure.
-bool Test::HasFatalFailure() {
- return internal::GetUnitTestImpl()->current_test_result()->HasFatalFailure();
-}
-
-// Returns true iff the current test has a non-fatal failure.
-bool Test::HasNonfatalFailure() {
- return internal::GetUnitTestImpl()->current_test_result()->
- HasNonfatalFailure();
-}
-
-// class TestInfo
-
-// Constructs a TestInfo object. It assumes ownership of the test factory
-// object.
-// TODO(vladl@google.com): Make a_test_case_name and a_name const string&'s
-// to signify they cannot be NULLs.
-TestInfo::TestInfo(const char* a_test_case_name,
- const char* a_name,
- const char* a_type_param,
- const char* a_value_param,
- internal::TypeId fixture_class_id,
- internal::TestFactoryBase* factory)
- : test_case_name_(a_test_case_name),
- name_(a_name),
- type_param_(a_type_param ? new std::string(a_type_param) : NULL),
- value_param_(a_value_param ? new std::string(a_value_param) : NULL),
- fixture_class_id_(fixture_class_id),
- should_run_(false),
- is_disabled_(false),
- matches_filter_(false),
- factory_(factory),
- result_() {}
-
-// Destructs a TestInfo object.
-TestInfo::~TestInfo() { delete factory_; }
-
-namespace internal {
-
-// Creates a new TestInfo object and registers it with Google Test;
-// returns the created object.
-//
-// Arguments:
-//
-// test_case_name: name of the test case
-// name: name of the test
-// type_param: the name of the test's type parameter, or NULL if
-// this is not a typed or a type-parameterized test.
-// value_param: text representation of the test's value parameter,
-// or NULL if this is not a value-parameterized test.
-// fixture_class_id: ID of the test fixture class
-// set_up_tc: pointer to the function that sets up the test case
-// tear_down_tc: pointer to the function that tears down the test case
-// factory: pointer to the factory that creates a test object.
-// The newly created TestInfo instance will assume
-// ownership of the factory object.
-TestInfo* MakeAndRegisterTestInfo(
- const char* test_case_name, const char* name,
- const char* type_param,
- const char* value_param,
- TypeId fixture_class_id,
- SetUpTestCaseFunc set_up_tc,
- TearDownTestCaseFunc tear_down_tc,
- TestFactoryBase* factory) {
- TestInfo* const test_info =
- new TestInfo(test_case_name, name, type_param, value_param,
- fixture_class_id, factory);
- GetUnitTestImpl()->AddTestInfo(set_up_tc, tear_down_tc, test_info);
- return test_info;
-}
-
-#if GTEST_HAS_PARAM_TEST
-void ReportInvalidTestCaseType(const char* test_case_name,
- const char* file, int line) {
- Message errors;
- errors
- << "Attempted redefinition of test case " << test_case_name << ".\n"
- << "All tests in the same test case must use the same test fixture\n"
- << "class. However, in test case " << test_case_name << ", you tried\n"
- << "to define a test using a fixture class different from the one\n"
- << "used earlier. This can happen if the two fixture classes are\n"
- << "from different namespaces and have the same name. You should\n"
- << "probably rename one of the classes to put the tests into different\n"
- << "test cases.";
-
- fprintf(stderr, "%s %s", FormatFileLocation(file, line).c_str(),
- errors.GetString().c_str());
-}
-#endif // GTEST_HAS_PARAM_TEST
-
-} // namespace internal
-
-namespace {
-
-// A predicate that checks the test name of a TestInfo against a known
-// value.
-//
-// This is used for implementation of the TestCase class only. We put
-// it in the anonymous namespace to prevent polluting the outer
-// namespace.
-//
-// TestNameIs is copyable.
-class TestNameIs {
- public:
- // Constructor.
- //
- // TestNameIs has NO default constructor.
- explicit TestNameIs(const char* name)
- : name_(name) {}
-
- // Returns true iff the test name of test_info matches name_.
- bool operator()(const TestInfo * test_info) const {
- return test_info && internal::String(test_info->name()).Compare(name_) == 0;
- }
-
- private:
- internal::String name_;
-};
-
-} // namespace
-
-namespace internal {
-
-// This method expands all parameterized tests registered with macros TEST_P
-// and INSTANTIATE_TEST_CASE_P into regular tests and registers those.
-// This will be done just once during the program runtime.
-void UnitTestImpl::RegisterParameterizedTests() {
-#if GTEST_HAS_PARAM_TEST
- if (!parameterized_tests_registered_) {
- parameterized_test_registry_.RegisterTests();
- parameterized_tests_registered_ = true;
- }
-#endif
-}
-
-} // namespace internal
-
-// Creates the test object, runs it, records its result, and then
-// deletes it.
-void TestInfo::Run() {
- if (!should_run_) return;
-
- // Tells UnitTest where to store test result.
- internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
- impl->set_current_test_info(this);
-
- TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
-
- // Notifies the unit test event listeners that a test is about to start.
- repeater->OnTestStart(*this);
-
- const TimeInMillis start = internal::GetTimeInMillis();
-
- impl->os_stack_trace_getter()->UponLeavingGTest();
-
- // Creates the test object.
- Test* const test = internal::HandleExceptionsInMethodIfSupported(
- factory_, &internal::TestFactoryBase::CreateTest,
- "the test fixture's constructor");
-
- // Runs the test only if the test object was created and its
- // constructor didn't generate a fatal failure.
- if ((test != NULL) && !Test::HasFatalFailure()) {
- // This doesn't throw as all user code that can throw are wrapped into
- // exception handling code.
- test->Run();
- }
-
- // Deletes the test object.
- impl->os_stack_trace_getter()->UponLeavingGTest();
- internal::HandleExceptionsInMethodIfSupported(
- test, &Test::DeleteSelf_, "the test fixture's destructor");
-
- result_.set_elapsed_time(internal::GetTimeInMillis() - start);
-
- // Notifies the unit test event listener that a test has just finished.
- repeater->OnTestEnd(*this);
-
- // Tells UnitTest to stop associating assertion results to this
- // test.
- impl->set_current_test_info(NULL);
-}
-
-// class TestCase
-
-// Gets the number of successful tests in this test case.
-int TestCase::successful_test_count() const {
- return CountIf(test_info_list_, TestPassed);
-}
-
-// Gets the number of failed tests in this test case.
-int TestCase::failed_test_count() const {
- return CountIf(test_info_list_, TestFailed);
-}
-
-int TestCase::disabled_test_count() const {
- return CountIf(test_info_list_, TestDisabled);
-}
-
-// Get the number of tests in this test case that should run.
-int TestCase::test_to_run_count() const {
- return CountIf(test_info_list_, ShouldRunTest);
-}
-
-// Gets the number of all tests.
-int TestCase::total_test_count() const {
- return static_cast<int>(test_info_list_.size());
-}
-
-// Creates a TestCase with the given name.
-//
-// Arguments:
-//
-// name: name of the test case
-// a_type_param: the name of the test case's type parameter, or NULL if
-// this is not a typed or a type-parameterized test case.
-// set_up_tc: pointer to the function that sets up the test case
-// tear_down_tc: pointer to the function that tears down the test case
-TestCase::TestCase(const char* a_name, const char* a_type_param,
- Test::SetUpTestCaseFunc set_up_tc,
- Test::TearDownTestCaseFunc tear_down_tc)
- : name_(a_name),
- type_param_(a_type_param ? new std::string(a_type_param) : NULL),
- set_up_tc_(set_up_tc),
- tear_down_tc_(tear_down_tc),
- should_run_(false),
- elapsed_time_(0) {
-}
-
-// Destructor of TestCase.
-TestCase::~TestCase() {
- // Deletes every Test in the collection.
- ForEach(test_info_list_, internal::Delete<TestInfo>);
-}
-
-// Returns the i-th test among all the tests. i can range from 0 to
-// total_test_count() - 1. If i is not in that range, returns NULL.
-const TestInfo* TestCase::GetTestInfo(int i) const {
- const int index = GetElementOr(test_indices_, i, -1);
- return index < 0 ? NULL : test_info_list_[index];
-}
-
-// Returns the i-th test among all the tests. i can range from 0 to
-// total_test_count() - 1. If i is not in that range, returns NULL.
-TestInfo* TestCase::GetMutableTestInfo(int i) {
- const int index = GetElementOr(test_indices_, i, -1);
- return index < 0 ? NULL : test_info_list_[index];
-}
-
-// Adds a test to this test case. Will delete the test upon
-// destruction of the TestCase object.
-void TestCase::AddTestInfo(TestInfo * test_info) {
- test_info_list_.push_back(test_info);
- test_indices_.push_back(static_cast<int>(test_indices_.size()));
-}
-
-// Runs every test in this TestCase.
-void TestCase::Run() {
- if (!should_run_) return;
-
- internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
- impl->set_current_test_case(this);
-
- TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
-
- repeater->OnTestCaseStart(*this);
- impl->os_stack_trace_getter()->UponLeavingGTest();
- internal::HandleExceptionsInMethodIfSupported(
- this, &TestCase::RunSetUpTestCase, "SetUpTestCase()");
-
- const internal::TimeInMillis start = internal::GetTimeInMillis();
- for (int i = 0; i < total_test_count(); i++) {
- GetMutableTestInfo(i)->Run();
- }
- elapsed_time_ = internal::GetTimeInMillis() - start;
-
- impl->os_stack_trace_getter()->UponLeavingGTest();
- internal::HandleExceptionsInMethodIfSupported(
- this, &TestCase::RunTearDownTestCase, "TearDownTestCase()");
-
- repeater->OnTestCaseEnd(*this);
- impl->set_current_test_case(NULL);
-}
-
-// Clears the results of all tests in this test case.
-void TestCase::ClearResult() {
- ForEach(test_info_list_, TestInfo::ClearTestResult);
-}
-
-// Shuffles the tests in this test case.
-void TestCase::ShuffleTests(internal::Random* random) {
- Shuffle(random, &test_indices_);
-}
-
-// Restores the test order to before the first shuffle.
-void TestCase::UnshuffleTests() {
- for (size_t i = 0; i < test_indices_.size(); i++) {
- test_indices_[i] = static_cast<int>(i);
- }
-}
-
-// Formats a countable noun. Depending on its quantity, either the
-// singular form or the plural form is used. e.g.
-//
-// FormatCountableNoun(1, "formula", "formuli") returns "1 formula".
-// FormatCountableNoun(5, "book", "books") returns "5 books".
-static internal::String FormatCountableNoun(int count,
- const char * singular_form,
- const char * plural_form) {
- return internal::String::Format("%d %s", count,
- count == 1 ? singular_form : plural_form);
-}
-
-// Formats the count of tests.
-static internal::String FormatTestCount(int test_count) {
- return FormatCountableNoun(test_count, "test", "tests");
-}
-
-// Formats the count of test cases.
-static internal::String FormatTestCaseCount(int test_case_count) {
- return FormatCountableNoun(test_case_count, "test case", "test cases");
-}
-
-// Converts a TestPartResult::Type enum to human-friendly string
-// representation. Both kNonFatalFailure and kFatalFailure are translated
-// to "Failure", as the user usually doesn't care about the difference
-// between the two when viewing the test result.
-static const char * TestPartResultTypeToString(TestPartResult::Type type) {
- switch (type) {
- case TestPartResult::kSuccess:
- return "Success";
-
- case TestPartResult::kNonFatalFailure:
- case TestPartResult::kFatalFailure:
-#ifdef _MSC_VER
- return "error: ";
-#else
- return "Failure\n";
-#endif
- default:
- return "Unknown result type";
- }
-}
-
-// Prints a TestPartResult to a String.
-static internal::String PrintTestPartResultToString(
- const TestPartResult& test_part_result) {
- return (Message()
- << internal::FormatFileLocation(test_part_result.file_name(),
- test_part_result.line_number())
- << " " << TestPartResultTypeToString(test_part_result.type())
- << test_part_result.message()).GetString();
-}
-
-// Prints a TestPartResult.
-static void PrintTestPartResult(const TestPartResult& test_part_result) {
- const internal::String& result =
- PrintTestPartResultToString(test_part_result);
- printf("%s\n", result.c_str());
- fflush(stdout);
- // If the test program runs in Visual Studio or a debugger, the
- // following statements add the test part result message to the Output
- // window such that the user can double-click on it to jump to the
- // corresponding source code location; otherwise they do nothing.
-#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
- // We don't call OutputDebugString*() on Windows Mobile, as printing
- // to stdout is done by OutputDebugString() there already - we don't
- // want the same message printed twice.
- ::OutputDebugStringA(result.c_str());
- ::OutputDebugStringA("\n");
-#endif
-}
-
-// class PrettyUnitTestResultPrinter
-
-namespace internal {
-
-enum GTestColor {
- COLOR_DEFAULT,
- COLOR_RED,
- COLOR_GREEN,
- COLOR_YELLOW
-};
-
-#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
-
-// Returns the character attribute for the given color.
-WORD GetColorAttribute(GTestColor color) {
- switch (color) {
- case COLOR_RED: return FOREGROUND_RED;
- case COLOR_GREEN: return FOREGROUND_GREEN;
- case COLOR_YELLOW: return FOREGROUND_RED | FOREGROUND_GREEN;
- default: return 0;
- }
-}
-
-#else
-
-// Returns the ANSI color code for the given color. COLOR_DEFAULT is
-// an invalid input.
-const char* GetAnsiColorCode(GTestColor color) {
- switch (color) {
- case COLOR_RED: return "1";
- case COLOR_GREEN: return "2";
- case COLOR_YELLOW: return "3";
- default: return NULL;
- };
-}
-
-#endif // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
-
-// Returns true iff Google Test should use colors in the output.
-bool ShouldUseColor(bool stdout_is_tty) {
- const char* const gtest_color = GTEST_FLAG(color).c_str();
-
- if (String::CaseInsensitiveCStringEquals(gtest_color, "auto")) {
-#if GTEST_OS_WINDOWS
- // On Windows the TERM variable is usually not set, but the
- // console there does support colors.
- return stdout_is_tty;
-#else
- // On non-Windows platforms, we rely on the TERM variable.
- const char* const term = posix::GetEnv("TERM");
- const bool term_supports_color =
- String::CStringEquals(term, "xterm") ||
- String::CStringEquals(term, "xterm-color") ||
- String::CStringEquals(term, "xterm-256color") ||
- String::CStringEquals(term, "screen") ||
- String::CStringEquals(term, "linux") ||
- String::CStringEquals(term, "cygwin");
- return stdout_is_tty && term_supports_color;
-#endif // GTEST_OS_WINDOWS
- }
-
- return String::CaseInsensitiveCStringEquals(gtest_color, "yes") ||
- String::CaseInsensitiveCStringEquals(gtest_color, "true") ||
- String::CaseInsensitiveCStringEquals(gtest_color, "t") ||
- String::CStringEquals(gtest_color, "1");
- // We take "yes", "true", "t", and "1" as meaning "yes". If the
- // value is neither one of these nor "auto", we treat it as "no" to
- // be conservative.
-}
-
-// Helpers for printing colored strings to stdout. Note that on Windows, we
-// cannot simply emit special characters and have the terminal change colors.
-// This routine must actually emit the characters rather than return a string
-// that would be colored when printed, as can be done on Linux.
-void ColoredPrintf(GTestColor color, const char* fmt, ...) {
- va_list args;
- va_start(args, fmt);
-
-#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS
- const bool use_color = false;
-#else
- static const bool in_color_mode =
- ShouldUseColor(posix::IsATTY(posix::FileNo(stdout)) != 0);
- const bool use_color = in_color_mode && (color != COLOR_DEFAULT);
-#endif // GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS
- // The '!= 0' comparison is necessary to satisfy MSVC 7.1.
-
- if (!use_color) {
- vprintf(fmt, args);
- va_end(args);
- return;
- }
-
-#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
- const HANDLE stdout_handle = GetStdHandle(STD_OUTPUT_HANDLE);
-
- // Gets the current text color.
- CONSOLE_SCREEN_BUFFER_INFO buffer_info;
- GetConsoleScreenBufferInfo(stdout_handle, &buffer_info);
- const WORD old_color_attrs = buffer_info.wAttributes;
-
- // We need to flush the stream buffers into the console before each
- // SetConsoleTextAttribute call lest it affect the text that is already
- // printed but has not yet reached the console.
- fflush(stdout);
- SetConsoleTextAttribute(stdout_handle,
- GetColorAttribute(color) | FOREGROUND_INTENSITY);
- vprintf(fmt, args);
-
- fflush(stdout);
- // Restores the text color.
- SetConsoleTextAttribute(stdout_handle, old_color_attrs);
-#else
- printf("\033[0;3%sm", GetAnsiColorCode(color));
- vprintf(fmt, args);
- printf("\033[m"); // Resets the terminal to default.
-#endif // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
- va_end(args);
-}
-
-void PrintFullTestCommentIfPresent(const TestInfo& test_info) {
- const char* const type_param = test_info.type_param();
- const char* const value_param = test_info.value_param();
-
- if (type_param != NULL || value_param != NULL) {
- printf(", where ");
- if (type_param != NULL) {
- printf("TypeParam = %s", type_param);
- if (value_param != NULL)
- printf(" and ");
- }
- if (value_param != NULL) {
- printf("GetParam() = %s", value_param);
- }
- }
-}
-
-// This class implements the TestEventListener interface.
-//
-// Class PrettyUnitTestResultPrinter is copyable.
-class PrettyUnitTestResultPrinter : public TestEventListener {
- public:
- PrettyUnitTestResultPrinter() {}
- static void PrintTestName(const char * test_case, const char * test) {
- printf("%s.%s", test_case, test);
- }
-
- // The following methods override what's in the TestEventListener class.
- virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
- virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
- virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
- virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
- virtual void OnTestCaseStart(const TestCase& test_case);
- virtual void OnTestStart(const TestInfo& test_info);
- virtual void OnTestPartResult(const TestPartResult& result);
- virtual void OnTestEnd(const TestInfo& test_info);
- virtual void OnTestCaseEnd(const TestCase& test_case);
- virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
- virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
- virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
- virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
-
- private:
- static void PrintFailedTests(const UnitTest& unit_test);
-
- internal::String test_case_name_;
-};
-
- // Fired before each iteration of tests starts.
-void PrettyUnitTestResultPrinter::OnTestIterationStart(
- const UnitTest& unit_test, int iteration) {
- if (GTEST_FLAG(repeat) != 1)
- printf("\nRepeating all tests (iteration %d) . . .\n\n", iteration + 1);
-
- const char* const filter = GTEST_FLAG(filter).c_str();
-
- // Prints the filter if it's not *. This reminds the user that some
- // tests may be skipped.
- if (!internal::String::CStringEquals(filter, kUniversalFilter)) {
- ColoredPrintf(COLOR_YELLOW,
- "Note: %s filter = %s\n", GTEST_NAME_, filter);
- }
-
- if (internal::ShouldShard(kTestTotalShards, kTestShardIndex, false)) {
- const Int32 shard_index = Int32FromEnvOrDie(kTestShardIndex, -1);
- ColoredPrintf(COLOR_YELLOW,
- "Note: This is test shard %d of %s.\n",
- static_cast<int>(shard_index) + 1,
- internal::posix::GetEnv(kTestTotalShards));
- }
-
- if (GTEST_FLAG(shuffle)) {
- ColoredPrintf(COLOR_YELLOW,
- "Note: Randomizing tests' orders with a seed of %d .\n",
- unit_test.random_seed());
- }
-
- ColoredPrintf(COLOR_GREEN, "[==========] ");
- printf("Running %s from %s.\n",
- FormatTestCount(unit_test.test_to_run_count()).c_str(),
- FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
- fflush(stdout);
-}
-
-void PrettyUnitTestResultPrinter::OnEnvironmentsSetUpStart(
- const UnitTest& /*unit_test*/) {
- ColoredPrintf(COLOR_GREEN, "[----------] ");
- printf("Global test environment set-up.\n");
- fflush(stdout);
-}
-
-void PrettyUnitTestResultPrinter::OnTestCaseStart(const TestCase& test_case) {
- test_case_name_ = test_case.name();
- const internal::String counts =
- FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
- ColoredPrintf(COLOR_GREEN, "[----------] ");
- printf("%s from %s", counts.c_str(), test_case_name_.c_str());
- if (test_case.type_param() == NULL) {
- printf("\n");
- } else {
- printf(", where TypeParam = %s\n", test_case.type_param());
- }
- fflush(stdout);
-}
-
-void PrettyUnitTestResultPrinter::OnTestStart(const TestInfo& test_info) {
- ColoredPrintf(COLOR_GREEN, "[ RUN ] ");
- PrintTestName(test_case_name_.c_str(), test_info.name());
- printf("\n");
- fflush(stdout);
-}
-
-// Called after an assertion failure.
-void PrettyUnitTestResultPrinter::OnTestPartResult(
- const TestPartResult& result) {
- // If the test part succeeded, we don't need to do anything.
- if (result.type() == TestPartResult::kSuccess)
- return;
-
- // Print failure message from the assertion (e.g. expected this and got that).
- PrintTestPartResult(result);
- fflush(stdout);
-}
-
-void PrettyUnitTestResultPrinter::OnTestEnd(const TestInfo& test_info) {
- if (test_info.result()->Passed()) {
- ColoredPrintf(COLOR_GREEN, "[ OK ] ");
- } else {
- ColoredPrintf(COLOR_RED, "[ FAILED ] ");
- }
- PrintTestName(test_case_name_.c_str(), test_info.name());
- if (test_info.result()->Failed())
- PrintFullTestCommentIfPresent(test_info);
-
- if (GTEST_FLAG(print_time)) {
- printf(" (%s ms)\n", internal::StreamableToString(
- test_info.result()->elapsed_time()).c_str());
- } else {
- printf("\n");
- }
- fflush(stdout);
-}
-
-void PrettyUnitTestResultPrinter::OnTestCaseEnd(const TestCase& test_case) {
- if (!GTEST_FLAG(print_time)) return;
-
- test_case_name_ = test_case.name();
- const internal::String counts =
- FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
- ColoredPrintf(COLOR_GREEN, "[----------] ");
- printf("%s from %s (%s ms total)\n\n",
- counts.c_str(), test_case_name_.c_str(),
- internal::StreamableToString(test_case.elapsed_time()).c_str());
- fflush(stdout);
-}
-
-void PrettyUnitTestResultPrinter::OnEnvironmentsTearDownStart(
- const UnitTest& /*unit_test*/) {
- ColoredPrintf(COLOR_GREEN, "[----------] ");
- printf("Global test environment tear-down\n");
- fflush(stdout);
-}
-
-// Internal helper for printing the list of failed tests.
-void PrettyUnitTestResultPrinter::PrintFailedTests(const UnitTest& unit_test) {
- const int failed_test_count = unit_test.failed_test_count();
- if (failed_test_count == 0) {
- return;
- }
-
- for (int i = 0; i < unit_test.total_test_case_count(); ++i) {
- const TestCase& test_case = *unit_test.GetTestCase(i);
- if (!test_case.should_run() || (test_case.failed_test_count() == 0)) {
- continue;
- }
- for (int j = 0; j < test_case.total_test_count(); ++j) {
- const TestInfo& test_info = *test_case.GetTestInfo(j);
- if (!test_info.should_run() || test_info.result()->Passed()) {
- continue;
- }
- ColoredPrintf(COLOR_RED, "[ FAILED ] ");
- printf("%s.%s", test_case.name(), test_info.name());
- PrintFullTestCommentIfPresent(test_info);
- printf("\n");
- }
- }
-}
-
-void PrettyUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
- int /*iteration*/) {
- ColoredPrintf(COLOR_GREEN, "[==========] ");
- printf("%s from %s ran.",
- FormatTestCount(unit_test.test_to_run_count()).c_str(),
- FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
- if (GTEST_FLAG(print_time)) {
- printf(" (%s ms total)",
- internal::StreamableToString(unit_test.elapsed_time()).c_str());
- }
- printf("\n");
- ColoredPrintf(COLOR_GREEN, "[ PASSED ] ");
- printf("%s.\n", FormatTestCount(unit_test.successful_test_count()).c_str());
-
- int num_failures = unit_test.failed_test_count();
- if (!unit_test.Passed()) {
- const int failed_test_count = unit_test.failed_test_count();
- ColoredPrintf(COLOR_RED, "[ FAILED ] ");
- printf("%s, listed below:\n", FormatTestCount(failed_test_count).c_str());
- PrintFailedTests(unit_test);
- printf("\n%2d FAILED %s\n", num_failures,
- num_failures == 1 ? "TEST" : "TESTS");
- }
-
- int num_disabled = unit_test.disabled_test_count();
- if (num_disabled && !GTEST_FLAG(also_run_disabled_tests)) {
- if (!num_failures) {
- printf("\n"); // Add a spacer if no FAILURE banner is displayed.
- }
- ColoredPrintf(COLOR_YELLOW,
- " YOU HAVE %d DISABLED %s\n\n",
- num_disabled,
- num_disabled == 1 ? "TEST" : "TESTS");
- }
- // Ensure that Google Test output is printed before, e.g., heapchecker output.
- fflush(stdout);
-}
-
-// End PrettyUnitTestResultPrinter
-
-// class TestEventRepeater
-//
-// This class forwards events to other event listeners.
-class TestEventRepeater : public TestEventListener {
- public:
- TestEventRepeater() : forwarding_enabled_(true) {}
- virtual ~TestEventRepeater();
- void Append(TestEventListener *listener);
- TestEventListener* Release(TestEventListener* listener);
-
- // Controls whether events will be forwarded to listeners_. Set to false
- // in death test child processes.
- bool forwarding_enabled() const { return forwarding_enabled_; }
- void set_forwarding_enabled(bool enable) { forwarding_enabled_ = enable; }
-
- virtual void OnTestProgramStart(const UnitTest& unit_test);
- virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
- virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
- virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test);
- virtual void OnTestCaseStart(const TestCase& test_case);
- virtual void OnTestStart(const TestInfo& test_info);
- virtual void OnTestPartResult(const TestPartResult& result);
- virtual void OnTestEnd(const TestInfo& test_info);
- virtual void OnTestCaseEnd(const TestCase& test_case);
- virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
- virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test);
- virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
- virtual void OnTestProgramEnd(const UnitTest& unit_test);
-
- private:
- // Controls whether events will be forwarded to listeners_. Set to false
- // in death test child processes.
- bool forwarding_enabled_;
- // The list of listeners that receive events.
- std::vector<TestEventListener*> listeners_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventRepeater);
-};
-
-TestEventRepeater::~TestEventRepeater() {
- ForEach(listeners_, Delete<TestEventListener>);
-}
-
-void TestEventRepeater::Append(TestEventListener *listener) {
- listeners_.push_back(listener);
-}
-
-// TODO(vladl@google.com): Factor the search functionality into Vector::Find.
-TestEventListener* TestEventRepeater::Release(TestEventListener *listener) {
- for (size_t i = 0; i < listeners_.size(); ++i) {
- if (listeners_[i] == listener) {
- listeners_.erase(listeners_.begin() + i);
- return listener;
- }
- }
-
- return NULL;
-}
-
-// Since most methods are very similar, use macros to reduce boilerplate.
-// This defines a member that forwards the call to all listeners.
-#define GTEST_REPEATER_METHOD_(Name, Type) \
-void TestEventRepeater::Name(const Type& parameter) { \
- if (forwarding_enabled_) { \
- for (size_t i = 0; i < listeners_.size(); i++) { \
- listeners_[i]->Name(parameter); \
- } \
- } \
-}
-// This defines a member that forwards the call to all listeners in reverse
-// order.
-#define GTEST_REVERSE_REPEATER_METHOD_(Name, Type) \
-void TestEventRepeater::Name(const Type& parameter) { \
- if (forwarding_enabled_) { \
- for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) { \
- listeners_[i]->Name(parameter); \
- } \
- } \
-}
-
-GTEST_REPEATER_METHOD_(OnTestProgramStart, UnitTest)
-GTEST_REPEATER_METHOD_(OnEnvironmentsSetUpStart, UnitTest)
-GTEST_REPEATER_METHOD_(OnTestCaseStart, TestCase)
-GTEST_REPEATER_METHOD_(OnTestStart, TestInfo)
-GTEST_REPEATER_METHOD_(OnTestPartResult, TestPartResult)
-GTEST_REPEATER_METHOD_(OnEnvironmentsTearDownStart, UnitTest)
-GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsSetUpEnd, UnitTest)
-GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsTearDownEnd, UnitTest)
-GTEST_REVERSE_REPEATER_METHOD_(OnTestEnd, TestInfo)
-GTEST_REVERSE_REPEATER_METHOD_(OnTestCaseEnd, TestCase)
-GTEST_REVERSE_REPEATER_METHOD_(OnTestProgramEnd, UnitTest)
-
-#undef GTEST_REPEATER_METHOD_
-#undef GTEST_REVERSE_REPEATER_METHOD_
-
-void TestEventRepeater::OnTestIterationStart(const UnitTest& unit_test,
- int iteration) {
- if (forwarding_enabled_) {
- for (size_t i = 0; i < listeners_.size(); i++) {
- listeners_[i]->OnTestIterationStart(unit_test, iteration);
- }
- }
-}
-
-void TestEventRepeater::OnTestIterationEnd(const UnitTest& unit_test,
- int iteration) {
- if (forwarding_enabled_) {
- for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) {
- listeners_[i]->OnTestIterationEnd(unit_test, iteration);
- }
- }
-}
-
-// End TestEventRepeater
-
-// This class generates an XML output file.
-class XmlUnitTestResultPrinter : public EmptyTestEventListener {
- public:
- explicit XmlUnitTestResultPrinter(const char* output_file);
-
- virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
-
- private:
- // Is c a whitespace character that is normalized to a space character
- // when it appears in an XML attribute value?
- static bool IsNormalizableWhitespace(char c) {
- return c == 0x9 || c == 0xA || c == 0xD;
- }
-
- // May c appear in a well-formed XML document?
- static bool IsValidXmlCharacter(char c) {
- return IsNormalizableWhitespace(c) || c >= 0x20;
- }
-
- // Returns an XML-escaped copy of the input string str. If
- // is_attribute is true, the text is meant to appear as an attribute
- // value, and normalizable whitespace is preserved by replacing it
- // with character references.
- static String EscapeXml(const char* str, bool is_attribute);
-
- // Returns the given string with all characters invalid in XML removed.
- static string RemoveInvalidXmlCharacters(const string& str);
-
- // Convenience wrapper around EscapeXml when str is an attribute value.
- static String EscapeXmlAttribute(const char* str) {
- return EscapeXml(str, true);
- }
-
- // Convenience wrapper around EscapeXml when str is not an attribute value.
- static String EscapeXmlText(const char* str) { return EscapeXml(str, false); }
-
- // Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
- static void OutputXmlCDataSection(::std::ostream* stream, const char* data);
-
- // Streams an XML representation of a TestInfo object.
- static void OutputXmlTestInfo(::std::ostream* stream,
- const char* test_case_name,
- const TestInfo& test_info);
-
- // Prints an XML representation of a TestCase object
- static void PrintXmlTestCase(FILE* out, const TestCase& test_case);
-
- // Prints an XML summary of unit_test to output stream out.
- static void PrintXmlUnitTest(FILE* out, const UnitTest& unit_test);
-
- // Produces a string representing the test properties in a result as space
- // delimited XML attributes based on the property key="value" pairs.
- // When the String is not empty, it includes a space at the beginning,
- // to delimit this attribute from prior attributes.
- static String TestPropertiesAsXmlAttributes(const TestResult& result);
-
- // The output file.
- const String output_file_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(XmlUnitTestResultPrinter);
-};
-
-// Creates a new XmlUnitTestResultPrinter.
-XmlUnitTestResultPrinter::XmlUnitTestResultPrinter(const char* output_file)
- : output_file_(output_file) {
- if (output_file_.c_str() == NULL || output_file_.empty()) {
- fprintf(stderr, "XML output file may not be null\n");
- fflush(stderr);
- exit(EXIT_FAILURE);
- }
-}
-
-// Called after the unit test ends.
-void XmlUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
- int /*iteration*/) {
- FILE* xmlout = NULL;
- FilePath output_file(output_file_);
- FilePath output_dir(output_file.RemoveFileName());
-
- if (output_dir.CreateDirectoriesRecursively()) {
- xmlout = posix::FOpen(output_file_.c_str(), "w");
- }
- if (xmlout == NULL) {
- // TODO(wan): report the reason of the failure.
- //
- // We don't do it for now as:
- //
- // 1. There is no urgent need for it.
- // 2. It's a bit involved to make the errno variable thread-safe on
- // all three operating systems (Linux, Windows, and Mac OS).
- // 3. To interpret the meaning of errno in a thread-safe way,
- // we need the strerror_r() function, which is not available on
- // Windows.
- fprintf(stderr,
- "Unable to open file \"%s\"\n",
- output_file_.c_str());
- fflush(stderr);
- exit(EXIT_FAILURE);
- }
- PrintXmlUnitTest(xmlout, unit_test);
- fclose(xmlout);
-}
-
-// Returns an XML-escaped copy of the input string str. If is_attribute
-// is true, the text is meant to appear as an attribute value, and
-// normalizable whitespace is preserved by replacing it with character
-// references.
-//
-// Invalid XML characters in str, if any, are stripped from the output.
-// It is expected that most, if not all, of the text processed by this
-// module will consist of ordinary English text.
-// If this module is ever modified to produce version 1.1 XML output,
-// most invalid characters can be retained using character references.
-// TODO(wan): It might be nice to have a minimally invasive, human-readable
-// escaping scheme for invalid characters, rather than dropping them.
-String XmlUnitTestResultPrinter::EscapeXml(const char* str, bool is_attribute) {
- Message m;
-
- if (str != NULL) {
- for (const char* src = str; *src; ++src) {
- switch (*src) {
- case '<':
- m << "<";
- break;
- case '>':
- m << ">";
- break;
- case '&':
- m << "&";
- break;
- case '\'':
- if (is_attribute)
- m << "'";
- else
- m << '\'';
- break;
- case '"':
- if (is_attribute)
- m << """;
- else
- m << '"';
- break;
- default:
- if (IsValidXmlCharacter(*src)) {
- if (is_attribute && IsNormalizableWhitespace(*src))
- m << String::Format("&#x%02X;", unsigned(*src));
- else
- m << *src;
- }
- break;
- }
- }
- }
-
- return m.GetString();
-}
-
-// Returns the given string with all characters invalid in XML removed.
-// Currently invalid characters are dropped from the string. An
-// alternative is to replace them with certain characters such as . or ?.
-string XmlUnitTestResultPrinter::RemoveInvalidXmlCharacters(const string& str) {
- string output;
- output.reserve(str.size());
- for (string::const_iterator it = str.begin(); it != str.end(); ++it)
- if (IsValidXmlCharacter(*it))
- output.push_back(*it);
-
- return output;
-}
-
-// The following routines generate an XML representation of a UnitTest
-// object.
-//
-// This is how Google Test concepts map to the DTD:
-//
-// <testsuites name="AllTests"> <-- corresponds to a UnitTest object
-// <testsuite name="testcase-name"> <-- corresponds to a TestCase object
-// <testcase name="test-name"> <-- corresponds to a TestInfo object
-// <failure message="...">...</failure>
-// <failure message="...">...</failure>
-// <failure message="...">...</failure>
-// <-- individual assertion failures
-// </testcase>
-// </testsuite>
-// </testsuites>
-
-// Formats the given time in milliseconds as seconds.
-std::string FormatTimeInMillisAsSeconds(TimeInMillis ms) {
- ::std::stringstream ss;
- ss << double (ms) / 1000.0;
- return ss.str();
-}
-
-// Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
-void XmlUnitTestResultPrinter::OutputXmlCDataSection(::std::ostream* stream,
- const char* data) {
- const char* segment = data;
- *stream << "<![CDATA[";
- for (;;) {
- const char* const next_segment = strstr(segment, "]]>");
- if (next_segment != NULL) {
- stream->write(
- segment, static_cast<std::streamsize>(next_segment - segment));
- *stream << "]]>]]><![CDATA[";
- segment = next_segment + strlen("]]>");
- } else {
- *stream << segment;
- break;
- }
- }
- *stream << "]]>";
-}
-
-// Prints an XML representation of a TestInfo object.
-// TODO(wan): There is also value in printing properties with the plain printer.
-void XmlUnitTestResultPrinter::OutputXmlTestInfo(::std::ostream* stream,
- const char* test_case_name,
- const TestInfo& test_info) {
- const TestResult& result = *test_info.result();
- *stream << " <testcase name=\""
- << EscapeXmlAttribute(test_info.name()).c_str() << "\"";
-
- if (test_info.value_param() != NULL) {
- *stream << " value_param=\"" << EscapeXmlAttribute(test_info.value_param())
- << "\"";
- }
- if (test_info.type_param() != NULL) {
- *stream << " type_param=\"" << EscapeXmlAttribute(test_info.type_param())
- << "\"";
- }
-
- *stream << " status=\""
- << (test_info.should_run() ? "run" : "notrun")
- << "\" time=\""
- << FormatTimeInMillisAsSeconds(result.elapsed_time())
- << "\" classname=\"" << EscapeXmlAttribute(test_case_name).c_str()
- << "\"" << TestPropertiesAsXmlAttributes(result).c_str();
-
- int failures = 0;
- for (int i = 0; i < result.total_part_count(); ++i) {
- const TestPartResult& part = result.GetTestPartResult(i);
- if (part.failed()) {
- if (++failures == 1)
- *stream << ">\n";
- *stream << " <failure message=\""
- << EscapeXmlAttribute(part.summary()).c_str()
- << "\" type=\"\">";
- const string location = internal::FormatCompilerIndependentFileLocation(
- part.file_name(), part.line_number());
- const string message = location + "\n" + part.message();
- OutputXmlCDataSection(stream,
- RemoveInvalidXmlCharacters(message).c_str());
- *stream << "</failure>\n";
- }
- }
-
- if (failures == 0)
- *stream << " />\n";
- else
- *stream << " </testcase>\n";
-}
-
-// Prints an XML representation of a TestCase object
-void XmlUnitTestResultPrinter::PrintXmlTestCase(FILE* out,
- const TestCase& test_case) {
- fprintf(out,
- " <testsuite name=\"%s\" tests=\"%d\" failures=\"%d\" "
- "disabled=\"%d\" ",
- EscapeXmlAttribute(test_case.name()).c_str(),
- test_case.total_test_count(),
- test_case.failed_test_count(),
- test_case.disabled_test_count());
- fprintf(out,
- "errors=\"0\" time=\"%s\">\n",
- FormatTimeInMillisAsSeconds(test_case.elapsed_time()).c_str());
- for (int i = 0; i < test_case.total_test_count(); ++i) {
- ::std::stringstream stream;
- OutputXmlTestInfo(&stream, test_case.name(), *test_case.GetTestInfo(i));
- fprintf(out, "%s", StringStreamToString(&stream).c_str());
- }
- fprintf(out, " </testsuite>\n");
-}
-
-// Prints an XML summary of unit_test to output stream out.
-void XmlUnitTestResultPrinter::PrintXmlUnitTest(FILE* out,
- const UnitTest& unit_test) {
- fprintf(out, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n");
- fprintf(out,
- "<testsuites tests=\"%d\" failures=\"%d\" disabled=\"%d\" "
- "errors=\"0\" time=\"%s\" ",
- unit_test.total_test_count(),
- unit_test.failed_test_count(),
- unit_test.disabled_test_count(),
- FormatTimeInMillisAsSeconds(unit_test.elapsed_time()).c_str());
- if (GTEST_FLAG(shuffle)) {
- fprintf(out, "random_seed=\"%d\" ", unit_test.random_seed());
- }
- fprintf(out, "name=\"AllTests\">\n");
- for (int i = 0; i < unit_test.total_test_case_count(); ++i)
- PrintXmlTestCase(out, *unit_test.GetTestCase(i));
- fprintf(out, "</testsuites>\n");
-}
-
-// Produces a string representing the test properties in a result as space
-// delimited XML attributes based on the property key="value" pairs.
-String XmlUnitTestResultPrinter::TestPropertiesAsXmlAttributes(
- const TestResult& result) {
- Message attributes;
- for (int i = 0; i < result.test_property_count(); ++i) {
- const TestProperty& property = result.GetTestProperty(i);
- attributes << " " << property.key() << "="
- << "\"" << EscapeXmlAttribute(property.value()) << "\"";
- }
- return attributes.GetString();
-}
-
-// End XmlUnitTestResultPrinter
-
-#if GTEST_CAN_STREAM_RESULTS_
-
-// Streams test results to the given port on the given host machine.
-class StreamingListener : public EmptyTestEventListener {
- public:
- // Escapes '=', '&', '%', and '\n' characters in str as "%xx".
- static string UrlEncode(const char* str);
-
- StreamingListener(const string& host, const string& port)
- : sockfd_(-1), host_name_(host), port_num_(port) {
- MakeConnection();
- Send("gtest_streaming_protocol_version=1.0\n");
- }
-
- virtual ~StreamingListener() {
- if (sockfd_ != -1)
- CloseConnection();
- }
-
- void OnTestProgramStart(const UnitTest& /* unit_test */) {
- Send("event=TestProgramStart\n");
- }
-
- void OnTestProgramEnd(const UnitTest& unit_test) {
- // Note that Google Test current only report elapsed time for each
- // test iteration, not for the entire test program.
- Send(String::Format("event=TestProgramEnd&passed=%d\n",
- unit_test.Passed()));
-
- // Notify the streaming server to stop.
- CloseConnection();
- }
-
- void OnTestIterationStart(const UnitTest& /* unit_test */, int iteration) {
- Send(String::Format("event=TestIterationStart&iteration=%d\n",
- iteration));
- }
-
- void OnTestIterationEnd(const UnitTest& unit_test, int /* iteration */) {
- Send(String::Format("event=TestIterationEnd&passed=%d&elapsed_time=%sms\n",
- unit_test.Passed(),
- StreamableToString(unit_test.elapsed_time()).c_str()));
- }
-
- void OnTestCaseStart(const TestCase& test_case) {
- Send(String::Format("event=TestCaseStart&name=%s\n", test_case.name()));
- }
-
- void OnTestCaseEnd(const TestCase& test_case) {
- Send(String::Format("event=TestCaseEnd&passed=%d&elapsed_time=%sms\n",
- test_case.Passed(),
- StreamableToString(test_case.elapsed_time()).c_str()));
- }
-
- void OnTestStart(const TestInfo& test_info) {
- Send(String::Format("event=TestStart&name=%s\n", test_info.name()));
- }
-
- void OnTestEnd(const TestInfo& test_info) {
- Send(String::Format(
- "event=TestEnd&passed=%d&elapsed_time=%sms\n",
- (test_info.result())->Passed(),
- StreamableToString((test_info.result())->elapsed_time()).c_str()));
- }
-
- void OnTestPartResult(const TestPartResult& test_part_result) {
- const char* file_name = test_part_result.file_name();
- if (file_name == NULL)
- file_name = "";
- Send(String::Format("event=TestPartResult&file=%s&line=%d&message=",
- UrlEncode(file_name).c_str(),
- test_part_result.line_number()));
- Send(UrlEncode(test_part_result.message()) + "\n");
- }
-
- private:
- // Creates a client socket and connects to the server.
- void MakeConnection();
-
- // Closes the socket.
- void CloseConnection() {
- GTEST_CHECK_(sockfd_ != -1)
- << "CloseConnection() can be called only when there is a connection.";
-
- close(sockfd_);
- sockfd_ = -1;
- }
-
- // Sends a string to the socket.
- void Send(const string& message) {
- GTEST_CHECK_(sockfd_ != -1)
- << "Send() can be called only when there is a connection.";
-
- const int len = static_cast<int>(message.length());
- if (write(sockfd_, message.c_str(), len) != len) {
- GTEST_LOG_(WARNING)
- << "stream_result_to: failed to stream to "
- << host_name_ << ":" << port_num_;
- }
- }
-
- int sockfd_; // socket file descriptor
- const string host_name_;
- const string port_num_;
-
- GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamingListener);
-}; // class StreamingListener
-
-// Checks if str contains '=', '&', '%' or '\n' characters. If yes,
-// replaces them by "%xx" where xx is their hexadecimal value. For
-// example, replaces "=" with "%3D". This algorithm is O(strlen(str))
-// in both time and space -- important as the input str may contain an
-// arbitrarily long test failure message and stack trace.
-string StreamingListener::UrlEncode(const char* str) {
- string result;
- result.reserve(strlen(str) + 1);
- for (char ch = *str; ch != '\0'; ch = *++str) {
- switch (ch) {
- case '%':
- case '=':
- case '&':
- case '\n':
- result.append(String::Format("%%%02x", static_cast<unsigned char>(ch)));
- break;
- default:
- result.push_back(ch);
- break;
- }
- }
- return result;
-}
-
-void StreamingListener::MakeConnection() {
- GTEST_CHECK_(sockfd_ == -1)
- << "MakeConnection() can't be called when there is already a connection.";
-
- addrinfo hints;
- memset(&hints, 0, sizeof(hints));
- hints.ai_family = AF_UNSPEC; // To allow both IPv4 and IPv6 addresses.
- hints.ai_socktype = SOCK_STREAM;
- addrinfo* servinfo = NULL;
-
- // Use the getaddrinfo() to get a linked list of IP addresses for
- // the given host name.
- const int error_num = getaddrinfo(
- host_name_.c_str(), port_num_.c_str(), &hints, &servinfo);
- if (error_num != 0) {
- GTEST_LOG_(WARNING) << "stream_result_to: getaddrinfo() failed: "
- << gai_strerror(error_num);
- }
-
- // Loop through all the results and connect to the first we can.
- for (addrinfo* cur_addr = servinfo; sockfd_ == -1 && cur_addr != NULL;
- cur_addr = cur_addr->ai_next) {
- sockfd_ = socket(
- cur_addr->ai_family, cur_addr->ai_socktype, cur_addr->ai_protocol);
- if (sockfd_ != -1) {
- // Connect the client socket to the server socket.
- if (connect(sockfd_, cur_addr->ai_addr, cur_addr->ai_addrlen) == -1) {
- close(sockfd_);
- sockfd_ = -1;
- }
- }
- }
-
- freeaddrinfo(servinfo); // all done with this structure
-
- if (sockfd_ == -1) {
- GTEST_LOG_(WARNING) << "stream_result_to: failed to connect to "
- << host_name_ << ":" << port_num_;
- }
-}
-
-// End of class Streaming Listener
-#endif // GTEST_CAN_STREAM_RESULTS__
-
-// Class ScopedTrace
-
-// Pushes the given source file location and message onto a per-thread
-// trace stack maintained by Google Test.
-// L < UnitTest::mutex_
-ScopedTrace::ScopedTrace(const char* file, int line, const Message& message) {
- TraceInfo trace;
- trace.file = file;
- trace.line = line;
- trace.message = message.GetString();
-
- UnitTest::GetInstance()->PushGTestTrace(trace);
-}
-
-// Pops the info pushed by the c'tor.
-// L < UnitTest::mutex_
-ScopedTrace::~ScopedTrace() {
- UnitTest::GetInstance()->PopGTestTrace();
-}
-
-
-// class OsStackTraceGetter
-
-// Returns the current OS stack trace as a String. Parameters:
-//
-// max_depth - the maximum number of stack frames to be included
-// in the trace.
-// skip_count - the number of top frames to be skipped; doesn't count
-// against max_depth.
-//
-// L < mutex_
-// We use "L < mutex_" to denote that the function may acquire mutex_.
-String OsStackTraceGetter::CurrentStackTrace(int, int) {
- return String("");
-}
-
-// L < mutex_
-void OsStackTraceGetter::UponLeavingGTest() {
-}
-
-const char* const
-OsStackTraceGetter::kElidedFramesMarker =
- "... " GTEST_NAME_ " internal frames ...";
-
-} // namespace internal
-
-// class TestEventListeners
-
-TestEventListeners::TestEventListeners()
- : repeater_(new internal::TestEventRepeater()),
- default_result_printer_(NULL),
- default_xml_generator_(NULL) {
-}
-
-TestEventListeners::~TestEventListeners() { delete repeater_; }
-
-// Returns the standard listener responsible for the default console
-// output. Can be removed from the listeners list to shut down default
-// console output. Note that removing this object from the listener list
-// with Release transfers its ownership to the user.
-void TestEventListeners::Append(TestEventListener* listener) {
- repeater_->Append(listener);
-}
-
-// Removes the given event listener from the list and returns it. It then
-// becomes the caller's responsibility to delete the listener. Returns
-// NULL if the listener is not found in the list.
-TestEventListener* TestEventListeners::Release(TestEventListener* listener) {
- if (listener == default_result_printer_)
- default_result_printer_ = NULL;
- else if (listener == default_xml_generator_)
- default_xml_generator_ = NULL;
- return repeater_->Release(listener);
-}
-
-// Returns repeater that broadcasts the TestEventListener events to all
-// subscribers.
-TestEventListener* TestEventListeners::repeater() { return repeater_; }
-
-// Sets the default_result_printer attribute to the provided listener.
-// The listener is also added to the listener list and previous
-// default_result_printer is removed from it and deleted. The listener can
-// also be NULL in which case it will not be added to the list. Does
-// nothing if the previous and the current listener objects are the same.
-void TestEventListeners::SetDefaultResultPrinter(TestEventListener* listener) {
- if (default_result_printer_ != listener) {
- // It is an error to pass this method a listener that is already in the
- // list.
- delete Release(default_result_printer_);
- default_result_printer_ = listener;
- if (listener != NULL)
- Append(listener);
- }
-}
-
-// Sets the default_xml_generator attribute to the provided listener. The
-// listener is also added to the listener list and previous
-// default_xml_generator is removed from it and deleted. The listener can
-// also be NULL in which case it will not be added to the list. Does
-// nothing if the previous and the current listener objects are the same.
-void TestEventListeners::SetDefaultXmlGenerator(TestEventListener* listener) {
- if (default_xml_generator_ != listener) {
- // It is an error to pass this method a listener that is already in the
- // list.
- delete Release(default_xml_generator_);
- default_xml_generator_ = listener;
- if (listener != NULL)
- Append(listener);
- }
-}
-
-// Controls whether events will be forwarded by the repeater to the
-// listeners in the list.
-bool TestEventListeners::EventForwardingEnabled() const {
- return repeater_->forwarding_enabled();
-}
-
-void TestEventListeners::SuppressEventForwarding() {
- repeater_->set_forwarding_enabled(false);
-}
-
-// class UnitTest
-
-// Gets the singleton UnitTest object. The first time this method is
-// called, a UnitTest object is constructed and returned. Consecutive
-// calls will return the same object.
-//
-// We don't protect this under mutex_ as a user is not supposed to
-// call this before main() starts, from which point on the return
-// value will never change.
-UnitTest * UnitTest::GetInstance() {
- // When compiled with MSVC 7.1 in optimized mode, destroying the
- // UnitTest object upon exiting the program messes up the exit code,
- // causing successful tests to appear failed. We have to use a
- // different implementation in this case to bypass the compiler bug.
- // This implementation makes the compiler happy, at the cost of
- // leaking the UnitTest object.
-
- // CodeGear C++Builder insists on a public destructor for the
- // default implementation. Use this implementation to keep good OO
- // design with private destructor.
-
-#if (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
- static UnitTest* const instance = new UnitTest;
- return instance;
-#else
- static UnitTest instance;
- return &instance;
-#endif // (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
-}
-
-// Gets the number of successful test cases.
-int UnitTest::successful_test_case_count() const {
- return impl()->successful_test_case_count();
-}
-
-// Gets the number of failed test cases.
-int UnitTest::failed_test_case_count() const {
- return impl()->failed_test_case_count();
-}
-
-// Gets the number of all test cases.
-int UnitTest::total_test_case_count() const {
- return impl()->total_test_case_count();
-}
-
-// Gets the number of all test cases that contain at least one test
-// that should run.
-int UnitTest::test_case_to_run_count() const {
- return impl()->test_case_to_run_count();
-}
-
-// Gets the number of successful tests.
-int UnitTest::successful_test_count() const {
- return impl()->successful_test_count();
-}
-
-// Gets the number of failed tests.
-int UnitTest::failed_test_count() const { return impl()->failed_test_count(); }
-
-// Gets the number of disabled tests.
-int UnitTest::disabled_test_count() const {
- return impl()->disabled_test_count();
-}
-
-// Gets the number of all tests.
-int UnitTest::total_test_count() const { return impl()->total_test_count(); }
-
-// Gets the number of tests that should run.
-int UnitTest::test_to_run_count() const { return impl()->test_to_run_count(); }
-
-// Gets the elapsed time, in milliseconds.
-internal::TimeInMillis UnitTest::elapsed_time() const {
- return impl()->elapsed_time();
-}
-
-// Returns true iff the unit test passed (i.e. all test cases passed).
-bool UnitTest::Passed() const { return impl()->Passed(); }
-
-// Returns true iff the unit test failed (i.e. some test case failed
-// or something outside of all tests failed).
-bool UnitTest::Failed() const { return impl()->Failed(); }
-
-// Gets the i-th test case among all the test cases. i can range from 0 to
-// total_test_case_count() - 1. If i is not in that range, returns NULL.
-const TestCase* UnitTest::GetTestCase(int i) const {
- return impl()->GetTestCase(i);
-}
-
-// Gets the i-th test case among all the test cases. i can range from 0 to
-// total_test_case_count() - 1. If i is not in that range, returns NULL.
-TestCase* UnitTest::GetMutableTestCase(int i) {
- return impl()->GetMutableTestCase(i);
-}
-
-// Returns the list of event listeners that can be used to track events
-// inside Google Test.
-TestEventListeners& UnitTest::listeners() {
- return *impl()->listeners();
-}
-
-// Registers and returns a global test environment. When a test
-// program is run, all global test environments will be set-up in the
-// order they were registered. After all tests in the program have
-// finished, all global test environments will be torn-down in the
-// *reverse* order they were registered.
-//
-// The UnitTest object takes ownership of the given environment.
-//
-// We don't protect this under mutex_, as we only support calling it
-// from the main thread.
-Environment* UnitTest::AddEnvironment(Environment* env) {
- if (env == NULL) {
- return NULL;
- }
-
- impl_->environments().push_back(env);
- return env;
-}
-
-// Adds a TestPartResult to the current TestResult object. All Google Test
-// assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc) eventually call
-// this to report their results. The user code should use the
-// assertion macros instead of calling this directly.
-// L < mutex_
-void UnitTest::AddTestPartResult(TestPartResult::Type result_type,
- const char* file_name,
- int line_number,
- const internal::String& message,
- const internal::String& os_stack_trace) {
- Message msg;
- msg << message;
-
- internal::MutexLock lock(&mutex_);
- if (impl_->gtest_trace_stack().size() > 0) {
- msg << "\n" << GTEST_NAME_ << " trace:";
-
- for (int i = static_cast<int>(impl_->gtest_trace_stack().size());
- i > 0; --i) {
- const internal::TraceInfo& trace = impl_->gtest_trace_stack()[i - 1];
- msg << "\n" << internal::FormatFileLocation(trace.file, trace.line)
- << " " << trace.message;
- }
- }
-
- if (os_stack_trace.c_str() != NULL && !os_stack_trace.empty()) {
- msg << internal::kStackTraceMarker << os_stack_trace;
- }
-
- const TestPartResult result =
- TestPartResult(result_type, file_name, line_number,
- msg.GetString().c_str());
- impl_->GetTestPartResultReporterForCurrentThread()->
- ReportTestPartResult(result);
-
- if (result_type != TestPartResult::kSuccess) {
- // gtest_break_on_failure takes precedence over
- // gtest_throw_on_failure. This allows a user to set the latter
- // in the code (perhaps in order to use Google Test assertions
- // with another testing framework) and specify the former on the
- // command line for debugging.
- if (GTEST_FLAG(break_on_failure)) {
-#if GTEST_OS_WINDOWS
- // Using DebugBreak on Windows allows gtest to still break into a debugger
- // when a failure happens and both the --gtest_break_on_failure and
- // the --gtest_catch_exceptions flags are specified.
- DebugBreak();
-#else
- // Dereference NULL through a volatile pointer to prevent the compiler
- // from removing. We use this rather than abort() or __builtin_trap() for
- // portability: Symbian doesn't implement abort() well, and some debuggers
- // don't correctly trap abort().
- *static_cast<volatile int*>(NULL) = 1;
-#endif // GTEST_OS_WINDOWS
- } else if (GTEST_FLAG(throw_on_failure)) {
-#if GTEST_HAS_EXCEPTIONS
- throw GoogleTestFailureException(result);
-#else
- // We cannot call abort() as it generates a pop-up in debug mode
- // that cannot be suppressed in VC 7.1 or below.
- exit(1);
-#endif
- }
- }
-}
-
-// Creates and adds a property to the current TestResult. If a property matching
-// the supplied value already exists, updates its value instead.
-void UnitTest::RecordPropertyForCurrentTest(const char* key,
- const char* value) {
- const TestProperty test_property(key, value);
- impl_->current_test_result()->RecordProperty(test_property);
-}
-
-// Runs all tests in this UnitTest object and prints the result.
-// Returns 0 if successful, or 1 otherwise.
-//
-// We don't protect this under mutex_, as we only support calling it
-// from the main thread.
-int UnitTest::Run() {
- // Captures the value of GTEST_FLAG(catch_exceptions). This value will be
- // used for the duration of the program.
- impl()->set_catch_exceptions(GTEST_FLAG(catch_exceptions));
-
-#if GTEST_HAS_SEH
- const bool in_death_test_child_process =
- internal::GTEST_FLAG(internal_run_death_test).length() > 0;
-
- // Either the user wants Google Test to catch exceptions thrown by the
- // tests or this is executing in the context of death test child
- // process. In either case the user does not want to see pop-up dialogs
- // about crashes - they are expected.
- if (impl()->catch_exceptions() || in_death_test_child_process) {
-
-# if !GTEST_OS_WINDOWS_MOBILE
- // SetErrorMode doesn't exist on CE.
- SetErrorMode(SEM_FAILCRITICALERRORS | SEM_NOALIGNMENTFAULTEXCEPT |
- SEM_NOGPFAULTERRORBOX | SEM_NOOPENFILEERRORBOX);
-# endif // !GTEST_OS_WINDOWS_MOBILE
-
-# if (defined(_MSC_VER) || GTEST_OS_WINDOWS_MINGW) && !GTEST_OS_WINDOWS_MOBILE
- // Death test children can be terminated with _abort(). On Windows,
- // _abort() can show a dialog with a warning message. This forces the
- // abort message to go to stderr instead.
- _set_error_mode(_OUT_TO_STDERR);
-# endif
-
-# if _MSC_VER >= 1400 && !GTEST_OS_WINDOWS_MOBILE
- // In the debug version, Visual Studio pops up a separate dialog
- // offering a choice to debug the aborted program. We need to suppress
- // this dialog or it will pop up for every EXPECT/ASSERT_DEATH statement
- // executed. Google Test will notify the user of any unexpected
- // failure via stderr.
- //
- // VC++ doesn't define _set_abort_behavior() prior to the version 8.0.
- // Users of prior VC versions shall suffer the agony and pain of
- // clicking through the countless debug dialogs.
- // TODO(vladl@google.com): find a way to suppress the abort dialog() in the
- // debug mode when compiled with VC 7.1 or lower.
- if (!GTEST_FLAG(break_on_failure))
- _set_abort_behavior(
- 0x0, // Clear the following flags:
- _WRITE_ABORT_MSG | _CALL_REPORTFAULT); // pop-up window, core dump.
-# endif
-
- }
-#endif // GTEST_HAS_SEH
-
- return internal::HandleExceptionsInMethodIfSupported(
- impl(),
- &internal::UnitTestImpl::RunAllTests,
- "auxiliary test code (environments or event listeners)") ? 0 : 1;
-}
-
-// Returns the working directory when the first TEST() or TEST_F() was
-// executed.
-const char* UnitTest::original_working_dir() const {
- return impl_->original_working_dir_.c_str();
-}
-
-// Returns the TestCase object for the test that's currently running,
-// or NULL if no test is running.
-// L < mutex_
-const TestCase* UnitTest::current_test_case() const {
- internal::MutexLock lock(&mutex_);
- return impl_->current_test_case();
-}
-
-// Returns the TestInfo object for the test that's currently running,
-// or NULL if no test is running.
-// L < mutex_
-const TestInfo* UnitTest::current_test_info() const {
- internal::MutexLock lock(&mutex_);
- return impl_->current_test_info();
-}
-
-// Returns the random seed used at the start of the current test run.
-int UnitTest::random_seed() const { return impl_->random_seed(); }
-
-#if GTEST_HAS_PARAM_TEST
-// Returns ParameterizedTestCaseRegistry object used to keep track of
-// value-parameterized tests and instantiate and register them.
-// L < mutex_
-internal::ParameterizedTestCaseRegistry&
- UnitTest::parameterized_test_registry() {
- return impl_->parameterized_test_registry();
-}
-#endif // GTEST_HAS_PARAM_TEST
-
-// Creates an empty UnitTest.
-UnitTest::UnitTest() {
- impl_ = new internal::UnitTestImpl(this);
-}
-
-// Destructor of UnitTest.
-UnitTest::~UnitTest() {
- delete impl_;
-}
-
-// Pushes a trace defined by SCOPED_TRACE() on to the per-thread
-// Google Test trace stack.
-// L < mutex_
-void UnitTest::PushGTestTrace(const internal::TraceInfo& trace) {
- internal::MutexLock lock(&mutex_);
- impl_->gtest_trace_stack().push_back(trace);
-}
-
-// Pops a trace from the per-thread Google Test trace stack.
-// L < mutex_
-void UnitTest::PopGTestTrace() {
- internal::MutexLock lock(&mutex_);
- impl_->gtest_trace_stack().pop_back();
-}
-
-namespace internal {
-
-UnitTestImpl::UnitTestImpl(UnitTest* parent)
- : parent_(parent),
-#ifdef _MSC_VER
-# pragma warning(push) // Saves the current warning state.
-# pragma warning(disable:4355) // Temporarily disables warning 4355
- // (using this in initializer).
- default_global_test_part_result_reporter_(this),
- default_per_thread_test_part_result_reporter_(this),
-# pragma warning(pop) // Restores the warning state again.
-#else
- default_global_test_part_result_reporter_(this),
- default_per_thread_test_part_result_reporter_(this),
-#endif // _MSC_VER
- global_test_part_result_repoter_(
- &default_global_test_part_result_reporter_),
- per_thread_test_part_result_reporter_(
- &default_per_thread_test_part_result_reporter_),
-#if GTEST_HAS_PARAM_TEST
- parameterized_test_registry_(),
- parameterized_tests_registered_(false),
-#endif // GTEST_HAS_PARAM_TEST
- last_death_test_case_(-1),
- current_test_case_(NULL),
- current_test_info_(NULL),
- ad_hoc_test_result_(),
- os_stack_trace_getter_(NULL),
- post_flag_parse_init_performed_(false),
- random_seed_(0), // Will be overridden by the flag before first use.
- random_(0), // Will be reseeded before first use.
- elapsed_time_(0),
-#if GTEST_HAS_DEATH_TEST
- internal_run_death_test_flag_(NULL),
- death_test_factory_(new DefaultDeathTestFactory),
-#endif
- // Will be overridden by the flag before first use.
- catch_exceptions_(false) {
- listeners()->SetDefaultResultPrinter(new PrettyUnitTestResultPrinter);
-}
-
-UnitTestImpl::~UnitTestImpl() {
- // Deletes every TestCase.
- ForEach(test_cases_, internal::Delete<TestCase>);
-
- // Deletes every Environment.
- ForEach(environments_, internal::Delete<Environment>);
-
- delete os_stack_trace_getter_;
-}
-
-#if GTEST_HAS_DEATH_TEST
-// Disables event forwarding if the control is currently in a death test
-// subprocess. Must not be called before InitGoogleTest.
-void UnitTestImpl::SuppressTestEventsIfInSubprocess() {
- if (internal_run_death_test_flag_.get() != NULL)
- listeners()->SuppressEventForwarding();
-}
-#endif // GTEST_HAS_DEATH_TEST
-
-// Initializes event listeners performing XML output as specified by
-// UnitTestOptions. Must not be called before InitGoogleTest.
-void UnitTestImpl::ConfigureXmlOutput() {
- const String& output_format = UnitTestOptions::GetOutputFormat();
- if (output_format == "xml") {
- listeners()->SetDefaultXmlGenerator(new XmlUnitTestResultPrinter(
- UnitTestOptions::GetAbsolutePathToOutputFile().c_str()));
- } else if (output_format != "") {
- printf("WARNING: unrecognized output format \"%s\" ignored.\n",
- output_format.c_str());
- fflush(stdout);
- }
-}
-
-#if GTEST_CAN_STREAM_RESULTS_
-// Initializes event listeners for streaming test results in String form.
-// Must not be called before InitGoogleTest.
-void UnitTestImpl::ConfigureStreamingOutput() {
- const string& target = GTEST_FLAG(stream_result_to);
- if (!target.empty()) {
- const size_t pos = target.find(':');
- if (pos != string::npos) {
- listeners()->Append(new StreamingListener(target.substr(0, pos),
- target.substr(pos+1)));
- } else {
- printf("WARNING: unrecognized streaming target \"%s\" ignored.\n",
- target.c_str());
- fflush(stdout);
- }
- }
-}
-#endif // GTEST_CAN_STREAM_RESULTS_
-
-// Performs initialization dependent upon flag values obtained in
-// ParseGoogleTestFlagsOnly. Is called from InitGoogleTest after the call to
-// ParseGoogleTestFlagsOnly. In case a user neglects to call InitGoogleTest
-// this function is also called from RunAllTests. Since this function can be
-// called more than once, it has to be idempotent.
-void UnitTestImpl::PostFlagParsingInit() {
- // Ensures that this function does not execute more than once.
- if (!post_flag_parse_init_performed_) {
- post_flag_parse_init_performed_ = true;
-
-#if GTEST_HAS_DEATH_TEST
- InitDeathTestSubprocessControlInfo();
- SuppressTestEventsIfInSubprocess();
-#endif // GTEST_HAS_DEATH_TEST
-
- // Registers parameterized tests. This makes parameterized tests
- // available to the UnitTest reflection API without running
- // RUN_ALL_TESTS.
- RegisterParameterizedTests();
-
- // Configures listeners for XML output. This makes it possible for users
- // to shut down the default XML output before invoking RUN_ALL_TESTS.
- ConfigureXmlOutput();
-
-#if GTEST_CAN_STREAM_RESULTS_
- // Configures listeners for streaming test results to the specified server.
- ConfigureStreamingOutput();
-#endif // GTEST_CAN_STREAM_RESULTS_
- }
-}
-
-// A predicate that checks the name of a TestCase against a known
-// value.
-//
-// This is used for implementation of the UnitTest class only. We put
-// it in the anonymous namespace to prevent polluting the outer
-// namespace.
-//
-// TestCaseNameIs is copyable.
-class TestCaseNameIs {
- public:
- // Constructor.
- explicit TestCaseNameIs(const String& name)
- : name_(name) {}
-
- // Returns true iff the name of test_case matches name_.
- bool operator()(const TestCase* test_case) const {
- return test_case != NULL && strcmp(test_case->name(), name_.c_str()) == 0;
- }
-
- private:
- String name_;
-};
-
-// Finds and returns a TestCase with the given name. If one doesn't
-// exist, creates one and returns it. It's the CALLER'S
-// RESPONSIBILITY to ensure that this function is only called WHEN THE
-// TESTS ARE NOT SHUFFLED.
-//
-// Arguments:
-//
-// test_case_name: name of the test case
-// type_param: the name of the test case's type parameter, or NULL if
-// this is not a typed or a type-parameterized test case.
-// set_up_tc: pointer to the function that sets up the test case
-// tear_down_tc: pointer to the function that tears down the test case
-TestCase* UnitTestImpl::GetTestCase(const char* test_case_name,
- const char* type_param,
- Test::SetUpTestCaseFunc set_up_tc,
- Test::TearDownTestCaseFunc tear_down_tc) {
- // Can we find a TestCase with the given name?
- const std::vector<TestCase*>::const_iterator test_case =
- std::find_if(test_cases_.begin(), test_cases_.end(),
- TestCaseNameIs(test_case_name));
-
- if (test_case != test_cases_.end())
- return *test_case;
-
- // No. Let's create one.
- TestCase* const new_test_case =
- new TestCase(test_case_name, type_param, set_up_tc, tear_down_tc);
-
- // Is this a death test case?
- if (internal::UnitTestOptions::MatchesFilter(String(test_case_name),
- kDeathTestCaseFilter)) {
- // Yes. Inserts the test case after the last death test case
- // defined so far. This only works when the test cases haven't
- // been shuffled. Otherwise we may end up running a death test
- // after a non-death test.
- ++last_death_test_case_;
- test_cases_.insert(test_cases_.begin() + last_death_test_case_,
- new_test_case);
- } else {
- // No. Appends to the end of the list.
- test_cases_.push_back(new_test_case);
- }
-
- test_case_indices_.push_back(static_cast<int>(test_case_indices_.size()));
- return new_test_case;
-}
-
-// Helpers for setting up / tearing down the given environment. They
-// are for use in the ForEach() function.
-static void SetUpEnvironment(Environment* env) { env->SetUp(); }
-static void TearDownEnvironment(Environment* env) { env->TearDown(); }
-
-// Runs all tests in this UnitTest object, prints the result, and
-// returns true if all tests are successful. If any exception is
-// thrown during a test, the test is considered to be failed, but the
-// rest of the tests will still be run.
-//
-// When parameterized tests are enabled, it expands and registers
-// parameterized tests first in RegisterParameterizedTests().
-// All other functions called from RunAllTests() may safely assume that
-// parameterized tests are ready to be counted and run.
-bool UnitTestImpl::RunAllTests() {
- // Makes sure InitGoogleTest() was called.
- if (!GTestIsInitialized()) {
- printf("%s",
- "\nThis test program did NOT call ::testing::InitGoogleTest "
- "before calling RUN_ALL_TESTS(). Please fix it.\n");
- return false;
- }
-
- // Do not run any test if the --help flag was specified.
- if (g_help_flag)
- return true;
-
- // Repeats the call to the post-flag parsing initialization in case the
- // user didn't call InitGoogleTest.
- PostFlagParsingInit();
-
- // Even if sharding is not on, test runners may want to use the
- // GTEST_SHARD_STATUS_FILE to query whether the test supports the sharding
- // protocol.
- internal::WriteToShardStatusFileIfNeeded();
-
- // True iff we are in a subprocess for running a thread-safe-style
- // death test.
- bool in_subprocess_for_death_test = false;
-
-#if GTEST_HAS_DEATH_TEST
- in_subprocess_for_death_test = (internal_run_death_test_flag_.get() != NULL);
-#endif // GTEST_HAS_DEATH_TEST
-
- const bool should_shard = ShouldShard(kTestTotalShards, kTestShardIndex,
- in_subprocess_for_death_test);
-
- // Compares the full test names with the filter to decide which
- // tests to run.
- const bool has_tests_to_run = FilterTests(should_shard
- ? HONOR_SHARDING_PROTOCOL
- : IGNORE_SHARDING_PROTOCOL) > 0;
-
- // Lists the tests and exits if the --gtest_list_tests flag was specified.
- if (GTEST_FLAG(list_tests)) {
- // This must be called *after* FilterTests() has been called.
- ListTestsMatchingFilter();
- return true;
- }
-
- random_seed_ = GTEST_FLAG(shuffle) ?
- GetRandomSeedFromFlag(GTEST_FLAG(random_seed)) : 0;
-
- // True iff at least one test has failed.
- bool failed = false;
-
- TestEventListener* repeater = listeners()->repeater();
-
- repeater->OnTestProgramStart(*parent_);
-
- // How many times to repeat the tests? We don't want to repeat them
- // when we are inside the subprocess of a death test.
- const int repeat = in_subprocess_for_death_test ? 1 : GTEST_FLAG(repeat);
- // Repeats forever if the repeat count is negative.
- const bool forever = repeat < 0;
- for (int i = 0; forever || i != repeat; i++) {
- // We want to preserve failures generated by ad-hoc test
- // assertions executed before RUN_ALL_TESTS().
- ClearNonAdHocTestResult();
-
- const TimeInMillis start = GetTimeInMillis();
-
- // Shuffles test cases and tests if requested.
- if (has_tests_to_run && GTEST_FLAG(shuffle)) {
- random()->Reseed(random_seed_);
- // This should be done before calling OnTestIterationStart(),
- // such that a test event listener can see the actual test order
- // in the event.
- ShuffleTests();
- }
-
- // Tells the unit test event listeners that the tests are about to start.
- repeater->OnTestIterationStart(*parent_, i);
-
- // Runs each test case if there is at least one test to run.
- if (has_tests_to_run) {
- // Sets up all environments beforehand.
- repeater->OnEnvironmentsSetUpStart(*parent_);
- ForEach(environments_, SetUpEnvironment);
- repeater->OnEnvironmentsSetUpEnd(*parent_);
-
- // Runs the tests only if there was no fatal failure during global
- // set-up.
- if (!Test::HasFatalFailure()) {
- for (int test_index = 0; test_index < total_test_case_count();
- test_index++) {
- GetMutableTestCase(test_index)->Run();
- }
- }
-
- // Tears down all environments in reverse order afterwards.
- repeater->OnEnvironmentsTearDownStart(*parent_);
- std::for_each(environments_.rbegin(), environments_.rend(),
- TearDownEnvironment);
- repeater->OnEnvironmentsTearDownEnd(*parent_);
- }
-
- elapsed_time_ = GetTimeInMillis() - start;
-
- // Tells the unit test event listener that the tests have just finished.
- repeater->OnTestIterationEnd(*parent_, i);
-
- // Gets the result and clears it.
- if (!Passed()) {
- failed = true;
- }
-
- // Restores the original test order after the iteration. This
- // allows the user to quickly repro a failure that happens in the
- // N-th iteration without repeating the first (N - 1) iterations.
- // This is not enclosed in "if (GTEST_FLAG(shuffle)) { ... }", in
- // case the user somehow changes the value of the flag somewhere
- // (it's always safe to unshuffle the tests).
- UnshuffleTests();
-
- if (GTEST_FLAG(shuffle)) {
- // Picks a new random seed for each iteration.
- random_seed_ = GetNextRandomSeed(random_seed_);
- }
- }
-
- repeater->OnTestProgramEnd(*parent_);
-
- return !failed;
-}
-
-// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
-// if the variable is present. If a file already exists at this location, this
-// function will write over it. If the variable is present, but the file cannot
-// be created, prints an error and exits.
-void WriteToShardStatusFileIfNeeded() {
- const char* const test_shard_file = posix::GetEnv(kTestShardStatusFile);
- if (test_shard_file != NULL) {
- FILE* const file = posix::FOpen(test_shard_file, "w");
- if (file == NULL) {
- ColoredPrintf(COLOR_RED,
- "Could not write to the test shard status file \"%s\" "
- "specified by the %s environment variable.\n",
- test_shard_file, kTestShardStatusFile);
- fflush(stdout);
- exit(EXIT_FAILURE);
- }
- fclose(file);
- }
-}
-
-// Checks whether sharding is enabled by examining the relevant
-// environment variable values. If the variables are present,
-// but inconsistent (i.e., shard_index >= total_shards), prints
-// an error and exits. If in_subprocess_for_death_test, sharding is
-// disabled because it must only be applied to the original test
-// process. Otherwise, we could filter out death tests we intended to execute.
-bool ShouldShard(const char* total_shards_env,
- const char* shard_index_env,
- bool in_subprocess_for_death_test) {
- if (in_subprocess_for_death_test) {
- return false;
- }
-
- const Int32 total_shards = Int32FromEnvOrDie(total_shards_env, -1);
- const Int32 shard_index = Int32FromEnvOrDie(shard_index_env, -1);
-
- if (total_shards == -1 && shard_index == -1) {
- return false;
- } else if (total_shards == -1 && shard_index != -1) {
- const Message msg = Message()
- << "Invalid environment variables: you have "
- << kTestShardIndex << " = " << shard_index
- << ", but have left " << kTestTotalShards << " unset.\n";
- ColoredPrintf(COLOR_RED, msg.GetString().c_str());
- fflush(stdout);
- exit(EXIT_FAILURE);
- } else if (total_shards != -1 && shard_index == -1) {
- const Message msg = Message()
- << "Invalid environment variables: you have "
- << kTestTotalShards << " = " << total_shards
- << ", but have left " << kTestShardIndex << " unset.\n";
- ColoredPrintf(COLOR_RED, msg.GetString().c_str());
- fflush(stdout);
- exit(EXIT_FAILURE);
- } else if (shard_index < 0 || shard_index >= total_shards) {
- const Message msg = Message()
- << "Invalid environment variables: we require 0 <= "
- << kTestShardIndex << " < " << kTestTotalShards
- << ", but you have " << kTestShardIndex << "=" << shard_index
- << ", " << kTestTotalShards << "=" << total_shards << ".\n";
- ColoredPrintf(COLOR_RED, msg.GetString().c_str());
- fflush(stdout);
- exit(EXIT_FAILURE);
- }
-
- return total_shards > 1;
-}
-
-// Parses the environment variable var as an Int32. If it is unset,
-// returns default_val. If it is not an Int32, prints an error
-// and aborts.
-Int32 Int32FromEnvOrDie(const char* var, Int32 default_val) {
- const char* str_val = posix::GetEnv(var);
- if (str_val == NULL) {
- return default_val;
- }
-
- Int32 result;
- if (!ParseInt32(Message() << "The value of environment variable " << var,
- str_val, &result)) {
- exit(EXIT_FAILURE);
- }
- return result;
-}
-
-// Given the total number of shards, the shard index, and the test id,
-// returns true iff the test should be run on this shard. The test id is
-// some arbitrary but unique non-negative integer assigned to each test
-// method. Assumes that 0 <= shard_index < total_shards.
-bool ShouldRunTestOnShard(int total_shards, int shard_index, int test_id) {
- return (test_id % total_shards) == shard_index;
-}
-
-// Compares the name of each test with the user-specified filter to
-// decide whether the test should be run, then records the result in
-// each TestCase and TestInfo object.
-// If shard_tests == true, further filters tests based on sharding
-// variables in the environment - see
-// http://code.google.com/p/googletest/wiki/GoogleTestAdvancedGuide.
-// Returns the number of tests that should run.
-int UnitTestImpl::FilterTests(ReactionToSharding shard_tests) {
- const Int32 total_shards = shard_tests == HONOR_SHARDING_PROTOCOL ?
- Int32FromEnvOrDie(kTestTotalShards, -1) : -1;
- const Int32 shard_index = shard_tests == HONOR_SHARDING_PROTOCOL ?
- Int32FromEnvOrDie(kTestShardIndex, -1) : -1;
-
- // num_runnable_tests are the number of tests that will
- // run across all shards (i.e., match filter and are not disabled).
- // num_selected_tests are the number of tests to be run on
- // this shard.
- int num_runnable_tests = 0;
- int num_selected_tests = 0;
- for (size_t i = 0; i < test_cases_.size(); i++) {
- TestCase* const test_case = test_cases_[i];
- const String &test_case_name = test_case->name();
- test_case->set_should_run(false);
-
- for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
- TestInfo* const test_info = test_case->test_info_list()[j];
- const String test_name(test_info->name());
- // A test is disabled if test case name or test name matches
- // kDisableTestFilter.
- const bool is_disabled =
- internal::UnitTestOptions::MatchesFilter(test_case_name,
- kDisableTestFilter) ||
- internal::UnitTestOptions::MatchesFilter(test_name,
- kDisableTestFilter);
- test_info->is_disabled_ = is_disabled;
-
- const bool matches_filter =
- internal::UnitTestOptions::FilterMatchesTest(test_case_name,
- test_name);
- test_info->matches_filter_ = matches_filter;
-
- const bool is_runnable =
- (GTEST_FLAG(also_run_disabled_tests) || !is_disabled) &&
- matches_filter;
-
- const bool is_selected = is_runnable &&
- (shard_tests == IGNORE_SHARDING_PROTOCOL ||
- ShouldRunTestOnShard(total_shards, shard_index,
- num_runnable_tests));
-
- num_runnable_tests += is_runnable;
- num_selected_tests += is_selected;
-
- test_info->should_run_ = is_selected;
- test_case->set_should_run(test_case->should_run() || is_selected);
- }
- }
- return num_selected_tests;
-}
-
-// Prints the names of the tests matching the user-specified filter flag.
-void UnitTestImpl::ListTestsMatchingFilter() {
- for (size_t i = 0; i < test_cases_.size(); i++) {
- const TestCase* const test_case = test_cases_[i];
- bool printed_test_case_name = false;
-
- for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
- const TestInfo* const test_info =
- test_case->test_info_list()[j];
- if (test_info->matches_filter_) {
- if (!printed_test_case_name) {
- printed_test_case_name = true;
- printf("%s.\n", test_case->name());
- }
- printf(" %s\n", test_info->name());
- }
- }
- }
- fflush(stdout);
-}
-
-// Sets the OS stack trace getter.
-//
-// Does nothing if the input and the current OS stack trace getter are
-// the same; otherwise, deletes the old getter and makes the input the
-// current getter.
-void UnitTestImpl::set_os_stack_trace_getter(
- OsStackTraceGetterInterface* getter) {
- if (os_stack_trace_getter_ != getter) {
- delete os_stack_trace_getter_;
- os_stack_trace_getter_ = getter;
- }
-}
-
-// Returns the current OS stack trace getter if it is not NULL;
-// otherwise, creates an OsStackTraceGetter, makes it the current
-// getter, and returns it.
-OsStackTraceGetterInterface* UnitTestImpl::os_stack_trace_getter() {
- if (os_stack_trace_getter_ == NULL) {
- os_stack_trace_getter_ = new OsStackTraceGetter;
- }
-
- return os_stack_trace_getter_;
-}
-
-// Returns the TestResult for the test that's currently running, or
-// the TestResult for the ad hoc test if no test is running.
-TestResult* UnitTestImpl::current_test_result() {
- return current_test_info_ ?
- &(current_test_info_->result_) : &ad_hoc_test_result_;
-}
-
-// Shuffles all test cases, and the tests within each test case,
-// making sure that death tests are still run first.
-void UnitTestImpl::ShuffleTests() {
- // Shuffles the death test cases.
- ShuffleRange(random(), 0, last_death_test_case_ + 1, &test_case_indices_);
-
- // Shuffles the non-death test cases.
- ShuffleRange(random(), last_death_test_case_ + 1,
- static_cast<int>(test_cases_.size()), &test_case_indices_);
-
- // Shuffles the tests inside each test case.
- for (size_t i = 0; i < test_cases_.size(); i++) {
- test_cases_[i]->ShuffleTests(random());
- }
-}
-
-// Restores the test cases and tests to their order before the first shuffle.
-void UnitTestImpl::UnshuffleTests() {
- for (size_t i = 0; i < test_cases_.size(); i++) {
- // Unshuffles the tests in each test case.
- test_cases_[i]->UnshuffleTests();
- // Resets the index of each test case.
- test_case_indices_[i] = static_cast<int>(i);
- }
-}
-
-// Returns the current OS stack trace as a String.
-//
-// The maximum number of stack frames to be included is specified by
-// the gtest_stack_trace_depth flag. The skip_count parameter
-// specifies the number of top frames to be skipped, which doesn't
-// count against the number of frames to be included.
-//
-// For example, if Foo() calls Bar(), which in turn calls
-// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
-// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
-String GetCurrentOsStackTraceExceptTop(UnitTest* /*unit_test*/,
- int skip_count) {
- // We pass skip_count + 1 to skip this wrapper function in addition
- // to what the user really wants to skip.
- return GetUnitTestImpl()->CurrentOsStackTraceExceptTop(skip_count + 1);
-}
-
-// Used by the GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_ macro to
-// suppress unreachable code warnings.
-namespace {
-class ClassUniqueToAlwaysTrue {};
-}
-
-bool IsTrue(bool condition) { return condition; }
-
-bool AlwaysTrue() {
-#if GTEST_HAS_EXCEPTIONS
- // This condition is always false so AlwaysTrue() never actually throws,
- // but it makes the compiler think that it may throw.
- if (IsTrue(false))
- throw ClassUniqueToAlwaysTrue();
-#endif // GTEST_HAS_EXCEPTIONS
- return true;
-}
-
-// If *pstr starts with the given prefix, modifies *pstr to be right
-// past the prefix and returns true; otherwise leaves *pstr unchanged
-// and returns false. None of pstr, *pstr, and prefix can be NULL.
-bool SkipPrefix(const char* prefix, const char** pstr) {
- const size_t prefix_len = strlen(prefix);
- if (strncmp(*pstr, prefix, prefix_len) == 0) {
- *pstr += prefix_len;
- return true;
- }
- return false;
-}
-
-// Parses a string as a command line flag. The string should have
-// the format "--flag=value". When def_optional is true, the "=value"
-// part can be omitted.
-//
-// Returns the value of the flag, or NULL if the parsing failed.
-const char* ParseFlagValue(const char* str,
- const char* flag,
- bool def_optional) {
- // str and flag must not be NULL.
- if (str == NULL || flag == NULL) return NULL;
-
- // The flag must start with "--" followed by GTEST_FLAG_PREFIX_.
- const String flag_str = String::Format("--%s%s", GTEST_FLAG_PREFIX_, flag);
- const size_t flag_len = flag_str.length();
- if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
-
- // Skips the flag name.
- const char* flag_end = str + flag_len;
-
- // When def_optional is true, it's OK to not have a "=value" part.
- if (def_optional && (flag_end[0] == '\0')) {
- return flag_end;
- }
-
- // If def_optional is true and there are more characters after the
- // flag name, or if def_optional is false, there must be a '=' after
- // the flag name.
- if (flag_end[0] != '=') return NULL;
-
- // Returns the string after "=".
- return flag_end + 1;
-}
-
-// Parses a string for a bool flag, in the form of either
-// "--flag=value" or "--flag".
-//
-// In the former case, the value is taken as true as long as it does
-// not start with '0', 'f', or 'F'.
-//
-// In the latter case, the value is taken as true.
-//
-// On success, stores the value of the flag in *value, and returns
-// true. On failure, returns false without changing *value.
-bool ParseBoolFlag(const char* str, const char* flag, bool* value) {
- // Gets the value of the flag as a string.
- const char* const value_str = ParseFlagValue(str, flag, true);
-
- // Aborts if the parsing failed.
- if (value_str == NULL) return false;
-
- // Converts the string value to a bool.
- *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
- return true;
-}
-
-// Parses a string for an Int32 flag, in the form of
-// "--flag=value".
-//
-// On success, stores the value of the flag in *value, and returns
-// true. On failure, returns false without changing *value.
-bool ParseInt32Flag(const char* str, const char* flag, Int32* value) {
- // Gets the value of the flag as a string.
- const char* const value_str = ParseFlagValue(str, flag, false);
-
- // Aborts if the parsing failed.
- if (value_str == NULL) return false;
-
- // Sets *value to the value of the flag.
- return ParseInt32(Message() << "The value of flag --" << flag,
- value_str, value);
-}
-
-// Parses a string for a string flag, in the form of
-// "--flag=value".
-//
-// On success, stores the value of the flag in *value, and returns
-// true. On failure, returns false without changing *value.
-bool ParseStringFlag(const char* str, const char* flag, String* value) {
- // Gets the value of the flag as a string.
- const char* const value_str = ParseFlagValue(str, flag, false);
-
- // Aborts if the parsing failed.
- if (value_str == NULL) return false;
-
- // Sets *value to the value of the flag.
- *value = value_str;
- return true;
-}
-
-// Determines whether a string has a prefix that Google Test uses for its
-// flags, i.e., starts with GTEST_FLAG_PREFIX_ or GTEST_FLAG_PREFIX_DASH_.
-// If Google Test detects that a command line flag has its prefix but is not
-// recognized, it will print its help message. Flags starting with
-// GTEST_INTERNAL_PREFIX_ followed by "internal_" are considered Google Test
-// internal flags and do not trigger the help message.
-static bool HasGoogleTestFlagPrefix(const char* str) {
- return (SkipPrefix("--", &str) ||
- SkipPrefix("-", &str) ||
- SkipPrefix("/", &str)) &&
- !SkipPrefix(GTEST_FLAG_PREFIX_ "internal_", &str) &&
- (SkipPrefix(GTEST_FLAG_PREFIX_, &str) ||
- SkipPrefix(GTEST_FLAG_PREFIX_DASH_, &str));
-}
-
-// Prints a string containing code-encoded text. The following escape
-// sequences can be used in the string to control the text color:
-//
-// @@ prints a single '@' character.
-// @R changes the color to red.
-// @G changes the color to green.
-// @Y changes the color to yellow.
-// @D changes to the default terminal text color.
-//
-// TODO(wan@google.com): Write tests for this once we add stdout
-// capturing to Google Test.
-static void PrintColorEncoded(const char* str) {
- GTestColor color = COLOR_DEFAULT; // The current color.
-
- // Conceptually, we split the string into segments divided by escape
- // sequences. Then we print one segment at a time. At the end of
- // each iteration, the str pointer advances to the beginning of the
- // next segment.
- for (;;) {
- const char* p = strchr(str, '@');
- if (p == NULL) {
- ColoredPrintf(color, "%s", str);
- return;
- }
-
- ColoredPrintf(color, "%s", String(str, p - str).c_str());
-
- const char ch = p[1];
- str = p + 2;
- if (ch == '@') {
- ColoredPrintf(color, "@");
- } else if (ch == 'D') {
- color = COLOR_DEFAULT;
- } else if (ch == 'R') {
- color = COLOR_RED;
- } else if (ch == 'G') {
- color = COLOR_GREEN;
- } else if (ch == 'Y') {
- color = COLOR_YELLOW;
- } else {
- --str;
- }
- }
-}
-
-static const char kColorEncodedHelpMessage[] =
-"This program contains tests written using " GTEST_NAME_ ". You can use the\n"
-"following command line flags to control its behavior:\n"
-"\n"
-"Test Selection:\n"
-" @G--" GTEST_FLAG_PREFIX_ "list_tests@D\n"
-" List the names of all tests instead of running them. The name of\n"
-" TEST(Foo, Bar) is \"Foo.Bar\".\n"
-" @G--" GTEST_FLAG_PREFIX_ "filter=@YPOSTIVE_PATTERNS"
- "[@G-@YNEGATIVE_PATTERNS]@D\n"
-" Run only the tests whose name matches one of the positive patterns but\n"
-" none of the negative patterns. '?' matches any single character; '*'\n"
-" matches any substring; ':' separates two patterns.\n"
-" @G--" GTEST_FLAG_PREFIX_ "also_run_disabled_tests@D\n"
-" Run all disabled tests too.\n"
-"\n"
-"Test Execution:\n"
-" @G--" GTEST_FLAG_PREFIX_ "repeat=@Y[COUNT]@D\n"
-" Run the tests repeatedly; use a negative count to repeat forever.\n"
-" @G--" GTEST_FLAG_PREFIX_ "shuffle@D\n"
-" Randomize tests' orders on every iteration.\n"
-" @G--" GTEST_FLAG_PREFIX_ "random_seed=@Y[NUMBER]@D\n"
-" Random number seed to use for shuffling test orders (between 1 and\n"
-" 99999, or 0 to use a seed based on the current time).\n"
-"\n"
-"Test Output:\n"
-" @G--" GTEST_FLAG_PREFIX_ "color=@Y(@Gyes@Y|@Gno@Y|@Gauto@Y)@D\n"
-" Enable/disable colored output. The default is @Gauto@D.\n"
-" -@G-" GTEST_FLAG_PREFIX_ "print_time=0@D\n"
-" Don't print the elapsed time of each test.\n"
-" @G--" GTEST_FLAG_PREFIX_ "output=xml@Y[@G:@YDIRECTORY_PATH@G"
- GTEST_PATH_SEP_ "@Y|@G:@YFILE_PATH]@D\n"
-" Generate an XML report in the given directory or with the given file\n"
-" name. @YFILE_PATH@D defaults to @Gtest_details.xml@D.\n"
-#if GTEST_CAN_STREAM_RESULTS_
-" @G--" GTEST_FLAG_PREFIX_ "stream_result_to=@YHOST@G:@YPORT@D\n"
-" Stream test results to the given server.\n"
-#endif // GTEST_CAN_STREAM_RESULTS_
-"\n"
-"Assertion Behavior:\n"
-#if GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
-" @G--" GTEST_FLAG_PREFIX_ "death_test_style=@Y(@Gfast@Y|@Gthreadsafe@Y)@D\n"
-" Set the default death test style.\n"
-#endif // GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
-" @G--" GTEST_FLAG_PREFIX_ "break_on_failure@D\n"
-" Turn assertion failures into debugger break-points.\n"
-" @G--" GTEST_FLAG_PREFIX_ "throw_on_failure@D\n"
-" Turn assertion failures into C++ exceptions.\n"
-" @G--" GTEST_FLAG_PREFIX_ "catch_exceptions=0@D\n"
-" Do not report exceptions as test failures. Instead, allow them\n"
-" to crash the program or throw a pop-up (on Windows).\n"
-"\n"
-"Except for @G--" GTEST_FLAG_PREFIX_ "list_tests@D, you can alternatively set "
- "the corresponding\n"
-"environment variable of a flag (all letters in upper-case). For example, to\n"
-"disable colored text output, you can either specify @G--" GTEST_FLAG_PREFIX_
- "color=no@D or set\n"
-"the @G" GTEST_FLAG_PREFIX_UPPER_ "COLOR@D environment variable to @Gno@D.\n"
-"\n"
-"For more information, please read the " GTEST_NAME_ " documentation at\n"
-"@G" GTEST_PROJECT_URL_ "@D. If you find a bug in " GTEST_NAME_ "\n"
-"(not one in your own code or tests), please report it to\n"
-"@G<" GTEST_DEV_EMAIL_ ">@D.\n";
-
-// Parses the command line for Google Test flags, without initializing
-// other parts of Google Test. The type parameter CharType can be
-// instantiated to either char or wchar_t.
-template <typename CharType>
-void ParseGoogleTestFlagsOnlyImpl(int* argc, CharType** argv) {
- for (int i = 1; i < *argc; i++) {
- const String arg_string = StreamableToString(argv[i]);
- const char* const arg = arg_string.c_str();
-
- using internal::ParseBoolFlag;
- using internal::ParseInt32Flag;
- using internal::ParseStringFlag;
-
- // Do we see a Google Test flag?
- if (ParseBoolFlag(arg, kAlsoRunDisabledTestsFlag,
- >EST_FLAG(also_run_disabled_tests)) ||
- ParseBoolFlag(arg, kBreakOnFailureFlag,
- >EST_FLAG(break_on_failure)) ||
- ParseBoolFlag(arg, kCatchExceptionsFlag,
- >EST_FLAG(catch_exceptions)) ||
- ParseStringFlag(arg, kColorFlag, >EST_FLAG(color)) ||
- ParseStringFlag(arg, kDeathTestStyleFlag,
- >EST_FLAG(death_test_style)) ||
- ParseBoolFlag(arg, kDeathTestUseFork,
- >EST_FLAG(death_test_use_fork)) ||
- ParseStringFlag(arg, kFilterFlag, >EST_FLAG(filter)) ||
- ParseStringFlag(arg, kInternalRunDeathTestFlag,
- >EST_FLAG(internal_run_death_test)) ||
- ParseBoolFlag(arg, kListTestsFlag, >EST_FLAG(list_tests)) ||
- ParseStringFlag(arg, kOutputFlag, >EST_FLAG(output)) ||
- ParseBoolFlag(arg, kPrintTimeFlag, >EST_FLAG(print_time)) ||
- ParseInt32Flag(arg, kRandomSeedFlag, >EST_FLAG(random_seed)) ||
- ParseInt32Flag(arg, kRepeatFlag, >EST_FLAG(repeat)) ||
- ParseBoolFlag(arg, kShuffleFlag, >EST_FLAG(shuffle)) ||
- ParseInt32Flag(arg, kStackTraceDepthFlag,
- >EST_FLAG(stack_trace_depth)) ||
- ParseStringFlag(arg, kStreamResultToFlag,
- >EST_FLAG(stream_result_to)) ||
- ParseBoolFlag(arg, kThrowOnFailureFlag,
- >EST_FLAG(throw_on_failure))
- ) {
- // Yes. Shift the remainder of the argv list left by one. Note
- // that argv has (*argc + 1) elements, the last one always being
- // NULL. The following loop moves the trailing NULL element as
- // well.
- for (int j = i; j != *argc; j++) {
- argv[j] = argv[j + 1];
- }
-
- // Decrements the argument count.
- (*argc)--;
-
- // We also need to decrement the iterator as we just removed
- // an element.
- i--;
- } else if (arg_string == "--help" || arg_string == "-h" ||
- arg_string == "-?" || arg_string == "/?" ||
- HasGoogleTestFlagPrefix(arg)) {
- // Both help flag and unrecognized Google Test flags (excluding
- // internal ones) trigger help display.
- g_help_flag = true;
- }
- }
-
- if (g_help_flag) {
- // We print the help here instead of in RUN_ALL_TESTS(), as the
- // latter may not be called at all if the user is using Google
- // Test with another testing framework.
- PrintColorEncoded(kColorEncodedHelpMessage);
- }
-}
-
-// Parses the command line for Google Test flags, without initializing
-// other parts of Google Test.
-void ParseGoogleTestFlagsOnly(int* argc, char** argv) {
- ParseGoogleTestFlagsOnlyImpl(argc, argv);
-}
-void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv) {
- ParseGoogleTestFlagsOnlyImpl(argc, argv);
-}
-
-// The internal implementation of InitGoogleTest().
-//
-// The type parameter CharType can be instantiated to either char or
-// wchar_t.
-template <typename CharType>
-void InitGoogleTestImpl(int* argc, CharType** argv) {
- g_init_gtest_count++;
-
- // We don't want to run the initialization code twice.
- if (g_init_gtest_count != 1) return;
-
- if (*argc <= 0) return;
-
- internal::g_executable_path = internal::StreamableToString(argv[0]);
-
-#if GTEST_HAS_DEATH_TEST
-
- g_argvs.clear();
- for (int i = 0; i != *argc; i++) {
- g_argvs.push_back(StreamableToString(argv[i]));
- }
-
-#endif // GTEST_HAS_DEATH_TEST
-
- ParseGoogleTestFlagsOnly(argc, argv);
- GetUnitTestImpl()->PostFlagParsingInit();
-}
-
-} // namespace internal
-
-// Initializes Google Test. This must be called before calling
-// RUN_ALL_TESTS(). In particular, it parses a command line for the
-// flags that Google Test recognizes. Whenever a Google Test flag is
-// seen, it is removed from argv, and *argc is decremented.
-//
-// No value is returned. Instead, the Google Test flag variables are
-// updated.
-//
-// Calling the function for the second time has no user-visible effect.
-void InitGoogleTest(int* argc, char** argv) {
- internal::InitGoogleTestImpl(argc, argv);
-}
-
-// This overloaded version can be used in Windows programs compiled in
-// UNICODE mode.
-void InitGoogleTest(int* argc, wchar_t** argv) {
- internal::InitGoogleTestImpl(argc, argv);
-}
-
-} // namespace testing
+++ /dev/null
-// Copyright 2006, Google 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 Google 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.
-
-#include <iostream>
-
-#include "gtest/gtest.h"
-
-GTEST_API_ int main(int argc, char **argv) {
- std::cout << "Running main() from gtest_main.cc\n";
-
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
PCL_ADD_TEST (io_grabbers test_grabbers
FILES test_grabbers.cpp
LINK_WITH pcl_gtest pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/grabber_sequences)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/grabber_sequences")
# Uses VTK readers to verify
if (VTK_FOUND AND NOT ANDROID)
PCL_ADD_TEST (io_ply_mesh_io test_ply_mesh_io
FILES test_ply_mesh_io.cpp
LINK_WITH pcl_gtest pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/tum_rabbit.vtk)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/tum_rabbit.vtk")
endif ()
PCL_ADD_TEST(point_cloud_image_extractors test_point_cloud_image_extractors
{
EXPECT_EQ (pcds_[i]->width, tiff_clouds[i]->width);
EXPECT_EQ (pcds_[i]->height, tiff_clouds[i]->height);
- for (int x = 0; x < pcds_[i]->width; x++)
+ for (uint32_t x = 0; x < pcds_[i]->width; x++)
{
- for (int y = 0; y < pcds_[i]->height; y++)
+ for (uint32_t y = 0; y < pcds_[i]->height; y++)
{
const PointT &pcd_pt = pcds_[i]->operator()(x,y);
const PointT &tiff_pt = tiff_clouds[i]->operator()(x,y);
{
EXPECT_EQ (pcds_[i]->width, pclzf_clouds[i]->width);
EXPECT_EQ (pcds_[i]->height, pclzf_clouds[i]->height);
- for (int x = 0; x < pcds_[i]->width; x++)
+ for (uint32_t x = 0; x < pcds_[i]->width; x++)
{
- for (int y = 0; y < pcds_[i]->height; y++)
+ for (uint32_t y = 0; y < pcds_[i]->height; y++)
{
const PointT &pcd_pt = pcds_[i]->operator()(x,y);
const PointT &pclzf_pt = pclzf_clouds[i]->operator()(x,y);
pcl::io::savePLYFile ("test_mesh_ascii.ply", mesh);
// Save binary
pcl::io::savePLYFileBinary ("test_mesh_binary.ply", mesh);
- // Load both
- pcl::PolygonMesh mesh_ascii;
- pcl::io::loadPolygonFilePLY ("test_mesh_ascii.ply", mesh_ascii);
- pcl::PolygonMesh mesh_binary;
- pcl::io::loadPolygonFilePLY ("test_mesh_binary.ply", mesh_binary);
+ // Load both with vtk ply parser
+ pcl::PolygonMesh mesh_ascii_vtk;
+ pcl::io::loadPolygonFilePLY ("test_mesh_ascii.ply", mesh_ascii_vtk);
+ pcl::PolygonMesh mesh_binary_vtk;
+ pcl::io::loadPolygonFilePLY ("test_mesh_binary.ply", mesh_binary_vtk);
+ // Load both with pcl ply parser
+ pcl::PolygonMesh mesh_ascii_pcl;
+ pcl::io::loadPLYFile ("test_mesh_ascii.ply", mesh_ascii_pcl);
+ pcl::PolygonMesh mesh_binary_pcl;
+ pcl::io::loadPLYFile ("test_mesh_binary.ply", mesh_binary_pcl);
// Compare the 3
- pcl::PointCloud<pcl::PointXYZ> verts, verts_ascii, verts_binary;
+ pcl::PointCloud<pcl::PointXYZ> verts, verts_ascii_vtk, verts_binary_vtk, verts_ascii_pcl, verts_binary_pcl;
pcl::fromPCLPointCloud2 (mesh.cloud, verts);
- pcl::fromPCLPointCloud2 (mesh_ascii.cloud, verts_ascii);
- pcl::fromPCLPointCloud2 (mesh_binary.cloud, verts_binary);
- EXPECT_EQ (verts_ascii.size (), verts.size ());
- EXPECT_EQ (verts_binary.size (), verts.size ());
+ pcl::fromPCLPointCloud2 (mesh_ascii_vtk.cloud, verts_ascii_vtk);
+ pcl::fromPCLPointCloud2 (mesh_binary_vtk.cloud, verts_binary_vtk);
+ pcl::fromPCLPointCloud2 (mesh_ascii_pcl.cloud, verts_ascii_pcl);
+ pcl::fromPCLPointCloud2 (mesh_binary_pcl.cloud, verts_binary_pcl);
+ EXPECT_EQ (verts_ascii_vtk.size (), verts.size ());
+ EXPECT_EQ (verts_binary_vtk.size (), verts.size ());
+ EXPECT_EQ (verts_ascii_pcl.size (), verts.size ());
+ EXPECT_EQ (verts_binary_pcl.size (), verts.size ());
for (size_t i = 0; i < verts.size (); i++)
{
- EXPECT_NEAR (verts_ascii.at (i).x, verts.at (i).x, 1E-2);
- EXPECT_NEAR (verts_ascii.at (i).y, verts.at (i).y, 1E-2);
- EXPECT_NEAR (verts_ascii.at (i).z, verts.at (i).z, 1E-2);
- EXPECT_NEAR (verts_binary.at (i).x, verts.at (i).x, 1E-4);
- EXPECT_NEAR (verts_binary.at (i).y, verts.at (i).y, 1E-4);
- EXPECT_NEAR (verts_binary.at (i).z, verts.at (i).z, 1E-4);
+ EXPECT_NEAR (verts_ascii_vtk.at (i).x, verts.at (i).x, 1E-2);
+ EXPECT_NEAR (verts_ascii_vtk.at (i).y, verts.at (i).y, 1E-2);
+ EXPECT_NEAR (verts_ascii_vtk.at (i).z, verts.at (i).z, 1E-2);
+ EXPECT_NEAR (verts_binary_vtk.at (i).x, verts.at (i).x, 1E-4);
+ EXPECT_NEAR (verts_binary_vtk.at (i).y, verts.at (i).y, 1E-4);
+ EXPECT_NEAR (verts_binary_vtk.at (i).z, verts.at (i).z, 1E-4);
+ EXPECT_NEAR (verts_ascii_pcl.at (i).x, verts.at (i).x, 1E-2);
+ EXPECT_NEAR (verts_ascii_pcl.at (i).y, verts.at (i).y, 1E-2);
+ EXPECT_NEAR (verts_ascii_pcl.at (i).z, verts.at (i).z, 1E-2);
+ EXPECT_NEAR (verts_binary_pcl.at (i).x, verts.at (i).x, 1E-4);
+ EXPECT_NEAR (verts_binary_pcl.at (i).y, verts.at (i).y, 1E-4);
+ EXPECT_NEAR (verts_binary_pcl.at (i).z, verts.at (i).z, 1E-4);
}
- ASSERT_EQ (mesh_ascii.polygons.size (), mesh.polygons.size ());
- ASSERT_EQ (mesh_binary.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_ascii_vtk.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_binary_vtk.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_ascii_pcl.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_binary_pcl.polygons.size (), mesh.polygons.size ());
for (size_t i = 0; i < mesh.polygons.size (); i++)
{
- ASSERT_EQ (mesh_ascii.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
- ASSERT_EQ (mesh_binary.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_ascii_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_binary_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_ascii_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_binary_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
for (size_t j = 0; j < mesh.polygons[i].vertices.size (); j++)
{
- EXPECT_EQ (mesh_ascii.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
- EXPECT_EQ (mesh_binary.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_ascii_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_binary_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_ascii_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
}
}
}
// Save binary
pcl::io::savePLYFileBinary ("test_mesh_rgb_binary.ply", mesh_rgb);
pcl::io::savePLYFileBinary ("test_mesh_rgba_binary.ply", mesh_rgba);
- // Load both
- pcl::PolygonMesh mesh_rgb_ascii;
- pcl::PolygonMesh mesh_rgba_ascii;
- pcl::io::loadPolygonFilePLY ("test_mesh_rgb_ascii.ply", mesh_rgb_ascii);
- pcl::io::loadPolygonFilePLY ("test_mesh_rgba_ascii.ply", mesh_rgba_ascii);
- pcl::PolygonMesh mesh_rgb_binary;
- pcl::PolygonMesh mesh_rgba_binary;
- pcl::io::loadPolygonFilePLY ("test_mesh_rgb_binary.ply", mesh_rgb_binary);
- pcl::io::loadPolygonFilePLY ("test_mesh_rgba_binary.ply", mesh_rgba_binary);
+ // Load both with vtk ply parser
+ pcl::PolygonMesh mesh_rgb_ascii_vtk;
+ pcl::PolygonMesh mesh_rgba_ascii_vtk;
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgb_ascii.ply", mesh_rgb_ascii_vtk);
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgba_ascii.ply", mesh_rgba_ascii_vtk);
+ pcl::PolygonMesh mesh_rgb_binary_vtk;
+ pcl::PolygonMesh mesh_rgba_binary_vtk;
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgb_binary.ply", mesh_rgb_binary_vtk);
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgba_binary.ply", mesh_rgba_binary_vtk);
+ // Load both with pcl ply parser
+ pcl::PolygonMesh mesh_rgb_ascii_pcl;
+ pcl::PolygonMesh mesh_rgba_ascii_pcl;
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgb_ascii.ply", mesh_rgb_ascii_pcl);
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgba_ascii.ply", mesh_rgba_ascii_pcl);
+ pcl::PolygonMesh mesh_rgb_binary_pcl;
+ pcl::PolygonMesh mesh_rgba_binary_pcl;
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgb_binary.ply", mesh_rgb_binary_pcl);
+ pcl::io::loadPolygonFilePLY ("test_mesh_rgba_binary.ply", mesh_rgba_binary_pcl);
// Compare the 5
- pcl::PointCloud<pcl::PointXYZRGBA> verts_rgba_ascii, verts_rgba_binary;
- pcl::PointCloud<pcl::PointXYZRGB> verts_rgb_ascii, verts_rgb_binary;
- pcl::fromPCLPointCloud2 (mesh_rgb_ascii.cloud, verts_rgb_ascii);
- pcl::fromPCLPointCloud2 (mesh_rgba_ascii.cloud, verts_rgba_ascii);
- pcl::fromPCLPointCloud2 (mesh_rgb_binary.cloud, verts_rgb_binary);
- pcl::fromPCLPointCloud2 (mesh_rgba_binary.cloud, verts_rgba_binary);
- ASSERT_EQ (verts_rgb_ascii.size (), vertices_rgba.size ());
- ASSERT_EQ (verts_rgba_ascii.size (), vertices_rgba.size ());
- ASSERT_EQ (verts_rgb_binary.size (), vertices_rgba.size ());
- ASSERT_EQ (verts_rgba_binary.size (), vertices_rgba.size ());
+ pcl::PointCloud<pcl::PointXYZRGBA> verts_rgba_ascii_vtk, verts_rgba_binary_vtk;
+ pcl::PointCloud<pcl::PointXYZRGB> verts_rgb_ascii_vtk, verts_rgb_binary_vtk;
+ pcl::fromPCLPointCloud2 (mesh_rgb_ascii_vtk.cloud, verts_rgb_ascii_vtk);
+ pcl::fromPCLPointCloud2 (mesh_rgba_ascii_vtk.cloud, verts_rgba_ascii_vtk);
+ pcl::fromPCLPointCloud2 (mesh_rgb_binary_vtk.cloud, verts_rgb_binary_vtk);
+ pcl::fromPCLPointCloud2 (mesh_rgba_binary_vtk.cloud, verts_rgba_binary_vtk);
+ pcl::PointCloud<pcl::PointXYZRGBA> verts_rgba_ascii_pcl, verts_rgba_binary_pcl;
+ pcl::PointCloud<pcl::PointXYZRGB> verts_rgb_ascii_pcl, verts_rgb_binary_pcl;
+ pcl::fromPCLPointCloud2 (mesh_rgb_ascii_pcl.cloud, verts_rgb_ascii_pcl);
+ pcl::fromPCLPointCloud2 (mesh_rgba_ascii_pcl.cloud, verts_rgba_ascii_pcl);
+ pcl::fromPCLPointCloud2 (mesh_rgb_binary_pcl.cloud, verts_rgb_binary_pcl);
+ pcl::fromPCLPointCloud2 (mesh_rgba_binary_pcl.cloud, verts_rgba_binary_pcl);
+ ASSERT_EQ (verts_rgb_ascii_vtk.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgba_ascii_vtk.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgb_binary_vtk.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgba_binary_vtk.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgb_ascii_pcl.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgba_ascii_pcl.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgb_binary_pcl.size (), vertices_rgba.size ());
+ ASSERT_EQ (verts_rgba_binary_pcl.size (), vertices_rgba.size ());
for (size_t i = 0; i < vertices_rgba.size (); i++)
{
- EXPECT_NEAR (verts_rgba_ascii.at (i).x, vertices_rgba.at (i).x, 1E-2);
- EXPECT_NEAR (verts_rgba_ascii.at (i).y, vertices_rgba.at (i).y, 1E-2);
- EXPECT_NEAR (verts_rgba_ascii.at (i).z, vertices_rgba.at (i).z, 1E-2);
- EXPECT_EQ (verts_rgba_ascii.at (i).r, vertices_rgba.at (i).r);
- EXPECT_EQ (verts_rgba_ascii.at (i).g, vertices_rgba.at (i).g);
- EXPECT_EQ (verts_rgba_ascii.at (i).b, vertices_rgba.at (i).b);
- EXPECT_NEAR (verts_rgba_binary.at (i).x, vertices_rgba.at (i).x, 1E-4);
- EXPECT_NEAR (verts_rgba_binary.at (i).y, vertices_rgba.at (i).y, 1E-4);
- EXPECT_NEAR (verts_rgba_binary.at (i).z, vertices_rgba.at (i).z, 1E-4);
- EXPECT_EQ (verts_rgba_binary.at (i).r, vertices_rgba.at (i).r);
- EXPECT_EQ (verts_rgba_binary.at (i).g, vertices_rgba.at (i).g);
- EXPECT_EQ (verts_rgba_binary.at (i).b, vertices_rgba.at (i).b);
- EXPECT_NEAR (verts_rgb_ascii.at (i).x, vertices_rgba.at (i).x, 1E-2);
- EXPECT_NEAR (verts_rgb_ascii.at (i).y, vertices_rgba.at (i).y, 1E-2);
- EXPECT_NEAR (verts_rgb_ascii.at (i).z, vertices_rgba.at (i).z, 1E-2);
- EXPECT_EQ (verts_rgb_ascii.at (i).r, vertices_rgba.at (i).r);
- EXPECT_EQ (verts_rgb_ascii.at (i).g, vertices_rgba.at (i).g);
- EXPECT_EQ (verts_rgb_ascii.at (i).b, vertices_rgba.at (i).b);
- EXPECT_NEAR (verts_rgb_binary.at (i).x, vertices_rgba.at (i).x, 1E-4);
- EXPECT_NEAR (verts_rgb_binary.at (i).y, vertices_rgba.at (i).y, 1E-4);
- EXPECT_NEAR (verts_rgb_binary.at (i).z, vertices_rgba.at (i).z, 1E-4);
- EXPECT_EQ (verts_rgb_binary.at (i).r, vertices_rgba.at (i).r);
- EXPECT_EQ (verts_rgb_binary.at (i).g, vertices_rgba.at (i).g);
- EXPECT_EQ (verts_rgb_binary.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgba_ascii_vtk.at (i).x, vertices_rgba.at (i).x, 1E-2);
+ EXPECT_NEAR (verts_rgba_ascii_vtk.at (i).y, vertices_rgba.at (i).y, 1E-2);
+ EXPECT_NEAR (verts_rgba_ascii_vtk.at (i).z, vertices_rgba.at (i).z, 1E-2);
+ EXPECT_EQ (verts_rgba_ascii_vtk.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgba_ascii_vtk.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgba_ascii_vtk.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgba_binary_vtk.at (i).x, vertices_rgba.at (i).x, 1E-4);
+ EXPECT_NEAR (verts_rgba_binary_vtk.at (i).y, vertices_rgba.at (i).y, 1E-4);
+ EXPECT_NEAR (verts_rgba_binary_vtk.at (i).z, vertices_rgba.at (i).z, 1E-4);
+ EXPECT_EQ (verts_rgba_binary_vtk.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgba_binary_vtk.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgba_binary_vtk.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgb_ascii_vtk.at (i).x, vertices_rgba.at (i).x, 1E-2);
+ EXPECT_NEAR (verts_rgb_ascii_vtk.at (i).y, vertices_rgba.at (i).y, 1E-2);
+ EXPECT_NEAR (verts_rgb_ascii_vtk.at (i).z, vertices_rgba.at (i).z, 1E-2);
+ EXPECT_EQ (verts_rgb_ascii_vtk.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgb_ascii_vtk.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgb_ascii_vtk.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgb_binary_vtk.at (i).x, vertices_rgba.at (i).x, 1E-4);
+ EXPECT_NEAR (verts_rgb_binary_vtk.at (i).y, vertices_rgba.at (i).y, 1E-4);
+ EXPECT_NEAR (verts_rgb_binary_vtk.at (i).z, vertices_rgba.at (i).z, 1E-4);
+ EXPECT_EQ (verts_rgb_binary_vtk.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgb_binary_vtk.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgb_binary_vtk.at (i).b, vertices_rgba.at (i).b);
+
+ EXPECT_NEAR (verts_rgba_ascii_pcl.at (i).x, vertices_rgba.at (i).x, 1E-2);
+ EXPECT_NEAR (verts_rgba_ascii_pcl.at (i).y, vertices_rgba.at (i).y, 1E-2);
+ EXPECT_NEAR (verts_rgba_ascii_pcl.at (i).z, vertices_rgba.at (i).z, 1E-2);
+ EXPECT_EQ (verts_rgba_ascii_pcl.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgba_ascii_pcl.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgba_ascii_pcl.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgba_binary_pcl.at (i).x, vertices_rgba.at (i).x, 1E-4);
+ EXPECT_NEAR (verts_rgba_binary_pcl.at (i).y, vertices_rgba.at (i).y, 1E-4);
+ EXPECT_NEAR (verts_rgba_binary_pcl.at (i).z, vertices_rgba.at (i).z, 1E-4);
+ EXPECT_EQ (verts_rgba_binary_pcl.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgba_binary_pcl.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgba_binary_pcl.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgb_ascii_pcl.at (i).x, vertices_rgba.at (i).x, 1E-2);
+ EXPECT_NEAR (verts_rgb_ascii_pcl.at (i).y, vertices_rgba.at (i).y, 1E-2);
+ EXPECT_NEAR (verts_rgb_ascii_pcl.at (i).z, vertices_rgba.at (i).z, 1E-2);
+ EXPECT_EQ (verts_rgb_ascii_pcl.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgb_ascii_pcl.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgb_ascii_pcl.at (i).b, vertices_rgba.at (i).b);
+ EXPECT_NEAR (verts_rgb_binary_pcl.at (i).x, vertices_rgba.at (i).x, 1E-4);
+ EXPECT_NEAR (verts_rgb_binary_pcl.at (i).y, vertices_rgba.at (i).y, 1E-4);
+ EXPECT_NEAR (verts_rgb_binary_pcl.at (i).z, vertices_rgba.at (i).z, 1E-4);
+ EXPECT_EQ (verts_rgb_binary_pcl.at (i).r, vertices_rgba.at (i).r);
+ EXPECT_EQ (verts_rgb_binary_pcl.at (i).g, vertices_rgba.at (i).g);
+ EXPECT_EQ (verts_rgb_binary_pcl.at (i).b, vertices_rgba.at (i).b);
+ }
+ ASSERT_EQ (mesh_rgb_ascii_vtk.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_rgba_ascii_vtk.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_rgb_binary_vtk.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_rgba_binary_vtk.polygons.size (), mesh.polygons.size ());
+ for (size_t i = 0; i < mesh.polygons.size (); i++)
+ {
+ ASSERT_EQ (mesh_rgb_ascii_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgba_ascii_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgb_binary_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgba_binary_vtk.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ for (size_t j = 0; j < mesh.polygons[i].vertices.size (); j++)
+ {
+ EXPECT_EQ (mesh_rgb_ascii_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgba_ascii_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgb_binary_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgba_binary_vtk.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ }
}
- ASSERT_EQ (mesh_rgb_ascii.polygons.size (), mesh.polygons.size ());
- ASSERT_EQ (mesh_rgba_ascii.polygons.size (), mesh.polygons.size ());
- ASSERT_EQ (mesh_rgb_binary.polygons.size (), mesh.polygons.size ());
- ASSERT_EQ (mesh_rgba_binary.polygons.size (), mesh.polygons.size ());
+
+ ASSERT_EQ (mesh_rgb_ascii_pcl.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_rgba_ascii_pcl.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_rgb_binary_pcl.polygons.size (), mesh.polygons.size ());
+ ASSERT_EQ (mesh_rgba_binary_pcl.polygons.size (), mesh.polygons.size ());
for (size_t i = 0; i < mesh.polygons.size (); i++)
{
- ASSERT_EQ (mesh_rgb_ascii.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
- ASSERT_EQ (mesh_rgba_ascii.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
- ASSERT_EQ (mesh_rgb_binary.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
- ASSERT_EQ (mesh_rgba_binary.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgb_ascii_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgba_ascii_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgb_binary_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
+ ASSERT_EQ (mesh_rgba_binary_pcl.polygons[i].vertices.size (), mesh.polygons[i].vertices.size ());
for (size_t j = 0; j < mesh.polygons[i].vertices.size (); j++)
{
- EXPECT_EQ (mesh_rgb_ascii.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
- EXPECT_EQ (mesh_rgba_ascii.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
- EXPECT_EQ (mesh_rgb_binary.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
- EXPECT_EQ (mesh_rgba_binary.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgb_ascii_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgba_ascii_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgb_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
+ EXPECT_EQ (mesh_rgba_binary_pcl.polygons[i].vertices[j], mesh.polygons[i].vertices[j]);
}
}
}
EXPECT_EQ (b1, image.data[3 * 3 + 2]);
}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, PointCloudImageExtractorFromLabelFieldGlasbey)
+{
+ typedef PointXYZL PointT;
+ PointCloud<PointT> cloud;
+ cloud.width = 2;
+ cloud.height = 2;
+ cloud.is_dense = true;
+ cloud.points.resize (cloud.width * cloud.height);
+ for (size_t i = 0; i < cloud.points.size (); i++)
+ cloud.points[i].label = i % 2;
+
+ pcl::PCLImage image;
+ PointCloudImageExtractorFromLabelField<PointT> pcie;
+ pcie.setColorMode (pcie.COLORS_RGB_GLASBEY);
+
+ ASSERT_TRUE (pcie.extract(cloud, image));
+
+ EXPECT_EQ ("rgb8", image.encoding);
+ EXPECT_EQ (cloud.width, image.width);
+ EXPECT_EQ (cloud.height, image.height);
+
+ // Fill in different labels and extract another image
+ for (size_t i = 0; i < cloud.points.size (); i++)
+ cloud.points[i].label = i % 2 + 10;
+ pcl::PCLImage image2;
+ ASSERT_TRUE (pcie.extract(cloud, image2));
+
+ // The first color should be pure blue
+ EXPECT_EQ (0, image.data[0]);
+ EXPECT_EQ (0, image.data[1]);
+ EXPECT_EQ (255, image.data[2]);
+ // Make sure the colors are the same
+ for (size_t i = 0; i < 2 * 2 * 3; ++i)
+ EXPECT_EQ (image2.data[i], image.data[i]);
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, PointCloudImageExtractorFromZField)
{
}
}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, PointCloudImageExtractorBlackNaNs)
+{
+ typedef PointNormal PointT;
+ PointCloud<PointT> cloud;
+ cloud.width = 2;
+ cloud.height = 2;
+ cloud.is_dense = false;
+ cloud.points.resize (cloud.width * cloud.height);
+
+ cloud.points[0].curvature = 1.0;
+ cloud.points[1].curvature = 2.0;
+ cloud.points[2].curvature = 1.0;
+ cloud.points[3].curvature = 2.0;
+ cloud.points[3].z = std::numeric_limits<float>::quiet_NaN ();
+
+ pcl::PCLImage image;
+
+ PointCloudImageExtractorFromCurvatureField<PointT> pcie;
+
+ ASSERT_TRUE (pcie.extract(cloud, image));
+
+ {
+ unsigned short* data = reinterpret_cast<unsigned short*> (&image.data[0]);
+ EXPECT_EQ (std::numeric_limits<unsigned short>::max(), data[3]);
+ }
+
+ pcie.setPaintNaNsWithBlack (true);
+
+ ASSERT_TRUE (pcie.extract(cloud, image));
+
+ {
+ unsigned short* data = reinterpret_cast<unsigned short*> (&image.data[0]);
+ EXPECT_EQ (0, data[3]);
+ }
+}
+
int
main (int argc, char** argv)
{
PCL_ADD_TEST (kdtree_kdtree test_kdtree
FILES test_kdtree.cpp
LINK_WITH pcl_gtest pcl_kdtree pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/sac_plane_test.pcd ${PCL_SOURCE_DIR}/test/kdtree/kdtree_unit_test_results.xml)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/sac_plane_test.pcd" "${PCL_SOURCE_DIR}/test/kdtree/kdtree_unit_test_results.xml")
PCL_ADD_TEST(keypoints_general test_keypoints
FILES test_keypoints.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_filters pcl_keypoints
- ARGUMENTS ${PCL_SOURCE_DIR}/test/cturtle.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/cturtle.pcd")
PCL_ADD_TEST(keypoints_iss_3d test_iss_3d
FILES test_iss_3d.cpp
LINK_WITH pcl_gtest pcl_keypoints pcl_io
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
--- /dev/null
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z
+SIZE 4 4 4
+TYPE F F F
+COUNT 1 1 1
+WIDTH 1771
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 1771
+DATA ascii
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PCL_ADD_TEST (outofcore_test test_outofcore
FILES test_outofcore.cpp
LINK_WITH pcl_gtest pcl_common pcl_io pcl_filters pcl_outofcore
- #ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd
+ #ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd"
)
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
-using namespace pcl;
-
#include <pcl/outofcore/outofcore.h>
#include <pcl/outofcore/outofcore_impl.h>
const Eigen::Vector3d max (1024, 1024, 1024);
//create a point cloud
-
PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
test_cloud->width = numPts;
test_cloud->height = 1;
const Eigen::Vector3d min (-1,-1,-1);
const Eigen::Vector3d max (1,1,1);
-
PointCloud<PointT>::Ptr cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
cloud->width = 8;
cloud->height =1;
cloud->reserve (8);
const Eigen::Vector3d max (1024,1024,1024);
//create a point cloud
-
PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
-
PointCloud<PointT>::Ptr second_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr second_cloud (new pcl::PointCloud<PointT> ());
test_cloud->width = numPts;
test_cloud->height = 1;
const Eigen::Vector3d max (1024,1024,1024);
//create a point cloud
-
PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
-
PointCloud<PointT>::Ptr second_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr second_cloud (new pcl::PointCloud<PointT> ());
test_cloud->width = numPts;
test_cloud->height = 1;
const boost::uint64_t depth = 2;
//create a point cloud
-
PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
test_cloud->width = numPts;
test_cloud->height = 1;
pcl::PCLPointCloud2::Ptr input_cloud (new pcl::PCLPointCloud2 ());
- toPCLPointCloud2<PointXYZ> (point_cloud, *input_cloud);
+ pcl::toPCLPointCloud2<pcl::PointXYZ> (point_cloud, *input_cloud);
ASSERT_EQ (point_cloud.width*point_cloud.height, input_cloud->width*input_cloud->height);
octree_disk octreeA (min, max, smallest_voxel_dim, filename_otreeA, "ECEF");
const Eigen::Vector3d max (100.1, 100.1, 100.1);
//create a point cloud
-
PointCloud<PointT>::Ptr first_cloud (new PointCloud<PointT> ());
-
PointCloud<PointT>::Ptr second_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr first_cloud (new pcl::PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr second_cloud (new pcl::PointCloud<PointT> ());
first_cloud->width = numPts;
first_cloud->height = 1;
pcl::PCLPointCloud2::Ptr first_cloud_ptr (new pcl::PCLPointCloud2 ());
pcl::PCLPointCloud2::Ptr second_cloud_ptr (new pcl::PCLPointCloud2 ());
- toPCLPointCloud2<PointT> (*first_cloud, *first_cloud_ptr);
- toPCLPointCloud2<PointT> (*second_cloud, *second_cloud_ptr);
+
pcl::toPCLPointCloud2<PointT> (*first_cloud, *first_cloud_ptr);
+
pcl::toPCLPointCloud2<PointT> (*second_cloud, *second_cloud_ptr);
//Create an outofcore tree which just concatenates the two clouds into a single PCD in the root node. Check that the number of points is correct.
octree_disk shallow_outofcore (0/*depth*/, min, max, filename_otreeB, "ECEF");
const boost::uint64_t depth = 2;
//create a point cloud
-
PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
test_cloud->width = numPts;
test_cloud->height = 1;
const boost::uint64_t depth = 2;
//create a point cloud
-
PointCloud<PointT>::Ptr test_cloud (new PointCloud<PointT> ());
+
pcl::PointCloud<PointT>::Ptr test_cloud (new pcl::PointCloud<PointT> ());
test_cloud->width = numPts;
test_cloud->height = 1;
uint64_t total_octreeB_LOD_query = 0;
- for (int i=0; i <= octreeB.getDepth (); i++)
+ for (boost::uint64_t i=0; i <= octreeB.getDepth (); i++)
{
octreeB.queryBBIncludes (min, max, i, query_result_b);
total_octreeB_LOD_query += query_result_b->width*query_result_b->height;
PCL_ADD_TEST(a_registration_test test_registration
FILES test_registration.cpp
LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features pcl_search pcl_kdtree pcl_kdtree
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd ${PCL_SOURCE_DIR}/test/bun4.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/bun4.pcd" "${PCL_SOURCE_DIR}/test/milk_color.pcd")
PCL_ADD_TEST(registration_api test_registration_api
FILES test_registration_api.cpp test_registration_api_data.h
LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features pcl_kdtree
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd ${PCL_SOURCE_DIR}/test/bun4.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd" "${PCL_SOURCE_DIR}/test/bun4.pcd")
PCL_ADD_TEST(registration_warp_api test_warps
FILES test_warps.cpp
PCL_ADD_TEST(correspondence_rejectors test_correspondence_rejectors
FILES test_correspondence_rejectors.cpp
LINK_WITH pcl_gtest pcl_io pcl_registration pcl_features
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bunny.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bunny.pcd")
#include <pcl/features/fpfh.h>
#include <pcl/registration/registration.h>
#include <pcl/registration/icp.h>
+#include <pcl/registration/joint_icp.h>
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/gicp.h>
+#include <pcl/registration/gicp6d.h>
#include <pcl/registration/transformation_estimation_point_to_plane.h>
#include <pcl/registration/transformation_validation_euclidean.h>
+#include <pcl/registration/correspondence_rejection_median_distance.h>
+#include <pcl/registration/correspondence_rejection_sample_consensus.h>
+#include <pcl/registration/correspondence_rejection_surface_normal.h>
+#include <pcl/registration/correspondence_estimation_normal_shooting.h>
#include <pcl/registration/ia_ransac.h>
#include <pcl/registration/pyramid_feature_matching.h>
#include <pcl/features/ppf.h>
using namespace std;
PointCloud<PointXYZ> cloud_source, cloud_target, cloud_reg;
+PointCloud<PointXYZRGBA> cloud_with_color;
template <typename PointSource, typename PointTarget>
class RegistrationWrapper : public Registration<PointSource, PointTarget>
// EXPECT_EQ (transformation (3, 3), 1);
}
+////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+sampleRandomTransform (Eigen::Affine3f &trans, float max_angle, float max_trans)
+{
+ // Sample random transform
+ Eigen::Vector3f axis((float)rand() / RAND_MAX, (float)rand() / RAND_MAX, (float)rand() / RAND_MAX);
+ axis.normalize();
+ float angle = (float)rand() / RAND_MAX * max_angle;
+ Eigen::Vector3f translation((float)rand() / RAND_MAX, (float)rand() / RAND_MAX, (float)rand() / RAND_MAX);
+ translation *= max_trans;
+ Eigen::Affine3f rotation(Eigen::AngleAxis<float>(angle, axis));
+ trans = Eigen::Translation3f(translation) * rotation;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, IterativeClosestPointWithRejectors)
+{
+ IterativeClosestPoint<PointXYZ, PointXYZ> reg;
+ reg.setMaximumIterations (50);
+ reg.setTransformationEpsilon (1e-8);
+ reg.setMaxCorrespondenceDistance (0.15);
+ // Add a median distance rejector
+ pcl::registration::CorrespondenceRejectorMedianDistance::Ptr rej_med (new pcl::registration::CorrespondenceRejectorMedianDistance);
+ rej_med->setMedianFactor (4.0);
+ reg.addCorrespondenceRejector (rej_med);
+ // Also add a SaC rejector
+ pcl::registration::CorrespondenceRejectorSampleConsensus<PointXYZ>::Ptr rej_samp (new pcl::registration::CorrespondenceRejectorSampleConsensus<PointXYZ>);
+ reg.addCorrespondenceRejector (rej_samp);
+
+ size_t ntransforms = 10;
+ for (size_t t = 0; t < ntransforms; t++)
+ {
+ // Sample a fixed offset between cloud pairs
+ Eigen::Affine3f delta_transform;
+ sampleRandomTransform (delta_transform, 0., 0.05);
+ // Sample random global transform for each pair, to make sure we aren't biased around the origin
+ Eigen::Affine3f net_transform;
+ sampleRandomTransform (net_transform, 2*M_PI, 10.);
+
+ PointCloud<PointXYZ>::ConstPtr source (cloud_source.makeShared ());
+ PointCloud<PointXYZ>::Ptr source_trans (new PointCloud<PointXYZ>);
+ PointCloud<PointXYZ>::Ptr target_trans (new PointCloud<PointXYZ>);
+
+ pcl::transformPointCloud (*source, *source_trans, delta_transform.inverse () * net_transform);
+ pcl::transformPointCloud (*source, *target_trans, net_transform);
+
+ reg.setInputSource (source_trans);
+ reg.setInputTarget (target_trans);
+
+ // Register
+ reg.align (cloud_reg);
+ Eigen::Matrix4f trans_final = reg.getFinalTransformation ();
+ // Translation should be within 1cm
+ for (int y = 0; y < 4; y++)
+ EXPECT_NEAR (trans_final (y, 3), delta_transform (y, 3), 1E-2);
+ // Rotation within .1
+ for (int y = 0; y < 4; y++)
+ for (int x = 0; x < 3; x++)
+ EXPECT_NEAR (trans_final (y, x), delta_transform (y, x), 1E-1);
+
+ }
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, JointIterativeClosestPoint)
+{
+ // Set up
+ JointIterativeClosestPoint<PointXYZ, PointXYZ> reg;
+ reg.setMaximumIterations (50);
+ reg.setTransformationEpsilon (1e-8);
+ reg.setMaxCorrespondenceDistance (0.25); // Making sure the correspondence distance > the max translation
+ // Add a median distance rejector
+ pcl::registration::CorrespondenceRejectorMedianDistance::Ptr rej_med (new pcl::registration::CorrespondenceRejectorMedianDistance);
+ rej_med->setMedianFactor (4.0);
+ reg.addCorrespondenceRejector (rej_med);
+ // Also add a SaC rejector
+ pcl::registration::CorrespondenceRejectorSampleConsensus<PointXYZ>::Ptr rej_samp (new pcl::registration::CorrespondenceRejectorSampleConsensus<PointXYZ>);
+ reg.addCorrespondenceRejector (rej_samp);
+
+ size_t ntransforms = 10;
+ for (size_t t = 0; t < ntransforms; t++)
+ {
+
+ // Sample a fixed offset between cloud pairs
+ Eigen::Affine3f delta_transform;
+ // No rotation, since at a random offset this could make it converge to a wrong (but still reasonable) result
+ sampleRandomTransform (delta_transform, 0., 0.10);
+ // Make a few transformed versions of the data, plus noise
+ size_t nclouds = 5;
+ for (size_t i = 0; i < nclouds; i++)
+ {
+ PointCloud<PointXYZ>::ConstPtr source (cloud_source.makeShared ());
+ // Sample random global transform for each pair
+ Eigen::Affine3f net_transform;
+ sampleRandomTransform (net_transform, 2*M_PI, 10.);
+ // And apply it to the source and target
+ PointCloud<PointXYZ>::Ptr source_trans (new PointCloud<PointXYZ>);
+ PointCloud<PointXYZ>::Ptr target_trans (new PointCloud<PointXYZ>);
+ pcl::transformPointCloud (*source, *source_trans, delta_transform.inverse () * net_transform);
+ pcl::transformPointCloud (*source, *target_trans, net_transform);
+ // Add these to the joint solver
+ reg.addInputSource (source_trans);
+ reg.addInputTarget (target_trans);
+
+ }
+
+ // Register
+ reg.align (cloud_reg);
+ Eigen::Matrix4f trans_final = reg.getFinalTransformation ();
+ for (int y = 0; y < 4; y++)
+ for (int x = 0; x < 4; x++)
+ EXPECT_NEAR (trans_final (y, x), delta_transform (y, x), 1E-2);
+
+ EXPECT_TRUE (cloud_reg.empty ()); // By definition, returns an empty cloud
+ // Clear
+ reg.clearInputSources ();
+ reg.clearInputTargets ();
+ }
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, IterativeClosestPointNonLinear)
{
reg.setInputTarget (tgt);
reg.setMaximumIterations (50);
reg.setTransformationEpsilon (1e-8);
+ // Use a correspondence estimator which needs normals
+ registration::CorrespondenceEstimationNormalShooting<PointT, PointT, PointT>::Ptr ce (new registration::CorrespondenceEstimationNormalShooting<PointT, PointT, PointT>);
+ reg.setCorrespondenceEstimation (ce);
+ // Add rejector
+ registration::CorrespondenceRejectorSurfaceNormal::Ptr rej (new registration::CorrespondenceRejectorSurfaceNormal);
+ rej->setThreshold (0); //Could be a lot of rotation -- just make sure they're at least within 0 degrees
+ reg.addCorrespondenceRejector (rej);
// Register
reg.align (output);
EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
- EXPECT_LT (reg.getFitnessScore (), 0.001);
+ EXPECT_LT (reg.getFitnessScore (), 0.005);
// Check again, for all possible caching schemes
for (int iter = 0; iter < 4; iter++)
// Register
reg.align (output);
EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
- EXPECT_LT (reg.getFitnessScore (), 0.001);
+ EXPECT_LT (reg.getFitnessScore (), 0.005);
}
EXPECT_EQ (int (output.points.size ()), int (cloud_source.points.size ()));
EXPECT_LT (reg.getFitnessScore (), 0.001);
}
-
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (PCL, GeneralizedIterativeClosestPoint6D)
+{
+ typedef PointXYZRGBA PointT;
+ Eigen::Affine3f delta_transform;
+ PointCloud<PointT>::Ptr src_full (new PointCloud<PointT>);
+ copyPointCloud (cloud_with_color, *src_full);
+ PointCloud<PointT>::Ptr tgt_full (new PointCloud<PointT>);
+ sampleRandomTransform (delta_transform, M_PI/0.1, .03);
+ pcl::transformPointCloud (cloud_with_color, *tgt_full, delta_transform);
+ PointCloud<PointT> output;
+
+ // VoxelGrid filter
+ PointCloud<PointT>::Ptr src (new PointCloud<PointT>);
+ PointCloud<PointT>::Ptr tgt (new PointCloud<PointT>);
+ pcl::VoxelGrid<PointT> sor;
+ sor.setLeafSize (0.02f, 0.02f, 0.02f);
+ sor.setInputCloud (src_full);
+ sor.filter (*src);
+ sor.setInputCloud (tgt_full);
+ sor.filter (*tgt);
+
+ GeneralizedIterativeClosestPoint6D reg;
+ reg.setInputSource (src);
+ reg.setInputTarget (tgt);
+ reg.setMaximumIterations (50);
+ reg.setTransformationEpsilon (1e-8);
+
+ // Register
+ reg.align (output);
+ EXPECT_EQ (int (output.points.size ()), int (src->points.size ()));
+ EXPECT_LT (reg.getFitnessScore (), 0.003);
+
+ // Check again, for all possible caching schemes
+ for (int iter = 0; iter < 4; iter++)
+ {
+ bool force_cache = (bool) iter/2;
+ bool force_cache_reciprocal = (bool) iter%2;
+ pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
+ // Ensure that, when force_cache is not set, we are robust to the wrong input
+ if (force_cache)
+ tree->setInputCloud (tgt);
+ reg.setSearchMethodTarget (tree, force_cache);
+
+ pcl::search::KdTree<PointT>::Ptr tree_recip (new pcl::search::KdTree<PointT>);
+ if (force_cache_reciprocal)
+ tree_recip->setInputCloud (src);
+ reg.setSearchMethodSource (tree_recip, force_cache_reciprocal);
+
+ // Register
+ reg.align (output);
+ EXPECT_EQ (int (output.points.size ()), int (src->points.size ()));
+ EXPECT_LT (reg.getFitnessScore (), 0.003);
+ }
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int
main (int argc, char** argv)
{
- if (argc < 3)
+ if (argc < 4)
{
- std::cerr << "No test files given. Please download `bun0.pcd` and `bun4.pcd` and pass their path to the test." << std::endl;
+ std::cerr << "No test files given. Please download `bun0.pcd`, `bun4.pcd` and `milk_color.pcd` pass their path to the test." << std::endl;
return (-1);
}
std::cerr << "Failed to read test file. Please download `bun4.pcd` and pass its path to the test." << std::endl;
return (-1);
}
+ if (loadPCDFile (argv[3], cloud_with_color) < 0)
+ {
+ std::cerr << "Failed to read test file. Please download `milk_color.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
// Check if the estimation with correspondences gives the same results
Eigen::Matrix4f T_SVD_2;
pcl::Correspondences corr; corr.reserve (source->size ());
- for (int i=0; i<source->size (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f));
+ for (size_t i=0; i<source->size (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f));
trans_est_svd.estimateRigidTransformation(*source, *target, corr, T_SVD_2);
const Eigen::Quaternionf R_SVD_2 (T_SVD_2.topLeftCorner <3, 3> ());
// Check if the estimation with correspondences gives the same results
Eigen::Matrix4f T_DQ_2;
pcl::Correspondences corr; corr.reserve (source->size ());
- for (int i=0; i<source->size (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f));
+ for (size_t i=0; i<source->size (); ++i) corr.push_back (pcl::Correspondence (i, i, 0.f));
trans_est_dual_quaternion.estimateRigidTransformation(*source, *target, corr, T_DQ_2);
const Eigen::Quaternionf R_DQ_2 (T_DQ_2.topLeftCorner <3, 3> ());
Eigen::Matrix4f T_LM_2_float;
pcl::Correspondences corr;
corr.reserve (source->size ());
- for (int i = 0; i < source->size (); ++i)
+ for (size_t i = 0; i < source->size (); ++i)
corr.push_back (pcl::Correspondence (i, i, 0.f));
trans_est_lm_float.estimateRigidTransformation (*source, *target, corr, T_LM_2_float);
Eigen::Matrix4d T_LM_2_double;
corr.clear ();
corr.reserve (source->size ());
- for (int i = 0; i < source->size (); ++i)
+ for (size_t i = 0; i < source->size (); ++i)
corr.push_back (pcl::Correspondence (i, i, 0.f));
trans_est_lm_double.estimateRigidTransformation (*source, *target, corr, T_LM_2_double);
--- /dev/null
+# .PCD v0.7 - Point Cloud Data file format
+VERSION 0.7
+FIELDS x y z
+SIZE 4 4 4
+TYPE F F F
+COUNT 1 1 1
+WIDTH 32087
+HEIGHT 1
+VIEWPOINT 0 0 0 1 0 0 0
+POINTS 32087
+DATA ascii
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--- /dev/null
+PCL_ADD_TEST(sample_consensus test_sample_consensus
+ FILES test_sample_consensus.cpp
+ LINK_WITH pcl_gtest pcl_sample_consensus)
+
+PCL_ADD_TEST(sample_consensus_plane_models test_sample_consensus_plane_models
+ FILES test_sample_consensus_plane_models.cpp
+ LINK_WITH pcl_gtest pcl_io pcl_sample_consensus
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/sac_plane_test.pcd")
+
+PCL_ADD_TEST(sample_consensus_quadric_models test_sample_consensus_quadric_models
+ FILES test_sample_consensus_quadric_models.cpp
+ LINK_WITH pcl_gtest pcl_sample_consensus)
+
+PCL_ADD_TEST(sample_consensus_line_model test_sample_consensus_line_model
+ FILES test_sample_consensus_line_model.cpp
+ LINK_WITH pcl_gtest pcl_sample_consensus)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <boost/thread.hpp>
+
+#include <pcl/sample_consensus/msac.h>
+#include <pcl/sample_consensus/lmeds.h>
+#include <pcl/sample_consensus/rmsac.h>
+#include <pcl/sample_consensus/mlesac.h>
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/rransac.h>
+#include <pcl/sample_consensus/sac_model_sphere.h>
+
+using namespace pcl;
+
+typedef SampleConsensusModelSphere<PointXYZ>::Ptr SampleConsensusModelSpherePtr;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensus, Base)
+{
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>);
+
+ // Create a shared sphere model pointer directly
+ SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Basic tests
+ ASSERT_EQ (0.03, sac.getDistanceThreshold ());
+ sac.setDistanceThreshold (0.03);
+ ASSERT_EQ (0.03, sac.getDistanceThreshold ());
+
+ sac.setProbability (0.99);
+ ASSERT_EQ (0.99, sac.getProbability ());
+
+ sac.setMaxIterations (10000);
+ ASSERT_EQ (10000, sac.getMaxIterations ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Test if RANSAC finishes within a second.
+TEST (SampleConsensus, InfiniteLoop)
+{
+ const unsigned point_count = 100;
+ PointCloud<PointXYZ> cloud;
+ cloud.points.resize (point_count);
+ for (unsigned idx = 0; idx < point_count; ++idx)
+ {
+ cloud.points[idx].x = static_cast<float> (idx);
+ cloud.points[idx].y = 0.0;
+ cloud.points[idx].z = 0.0;
+ }
+
+ boost::posix_time::time_duration delay (0, 0, 1, 0);
+ boost::function<bool ()> sac_function;
+ SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> ransac (model, 0.03);
+ sac_function = boost::bind (&RandomSampleConsensus<PointXYZ>::computeModel, &ransac, 0);
+ boost::thread thread1 (sac_function);
+ ASSERT_TRUE (thread1.timed_join (delay));
+
+ // Create the LMSAC object
+ LeastMedianSquares<PointXYZ> lmsac (model, 0.03);
+ sac_function = boost::bind (&LeastMedianSquares<PointXYZ>::computeModel, &lmsac, 0);
+ boost::thread thread2 (sac_function);
+ ASSERT_TRUE (thread2.timed_join (delay));
+
+ // Create the MSAC object
+ MEstimatorSampleConsensus<PointXYZ> mesac (model, 0.03);
+ sac_function = boost::bind (&MEstimatorSampleConsensus<PointXYZ>::computeModel, &mesac, 0);
+ boost::thread thread3 (sac_function);
+ ASSERT_TRUE (thread3.timed_join (delay));
+
+ // Create the RRSAC object
+ RandomizedRandomSampleConsensus<PointXYZ> rrsac (model, 0.03);
+ sac_function = boost::bind (&RandomizedRandomSampleConsensus<PointXYZ>::computeModel, &rrsac, 0);
+ boost::thread thread4 (sac_function);
+ ASSERT_TRUE (thread4.timed_join (delay));
+
+ // Create the RMSAC object
+ RandomizedMEstimatorSampleConsensus<PointXYZ> rmsac (model, 0.03);
+ sac_function = boost::bind (&RandomizedMEstimatorSampleConsensus<PointXYZ>::computeModel, &rmsac, 0);
+ boost::thread thread5 (sac_function);
+ ASSERT_TRUE (thread5.timed_join (delay));
+
+ // Create the MLESAC object
+ MaximumLikelihoodSampleConsensus<PointXYZ> mlesac (model, 0.03);
+ sac_function = boost::bind (&MaximumLikelihoodSampleConsensus<PointXYZ>::computeModel, &mlesac, 0);
+ boost::thread thread6 (sac_function);
+ ASSERT_TRUE (thread6.timed_join (delay));
+}
+
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <pcl/pcl_tests.h>
+
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/sac_model_line.h>
+
+using namespace pcl;
+
+typedef SampleConsensusModelLine<PointXYZ>::Ptr SampleConsensusModelLinePtr;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelLine, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ cloud.points.resize (10);
+
+ cloud.points[0].getVector3fMap () << 1.0f, 2.00f, 3.00f;
+ cloud.points[1].getVector3fMap () << 4.0f, 5.00f, 6.00f;
+ cloud.points[2].getVector3fMap () << 7.0f, 8.00f, 9.00f;
+ cloud.points[3].getVector3fMap () << 10.0f, 11.00f, 12.00f;
+ cloud.points[4].getVector3fMap () << 13.0f, 14.00f, 15.00f;
+ cloud.points[5].getVector3fMap () << 16.0f, 17.00f, 18.00f;
+ cloud.points[6].getVector3fMap () << 19.0f, 20.00f, 21.00f;
+ cloud.points[7].getVector3fMap () << 22.0f, 23.00f, 24.00f;
+ cloud.points[8].getVector3fMap () << -5.0f, 1.57f, 0.75f;
+ cloud.points[9].getVector3fMap () << 4.0f, 2.00f, 3.00f;
+
+ // Create a shared line model pointer directly
+ SampleConsensusModelLinePtr model (new SampleConsensusModelLine<PointXYZ> (cloud.makeShared ()));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.001);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (2, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (8, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (6, coeff.size ());
+ EXPECT_NEAR (1, coeff[4] / coeff[3], 1e-4);
+ EXPECT_NEAR (1, coeff[5] / coeff[3], 1e-4);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (6, coeff_refined.size ());
+ EXPECT_NEAR (1, coeff[4] / coeff[3], 1e-4);
+ EXPECT_NEAR (1, coeff[5] / coeff[3], 1e-4);
+
+ // Projection tests
+ PointCloud<PointXYZ> proj_points;
+ model->projectPoints (inliers, coeff_refined, proj_points);
+
+ EXPECT_XYZ_NEAR (PointXYZ ( 7.0, 8.0, 9.0), proj_points.points[2], 1e-4);
+ EXPECT_XYZ_NEAR (PointXYZ (10.0, 11.0, 12.0), proj_points.points[3], 1e-4);
+ EXPECT_XYZ_NEAR (PointXYZ (16.0, 17.0, 18.0), proj_points.points[5], 1e-4);
+}
+
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <pcl/pcl_tests.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
+
+#include <pcl/sample_consensus/msac.h>
+#include <pcl/sample_consensus/lmeds.h>
+#include <pcl/sample_consensus/rmsac.h>
+#include <pcl/sample_consensus/mlesac.h>
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/rransac.h>
+#include <pcl/sample_consensus/sac_model_plane.h>
+#include <pcl/sample_consensus/sac_model_normal_plane.h>
+#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
+
+using namespace pcl;
+using namespace pcl::io;
+
+typedef SampleConsensusModelPlane<PointXYZ>::Ptr SampleConsensusModelPlanePtr;
+typedef SampleConsensusModelNormalPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalPlanePtr;
+typedef SampleConsensusModelNormalParallelPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalParallelPlanePtr;
+
+PointCloud<PointXYZ>::Ptr cloud_ (new PointCloud<PointXYZ> ());
+PointCloud<Normal>::Ptr normals_ (new PointCloud<Normal> ());
+std::vector<int> indices_;
+float plane_coeffs_[] = {-0.8964f, -0.5868f, -1.208f};
+
+template <typename ModelType, typename SacType>
+void verifyPlaneSac (ModelType& model,
+ SacType& sac,
+ unsigned int inlier_number = 2000,
+ float tol = 1e-1f,
+ float refined_tol = 1e-1f,
+ float proj_tol = 1e-3f)
+{
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (3, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_LT (inlier_number, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (4, coeff.size ());
+ EXPECT_NEAR (plane_coeffs_[0], coeff[0] / coeff[3], tol);
+ EXPECT_NEAR (plane_coeffs_[1], coeff[1] / coeff[3], tol);
+ EXPECT_NEAR (plane_coeffs_[2], coeff[2] / coeff[3], tol);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (4, coeff_refined.size ());
+ EXPECT_NEAR (plane_coeffs_[0], coeff_refined[0] / coeff_refined[3], refined_tol);
+ EXPECT_NEAR (plane_coeffs_[1], coeff_refined[1] / coeff_refined[3], refined_tol);
+
+ // This test fails in Windows (VS 2010) -- not sure why yet -- relaxing the constraint from 1e-2 to 1e-1
+ // This test fails in MacOS too -- not sure why yet -- disabling
+ //EXPECT_NEAR (coeff_refined[2] / coeff_refined[3], plane_coeffs_[2], refined_tol);
+
+ // Projection tests
+ PointCloud<PointXYZ> proj_points;
+ model->projectPoints (inliers, coeff_refined, proj_points);
+ EXPECT_XYZ_NEAR (PointXYZ (1.1266, 0.0152, -0.0156), proj_points.points[20], proj_tol);
+ EXPECT_XYZ_NEAR (PointXYZ (1.1843, -0.0635, -0.0201), proj_points.points[30], proj_tol);
+ EXPECT_XYZ_NEAR (PointXYZ (1.0749, -0.0586, 0.0587), proj_points.points[50], proj_tol);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, Base)
+{
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Basic tests
+ PointCloud<PointXYZ>::ConstPtr cloud = model->getInputCloud ();
+ ASSERT_EQ (cloud_->points.size (), cloud->points.size ());
+
+ model->setInputCloud (cloud);
+ cloud = model->getInputCloud ();
+ ASSERT_EQ (cloud_->points.size (), cloud->points.size ());
+
+ boost::shared_ptr<std::vector<int> > indices = model->getIndices ();
+ ASSERT_EQ (indices_.size (), indices->size ());
+ model->setIndices (indices_);
+ indices = model->getIndices ();
+ ASSERT_EQ (indices_.size (), indices->size ());
+ model->setIndices (indices);
+ indices = model->getIndices ();
+ ASSERT_EQ (indices_.size (), indices->size ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, RANSAC)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ verifyPlaneSac (model, sac);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, LMedS)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Create the LMedS object
+ LeastMedianSquares<PointXYZ> sac (model, 0.03);
+
+ verifyPlaneSac (model, sac);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, MSAC)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Create the MSAC object
+ MEstimatorSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ verifyPlaneSac (model, sac);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, RRANSAC)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Create the RRANSAC object
+ RandomizedRandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ sac.setFractionNrPretest (10.0);
+ ASSERT_EQ (10.0, sac.getFractionNrPretest ());
+
+ verifyPlaneSac (model, sac, 600, 1.0f, 1.0f, 0.01f);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, MLESAC)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Create the MSAC object
+ MaximumLikelihoodSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ verifyPlaneSac (model, sac, 1000, 0.3f, 0.2f, 0.01f);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelPlane, RMSAC)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
+
+ // Create the RMSAC object
+ RandomizedMEstimatorSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ sac.setFractionNrPretest (10.0);
+ ASSERT_EQ (10.0, sac.getFractionNrPretest ());
+
+ verifyPlaneSac (model, sac, 600, 1.0f, 1.0f, 0.01f);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelNormalPlane, RANSAC)
+{
+ srand (0);
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelNormalPlanePtr model (new SampleConsensusModelNormalPlane<PointXYZ, Normal> (cloud_));
+ model->setInputNormals (normals_);
+ model->setNormalDistanceWeight (0.01);
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ verifyPlaneSac (model, sac);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelNormalParallelPlane, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ PointCloud<Normal> normals;
+ cloud.points.resize (10);
+ normals.resize (10);
+
+ for (unsigned idx = 0; idx < cloud.size (); ++idx)
+ {
+ cloud.points[idx].x = static_cast<float> ((rand () % 200) - 100);
+ cloud.points[idx].y = static_cast<float> ((rand () % 200) - 100);
+ cloud.points[idx].z = 0.0f;
+
+ normals.points[idx].normal_x = 0.0f;
+ normals.points[idx].normal_y = 0.0f;
+ normals.points[idx].normal_z = 1.0f;
+ }
+
+ // Create a shared plane model pointer directly
+ SampleConsensusModelNormalParallelPlanePtr model (new SampleConsensusModelNormalParallelPlane<PointXYZ, Normal> (cloud.makeShared ()));
+ model->setInputNormals (normals.makeShared ());
+
+ const float max_angle_rad = 0.01f;
+ const float angle_eps = 0.001f;
+ model->setEpsAngle (max_angle_rad);
+
+ // Test true axis
+ {
+ model->setAxis (Eigen::Vector3f (0, 0, 1));
+
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+ sac.computeModel();
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ ASSERT_EQ (cloud.size (), inliers.size ());
+ }
+
+ // test axis slightly in valid range
+ {
+ model->setAxis (Eigen::Vector3f (0, sin (max_angle_rad * (1 - angle_eps)), cos (max_angle_rad * (1 - angle_eps))));
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+ sac.computeModel ();
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ ASSERT_EQ (cloud.size (), inliers.size ());
+ }
+
+ // test axis slightly out of valid range
+ {
+ model->setAxis (Eigen::Vector3f (0, sin (max_angle_rad * (1 + angle_eps)), cos (max_angle_rad * (1 + angle_eps))));
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+ sac.computeModel ();
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ ASSERT_EQ (0, inliers.size ());
+ }
+}
+
+
+int
+main (int argc, char** argv)
+{
+ if (argc < 2)
+ {
+ std::cerr << "No test file given. Please download `sac_plane_test.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ // Load a standard PCD file from disk
+ pcl::PCLPointCloud2 cloud_blob;
+ if (loadPCDFile (argv[1], cloud_blob) < 0)
+ {
+ std::cerr << "Failed to read test file. Please download `sac_plane_test.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ fromPCLPointCloud2 (cloud_blob, *cloud_);
+ fromPCLPointCloud2 (cloud_blob, *normals_);
+
+ indices_.resize (cloud_->points.size ());
+ for (size_t i = 0; i < indices_.size (); ++i) { indices_[i] = int (i); }
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2010-2012, Willow Garage, Inc.
+ * Copyright (c) 2014-, Open Perception, 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 the copyright holder(s) 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.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <pcl/sample_consensus/ransac.h>
+#include <pcl/sample_consensus/sac_model_sphere.h>
+#include <pcl/sample_consensus/sac_model_cone.h>
+#include <pcl/sample_consensus/sac_model_cylinder.h>
+#include <pcl/sample_consensus/sac_model_circle.h>
+#include <pcl/sample_consensus/sac_model_circle3d.h>
+#include <pcl/sample_consensus/sac_model_normal_sphere.h>
+
+using namespace pcl;
+
+typedef SampleConsensusModelSphere<PointXYZ>::Ptr SampleConsensusModelSpherePtr;
+typedef SampleConsensusModelCone<PointXYZ, Normal>::Ptr SampleConsensusModelConePtr;
+typedef SampleConsensusModelCircle2D<PointXYZ>::Ptr SampleConsensusModelCircle2DPtr;
+typedef SampleConsensusModelCircle3D<PointXYZ>::Ptr SampleConsensusModelCircle3DPtr;
+typedef SampleConsensusModelCylinder<PointXYZ, Normal>::Ptr SampleConsensusModelCylinderPtr;
+typedef SampleConsensusModelNormalSphere<PointXYZ, Normal>::Ptr SampleConsensusModelNormalSpherePtr;
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelSphere, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ cloud.points.resize (10);
+ cloud.points[0].getVector3fMap () << 1.7068f, 1.0684f, 2.2147f;
+ cloud.points[1].getVector3fMap () << 2.4708f, 2.3081f, 1.1736f;
+ cloud.points[2].getVector3fMap () << 2.7609f, 1.9095f, 1.3574f;
+ cloud.points[3].getVector3fMap () << 2.8016f, 1.6704f, 1.5009f;
+ cloud.points[4].getVector3fMap () << 1.8517f, 2.0276f, 1.0112f;
+ cloud.points[5].getVector3fMap () << 1.8726f, 1.3539f, 2.7523f;
+ cloud.points[6].getVector3fMap () << 2.5179f, 2.3218f, 1.2074f;
+ cloud.points[7].getVector3fMap () << 2.4026f, 2.5114f, 2.7588f;
+ cloud.points[8].getVector3fMap () << 2.6999f, 2.5606f, 1.5571f;
+ cloud.points[9].getVector3fMap () << 0.0000f, 0.0000f, 0.0000f;
+
+ // Create a shared sphere model pointer directly
+ SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (4, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (9, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (4, coeff.size ());
+ EXPECT_NEAR (2, coeff[0] / coeff[3], 1e-2);
+ EXPECT_NEAR (2, coeff[1] / coeff[3], 1e-2);
+ EXPECT_NEAR (2, coeff[2] / coeff[3], 1e-2);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (4, coeff_refined.size ());
+ EXPECT_NEAR (2, coeff_refined[0] / coeff_refined[3], 1e-2);
+ EXPECT_NEAR (2, coeff_refined[1] / coeff_refined[3], 1e-2);
+ EXPECT_NEAR (2, coeff_refined[2] / coeff_refined[3], 1e-2);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelNormalSphere, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ PointCloud<Normal> normals;
+ cloud.points.resize (27); normals.points.resize (27);
+ cloud.points[ 0].getVector3fMap () << -0.014695f, 0.009549f, 0.954775f;
+ cloud.points[ 1].getVector3fMap () << 0.014695f, 0.009549f, 0.954775f;
+ cloud.points[ 2].getVector3fMap () << -0.014695f, 0.040451f, 0.954775f;
+ cloud.points[ 3].getVector3fMap () << 0.014695f, 0.040451f, 0.954775f;
+ cloud.points[ 4].getVector3fMap () << -0.009082f, -0.015451f, 0.972049f;
+ cloud.points[ 5].getVector3fMap () << 0.009082f, -0.015451f, 0.972049f;
+ cloud.points[ 6].getVector3fMap () << -0.038471f, 0.009549f, 0.972049f;
+ cloud.points[ 7].getVector3fMap () << 0.038471f, 0.009549f, 0.972049f;
+ cloud.points[ 8].getVector3fMap () << -0.038471f, 0.040451f, 0.972049f;
+ cloud.points[ 9].getVector3fMap () << 0.038471f, 0.040451f, 0.972049f;
+ cloud.points[10].getVector3fMap () << -0.009082f, 0.065451f, 0.972049f;
+ cloud.points[11].getVector3fMap () << 0.009082f, 0.065451f, 0.972049f;
+ cloud.points[12].getVector3fMap () << -0.023776f, -0.015451f, 0.982725f;
+ cloud.points[13].getVector3fMap () << 0.023776f, -0.015451f, 0.982725f;
+ cloud.points[14].getVector3fMap () << -0.023776f, 0.065451f, 0.982725f;
+ cloud.points[15].getVector3fMap () << 0.023776f, 0.065451f, 0.982725f;
+ cloud.points[16].getVector3fMap () << -0.000000f, -0.025000f, 1.000000f;
+ cloud.points[17].getVector3fMap () << 0.000000f, -0.025000f, 1.000000f;
+ cloud.points[18].getVector3fMap () << -0.029389f, -0.015451f, 1.000000f;
+ cloud.points[19].getVector3fMap () << 0.029389f, -0.015451f, 1.000000f;
+ cloud.points[20].getVector3fMap () << -0.047553f, 0.009549f, 1.000000f;
+ cloud.points[21].getVector3fMap () << 0.047553f, 0.009549f, 1.000000f;
+ cloud.points[22].getVector3fMap () << -0.047553f, 0.040451f, 1.000000f;
+ cloud.points[23].getVector3fMap () << 0.047553f, 0.040451f, 1.000000f;
+ cloud.points[24].getVector3fMap () << -0.029389f, 0.065451f, 1.000000f;
+ cloud.points[25].getVector3fMap () << 0.029389f, 0.065451f, 1.000000f;
+ cloud.points[26].getVector3fMap () << 0.000000f, 0.075000f, 1.000000f;
+
+ normals.points[ 0].getNormalVector3fMap () << -0.293893f, -0.309017f, -0.904509f;
+ normals.points[ 1].getNormalVector3fMap () << 0.293893f, -0.309017f, -0.904508f;
+ normals.points[ 2].getNormalVector3fMap () << -0.293893f, 0.309017f, -0.904509f;
+ normals.points[ 3].getNormalVector3fMap () << 0.293893f, 0.309017f, -0.904508f;
+ normals.points[ 4].getNormalVector3fMap () << -0.181636f, -0.809017f, -0.559017f;
+ normals.points[ 5].getNormalVector3fMap () << 0.181636f, -0.809017f, -0.559017f;
+ normals.points[ 6].getNormalVector3fMap () << -0.769421f, -0.309017f, -0.559017f;
+ normals.points[ 7].getNormalVector3fMap () << 0.769421f, -0.309017f, -0.559017f;
+ normals.points[ 8].getNormalVector3fMap () << -0.769421f, 0.309017f, -0.559017f;
+ normals.points[ 9].getNormalVector3fMap () << 0.769421f, 0.309017f, -0.559017f;
+ normals.points[10].getNormalVector3fMap () << -0.181636f, 0.809017f, -0.559017f;
+ normals.points[11].getNormalVector3fMap () << 0.181636f, 0.809017f, -0.559017f;
+ normals.points[12].getNormalVector3fMap () << -0.475528f, -0.809017f, -0.345491f;
+ normals.points[13].getNormalVector3fMap () << 0.475528f, -0.809017f, -0.345491f;
+ normals.points[14].getNormalVector3fMap () << -0.475528f, 0.809017f, -0.345491f;
+ normals.points[15].getNormalVector3fMap () << 0.475528f, 0.809017f, -0.345491f;
+ normals.points[16].getNormalVector3fMap () << -0.000000f, -1.000000f, 0.000000f;
+ normals.points[17].getNormalVector3fMap () << 0.000000f, -1.000000f, 0.000000f;
+ normals.points[18].getNormalVector3fMap () << -0.587785f, -0.809017f, 0.000000f;
+ normals.points[19].getNormalVector3fMap () << 0.587785f, -0.809017f, 0.000000f;
+ normals.points[20].getNormalVector3fMap () << -0.951057f, -0.309017f, 0.000000f;
+ normals.points[21].getNormalVector3fMap () << 0.951057f, -0.309017f, 0.000000f;
+ normals.points[22].getNormalVector3fMap () << -0.951057f, 0.309017f, 0.000000f;
+ normals.points[23].getNormalVector3fMap () << 0.951057f, 0.309017f, 0.000000f;
+ normals.points[24].getNormalVector3fMap () << -0.587785f, 0.809017f, 0.000000f;
+ normals.points[25].getNormalVector3fMap () << 0.587785f, 0.809017f, 0.000000f;
+ normals.points[26].getNormalVector3fMap () << 0.000000f, 1.000000f, 0.000000f;
+
+ // Create a shared sphere model pointer directly
+ SampleConsensusModelNormalSpherePtr model (new SampleConsensusModelNormalSphere<PointXYZ, Normal> (cloud.makeShared ()));
+ model->setInputNormals (normals.makeShared ());
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (4, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (27, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (4, coeff.size ());
+ EXPECT_NEAR (0.000, coeff[0], 1e-2);
+ EXPECT_NEAR (0.025, coeff[1], 1e-2);
+ EXPECT_NEAR (1.000, coeff[2], 1e-2);
+ EXPECT_NEAR (0.050, coeff[3], 1e-2);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (4, coeff_refined.size ());
+ EXPECT_NEAR (0.000, coeff_refined[0], 1e-2);
+ EXPECT_NEAR (0.025, coeff_refined[1], 1e-2);
+ EXPECT_NEAR (1.000, coeff_refined[2], 1e-2);
+ EXPECT_NEAR (0.050, coeff_refined[3], 1e-2);
+}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelCone, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ PointCloud<Normal> normals;
+ cloud.points.resize (31); normals.points.resize (31);
+
+ cloud.points[ 0].getVector3fMap () << -0.011247f, 0.200000f, 0.965384f;
+ cloud.points[ 1].getVector3fMap () << 0.000000f, 0.200000f, 0.963603f;
+ cloud.points[ 2].getVector3fMap () << 0.011247f, 0.200000f, 0.965384f;
+ cloud.points[ 3].getVector3fMap () << -0.016045f, 0.175000f, 0.977916f;
+ cloud.points[ 4].getVector3fMap () << -0.008435f, 0.175000f, 0.974038f;
+ cloud.points[ 5].getVector3fMap () << 0.004218f, 0.175000f, 0.973370f;
+ cloud.points[ 6].getVector3fMap () << 0.016045f, 0.175000f, 0.977916f;
+ cloud.points[ 7].getVector3fMap () << -0.025420f, 0.200000f, 0.974580f;
+ cloud.points[ 8].getVector3fMap () << 0.025420f, 0.200000f, 0.974580f;
+ cloud.points[ 9].getVector3fMap () << -0.012710f, 0.150000f, 0.987290f;
+ cloud.points[10].getVector3fMap () << -0.005624f, 0.150000f, 0.982692f;
+ cloud.points[11].getVector3fMap () << 0.002812f, 0.150000f, 0.982247f;
+ cloud.points[12].getVector3fMap () << 0.012710f, 0.150000f, 0.987290f;
+ cloud.points[13].getVector3fMap () << -0.022084f, 0.175000f, 0.983955f;
+ cloud.points[14].getVector3fMap () << 0.022084f, 0.175000f, 0.983955f;
+ cloud.points[15].getVector3fMap () << -0.034616f, 0.200000f, 0.988753f;
+ cloud.points[16].getVector3fMap () << 0.034616f, 0.200000f, 0.988753f;
+ cloud.points[17].getVector3fMap () << -0.006044f, 0.125000f, 0.993956f;
+ cloud.points[18].getVector3fMap () << 0.004835f, 0.125000f, 0.993345f;
+ cloud.points[19].getVector3fMap () << -0.017308f, 0.150000f, 0.994376f;
+ cloud.points[20].getVector3fMap () << 0.017308f, 0.150000f, 0.994376f;
+ cloud.points[21].getVector3fMap () << -0.025962f, 0.175000f, 0.991565f;
+ cloud.points[22].getVector3fMap () << 0.025962f, 0.175000f, 0.991565f;
+ cloud.points[23].getVector3fMap () << -0.009099f, 0.125000f, 1.000000f;
+ cloud.points[24].getVector3fMap () << 0.009099f, 0.125000f, 1.000000f;
+ cloud.points[25].getVector3fMap () << -0.018199f, 0.150000f, 1.000000f;
+ cloud.points[26].getVector3fMap () << 0.018199f, 0.150000f, 1.000000f;
+ cloud.points[27].getVector3fMap () << -0.027298f, 0.175000f, 1.000000f;
+ cloud.points[28].getVector3fMap () << 0.027298f, 0.175000f, 1.000000f;
+ cloud.points[29].getVector3fMap () << -0.036397f, 0.200000f, 1.000000f;
+ cloud.points[30].getVector3fMap () << 0.036397f, 0.200000f, 1.000000f;
+
+ normals.points[ 0].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f;
+ normals.points[ 1].getNormalVector3fMap () << 0.000000f, -0.342020f, -0.939693f;
+ normals.points[ 2].getNormalVector3fMap () << 0.290381f, -0.342020f, -0.893701f;
+ normals.points[ 3].getNormalVector3fMap () << -0.552338f, -0.342020f, -0.760227f;
+ normals.points[ 4].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f;
+ normals.points[ 5].getNormalVector3fMap () << 0.145191f, -0.342020f, -0.916697f;
+ normals.points[ 6].getNormalVector3fMap () << 0.552337f, -0.342020f, -0.760227f;
+ normals.points[ 7].getNormalVector3fMap () << -0.656282f, -0.342020f, -0.656283f;
+ normals.points[ 8].getNormalVector3fMap () << 0.656282f, -0.342020f, -0.656283f;
+ normals.points[ 9].getNormalVector3fMap () << -0.656283f, -0.342020f, -0.656282f;
+ normals.points[10].getNormalVector3fMap () << -0.290381f, -0.342020f, -0.893701f;
+ normals.points[11].getNormalVector3fMap () << 0.145191f, -0.342020f, -0.916697f;
+ normals.points[12].getNormalVector3fMap () << 0.656282f, -0.342020f, -0.656282f;
+ normals.points[13].getNormalVector3fMap () << -0.760228f, -0.342020f, -0.552337f;
+ normals.points[14].getNormalVector3fMap () << 0.760228f, -0.342020f, -0.552337f;
+ normals.points[15].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290380f;
+ normals.points[16].getNormalVector3fMap () << 0.893701f, -0.342020f, -0.290380f;
+ normals.points[17].getNormalVector3fMap () << -0.624162f, -0.342020f, -0.624162f;
+ normals.points[18].getNormalVector3fMap () << 0.499329f, -0.342020f, -0.687268f;
+ normals.points[19].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290380f;
+ normals.points[20].getNormalVector3fMap () << 0.893701f, -0.342020f, -0.290380f;
+ normals.points[21].getNormalVector3fMap () << -0.893701f, -0.342020f, -0.290381f;
+ normals.points[22].getNormalVector3fMap () << 0.893701f, -0.342020f, -0.290381f;
+ normals.points[23].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f;
+ normals.points[24].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f;
+ normals.points[25].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f;
+ normals.points[26].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f;
+ normals.points[27].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f;
+ normals.points[28].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f;
+ normals.points[29].getNormalVector3fMap () << -0.939693f, -0.342020f, 0.000000f;
+ normals.points[30].getNormalVector3fMap () << 0.939693f, -0.342020f, 0.000000f;
+
+ // Create a shared cylinder model pointer directly
+ SampleConsensusModelConePtr model (new SampleConsensusModelCone<PointXYZ, Normal> (cloud.makeShared ()));
+ model->setInputNormals (normals.makeShared ());
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (3, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (31, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (7, coeff.size ());
+ EXPECT_NEAR (0.000000, coeff[0], 1e-2);
+ EXPECT_NEAR (0.100000, coeff[1], 1e-2);
+ EXPECT_NEAR (0.349066, coeff[6], 1e-2);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (7, coeff_refined.size ());
+ EXPECT_NEAR (0.349066, coeff_refined[6], 1e-2);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelCylinder, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ PointCloud<Normal> normals;
+ cloud.points.resize (20); normals.points.resize (20);
+
+ cloud.points[ 0].getVector3fMap () << -0.499902f, 2.199701f, 0.000008f;
+ cloud.points[ 1].getVector3fMap () << -0.875397f, 2.030177f, 0.050104f;
+ cloud.points[ 2].getVector3fMap () << -0.995875f, 1.635973f, 0.099846f;
+ cloud.points[ 3].getVector3fMap () << -0.779523f, 1.285527f, 0.149961f;
+ cloud.points[ 4].getVector3fMap () << -0.373285f, 1.216488f, 0.199959f;
+ cloud.points[ 5].getVector3fMap () << -0.052893f, 1.475973f, 0.250101f;
+ cloud.points[ 6].getVector3fMap () << -0.036558f, 1.887591f, 0.299839f;
+ cloud.points[ 7].getVector3fMap () << -0.335048f, 2.171994f, 0.350001f;
+ cloud.points[ 8].getVector3fMap () << -0.745456f, 2.135528f, 0.400072f;
+ cloud.points[ 9].getVector3fMap () << -0.989282f, 1.803311f, 0.449983f;
+ cloud.points[10].getVector3fMap () << -0.900651f, 1.400701f, 0.500126f;
+ cloud.points[11].getVector3fMap () << -0.539658f, 1.201468f, 0.550079f;
+ cloud.points[12].getVector3fMap () << -0.151875f, 1.340951f, 0.599983f;
+ cloud.points[13].getVector3fMap () << -0.000724f, 1.724373f, 0.649882f;
+ cloud.points[14].getVector3fMap () << -0.188573f, 2.090983f, 0.699854f;
+ cloud.points[15].getVector3fMap () << -0.587925f, 2.192257f, 0.749956f;
+ cloud.points[16].getVector3fMap () << -0.927724f, 1.958846f, 0.800008f;
+ cloud.points[17].getVector3fMap () << -0.976888f, 1.549655f, 0.849970f;
+ cloud.points[18].getVector3fMap () << -0.702003f, 1.242707f, 0.899954f;
+ cloud.points[19].getVector3fMap () << -0.289916f, 1.246296f, 0.950075f;
+
+ normals.points[ 0].getNormalVector3fMap () << 0.000098f, 1.000098f, 0.000008f;
+ normals.points[ 1].getNormalVector3fMap () << -0.750891f, 0.660413f, 0.000104f;
+ normals.points[ 2].getNormalVector3fMap () << -0.991765f, -0.127949f, -0.000154f;
+ normals.points[ 3].getNormalVector3fMap () << -0.558918f, -0.829439f, -0.000039f;
+ normals.points[ 4].getNormalVector3fMap () << 0.253627f, -0.967447f, -0.000041f;
+ normals.points[ 5].getNormalVector3fMap () << 0.894105f, -0.447965f, 0.000101f;
+ normals.points[ 6].getNormalVector3fMap () << 0.926852f, 0.375543f, -0.000161f;
+ normals.points[ 7].getNormalVector3fMap () << 0.329948f, 0.943941f, 0.000001f;
+ normals.points[ 8].getNormalVector3fMap () << -0.490966f, 0.871203f, 0.000072f;
+ normals.points[ 9].getNormalVector3fMap () << -0.978507f, 0.206425f, -0.000017f;
+ normals.points[10].getNormalVector3fMap () << -0.801227f, -0.598534f, 0.000126f;
+ normals.points[11].getNormalVector3fMap () << -0.079447f, -0.996697f, 0.000079f;
+ normals.points[12].getNormalVector3fMap () << 0.696154f, -0.717889f, -0.000017f;
+ normals.points[13].getNormalVector3fMap () << 0.998685f, 0.048502f, -0.000118f;
+ normals.points[14].getNormalVector3fMap () << 0.622933f, 0.782133f, -0.000146f;
+ normals.points[15].getNormalVector3fMap () << -0.175948f, 0.984480f, -0.000044f;
+ normals.points[16].getNormalVector3fMap () << -0.855476f, 0.517824f, 0.000008f;
+ normals.points[17].getNormalVector3fMap () << -0.953769f, -0.300571f, -0.000030f;
+ normals.points[18].getNormalVector3fMap () << -0.404035f, -0.914700f, -0.000046f;
+ normals.points[19].getNormalVector3fMap () << 0.420154f, -0.907445f, 0.000075f;
+
+ // Create a shared cylinder model pointer directly
+ SampleConsensusModelCylinderPtr model (new SampleConsensusModelCylinder<PointXYZ, Normal> (cloud.makeShared ()));
+ model->setInputNormals (normals.makeShared ());
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (2, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (20, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (7, coeff.size ());
+ EXPECT_NEAR (-0.5, coeff[0], 1e-3);
+ EXPECT_NEAR ( 1.7, coeff[1], 1e-3);
+ EXPECT_NEAR ( 0.5, coeff[6], 1e-3);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (7, coeff_refined.size ());
+ EXPECT_NEAR (0.5, coeff_refined[6], 1e-3);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelCircle2D, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ cloud.points.resize (18);
+
+ cloud.points[ 0].getVector3fMap () << 3.587751f, -4.190982f, 0.0f;
+ cloud.points[ 1].getVector3fMap () << 3.808883f, -4.412265f, 0.0f;
+ cloud.points[ 2].getVector3fMap () << 3.587525f, -5.809143f, 0.0f;
+ cloud.points[ 3].getVector3fMap () << 2.999913f, -5.999980f, 0.0f;
+ cloud.points[ 4].getVector3fMap () << 2.412224f, -5.809090f, 0.0f;
+ cloud.points[ 5].getVector3fMap () << 2.191080f, -5.587682f, 0.0f;
+ cloud.points[ 6].getVector3fMap () << 2.048941f, -5.309003f, 0.0f;
+ cloud.points[ 7].getVector3fMap () << 2.000397f, -4.999944f, 0.0f;
+ cloud.points[ 8].getVector3fMap () << 2.999953f, -6.000056f, 0.0f;
+ cloud.points[ 9].getVector3fMap () << 2.691127f, -5.951136f, 0.0f;
+ cloud.points[10].getVector3fMap () << 2.190892f, -5.587838f, 0.0f;
+ cloud.points[11].getVector3fMap () << 2.048874f, -5.309052f, 0.0f;
+ cloud.points[12].getVector3fMap () << 1.999990f, -5.000147f, 0.0f;
+ cloud.points[13].getVector3fMap () << 2.049026f, -4.690918f, 0.0f;
+ cloud.points[14].getVector3fMap () << 2.190956f, -4.412162f, 0.0f;
+ cloud.points[15].getVector3fMap () << 2.412231f, -4.190918f, 0.0f;
+ cloud.points[16].getVector3fMap () << 2.691027f, -4.049060f, 0.0f;
+ cloud.points[17].getVector3fMap () << 2.000000f, -3.000000f, 0.0f;
+
+ // Create a shared 2d circle model pointer directly
+ SampleConsensusModelCircle2DPtr model (new SampleConsensusModelCircle2D<PointXYZ> (cloud.makeShared ()));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (3, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (17, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (3, coeff.size ());
+ EXPECT_NEAR ( 3, coeff[0], 1e-3);
+ EXPECT_NEAR (-5, coeff[1], 1e-3);
+ EXPECT_NEAR ( 1, coeff[2], 1e-3);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (3, coeff_refined.size ());
+ EXPECT_NEAR ( 3, coeff_refined[0], 1e-3);
+ EXPECT_NEAR (-5, coeff_refined[1], 1e-3);
+ EXPECT_NEAR ( 1, coeff_refined[2], 1e-3);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+TEST (SampleConsensusModelCircle3D, RANSAC)
+{
+ srand (0);
+
+ // Use a custom point cloud for these tests until we need something better
+ PointCloud<PointXYZ> cloud;
+ cloud.points.resize (20);
+
+ cloud.points[ 0].getVector3fMap () << 1.00000000f, 5.0000000f, -2.9000001f;
+ cloud.points[ 1].getVector3fMap () << 1.03420200f, 5.0000000f, -2.9060307f;
+ cloud.points[ 2].getVector3fMap () << 1.06427870f, 5.0000000f, -2.9233956f;
+ cloud.points[ 3].getVector3fMap () << 1.08660260f, 5.0000000f, -2.9500000f;
+ cloud.points[ 4].getVector3fMap () << 1.09848080f, 5.0000000f, -2.9826353f;
+ cloud.points[ 5].getVector3fMap () << 1.09848080f, 5.0000000f, -3.0173647f;
+ cloud.points[ 6].getVector3fMap () << 1.08660260f, 5.0000000f, -3.0500000f;
+ cloud.points[ 7].getVector3fMap () << 1.06427870f, 5.0000000f, -3.0766044f;
+ cloud.points[ 8].getVector3fMap () << 1.03420200f, 5.0000000f, -3.0939693f;
+ cloud.points[ 9].getVector3fMap () << 1.00000000f, 5.0000000f, -3.0999999f;
+ cloud.points[10].getVector3fMap () << 0.96579796f, 5.0000000f, -3.0939693f;
+ cloud.points[11].getVector3fMap () << 0.93572122f, 5.0000000f, -3.0766044f;
+ cloud.points[12].getVector3fMap () << 0.91339743f, 5.0000000f, -3.0500000f;
+ cloud.points[13].getVector3fMap () << 0.90151924f, 5.0000000f, -3.0173647f;
+ cloud.points[14].getVector3fMap () << 0.90151924f, 5.0000000f, -2.9826353f;
+ cloud.points[15].getVector3fMap () << 0.91339743f, 5.0000000f, -2.9500000f;
+ cloud.points[16].getVector3fMap () << 0.93572122f, 5.0000000f, -2.9233956f;
+ cloud.points[17].getVector3fMap () << 0.96579796f, 5.0000000f, -2.9060307f;
+ cloud.points[18].getVector3fMap () << 0.85000002f, 4.8499999f, -3.1500001f;
+ cloud.points[19].getVector3fMap () << 1.15000000f, 5.1500001f, -2.8499999f;
+
+ // Create a shared 3d circle model pointer directly
+ SampleConsensusModelCircle3DPtr model (new SampleConsensusModelCircle3D<PointXYZ> (cloud.makeShared ()));
+
+ // Create the RANSAC object
+ RandomSampleConsensus<PointXYZ> sac (model, 0.03);
+
+ // Algorithm tests
+ bool result = sac.computeModel ();
+ ASSERT_TRUE (result);
+
+ std::vector<int> sample;
+ sac.getModel (sample);
+ EXPECT_EQ (3, sample.size ());
+
+ std::vector<int> inliers;
+ sac.getInliers (inliers);
+ EXPECT_EQ (18, inliers.size ());
+
+ Eigen::VectorXf coeff;
+ sac.getModelCoefficients (coeff);
+ EXPECT_EQ (7, coeff.size ());
+ EXPECT_NEAR ( 1.0, coeff[0], 1e-3);
+ EXPECT_NEAR ( 5.0, coeff[1], 1e-3);
+ EXPECT_NEAR (-3.0, coeff[2], 1e-3);
+ EXPECT_NEAR ( 0.1, coeff[3], 1e-3);
+ EXPECT_NEAR ( 0.0, coeff[4], 1e-3);
+ EXPECT_NEAR (-1.0, coeff[5], 1e-3);
+ EXPECT_NEAR ( 0.0, coeff[6], 1e-3);
+
+ Eigen::VectorXf coeff_refined;
+ model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
+ EXPECT_EQ (7, coeff_refined.size ());
+ EXPECT_NEAR ( 1.0, coeff_refined[0], 1e-3);
+ EXPECT_NEAR ( 5.0, coeff_refined[1], 1e-3);
+ EXPECT_NEAR (-3.0, coeff_refined[2], 1e-3);
+ EXPECT_NEAR ( 0.1, coeff_refined[3], 1e-3);
+ EXPECT_NEAR ( 0.0, coeff_refined[4], 1e-3);
+ EXPECT_NEAR (-1.0, coeff_refined[5], 1e-3);
+ EXPECT_NEAR ( 0.0, coeff_refined[6], 1e-3);
+}
+
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+
ASSERT_EQ (indices_tree[i].size (), no_of_neighbors);
ASSERT_EQ (dists_flann[i].size (), no_of_neighbors);
ASSERT_EQ (dists_tree[i].size (), no_of_neighbors);
- for (size_t j = 0; j<no_of_neighbors; j++ )
+ for (int j = 0; j < no_of_neighbors; j++ )
{
-
ASSERT_TRUE( indices_flann[i][j] == indices_tree[i][j] || dists_flann[i][j]==dists_tree[i][j]);
}
}
PCL_ADD_TEST(surface_marching_cubes test_marching_cubes
FILES test_marching_cubes.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(surface_moving_least_squares test_moving_least_squares
FILES test_moving_least_squares.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(surface_gp3 test_gp3
FILES test_gp3.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(surface_organized_fast_mesh test_organized_fast_mesh
FILES test_organized_fast_mesh.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(surface_grid_projection test_grid_projection
FILES test_grid_projection.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(surface_ear_clipping test_ear_clipping
FILES test_ear_clipping.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
#PCL_ADD_TEST(surface_poisson test_poisson
# FILES test_poisson.cpp
# LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features
-# ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+# ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
if(QHULL_FOUND)
PCL_ADD_TEST(surface_convex_hull test_convex_hull
FILES test_convex_hull.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_filters pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
PCL_ADD_TEST(surface_concave test_concave_hull
FILES test_concave_hull.cpp
LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_filters pcl_search
- ARGUMENTS ${PCL_SOURCE_DIR}/test/bun0.pcd)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
endif(QHULL_FOUND)
}
}
+TEST (PCL, EarClippingCubeTest)
+{
+ PointCloud<PointXYZ>::Ptr cloud (new PointCloud<PointXYZ>());
+ cloud->height = 1;
+ //bottom of cube (z=0)
+ cloud->points.push_back (PointXYZ ( 0.f, 0.f, 0.f));
+ cloud->points.push_back (PointXYZ ( 1.f, 0.f, 0.f));
+ cloud->points.push_back (PointXYZ ( 1.f, 1.f, 0.f));
+ cloud->points.push_back (PointXYZ ( 0.f, 1.f, 0.f));
+ //top of cube (z=1.0)
+ cloud->points.push_back (PointXYZ ( 0.f, 0.f, 1.f));
+ cloud->points.push_back (PointXYZ ( 1.f, 0.f, 1.f));
+ cloud->points.push_back (PointXYZ ( 1.f, 1.f, 1.f));
+ cloud->points.push_back (PointXYZ ( 0.f, 1.f, 1.f));
+ cloud->width = static_cast<uint32_t> (cloud->points.size ());
+
+ Vertices vertices;
+ vertices.vertices.resize(4);
+
+ const int squares[][4] = { {1, 5, 6, 2},
+ {2, 6, 7, 3},
+ {3, 7, 4, 0},
+ {0, 4, 5, 1},
+ {4, 7, 6, 5},
+ {0, 1, 2, 3} };
+
+ const int truth[][3] = { {2, 1, 5},
+ {6, 2, 5},
+ {3, 2, 6},
+ {7, 3, 6},
+ {0, 3, 7},
+ {4, 0, 7},
+ {1, 0, 4},
+ {5, 1, 4},
+ {5, 4, 7},
+ {6, 5, 7},
+ {3, 0, 1},
+ {2, 3, 1} };
+
+ PolygonMesh::Ptr mesh (new PolygonMesh);
+ toPCLPointCloud2 (*cloud, mesh->cloud);
+
+ for (int i = 0; i < 6; ++i)
+ {
+ vertices.vertices[0] = squares[i][0];
+ vertices.vertices[1] = squares[i][1];
+ vertices.vertices[2] = squares[i][2];
+ vertices.vertices[3] = squares[i][3];
+ mesh->polygons.push_back (vertices);
+ }
+
+ EarClipping clipper;
+ PolygonMesh::ConstPtr mesh_aux (mesh);
+ clipper.setInputMesh (mesh_aux);
+
+ PolygonMesh triangulated_mesh;
+ clipper.process (triangulated_mesh);
+
+ EXPECT_EQ (triangulated_mesh.polygons.size (), 12);
+ for (int i = 0; i < static_cast<int> (triangulated_mesh.polygons.size ()); ++i)
+ EXPECT_EQ (triangulated_mesh.polygons[i].vertices.size (), 3);
+
+
+
+ for (int pi = 0; pi < static_cast<int> (triangulated_mesh.polygons.size ()); ++pi)
+ {
+ for (int vi = 0; vi < 3; ++vi)
+ {
+ EXPECT_EQ (triangulated_mesh.polygons[pi].vertices[vi], truth[pi][vi]);
+ }
+ }
+}
+
/* ---[ */
int
main (int argc, char** argv)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2013, Intelligent Robotics Lab, DLUT.
+ * Author: Qinghua Li, Yan Zhuang, Fei Yan
+ *
+ * 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 Intelligent Robotics Lab, DLUT. 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.
+ */
+
+/**
+ * \file test_bearing_angle_image.cpp
+ * \created on: July 07, 2013
+ * \author: Qinghua Li (qinghua__li@163.com)
+ */
+
+#include <gtest/gtest.h>
+#include <iostream>
+#include <pcl/range_image/bearing_angle_image.h>
+
+pcl::BearingAngleImage bearing_angle_image;
+pcl::PointCloud<pcl::PointXYZ> point_cloud (3, 2);
+
+/////////////////////////////////////////////////////////////////////
+TEST (BearingAngleImageTest, GetAngle)
+{
+ pcl::PointXYZ point1 (1.0, 2.0, 3.0);
+ pcl::PointXYZ point2 (2.0, 1.0, 1.0);
+
+ double angle = bearing_angle_image.getAngle (point1, point2);
+ EXPECT_NEAR (40.203, angle, 1e-3);
+}
+
+/////////////////////////////////////////////////////////////////////
+TEST (BearingAngleImageTest, GenerateBAImage)
+{
+ point_cloud.points[0] = pcl::PointXYZ (3.0, 1.5, -2.0);
+ point_cloud.points[1] = pcl::PointXYZ (1.0, 3.0, 2.0);
+ point_cloud.points[2] = pcl::PointXYZ (2.0, 3.0, 2.0);
+
+ point_cloud.points[3] = pcl::PointXYZ (2.0, 3.0, 1.0);
+ point_cloud.points[4] = pcl::PointXYZ (4.0, 2.0, 2.0);
+ point_cloud.points[5] = pcl::PointXYZ (-1.5, 3.0, 1.0);
+
+ bearing_angle_image.generateBAImage (point_cloud);
+
+ uint8_t grays[6];
+ for (int i = 0; i < 3 * 2; ++i)
+ {
+ grays[i] = (bearing_angle_image.points[i].rgba >> 8) & 0xff;
+ }
+
+ EXPECT_EQ (0, grays[0]);
+ EXPECT_EQ (0, grays[1]);
+ EXPECT_EQ (0, grays[2]);
+ EXPECT_EQ (112, grays[3]);
+ EXPECT_EQ (80, grays[4]);
+ EXPECT_EQ (0, grays[5]);
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
pcl::people::PersonClassifier<pcl::RGB> person_classifier;
std::string svm_filename;
float min_confidence;
+float min_width;
+float max_width;
float min_height;
float max_height;
float voxel_size;
people_detector.setVoxelSize(voxel_size); // set the voxel size
people_detector.setIntrinsics(rgb_intrinsics_matrix); // set RGB camera intrinsic parameters
people_detector.setClassifier(person_classifier); // set person classifier
- people_detector.setHeightLimits(min_height, max_height); // set person classifier
+ people_detector.setPersonClusterLimits(min_height, max_height, min_width, max_width);
// Perform people detection on the new cloud:
std::vector<pcl::people::PersonCluster<PointT> > clusters; // vector containing persons clusters
// Algorithm parameters:
svm_filename = argv[1];
min_confidence = -1.5;
+ min_width = 0.1;
+ max_width = 8.0;
min_height = 1.3;
max_height = 2.3;
voxel_size = 0.06;
--- /dev/null
+
+/*
+ * 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 the copyright holder(s) 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: $
+ *
+ */
+
+#include <gtest/gtest.h>
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/recognition/ransac_based/model_library.h>
+#include <pcl/features/normal_3d.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::recognition;
+
+typedef pcl::PointXYZ PointT;
+typedef pcl::PointCloud<PointT> PointCloudT;
+typedef pcl::PointCloud<pcl::Normal> PointCloudTN;
+typedef pcl::PointCloud<PointT>::Ptr PointCloudTPtr;
+typedef pcl::PointCloud<pcl::Normal>::Ptr PointCloudTNPtr;
+
+PointCloud<PointXYZ>::Ptr cloud_;
+PointCloudTPtr model_cloud(new pcl::PointCloud<PointT>);
+PointCloudTNPtr model_cloud_normals (new pcl::PointCloud<pcl::Normal>);
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+
+int
+estimateNormals(pcl::PointCloud<PointT>::Ptr cloud, pcl::PointCloud<pcl::Normal>::Ptr cloud_normals) {
+ // Create the normal estimation class, and pass the input dataset to it
+ pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
+ ne.setInputCloud (cloud);
+
+ // Create an empty kdtree representation, and pass it to the normal estimation object.
+ // Its content will be filled inside the object, based on the given input dataset (as no other search surface is given).
+ pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ> ());
+ ne.setSearchMethod (tree);
+
+ // Use all neighbors in a sphere of radius 1m
+ // experiments with tensors dataset show that the points are as far apart as 1m from each other
+ ne.setRadiusSearch (0.03);
+
+ // Compute the features
+ ne.compute (*cloud_normals);
+
+ // cloud_normals->points.size () should have the same size as the input cloud->points.size ()*
+ return cloud_normals->points.size();
+}
+
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+
+TEST (ORROctreeTest, OctreeSphereIntersection)
+{
+ float voxel_size = 0.02f;
+ float pair_width = 0.05f;
+ float frac_of_points_for_registration = 0.3f;
+ std::string object_name = "test_object";
+
+ ModelLibrary::Model* new_model = new ModelLibrary::Model (*model_cloud, *model_cloud_normals, voxel_size, object_name, frac_of_points_for_registration);
+
+ const ORROctree& octree = new_model->getOctree ();
+ const vector<ORROctree::Node*> &full_leaves = octree.getFullLeaves ();
+ list<ORROctree::Node*> inter_leaves;
+
+ // Run through all full leaves
+ for ( vector<ORROctree::Node*>::const_iterator leaf1 = full_leaves.begin () ; leaf1 != full_leaves.end () ; ++leaf1 )
+ {
+ const ORROctree::Node::Data* node_data1 = (*leaf1)->getData ();
+ // Get all full leaves at the right distance to the current leaf
+ inter_leaves.clear ();
+ octree.getFullLeavesIntersectedBySphere (node_data1->getPoint (), pair_width, inter_leaves);
+ // Ensure that inter_leaves does not contain leaf1
+ for ( list<ORROctree::Node*>::iterator leaf2 = inter_leaves.begin () ; leaf2 != inter_leaves.end () ; ++leaf2 )
+ {
+ EXPECT_NE(*leaf1, *leaf2);
+ }
+ }
+
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+//* ---[ */
+int
+ main (int argc, char** argv)
+{
+ if (argc < 2)
+ {
+ std::cerr << "No test file given. Please download `bunny.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ // Load a standard PCD file from disk
+ if (pcl::io::loadPCDFile (argv[1], *model_cloud) < 0)
+ {
+ std::cerr << "Failed to read test file. Please download `bunny.pcd` and pass its path to the test." << std::endl;
+ return (-1);
+ }
+
+ if (!estimateNormals(model_cloud, model_cloud_normals) == model_cloud->points.size())
+ {
+ std::cerr << "Failed to estimate normals" << std::endl;
+ return (-1);
+ }
+
+ testing::InitGoogleTest (&argc, argv);
+ return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+++ /dev/null
-/*
- * Software License Agreement (BSD License)
- *
- * Point Cloud Library (PCL) - www.pointclouds.org
- * Copyright (c) 2010-2012, 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 the copyright holder(s) 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.
- *
- * $Id$
- *
- */
-#include <gtest/gtest.h>
-#include <pcl/io/pcd_io.h>
-#include "boost.h"
-#include <pcl/sample_consensus/sac.h>
-#include <pcl/sample_consensus/lmeds.h>
-#include <pcl/sample_consensus/ransac.h>
-#include <pcl/sample_consensus/rransac.h>
-#include <pcl/sample_consensus/msac.h>
-#include <pcl/sample_consensus/rmsac.h>
-#include <pcl/sample_consensus/mlesac.h>
-#include <pcl/sample_consensus/sac_model.h>
-#include <pcl/sample_consensus/sac_model_plane.h>
-#include <pcl/sample_consensus/sac_model_sphere.h>
-#include <pcl/sample_consensus/sac_model_cone.h>
-#include <pcl/sample_consensus/sac_model_cylinder.h>
-#include <pcl/sample_consensus/sac_model_circle.h>
-#include <pcl/sample_consensus/sac_model_circle3d.h>
-#include <pcl/sample_consensus/sac_model_line.h>
-#include <pcl/sample_consensus/sac_model_normal_plane.h>
-#include <pcl/sample_consensus/sac_model_normal_sphere.h>
-#include <pcl/sample_consensus/sac_model_parallel_plane.h>
-#include <pcl/sample_consensus/sac_model_normal_parallel_plane.h>
-#include <pcl/features/normal_3d.h>
-
-using namespace pcl;
-using namespace pcl::io;
-using namespace std;
-
-typedef SampleConsensusModel<PointXYZ>::Ptr SampleConsensusModelPtr;
-typedef SampleConsensusModelPlane<PointXYZ>::Ptr SampleConsensusModelPlanePtr;
-typedef SampleConsensusModelSphere<PointXYZ>::Ptr SampleConsensusModelSpherePtr;
-typedef SampleConsensusModelCylinder<PointXYZ, Normal>::Ptr SampleConsensusModelCylinderPtr;
-typedef SampleConsensusModelCone<PointXYZ, Normal>::Ptr SampleConsensusModelConePtr;
-typedef SampleConsensusModelCircle2D<PointXYZ>::Ptr SampleConsensusModelCircle2DPtr;
-typedef SampleConsensusModelCircle3D<PointXYZ>::Ptr SampleConsensusModelCircle3DPtr;
-typedef SampleConsensusModelLine<PointXYZ>::Ptr SampleConsensusModelLinePtr;
-typedef SampleConsensusModelNormalPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalPlanePtr;
-typedef SampleConsensusModelNormalSphere<PointXYZ, Normal>::Ptr SampleConsensusModelNormalSpherePtr;
-typedef SampleConsensusModelParallelPlane<PointXYZ>::Ptr SampleConsensusModelParallelPlanePtr;
-typedef SampleConsensusModelNormalParallelPlane<PointXYZ, Normal>::Ptr SampleConsensusModelNormalParallelPlanePtr;
-
-PointCloud<PointXYZ>::Ptr cloud_ (new PointCloud<PointXYZ> ());
-PointCloud<Normal>::Ptr normals_ (new PointCloud<Normal> ());
-vector<int> indices_;
-float plane_coeffs_[] = {-0.8964f, -0.5868f, -1.208f};
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-template<typename ModelType, typename SacType>
-void verifyPlaneSac (ModelType & model, SacType & sac, unsigned int inlier_number = 2000, float tol = 1e-1f,
- float refined_tol = 1e-1f, float proj_tol = 1e-3f)
-{
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 3);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_GE (int (inliers.size ()), inlier_number);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 4);
- EXPECT_NEAR (coeff[0]/coeff[3], plane_coeffs_[0], tol);
- EXPECT_NEAR (coeff[1]/coeff[3], plane_coeffs_[1], tol);
- EXPECT_NEAR (coeff[2]/coeff[3], plane_coeffs_[2], tol);
-
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 4);
- EXPECT_NEAR (coeff_refined[0]/coeff_refined[3], plane_coeffs_[0], refined_tol);
- EXPECT_NEAR (coeff_refined[1]/coeff_refined[3], plane_coeffs_[1], refined_tol);
- // This test fails in Windows (VS 2010) -- not sure why yet -- relaxing the constraint from 1e-2 to 1e-1
- // This test fails in MacOS too -- not sure why yet -- disabling
- //EXPECT_NEAR (coeff_refined[2]/coeff_refined[3], plane_coeffs_[2], refined_tol);
-
- // Projection tests
- PointCloud<PointXYZ> proj_points;
- model->projectPoints (inliers, coeff_refined, proj_points);
- EXPECT_NEAR (proj_points.points[20].x, 1.1266, proj_tol);
- EXPECT_NEAR (proj_points.points[20].y, 0.0152, proj_tol);
- EXPECT_NEAR (proj_points.points[20].z, -0.0156, proj_tol);
-
- EXPECT_NEAR (proj_points.points[30].x, 1.1843, proj_tol);
- EXPECT_NEAR (proj_points.points[30].y, -0.0635, proj_tol);
- EXPECT_NEAR (proj_points.points[30].z, -0.0201, proj_tol);
-
- EXPECT_NEAR (proj_points.points[50].x, 1.0749, proj_tol);
- EXPECT_NEAR (proj_points.points[50].y, -0.0586, proj_tol);
- EXPECT_NEAR (proj_points.points[50].z, 0.0587, refined_tol);
-}
-
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (SampleConsensusModelPlane, Base)
-{
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Basic tests
- PointCloud<PointXYZ>::ConstPtr cloud = model->getInputCloud ();
- ASSERT_EQ (cloud->points.size (), cloud_->points.size ());
-
- model->setInputCloud (cloud);
- cloud = model->getInputCloud ();
- ASSERT_EQ (cloud->points.size (), cloud_->points.size ());
-
- boost::shared_ptr<vector<int> > indices = model->getIndices ();
- ASSERT_EQ (indices->size (), indices_.size ());
- model->setIndices (indices_);
- indices = model->getIndices ();
- ASSERT_EQ (indices->size (), indices_.size ());
- model->setIndices (indices);
- indices = model->getIndices ();
- ASSERT_EQ (indices->size (), indices_.size ());
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, Base)
-{
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Basic tests
- ASSERT_EQ (sac.getDistanceThreshold (), 0.03);
- sac.setDistanceThreshold (0.03);
- ASSERT_EQ (sac.getDistanceThreshold (), 0.03);
-
- sac.setProbability (0.99);
- ASSERT_EQ (sac.getProbability (), 0.99);
-
- sac.setMaxIterations (10000);
- ASSERT_EQ (sac.getMaxIterations (), 10000);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- verifyPlaneSac(model, sac);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (LMedS, SampleConsensusModelPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the LMedS object
- LeastMedianSquares<PointXYZ> sac (model, 0.03);
-
- verifyPlaneSac(model, sac);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (MSAC, SampleConsensusModelPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the MSAC object
- MEstimatorSampleConsensus<PointXYZ> sac (model, 0.03);
-
- verifyPlaneSac (model, sac);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RRANSAC, SampleConsensusModelPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the RRANSAC object
- RandomizedRandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- sac.setFractionNrPretest (10.0);
- ASSERT_EQ (sac.getFractionNrPretest (), 10.0);
-
- verifyPlaneSac(model, sac, 600, 1.0f, 1.0f, 0.01f);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RMSAC, SampleConsensusModelPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the RMSAC object
- RandomizedMEstimatorSampleConsensus<PointXYZ> sac (model, 0.03);
-
- sac.setFractionNrPretest (10.0);
- ASSERT_EQ (sac.getFractionNrPretest (), 10.0);
-
- verifyPlaneSac(model, sac, 600, 1.0f, 1.0f, 0.01f);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelNormalParallelPlane)
-{
- srand (0);
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- PointCloud<Normal> normals;
- cloud.points.resize (10);
- normals.resize (10);
-
- for (unsigned idx = 0; idx < cloud.size (); ++idx)
- {
- cloud.points[idx].x = static_cast<float> ((rand () % 200) - 100);
- cloud.points[idx].y = static_cast<float> ((rand () % 200) - 100);
- cloud.points[idx].z = 0.0f;
-
- normals.points[idx].normal_x = 0.0f;
- normals.points[idx].normal_y = 0.0f;
- normals.points[idx].normal_z = 1.0f;
- }
-
- // Create a shared plane model pointer directly
- SampleConsensusModelNormalParallelPlanePtr model (new SampleConsensusModelNormalParallelPlane<PointXYZ, Normal> (cloud.makeShared ()));
- model->setInputNormals (normals.makeShared ());
-
- const float max_angle_rad = 0.01f;
- const float angle_eps = 0.001f;
- model->setEpsAngle (max_angle_rad);
-
- // Test true axis
- {
- model->setAxis (Eigen::Vector3f (0, 0, 1));
-
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
- sac.computeModel();
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- ASSERT_EQ (inliers.size (), cloud.size ());
- }
-
- // test axis slightly in valid range
- {
- model->setAxis (Eigen::Vector3f(0, sin(max_angle_rad * (1 - angle_eps)), cos(max_angle_rad * (1 - angle_eps))));
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
- sac.computeModel();
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- ASSERT_EQ (inliers.size (), cloud.size ());
- }
-
- // test axis slightly out of valid range
- {
- model->setAxis (Eigen::Vector3f(0, sin(max_angle_rad * (1 + angle_eps)), cos(max_angle_rad * (1 + angle_eps))));
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
- sac.computeModel();
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- ASSERT_EQ (inliers.size (), 0);
- }
-}
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (MLESAC, SampleConsensusModelPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_));
-
- // Create the MSAC object
- MaximumLikelihoodSampleConsensus<PointXYZ> sac (model, 0.03);
-
- verifyPlaneSac(model, sac, 1000, 0.3f, 0.2f, 0.01f);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelSphere)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- cloud.points.resize (10);
- cloud.points[0].x = 1.7068f; cloud.points[0].y = 1.0684f; cloud.points[0].z = 2.2147f;
- cloud.points[1].x = 2.4708f; cloud.points[1].y = 2.3081f; cloud.points[1].z = 1.1736f;
- cloud.points[2].x = 2.7609f; cloud.points[2].y = 1.9095f; cloud.points[2].z = 1.3574f;
- cloud.points[3].x = 2.8016f; cloud.points[3].y = 1.6704f; cloud.points[3].z = 1.5009f;
- cloud.points[4].x = 1.8517f; cloud.points[4].y = 2.0276f; cloud.points[4].z = 1.0112f;
- cloud.points[5].x = 1.8726f; cloud.points[5].y = 1.3539f; cloud.points[5].z = 2.7523f;
- cloud.points[6].x = 2.5179f; cloud.points[6].y = 2.3218f; cloud.points[6].z = 1.2074f;
- cloud.points[7].x = 2.4026f; cloud.points[7].y = 2.5114f; cloud.points[7].z = 2.7588f;
- cloud.points[8].x = 2.6999f; cloud.points[8].y = 2.5606f; cloud.points[8].z = 1.5571f;
- cloud.points[9].x = 0.0f; cloud.points[9].y = 0.0f; cloud.points[9].z = 0.0f;
-
- // Create a shared sphere model pointer directly
- SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 4);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 9);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 4);
- EXPECT_NEAR (coeff[0]/coeff[3], 2, 1e-2);
- EXPECT_NEAR (coeff[1]/coeff[3], 2, 1e-2);
- EXPECT_NEAR (coeff[2]/coeff[3], 2, 1e-2);
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 4);
- EXPECT_NEAR (coeff_refined[0]/coeff_refined[3], 2, 1e-2);
- EXPECT_NEAR (coeff_refined[1]/coeff_refined[3], 2, 1e-2);
- EXPECT_NEAR (coeff_refined[2]/coeff_refined[3], 2, 1e-2);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelNormalSphere)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- PointCloud<Normal> normals;
- cloud.points.resize (27); normals.points.resize (27);
- cloud.points[0].x = -0.014695f; cloud.points[0].y = 0.009549f; cloud.points[0].z = 0.954775f;
- cloud.points[1].x = 0.014695f; cloud.points[1].y = 0.009549f; cloud.points[1].z = 0.954775f;
- cloud.points[2].x = -0.014695f; cloud.points[2].y = 0.040451f; cloud.points[2].z = 0.954775f;
- cloud.points[3].x = 0.014695f; cloud.points[3].y = 0.040451f; cloud.points[3].z = 0.954775f;
- cloud.points[4].x = -0.009082f; cloud.points[4].y = -0.015451f; cloud.points[4].z = 0.972049f;
- cloud.points[5].x = 0.009082f; cloud.points[5].y = -0.015451f; cloud.points[5].z = 0.972049f;
- cloud.points[6].x = -0.038471f; cloud.points[6].y = 0.009549f; cloud.points[6].z = 0.972049f;
- cloud.points[7].x = 0.038471f; cloud.points[7].y = 0.009549f; cloud.points[7].z = 0.972049f;
- cloud.points[8].x = -0.038471f; cloud.points[8].y = 0.040451f; cloud.points[8].z = 0.972049f;
- cloud.points[9].x = 0.038471f; cloud.points[9].y = 0.040451f; cloud.points[9].z = 0.972049f;
- cloud.points[10].x = -0.009082f; cloud.points[10].y = 0.065451f; cloud.points[10].z = 0.972049f;
- cloud.points[11].x = 0.009082f; cloud.points[11].y = 0.065451f; cloud.points[11].z = 0.972049f;
- cloud.points[12].x = -0.023776f; cloud.points[12].y = -0.015451f; cloud.points[12].z = 0.982725f;
- cloud.points[13].x = 0.023776f; cloud.points[13].y = -0.015451f; cloud.points[13].z = 0.982725f;
- cloud.points[14].x = -0.023776f; cloud.points[14].y = 0.065451f; cloud.points[14].z = 0.982725f;
- cloud.points[15].x = 0.023776f; cloud.points[15].y = 0.065451f; cloud.points[15].z = 0.982725f;
- cloud.points[16].x = -0.000000f; cloud.points[16].y = -0.025000f; cloud.points[16].z = 1.000000f;
- cloud.points[17].x = 0.000000f; cloud.points[17].y = -0.025000f; cloud.points[17].z = 1.000000f;
- cloud.points[18].x = -0.029389f; cloud.points[18].y = -0.015451f; cloud.points[18].z = 1.000000f;
- cloud.points[19].x = 0.029389f; cloud.points[19].y = -0.015451f; cloud.points[19].z = 1.000000f;
- cloud.points[20].x = -0.047553f; cloud.points[20].y = 0.009549f; cloud.points[20].z = 1.000000f;
- cloud.points[21].x = 0.047553f; cloud.points[21].y = 0.009549f; cloud.points[21].z = 1.000000f;
- cloud.points[22].x = -0.047553f; cloud.points[22].y = 0.040451f; cloud.points[22].z = 1.000000f;
- cloud.points[23].x = 0.047553f; cloud.points[23].y = 0.040451f; cloud.points[23].z = 1.000000f;
- cloud.points[24].x = -0.029389f; cloud.points[24].y = 0.065451f; cloud.points[24].z = 1.000000f;
- cloud.points[25].x = 0.029389f; cloud.points[25].y = 0.065451f; cloud.points[25].z = 1.000000f;
- cloud.points[26].x = 0.000000f; cloud.points[26].y = 0.075000f; cloud.points[26].z = 1.000000f;
-
- normals.points[0].normal[0] = -0.293893f; normals.points[0].normal[1] = -0.309017f; normals.points[0].normal[2] = -0.904509f;
- normals.points[1].normal[0] = 0.293893f; normals.points[1].normal[1] = -0.309017f; normals.points[1].normal[2] = -0.904508f;
- normals.points[2].normal[0] = -0.293893f; normals.points[2].normal[1] = 0.309017f; normals.points[2].normal[2] = -0.904509f;
- normals.points[3].normal[0] = 0.293893f; normals.points[3].normal[1] = 0.309017f; normals.points[3].normal[2] = -0.904508f;
- normals.points[4].normal[0] = -0.181636f; normals.points[4].normal[1] = -0.809017f; normals.points[4].normal[2] = -0.559017f;
- normals.points[5].normal[0] = 0.181636f; normals.points[5].normal[1] = -0.809017f; normals.points[5].normal[2] = -0.559017f;
- normals.points[6].normal[0] = -0.769421f; normals.points[6].normal[1] = -0.309017f; normals.points[6].normal[2] = -0.559017f;
- normals.points[7].normal[0] = 0.769421f; normals.points[7].normal[1] = -0.309017f; normals.points[7].normal[2] = -0.559017f;
- normals.points[8].normal[0] = -0.769421f; normals.points[8].normal[1] = 0.309017f; normals.points[8].normal[2] = -0.559017f;
- normals.points[9].normal[0] = 0.769421f; normals.points[9].normal[1] = 0.309017f; normals.points[9].normal[2] = -0.559017f;
- normals.points[10].normal[0] = -0.181636f; normals.points[10].normal[1] = 0.809017f; normals.points[10].normal[2] = -0.559017f;
- normals.points[11].normal[0] = 0.181636f; normals.points[11].normal[1] = 0.809017f; normals.points[11].normal[2] = -0.559017f;
- normals.points[12].normal[0] = -0.475528f; normals.points[12].normal[1] = -0.809017f; normals.points[12].normal[2] = -0.345491f;
- normals.points[13].normal[0] = 0.475528f; normals.points[13].normal[1] = -0.809017f; normals.points[13].normal[2] = -0.345491f;
- normals.points[14].normal[0] = -0.475528f; normals.points[14].normal[1] = 0.809017f; normals.points[14].normal[2] = -0.345491f;
- normals.points[15].normal[0] = 0.475528f; normals.points[15].normal[1] = 0.809017f; normals.points[15].normal[2] = -0.345491f;
- normals.points[16].normal[0] = -0.000000f; normals.points[16].normal[1] = -1.000000f; normals.points[16].normal[2] = 0.000000f;
- normals.points[17].normal[0] = 0.000000f; normals.points[17].normal[1] = -1.000000f; normals.points[17].normal[2] = 0.000000f;
- normals.points[18].normal[0] = -0.587785f; normals.points[18].normal[1] = -0.809017f; normals.points[18].normal[2] = 0.000000f;
- normals.points[19].normal[0] = 0.587785f; normals.points[19].normal[1] = -0.809017f; normals.points[19].normal[2] = 0.000000f;
- normals.points[20].normal[0] = -0.951057f; normals.points[20].normal[1] = -0.309017f; normals.points[20].normal[2] = 0.000000f;
- normals.points[21].normal[0] = 0.951057f; normals.points[21].normal[1] = -0.309017f; normals.points[21].normal[2] = 0.000000f;
- normals.points[22].normal[0] = -0.951057f; normals.points[22].normal[1] = 0.309017f; normals.points[22].normal[2] = 0.000000f;
- normals.points[23].normal[0] = 0.951057f; normals.points[23].normal[1] = 0.309017f; normals.points[23].normal[2] = 0.000000f;
- normals.points[24].normal[0] = -0.587785f; normals.points[24].normal[1] = 0.809017f; normals.points[24].normal[2] = 0.000000f;
- normals.points[25].normal[0] = 0.587785f; normals.points[25].normal[1] = 0.809017f; normals.points[25].normal[2] = 0.000000f;
- normals.points[26].normal[0] = 0.000000f; normals.points[26].normal[1] = 1.000000f; normals.points[26].normal[2] = 0.000000f;
-
- // Create a shared sphere model pointer directly
- SampleConsensusModelNormalSpherePtr model (new SampleConsensusModelNormalSphere<PointXYZ, Normal> (cloud.makeShared ()));
- model->setInputNormals(normals.makeShared ());
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 4);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 27);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 4);
- EXPECT_NEAR (coeff[0], 0.0, 1e-2);
- EXPECT_NEAR (coeff[1], 0.025, 1e-2);
- EXPECT_NEAR (coeff[2], 1.0, 1e-2);
- EXPECT_NEAR (coeff[3], 0.05, 1e-2);
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 4);
- EXPECT_NEAR (coeff_refined[0], 0.0, 1e-2);
- EXPECT_NEAR (coeff_refined[1], 0.025, 1e-2);
- EXPECT_NEAR (coeff_refined[2], 1.0, 1e-2);
- EXPECT_NEAR (coeff_refined[3], 0.05, 1e-2);
-}
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelCone)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- PointCloud<Normal> normals;
- cloud.points.resize (31); normals.points.resize (31);
-
- cloud.points[0].x = -0.011247f; cloud.points[0].y = 0.200000f; cloud.points[0].z = 0.965384f;
- cloud.points[1].x = 0.000000f; cloud.points[1].y = 0.200000f; cloud.points[1].z = 0.963603f;
- cloud.points[2].x = 0.011247f; cloud.points[2].y = 0.200000f; cloud.points[2].z = 0.965384f;
- cloud.points[3].x = -0.016045f; cloud.points[3].y = 0.175000f; cloud.points[3].z = 0.977916f;
- cloud.points[4].x = -0.008435f; cloud.points[4].y = 0.175000f; cloud.points[4].z = 0.974038f;
- cloud.points[5].x = 0.004218f; cloud.points[5].y = 0.175000f; cloud.points[5].z = 0.973370f;
- cloud.points[6].x = 0.016045f; cloud.points[6].y = 0.175000f; cloud.points[6].z = 0.977916f;
- cloud.points[7].x = -0.025420f; cloud.points[7].y = 0.200000f; cloud.points[7].z = 0.974580f;
- cloud.points[8].x = 0.025420f; cloud.points[8].y = 0.200000f; cloud.points[8].z = 0.974580f;
- cloud.points[9].x = -0.012710f; cloud.points[9].y = 0.150000f; cloud.points[9].z = 0.987290f;
- cloud.points[10].x = -0.005624f; cloud.points[10].y = 0.150000f; cloud.points[10].z = 0.982692f;
- cloud.points[11].x = 0.002812f; cloud.points[11].y = 0.150000f; cloud.points[11].z = 0.982247f;
- cloud.points[12].x = 0.012710f; cloud.points[12].y = 0.150000f; cloud.points[12].z = 0.987290f;
- cloud.points[13].x = -0.022084f; cloud.points[13].y = 0.175000f; cloud.points[13].z = 0.983955f;
- cloud.points[14].x = 0.022084f; cloud.points[14].y = 0.175000f; cloud.points[14].z = 0.983955f;
- cloud.points[15].x = -0.034616f; cloud.points[15].y = 0.200000f; cloud.points[15].z = 0.988753f;
- cloud.points[16].x = 0.034616f; cloud.points[16].y = 0.200000f; cloud.points[16].z = 0.988753f;
- cloud.points[17].x = -0.006044f; cloud.points[17].y = 0.125000f; cloud.points[17].z = 0.993956f;
- cloud.points[18].x = 0.004835f; cloud.points[18].y = 0.125000f; cloud.points[18].z = 0.993345f;
- cloud.points[19].x = -0.017308f; cloud.points[19].y = 0.150000f; cloud.points[19].z = 0.994376f;
- cloud.points[20].x = 0.017308f; cloud.points[20].y = 0.150000f; cloud.points[20].z = 0.994376f;
- cloud.points[21].x = -0.025962f; cloud.points[21].y = 0.175000f; cloud.points[21].z = 0.991565f;
- cloud.points[22].x = 0.025962f; cloud.points[22].y = 0.175000f; cloud.points[22].z = 0.991565f;
- cloud.points[23].x = -0.009099f; cloud.points[23].y = 0.125000f; cloud.points[23].z = 1.000000f;
- cloud.points[24].x = 0.009099f; cloud.points[24].y = 0.125000f; cloud.points[24].z = 1.000000f;
- cloud.points[25].x = -0.018199f; cloud.points[25].y = 0.150000f; cloud.points[25].z = 1.000000f;
- cloud.points[26].x = 0.018199f; cloud.points[26].y = 0.150000f; cloud.points[26].z = 1.000000f;
- cloud.points[27].x = -0.027298f; cloud.points[27].y = 0.175000f; cloud.points[27].z = 1.000000f;
- cloud.points[28].x = 0.027298f; cloud.points[28].y = 0.175000f; cloud.points[28].z = 1.000000f;
- cloud.points[29].x = -0.036397f; cloud.points[29].y = 0.200000f; cloud.points[29].z = 1.000000f;
- cloud.points[30].x = 0.036397f; cloud.points[30].y = 0.200000f; cloud.points[30].z = 1.000000f;
-
- normals.points[0].normal[0] = -0.290381f; normals.points[0].normal[1] = -0.342020f; normals.points[0].normal[2] = -0.893701f;
- normals.points[1].normal[0] = 0.000000f; normals.points[1].normal[1] = -0.342020f; normals.points[1].normal[2] = -0.939693f;
- normals.points[2].normal[0] = 0.290381f; normals.points[2].normal[1] = -0.342020f; normals.points[2].normal[2] = -0.893701f;
- normals.points[3].normal[0] = -0.552338f; normals.points[3].normal[1] = -0.342020f; normals.points[3].normal[2] = -0.760227f;
- normals.points[4].normal[0] = -0.290381f; normals.points[4].normal[1] = -0.342020f; normals.points[4].normal[2] = -0.893701f;
- normals.points[5].normal[0] = 0.145191f; normals.points[5].normal[1] = -0.342020f; normals.points[5].normal[2] = -0.916697f;
- normals.points[6].normal[0] = 0.552337f; normals.points[6].normal[1] = -0.342020f; normals.points[6].normal[2] = -0.760227f;
- normals.points[7].normal[0] = -0.656282f; normals.points[7].normal[1] = -0.342020f; normals.points[7].normal[2] = -0.656283f;
- normals.points[8].normal[0] = 0.656282f; normals.points[8].normal[1] = -0.342020f; normals.points[8].normal[2] = -0.656283f;
- normals.points[9].normal[0] = -0.656283f; normals.points[9].normal[1] = -0.342020f; normals.points[9].normal[2] = -0.656282f;
- normals.points[10].normal[0] = -0.290381f; normals.points[10].normal[1] = -0.342020f; normals.points[10].normal[2] = -0.893701f;
- normals.points[11].normal[0] = 0.145191f; normals.points[11].normal[1] = -0.342020f; normals.points[11].normal[2] = -0.916697f;
- normals.points[12].normal[0] = 0.656282f; normals.points[12].normal[1] = -0.342020f; normals.points[12].normal[2] = -0.656282f;
- normals.points[13].normal[0] = -0.760228f; normals.points[13].normal[1] = -0.342020f; normals.points[13].normal[2] = -0.552337f;
- normals.points[14].normal[0] = 0.760228f; normals.points[14].normal[1] = -0.342020f; normals.points[14].normal[2] = -0.552337f;
- normals.points[15].normal[0] = -0.893701f; normals.points[15].normal[1] = -0.342020f; normals.points[15].normal[2] = -0.290380f;
- normals.points[16].normal[0] = 0.893701f; normals.points[16].normal[1] = -0.342020f; normals.points[16].normal[2] = -0.290380f;
- normals.points[17].normal[0] = -0.624162f; normals.points[17].normal[1] = -0.342020f; normals.points[17].normal[2] = -0.624162f;
- normals.points[18].normal[0] = 0.499329f; normals.points[18].normal[1] = -0.342020f; normals.points[18].normal[2] = -0.687268f;
- normals.points[19].normal[0] = -0.893701f; normals.points[19].normal[1] = -0.342020f; normals.points[19].normal[2] = -0.290380f;
- normals.points[20].normal[0] = 0.893701f; normals.points[20].normal[1] = -0.342020f; normals.points[20].normal[2] = -0.290380f;
- normals.points[21].normal[0] = -0.893701f; normals.points[21].normal[1] = -0.342020f; normals.points[21].normal[2] = -0.290381f;
- normals.points[22].normal[0] = 0.893701f; normals.points[22].normal[1] = -0.342020f; normals.points[22].normal[2] = -0.290381f;
- normals.points[23].normal[0] = -0.939693f; normals.points[23].normal[1] = -0.342020f; normals.points[23].normal[2] = 0.000000f;
- normals.points[24].normal[0] = 0.939693f; normals.points[24].normal[1] = -0.342020f; normals.points[24].normal[2] = 0.000000f;
- normals.points[25].normal[0] = -0.939693f; normals.points[25].normal[1] = -0.342020f; normals.points[25].normal[2] = 0.000000f;
- normals.points[26].normal[0] = 0.939693f; normals.points[26].normal[1] = -0.342020f; normals.points[26].normal[2] = 0.000000f;
- normals.points[27].normal[0] = -0.939693f; normals.points[27].normal[1] = -0.342020f; normals.points[27].normal[2] = 0.000000f;
- normals.points[28].normal[0] = 0.939693f; normals.points[28].normal[1] = -0.342020f; normals.points[28].normal[2] = 0.000000f;
- normals.points[29].normal[0] = -0.939693f; normals.points[29].normal[1] = -0.342020f; normals.points[29].normal[2] = 0.000000f;
- normals.points[30].normal[0] = 0.939693f; normals.points[30].normal[1] = -0.342020f; normals.points[30].normal[2] = 0.000000f;
-
-
- // Create a shared cylinder model pointer directly
- SampleConsensusModelConePtr model (new SampleConsensusModelCone<PointXYZ, Normal> (cloud.makeShared ()));
- model->setInputNormals (normals.makeShared ());
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 3);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 31);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 7);
- EXPECT_NEAR (coeff[0], 0, 1e-2);
- EXPECT_NEAR (coeff[1], 0.1, 1e-2);
- EXPECT_NEAR (coeff[6], 0.349066, 1e-2);
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 7);
- EXPECT_NEAR (coeff_refined[6], 0.349066 , 1e-2);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelCylinder)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- PointCloud<Normal> normals;
- cloud.points.resize (20); normals.points.resize (20);
-
- cloud.points[0].x = -0.499902f; cloud.points[0].y = 2.199701f; cloud.points[0].z = 0.000008f;
- cloud.points[1].x = -0.875397f; cloud.points[1].y = 2.030177f; cloud.points[1].z = 0.050104f;
- cloud.points[2].x = -0.995875f; cloud.points[2].y = 1.635973f; cloud.points[2].z = 0.099846f;
- cloud.points[3].x = -0.779523f; cloud.points[3].y = 1.285527f; cloud.points[3].z = 0.149961f;
- cloud.points[4].x = -0.373285f; cloud.points[4].y = 1.216488f; cloud.points[4].z = 0.199959f;
- cloud.points[5].x = -0.052893f; cloud.points[5].y = 1.475973f; cloud.points[5].z = 0.250101f;
- cloud.points[6].x = -0.036558f; cloud.points[6].y = 1.887591f; cloud.points[6].z = 0.299839f;
- cloud.points[7].x = -0.335048f; cloud.points[7].y = 2.171994f; cloud.points[7].z = 0.350001f;
- cloud.points[8].x = -0.745456f; cloud.points[8].y = 2.135528f; cloud.points[8].z = 0.400072f;
- cloud.points[9].x = -0.989282f; cloud.points[9].y = 1.803311f; cloud.points[9].z = 0.449983f;
- cloud.points[10].x = -0.900651f; cloud.points[10].y = 1.400701f; cloud.points[10].z = 0.500126f;
- cloud.points[11].x = -0.539658f; cloud.points[11].y = 1.201468f; cloud.points[11].z = 0.550079f;
- cloud.points[12].x = -0.151875f; cloud.points[12].y = 1.340951f; cloud.points[12].z = 0.599983f;
- cloud.points[13].x = -0.000724f; cloud.points[13].y = 1.724373f; cloud.points[13].z = 0.649882f;
- cloud.points[14].x = -0.188573f; cloud.points[14].y = 2.090983f; cloud.points[14].z = 0.699854f;
- cloud.points[15].x = -0.587925f; cloud.points[15].y = 2.192257f; cloud.points[15].z = 0.749956f;
- cloud.points[16].x = -0.927724f; cloud.points[16].y = 1.958846f; cloud.points[16].z = 0.800008f;
- cloud.points[17].x = -0.976888f; cloud.points[17].y = 1.549655f; cloud.points[17].z = 0.849970f;
- cloud.points[18].x = -0.702003f; cloud.points[18].y = 1.242707f; cloud.points[18].z = 0.899954f;
- cloud.points[19].x = -0.289916f; cloud.points[19].y = 1.246296f; cloud.points[19].z = 0.950075f;
-
- normals.points[0].normal[0] = 0.000098f; normals.points[0].normal[1] = 1.000098f; normals.points[0].normal[2] = 0.000008f;
- normals.points[1].normal[0] = -0.750891f; normals.points[1].normal[1] = 0.660413f; normals.points[1].normal[2] = 0.000104f;
- normals.points[2].normal[0] = -0.991765f; normals.points[2].normal[1] = -0.127949f; normals.points[2].normal[2] = -0.000154f;
- normals.points[3].normal[0] = -0.558918f; normals.points[3].normal[1] = -0.829439f; normals.points[3].normal[2] = -0.000039f;
- normals.points[4].normal[0] = 0.253627f; normals.points[4].normal[1] = -0.967447f; normals.points[4].normal[2] = -0.000041f;
- normals.points[5].normal[0] = 0.894105f; normals.points[5].normal[1] = -0.447965f; normals.points[5].normal[2] = 0.000101f;
- normals.points[6].normal[0] = 0.926852f; normals.points[6].normal[1] = 0.375543f; normals.points[6].normal[2] = -0.000161f;
- normals.points[7].normal[0] = 0.329948f; normals.points[7].normal[1] = 0.943941f; normals.points[7].normal[2] = 0.000001f;
- normals.points[8].normal[0] = -0.490966f; normals.points[8].normal[1] = 0.871203f; normals.points[8].normal[2] = 0.000072f;
- normals.points[9].normal[0] = -0.978507f; normals.points[9].normal[1] = 0.206425f; normals.points[9].normal[2] = -0.000017f;
- normals.points[10].normal[0] = -0.801227f; normals.points[10].normal[1] = -0.598534f; normals.points[10].normal[2] = 0.000126f;
- normals.points[11].normal[0] = -0.079447f; normals.points[11].normal[1] = -0.996697f; normals.points[11].normal[2] = 0.000079f;
- normals.points[12].normal[0] = 0.696154f; normals.points[12].normal[1] = -0.717889f; normals.points[12].normal[2] = -0.000017f;
- normals.points[13].normal[0] = 0.998685f; normals.points[13].normal[1] = 0.048502f; normals.points[13].normal[2] = -0.000118f;
- normals.points[14].normal[0] = 0.622933f; normals.points[14].normal[1] = 0.782133f; normals.points[14].normal[2] = -0.000146f;
- normals.points[15].normal[0] = -0.175948f; normals.points[15].normal[1] = 0.984480f; normals.points[15].normal[2] = -0.000044f;
- normals.points[16].normal[0] = -0.855476f; normals.points[16].normal[1] = 0.517824f; normals.points[16].normal[2] = 0.000008f;
- normals.points[17].normal[0] = -0.953769f; normals.points[17].normal[1] = -0.300571f; normals.points[17].normal[2] = -0.000030f;
- normals.points[18].normal[0] = -0.404035f; normals.points[18].normal[1] = -0.914700f; normals.points[18].normal[2] = -0.000046f;
- normals.points[19].normal[0] = 0.420154f; normals.points[19].normal[1] = -0.907445f; normals.points[19].normal[2] = 0.000075f;
-
- // Create a shared cylinder model pointer directly
- SampleConsensusModelCylinderPtr model (new SampleConsensusModelCylinder<PointXYZ, Normal> (cloud.makeShared ()));
- model->setInputNormals (normals.makeShared ());
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 2);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 20);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 7);
- EXPECT_NEAR (coeff[0], -0.5, 1e-3);
- EXPECT_NEAR (coeff[1], 1.7, 1e-3);
- EXPECT_NEAR (coeff[6], 0.5, 1e-3);
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 7);
- EXPECT_NEAR (coeff_refined[6], 0.5, 1e-3);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelCircle2D)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- cloud.points.resize (18);
-
- cloud.points[0].x = 3.587751f; cloud.points[0].y = -4.190982f; cloud.points[0].z = 0.0f;
- cloud.points[1].x = 3.808883f; cloud.points[1].y = -4.412265f; cloud.points[1].z = 0.0f;
- cloud.points[2].x = 3.587525f; cloud.points[2].y = -5.809143f; cloud.points[2].z = 0.0f;
- cloud.points[3].x = 2.999913f; cloud.points[3].y = -5.999980f; cloud.points[3].z = 0.0f;
- cloud.points[4].x = 2.412224f; cloud.points[4].y = -5.809090f; cloud.points[4].z = 0.0f;
- cloud.points[5].x = 2.191080f; cloud.points[5].y = -5.587682f; cloud.points[5].z = 0.0f;
- cloud.points[6].x = 2.048941f; cloud.points[6].y = -5.309003f; cloud.points[6].z = 0.0f;
- cloud.points[7].x = 2.000397f; cloud.points[7].y = -4.999944f; cloud.points[7].z = 0.0f;
- cloud.points[8].x = 2.999953f; cloud.points[8].y = -6.000056f; cloud.points[8].z = 0.0f;
- cloud.points[9].x = 2.691127f; cloud.points[9].y = -5.951136f; cloud.points[9].z = 0.0f;
- cloud.points[10].x = 2.190892f; cloud.points[10].y = -5.587838f; cloud.points[10].z = 0.0f;
- cloud.points[11].x = 2.048874f; cloud.points[11].y = -5.309052f; cloud.points[11].z = 0.0f;
- cloud.points[12].x = 1.999990f; cloud.points[12].y = -5.000147f; cloud.points[12].z = 0.0f;
- cloud.points[13].x = 2.049026f; cloud.points[13].y = -4.690918f; cloud.points[13].z = 0.0f;
- cloud.points[14].x = 2.190956f; cloud.points[14].y = -4.412162f; cloud.points[14].z = 0.0f;
- cloud.points[15].x = 2.412231f; cloud.points[15].y = -4.190918f; cloud.points[15].z = 0.0f;
- cloud.points[16].x = 2.691027f; cloud.points[16].y = -4.049060f; cloud.points[16].z = 0.0f;
- cloud.points[17].x = 2.0f; cloud.points[17].y = -3.0f; cloud.points[17].z = 0.0f;
-
- // Create a shared 2d circle model pointer directly
- SampleConsensusModelCircle2DPtr model (new SampleConsensusModelCircle2D<PointXYZ> (cloud.makeShared ()));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 3);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 17);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 3);
- EXPECT_NEAR (coeff[0], 3, 1e-3);
- EXPECT_NEAR (coeff[1], -5, 1e-3);
- EXPECT_NEAR (coeff[2], 1, 1e-3);
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 3);
- EXPECT_NEAR (coeff_refined[0], 3, 1e-3);
- EXPECT_NEAR (coeff_refined[1], -5, 1e-3);
- EXPECT_NEAR (coeff_refined[2], 1, 1e-3);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelCircle3D)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- cloud.points.resize (20);
-
- cloud.points[0].x = 1.0f; cloud.points[0].y = 5.0f; cloud.points[0].z = -2.9000001f;
- cloud.points[1].x = 1.034202f; cloud.points[1].y = 5.0f; cloud.points[1].z = -2.9060307f;
- cloud.points[2].x = 1.0642787f; cloud.points[2].y = 5.0f; cloud.points[2].z = -2.9233956f;
- cloud.points[3].x = 1.0866026f; cloud.points[3].y = 5.0f; cloud.points[3].z = -2.95f;
- cloud.points[4].x = 1.0984808f; cloud.points[4].y = 5.0f; cloud.points[4].z = -2.9826353f;
- cloud.points[5].x = 1.0984808f; cloud.points[5].y = 5.0f; cloud.points[5].z = -3.0173647f;
- cloud.points[6].x = 1.0866026f; cloud.points[6].y = 5.0f; cloud.points[6].z = -3.05f;
- cloud.points[7].x = 1.0642787f; cloud.points[7].y = 5.0f; cloud.points[7].z = -3.0766044f;
- cloud.points[8].x = 1.034202f; cloud.points[8].y = 5.0f; cloud.points[8].z = -3.0939693f;
- cloud.points[9].x = 1.0f; cloud.points[9].y = 5.0f; cloud.points[9].z = -3.0999999f;
- cloud.points[10].x = 0.96579796f; cloud.points[10].y = 5.0f; cloud.points[10].z = -3.0939693f;
- cloud.points[11].x = 0.93572122f; cloud.points[11].y = 5.0f; cloud.points[11].z = -3.0766044f;
- cloud.points[12].x = 0.91339743f; cloud.points[12].y = 5.0f; cloud.points[12].z = -3.05f;
- cloud.points[13].x = 0.90151924f; cloud.points[13].y = 5.0f; cloud.points[13].z = -3.0173647f;
- cloud.points[14].x = 0.90151924f; cloud.points[14].y = 5.0f; cloud.points[14].z = -2.9826353f;
- cloud.points[15].x = 0.91339743f; cloud.points[15].y = 5.0f; cloud.points[15].z = -2.95f;
- cloud.points[16].x = 0.93572122f; cloud.points[16].y = 5.0f; cloud.points[16].z = -2.9233956f;
- cloud.points[17].x = 0.96579796f; cloud.points[17].y = 5.0; cloud.points[17].z = -2.9060307f;
- cloud.points[18].x = 0.85000002f; cloud.points[18].y = 4.8499999f; cloud.points[18].z = -3.1500001f;
- cloud.points[19].x = 1.15f; cloud.points[19].y = 5.1500001f; cloud.points[19].z = -2.8499999f;
-
- // Create a shared 3d circle model pointer directly
- SampleConsensusModelCircle3DPtr model (new SampleConsensusModelCircle3D<PointXYZ> (cloud.makeShared ()));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 3);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 18);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 7);
- EXPECT_NEAR (coeff[0], 1, 1e-3);
- EXPECT_NEAR (coeff[1], 5, 1e-3);
- EXPECT_NEAR (coeff[2], -3, 1e-3);
- EXPECT_NEAR (coeff[3],0.1, 1e-3);
- EXPECT_NEAR (coeff[4], 0, 1e-3);
- EXPECT_NEAR (coeff[5], -1, 1e-3);
- EXPECT_NEAR (coeff[6], 0, 1e-3);
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 7);
- EXPECT_NEAR (coeff_refined[0], 1, 1e-3);
- EXPECT_NEAR (coeff_refined[1], 5, 1e-3);
- EXPECT_NEAR (coeff_refined[2], -3, 1e-3);
- EXPECT_NEAR (coeff_refined[3],0.1, 1e-3);
- EXPECT_NEAR (coeff_refined[4], 0, 1e-3);
- EXPECT_NEAR (coeff_refined[5], -1, 1e-3);
- EXPECT_NEAR (coeff_refined[6], 0, 1e-3);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelLine)
-{
- srand (0);
-
- // Use a custom point cloud for these tests until we need something better
- PointCloud<PointXYZ> cloud;
- cloud.points.resize (10);
-
- cloud.points[0].x = 1.0f; cloud.points[0].y = 2.0f; cloud.points[0].z = 3.0f;
- cloud.points[1].x = 4.0f; cloud.points[1].y = 5.0f; cloud.points[1].z = 6.0f;
- cloud.points[2].x = 7.0f; cloud.points[2].y = 8.0f; cloud.points[2].z = 9.0f;
- cloud.points[3].x = 10.0f; cloud.points[3].y = 11.0f; cloud.points[3].z = 12.0f;
- cloud.points[4].x = 13.0f; cloud.points[4].y = 14.0f; cloud.points[4].z = 15.0f;
- cloud.points[5].x = 16.0f; cloud.points[5].y = 17.0f; cloud.points[5].z = 18.0f;
- cloud.points[6].x = 19.0f; cloud.points[6].y = 20.0f; cloud.points[6].z = 21.0f;
- cloud.points[7].x = 22.0f; cloud.points[7].y = 23.0f; cloud.points[7].z = 24.0f;
- cloud.points[8].x = -5.0f; cloud.points[8].y = 1.57f; cloud.points[8].z = 0.75f;
- cloud.points[9].x = 4.0f; cloud.points[9].y = 2.0f; cloud.points[9].z = 3.0f;
-
- // Create a shared line model pointer directly
- SampleConsensusModelLinePtr model (new SampleConsensusModelLine<PointXYZ> (cloud.makeShared ()));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.001);
-
- // Algorithm tests
- bool result = sac.computeModel ();
- ASSERT_EQ (result, true);
-
- std::vector<int> sample;
- sac.getModel (sample);
- EXPECT_EQ (int (sample.size ()), 2);
-
- std::vector<int> inliers;
- sac.getInliers (inliers);
- EXPECT_EQ (int (inliers.size ()), 8);
-
- Eigen::VectorXf coeff;
- sac.getModelCoefficients (coeff);
- EXPECT_EQ (int (coeff.size ()), 6);
- EXPECT_NEAR (coeff[4]/coeff[3], 1, 1e-4);
- EXPECT_NEAR (coeff[5]/coeff[3], 1, 1e-4);
-
- Eigen::VectorXf coeff_refined;
- model->optimizeModelCoefficients (inliers, coeff, coeff_refined);
- EXPECT_EQ (int (coeff_refined.size ()), 6);
- EXPECT_NEAR (coeff[4]/coeff[3], 1, 1e-4);
- EXPECT_NEAR (coeff[5]/coeff[3], 1, 1e-4);
-
- // Projection tests
- PointCloud<PointXYZ> proj_points;
- model->projectPoints (inliers, coeff_refined, proj_points);
-
- EXPECT_NEAR (proj_points.points[2].x, 7.0, 1e-4);
- EXPECT_NEAR (proj_points.points[2].y, 8.0, 1e-4);
- EXPECT_NEAR (proj_points.points[2].z, 9.0, 1e-4);
-
- EXPECT_NEAR (proj_points.points[3].x, 10.0, 1e-4);
- EXPECT_NEAR (proj_points.points[3].y, 11.0, 1e-4);
- EXPECT_NEAR (proj_points.points[3].z, 12.0, 1e-4);
-
- EXPECT_NEAR (proj_points.points[5].x, 16.0, 1e-4);
- EXPECT_NEAR (proj_points.points[5].y, 17.0, 1e-4);
- EXPECT_NEAR (proj_points.points[5].z, 18.0, 1e-4);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-TEST (RANSAC, SampleConsensusModelNormalPlane)
-{
- srand (0);
- // Create a shared plane model pointer directly
- SampleConsensusModelNormalPlanePtr model (new SampleConsensusModelNormalPlane<PointXYZ, Normal> (cloud_));
- model->setInputNormals (normals_);
- model->setNormalDistanceWeight (0.01);
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> sac (model, 0.03);
-
- verifyPlaneSac (model, sac);
-}
-
-//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-// Test if RANSAC finishes within a second.
-TEST (SAC, InfiniteLoop)
-{
- const unsigned point_count = 100;
- PointCloud<PointXYZ> cloud;
- cloud.points.resize (point_count);
- for (unsigned pIdx = 0; pIdx < point_count; ++pIdx)
- {
- cloud.points[pIdx].x = static_cast<float> (pIdx);
- cloud.points[pIdx].y = 0.0;
- cloud.points[pIdx].z = 0.0;
- }
-
- boost::posix_time::time_duration delay(0,0,1,0);
- boost::function<bool ()> sac_function;
- SampleConsensusModelSpherePtr model (new SampleConsensusModelSphere<PointXYZ> (cloud.makeShared ()));
-
- // Create the RANSAC object
- RandomSampleConsensus<PointXYZ> ransac (model, 0.03);
- sac_function = boost::bind (&RandomSampleConsensus<PointXYZ>::computeModel, &ransac, 0);
- boost::thread thread1 (sac_function);
- ASSERT_TRUE(thread1.timed_join(delay));
-
- // Create the LMSAC object
- LeastMedianSquares<PointXYZ> lmsac (model, 0.03);
- sac_function = boost::bind (&LeastMedianSquares<PointXYZ>::computeModel, &lmsac, 0);
- boost::thread thread2 (sac_function);
- ASSERT_TRUE(thread2.timed_join(delay));
-
- // Create the MSAC object
- MEstimatorSampleConsensus<PointXYZ> mesac (model, 0.03);
- sac_function = boost::bind (&MEstimatorSampleConsensus<PointXYZ>::computeModel, &mesac, 0);
- boost::thread thread3 (sac_function);
- ASSERT_TRUE(thread3.timed_join(delay));
-
- // Create the RRSAC object
- RandomizedRandomSampleConsensus<PointXYZ> rrsac (model, 0.03);
- sac_function = boost::bind (&RandomizedRandomSampleConsensus<PointXYZ>::computeModel, &rrsac, 0);
- boost::thread thread4 (sac_function);
- ASSERT_TRUE(thread4.timed_join(delay));
-
- // Create the RMSAC object
- RandomizedMEstimatorSampleConsensus<PointXYZ> rmsac (model, 0.03);
- sac_function = boost::bind (&RandomizedMEstimatorSampleConsensus<PointXYZ>::computeModel, &rmsac, 0);
- boost::thread thread5 (sac_function);
- ASSERT_TRUE(thread5.timed_join(delay));
-
- // Create the MLESAC object
- MaximumLikelihoodSampleConsensus<PointXYZ> mlesac (model, 0.03);
- sac_function = boost::bind (&MaximumLikelihoodSampleConsensus<PointXYZ>::computeModel, &mlesac, 0);
- boost::thread thread6 (sac_function);
- ASSERT_TRUE(thread6.timed_join(delay));
-}
-
-/* ---[ */
-int
- main (int argc, char** argv)
-{
- if (argc < 2)
- {
- std::cerr << "No test file given. Please download `sac_plane_test.pcd` and pass its path to the test." << std::endl;
- return (-1);
- }
-
- // Load a standard PCD file from disk
- pcl::PCLPointCloud2 cloud_blob;
- if (loadPCDFile (argv[1], cloud_blob) < 0)
- {
- std::cerr << "Failed to read test file. Please download `sac_plane_test.pcd` and pass its path to the test." << std::endl;
- return (-1);
- }
- fromPCLPointCloud2 (cloud_blob, *cloud_);
-
- indices_.resize (cloud_->points.size ());
- for (size_t i = 0; i < indices_.size (); ++i) { indices_[i] = int (i); }
-
- // Estimate surface normals
- NormalEstimation<PointXYZ, Normal> n;
- search::Search<PointXYZ>::Ptr tree (new search::KdTree<PointXYZ>);
- tree->setInputCloud (cloud_);
- n.setInputCloud (cloud_);
- boost::shared_ptr<vector<int> > indicesptr (new vector<int> (indices_));
- n.setIndices (indicesptr);
- n.setSearchMethod (tree);
- n.setRadiusSearch (0.02); // Use 2cm radius to estimate the normals
- n.compute (*normals_);
-
- testing::InitGoogleTest (&argc, argv);
- return (RUN_ALL_TESTS ());
-}
-/* ]--- */
EXPECT_NEAR (centroid[0], -0.0290809, 1e-4);
EXPECT_NEAR (centroid[1], 0.102653, 1e-4);
EXPECT_NEAR (centroid[2], 0.027302, 1e-4);
- EXPECT_NEAR (centroid[3], 0, 1e-4);
+ EXPECT_NEAR (centroid[3], 1, 1e-4);
// Check standard demean
demeanPointCloud (cloud, centroid, cloud_demean);
set (DEFAULT ON)
set (REASON "")
-PCL_SUBSYS_OPTION (build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND (build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION (BUILD_tools "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_DEPEND (BUILD_tools "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-if (build)
+if (BUILD_tools)
- PCL_ADD_EXECUTABLE(pcl_sac_segmentation_plane ${SUBSYS_NAME} sac_segmentation_plane.cpp)
+ PCL_ADD_EXECUTABLE(pcl_sac_segmentation_plane "${SUBSYS_NAME}" sac_segmentation_plane.cpp)
target_link_libraries(pcl_sac_segmentation_plane pcl_common pcl_io pcl_sample_consensus pcl_segmentation)
- PCL_ADD_EXECUTABLE (pcl_plane_projection ${SUBSYS_NAME} plane_projection.cpp)
+ PCL_ADD_EXECUTABLE (pcl_plane_projection "${SUBSYS_NAME}" plane_projection.cpp)
target_link_libraries (pcl_plane_projection pcl_common pcl_io pcl_sample_consensus)
- PCL_ADD_EXECUTABLE (pcl_normal_estimation ${SUBSYS_NAME} normal_estimation.cpp)
+ PCL_ADD_EXECUTABLE (pcl_normal_estimation "${SUBSYS_NAME}" normal_estimation.cpp)
target_link_libraries (pcl_normal_estimation pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_uniform_sampling ${SUBSYS_NAME} uniform_sampling.cpp)
+ PCL_ADD_EXECUTABLE (pcl_uniform_sampling "${SUBSYS_NAME}" uniform_sampling.cpp)
target_link_libraries (pcl_uniform_sampling pcl_common pcl_io pcl_filters pcl_keypoints pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_boundary_estimation ${SUBSYS_NAME} boundary_estimation.cpp)
+ PCL_ADD_EXECUTABLE (pcl_boundary_estimation "${SUBSYS_NAME}" boundary_estimation.cpp)
target_link_libraries (pcl_boundary_estimation pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_cluster_extraction ${SUBSYS_NAME} cluster_extraction.cpp)
+ PCL_ADD_EXECUTABLE (pcl_cluster_extraction "${SUBSYS_NAME}" cluster_extraction.cpp)
target_link_libraries (pcl_cluster_extraction pcl_common pcl_io pcl_segmentation pcl_filters pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_fpfh_estimation ${SUBSYS_NAME} fpfh_estimation.cpp)
+ PCL_ADD_EXECUTABLE (pcl_fpfh_estimation "${SUBSYS_NAME}" fpfh_estimation.cpp)
target_link_libraries (pcl_fpfh_estimation pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_pcd2ply ${SUBSYS_NAME} pcd2ply.cpp)
+ PCL_ADD_EXECUTABLE (pcl_pcd2ply "${SUBSYS_NAME}" pcd2ply.cpp)
target_link_libraries (pcl_pcd2ply pcl_common pcl_io)
- PCL_ADD_EXECUTABLE (pcl_ply2pcd ${SUBSYS_NAME} ply2pcd.cpp)
+ PCL_ADD_EXECUTABLE (pcl_ply2pcd "${SUBSYS_NAME}" ply2pcd.cpp)
target_link_libraries (pcl_ply2pcd pcl_common pcl_io)
- PCL_ADD_EXECUTABLE (pcl_xyz2pcd ${SUBSYS_NAME} xyz2pcd.cpp)
+ PCL_ADD_EXECUTABLE (pcl_xyz2pcd "${SUBSYS_NAME}" xyz2pcd.cpp)
target_link_libraries (pcl_xyz2pcd pcl_common pcl_io)
- PCL_ADD_EXECUTABLE (pcl_pclzf2pcd ${SUBSYS_NAME} pclzf2pcd.cpp)
+ PCL_ADD_EXECUTABLE (pcl_pclzf2pcd "${SUBSYS_NAME}" pclzf2pcd.cpp)
target_link_libraries (pcl_pclzf2pcd pcl_common pcl_io)
- PCL_ADD_EXECUTABLE (pcl_pcd2vtk ${SUBSYS_NAME} pcd2vtk.cpp)
+ PCL_ADD_EXECUTABLE (pcl_pcd2vtk "${SUBSYS_NAME}" pcd2vtk.cpp)
target_link_libraries (pcl_pcd2vtk pcl_common pcl_io)
- PCL_ADD_EXECUTABLE (pcl_vfh_estimation ${SUBSYS_NAME} vfh_estimation.cpp)
+ PCL_ADD_EXECUTABLE (pcl_vfh_estimation "${SUBSYS_NAME}" vfh_estimation.cpp)
target_link_libraries (pcl_vfh_estimation pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_spin_estimation ${SUBSYS_NAME} spin_estimation.cpp)
+ PCL_ADD_EXECUTABLE (pcl_spin_estimation "${SUBSYS_NAME}" spin_estimation.cpp)
target_link_libraries (pcl_spin_estimation pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_voxel_grid ${SUBSYS_NAME} voxel_grid.cpp)
+ PCL_ADD_EXECUTABLE (pcl_voxel_grid "${SUBSYS_NAME}" voxel_grid.cpp)
target_link_libraries (pcl_voxel_grid pcl_common pcl_io pcl_filters)
- PCL_ADD_EXECUTABLE (pcl_passthrough_filter ${SUBSYS_NAME} passthrough_filter.cpp)
+ PCL_ADD_EXECUTABLE (pcl_passthrough_filter "${SUBSYS_NAME}" passthrough_filter.cpp)
target_link_libraries (pcl_passthrough_filter pcl_common pcl_io pcl_filters)
- PCL_ADD_EXECUTABLE (pcl_radius_filter ${SUBSYS_NAME} radius_filter.cpp)
+ PCL_ADD_EXECUTABLE (pcl_radius_filter "${SUBSYS_NAME}" radius_filter.cpp)
target_link_libraries (pcl_radius_filter pcl_common pcl_io pcl_filters)
- PCL_ADD_EXECUTABLE (pcl_extract_feature ${SUBSYS_NAME} extract_feature.cpp)
+ PCL_ADD_EXECUTABLE (pcl_extract_feature "${SUBSYS_NAME}" extract_feature.cpp)
target_link_libraries (pcl_extract_feature pcl_common pcl_io pcl_features pcl_kdtree)
- PCL_ADD_EXECUTABLE (pcl_compute_cloud_error ${SUBSYS_NAME} compute_cloud_error.cpp)
+ PCL_ADD_EXECUTABLE (pcl_compute_cloud_error "${SUBSYS_NAME}" compute_cloud_error.cpp)
target_link_libraries (pcl_compute_cloud_error pcl_common pcl_io pcl_kdtree pcl_search)
# NOTE: boost/uuid/uuid.hpp only exists for versions > 1.41
if(Boost_MAJOR_VERSION GREATER 1 OR Boost_MINOR_VERSION GREATER 41)
- PCL_ADD_EXECUTABLE (pcl_add_gaussian_noise ${SUBSYS_NAME} add_gaussian_noise.cpp)
+ PCL_ADD_EXECUTABLE (pcl_add_gaussian_noise "${SUBSYS_NAME}" add_gaussian_noise.cpp)
target_link_libraries (pcl_add_gaussian_noise pcl_common pcl_io)
endif()
- PCL_ADD_EXECUTABLE (pcl_outlier_removal ${SUBSYS_NAME} outlier_removal.cpp)
+ PCL_ADD_EXECUTABLE (pcl_outlier_removal "${SUBSYS_NAME}" outlier_removal.cpp)
target_link_libraries (pcl_outlier_removal pcl_common pcl_io pcl_filters)
- PCL_ADD_EXECUTABLE (pcl_mls_smoothing ${SUBSYS_NAME} mls_smoothing.cpp)
+ PCL_ADD_EXECUTABLE (pcl_mls_smoothing "${SUBSYS_NAME}" mls_smoothing.cpp)
target_link_libraries (pcl_mls_smoothing pcl_common pcl_io pcl_surface pcl_filters)
- PCL_ADD_EXECUTABLE (pcl_marching_cubes_reconstruction ${SUBSYS_NAME} marching_cubes_reconstruction.cpp)
+ PCL_ADD_EXECUTABLE (pcl_marching_cubes_reconstruction "${SUBSYS_NAME}" marching_cubes_reconstruction.cpp)
target_link_libraries (pcl_marching_cubes_reconstruction pcl_common pcl_io pcl_surface)
- PCL_ADD_EXECUTABLE (pcl_gp3_surface ${SUBSYS_NAME} gp3_surface.cpp)
+ PCL_ADD_EXECUTABLE (pcl_gp3_surface "${SUBSYS_NAME}" gp3_surface.cpp)
target_link_libraries (pcl_gp3_surface pcl_common pcl_io pcl_surface)
- PCL_ADD_EXECUTABLE(pcl_icp ${SUBSYS_NAME} icp.cpp)
+ PCL_ADD_EXECUTABLE(pcl_icp "${SUBSYS_NAME}" icp.cpp)
target_link_libraries(pcl_icp pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE(pcl_icp2d ${SUBSYS_NAME} icp2d.cpp)
+ PCL_ADD_EXECUTABLE(pcl_icp2d "${SUBSYS_NAME}" icp2d.cpp)
target_link_libraries(pcl_icp2d pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE(pcl_elch ${SUBSYS_NAME} elch.cpp)
+ PCL_ADD_EXECUTABLE(pcl_elch "${SUBSYS_NAME}" elch.cpp)
target_link_libraries(pcl_elch pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE(pcl_lum ${SUBSYS_NAME} lum.cpp)
+ PCL_ADD_EXECUTABLE(pcl_lum "${SUBSYS_NAME}" lum.cpp)
target_link_libraries(pcl_lum pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE(pcl_ndt2d ${SUBSYS_NAME} ndt2d.cpp)
+ PCL_ADD_EXECUTABLE(pcl_ndt2d "${SUBSYS_NAME}" ndt2d.cpp)
target_link_libraries(pcl_ndt2d pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE(pcl_ndt3d ${SUBSYS_NAME} ndt3d.cpp)
+ PCL_ADD_EXECUTABLE(pcl_ndt3d "${SUBSYS_NAME}" ndt3d.cpp)
target_link_libraries(pcl_ndt3d pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE(pcl_pcd_change_viewpoint ${SUBSYS_NAME} pcd_change_viewpoint.cpp)
+ PCL_ADD_EXECUTABLE(pcl_pcd_change_viewpoint "${SUBSYS_NAME}" pcd_change_viewpoint.cpp)
target_link_libraries(pcl_pcd_change_viewpoint pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_concatenate_points_pcd ${SUBSYS_NAME} concatenate_points_pcd.cpp)
+ PCL_ADD_EXECUTABLE(pcl_concatenate_points_pcd "${SUBSYS_NAME}" concatenate_points_pcd.cpp)
target_link_libraries(pcl_concatenate_points_pcd pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_poisson_reconstruction ${SUBSYS_NAME} poisson_reconstruction.cpp)
+ PCL_ADD_EXECUTABLE(pcl_poisson_reconstruction "${SUBSYS_NAME}" poisson_reconstruction.cpp)
target_link_libraries(pcl_poisson_reconstruction pcl_common pcl_io pcl_surface)
- PCL_ADD_EXECUTABLE(pcl_train_linemod_template ${SUBSYS_NAME} train_linemod_template.cpp)
+ PCL_ADD_EXECUTABLE(pcl_train_linemod_template "${SUBSYS_NAME}" train_linemod_template.cpp)
target_link_libraries(pcl_train_linemod_template pcl_common pcl_io pcl_segmentation pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_match_linemod_template ${SUBSYS_NAME} match_linemod_template.cpp)
+ PCL_ADD_EXECUTABLE(pcl_match_linemod_template "${SUBSYS_NAME}" match_linemod_template.cpp)
target_link_libraries(pcl_match_linemod_template pcl_common pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_linemod_detection ${SUBSYS_NAME} linemod_detection.cpp)
+ PCL_ADD_EXECUTABLE(pcl_linemod_detection "${SUBSYS_NAME}" linemod_detection.cpp)
target_link_libraries(pcl_linemod_detection pcl_common pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_fast_bilateral_filter ${SUBSYS_NAME} fast_bilateral_filter.cpp)
+ PCL_ADD_EXECUTABLE(pcl_fast_bilateral_filter "${SUBSYS_NAME}" fast_bilateral_filter.cpp)
target_link_libraries(pcl_fast_bilateral_filter pcl_common pcl_io pcl_filters)
- PCL_ADD_EXECUTABLE(pcl_demean_cloud ${SUBSYS_NAME} demean_cloud.cpp)
+ PCL_ADD_EXECUTABLE(pcl_demean_cloud "${SUBSYS_NAME}" demean_cloud.cpp)
target_link_libraries(pcl_demean_cloud pcl_common pcl_io)
+ PCL_ADD_EXECUTABLE(pcl_compute_hausdorff "${SUBSYS_NAME}" compute_hausdorff.cpp)
+ target_link_libraries(pcl_compute_hausdorff pcl_common pcl_io pcl_search)
+
+ PCL_ADD_EXECUTABLE(pcl_morph "${SUBSYS_NAME}" morph.cpp)
+ target_link_libraries(pcl_morph pcl_common pcl_io pcl_filters)
+
+ PCL_ADD_EXECUTABLE(pcl_progressive_morphological_filter "${SUBSYS_NAME}" progressive_morphological_filter.cpp)
+ target_link_libraries(pcl_progressive_morphological_filter pcl_common pcl_io pcl_filters pcl_segmentation)
+
+ PCL_ADD_EXECUTABLE(pcl_generate "${SUBSYS_NAME}" generate.cpp)
+ target_link_libraries(pcl_generate pcl_common pcl_io)
+
+ PCL_ADD_EXECUTABLE(pcl_local_max "${SUBSYS_NAME}" local_max.cpp)
+ target_link_libraries(pcl_local_max pcl_common pcl_io pcl_filters)
+
+ PCL_ADD_EXECUTABLE(pcl_grid_min "${SUBSYS_NAME}" grid_min.cpp)
+ target_link_libraries(pcl_grid_min pcl_common pcl_io pcl_filters)
if(BUILD_OPENNI AND OPENNI_FOUND)
- PCL_ADD_EXECUTABLE(pcl_oni2pcd ${SUBSYS_NAME} oni2pcd.cpp)
+ PCL_ADD_EXECUTABLE(pcl_oni2pcd "${SUBSYS_NAME}" oni2pcd.cpp)
target_link_libraries(pcl_oni2pcd pcl_common pcl_io)
endif(BUILD_OPENNI AND OPENNI_FOUND)
if (QHULL_FOUND)
- PCL_ADD_EXECUTABLE(pcl_crop_to_hull ${SUBSYS_NAME} crop_to_hull.cpp)
+ PCL_ADD_EXECUTABLE(pcl_crop_to_hull "${SUBSYS_NAME}" crop_to_hull.cpp)
target_link_libraries(pcl_crop_to_hull pcl_common pcl_io pcl_filters pcl_surface)
- PCL_ADD_EXECUTABLE(pcl_compute_hull ${SUBSYS_NAME} compute_hull.cpp)
+ PCL_ADD_EXECUTABLE(pcl_compute_hull "${SUBSYS_NAME}" compute_hull.cpp)
target_link_libraries(pcl_compute_hull pcl_common pcl_io pcl_surface)
endif (QHULL_FOUND)
else(NOT VTK_FOUND)
set(DEFAULT TRUE)
set(REASON)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
- PCL_ADD_EXECUTABLE(pcl_png2pcd ${SUBSYS_NAME} png2pcd.cpp)
+ PCL_ADD_EXECUTABLE(pcl_png2pcd "${SUBSYS_NAME}" png2pcd.cpp)
target_link_libraries(pcl_png2pcd pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_pcd2png ${SUBSYS_NAME} pcd2png.cpp)
+ PCL_ADD_EXECUTABLE(pcl_pcd2png "${SUBSYS_NAME}" pcd2png.cpp)
target_link_libraries(pcl_pcd2png pcl_common pcl_io)
- PCL_ADD_EXECUTABLE (pcl_organized_pcd_to_png ${SUBSYS_NAME} organized_pcd_to_png.cpp)
+ PCL_ADD_EXECUTABLE (pcl_organized_pcd_to_png "${SUBSYS_NAME}" organized_pcd_to_png.cpp)
target_link_libraries (pcl_organized_pcd_to_png pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_tiff2pcd ${SUBSYS_NAME} tiff2pcd.cpp)
+ PCL_ADD_EXECUTABLE(pcl_tiff2pcd "${SUBSYS_NAME}" tiff2pcd.cpp)
target_link_libraries(pcl_tiff2pcd pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_ply2vtk ${SUBSYS_NAME} ply2vtk.cpp)
+ PCL_ADD_EXECUTABLE(pcl_ply2vtk "${SUBSYS_NAME}" ply2vtk.cpp)
target_link_libraries(pcl_ply2vtk pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_vtk2ply ${SUBSYS_NAME} vtk2ply.cpp)
+ PCL_ADD_EXECUTABLE(pcl_vtk2ply "${SUBSYS_NAME}" vtk2ply.cpp)
target_link_libraries(pcl_vtk2ply pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_vtk2obj ${SUBSYS_NAME} vtk2obj.cpp)
+ PCL_ADD_EXECUTABLE(pcl_vtk2obj "${SUBSYS_NAME}" vtk2obj.cpp)
target_link_libraries(pcl_vtk2obj pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_obj2vtk ${SUBSYS_NAME} obj2vtk.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj2vtk "${SUBSYS_NAME}" obj2vtk.cpp)
target_link_libraries(pcl_obj2vtk pcl_common pcl_io)
- PCL_ADD_EXECUTABLE(pcl_vtk2pcd ${SUBSYS_NAME} vtk2pcd.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj2pcd "${SUBSYS_NAME}" obj2pcd.cpp)
+ target_link_libraries(pcl_obj2pcd pcl_common pcl_io)
+
+ PCL_ADD_EXECUTABLE(pcl_vtk2pcd "${SUBSYS_NAME}" vtk2pcd.cpp)
target_link_libraries(pcl_vtk2pcd pcl_common pcl_io)
if(BUILD_visualization)
-
- PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS visualization)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_model_opps ${SUBSYS_NAME} obj_rec_ransac_model_opps.cpp)
+ PCL_SUBSYS_DEPEND(BUILD_tools "${SUBSYS_NAME}" DEPS visualization)
+
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_model_opps "${SUBSYS_NAME}" obj_rec_ransac_model_opps.cpp)
target_link_libraries(pcl_obj_rec_ransac_model_opps pcl_common pcl_visualization pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_hash_table ${SUBSYS_NAME} obj_rec_ransac_hash_table.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_hash_table "${SUBSYS_NAME}" obj_rec_ransac_hash_table.cpp)
target_link_libraries(pcl_obj_rec_ransac_hash_table pcl_common pcl_visualization pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_scene_opps ${SUBSYS_NAME} obj_rec_ransac_scene_opps.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_scene_opps "${SUBSYS_NAME}" obj_rec_ransac_scene_opps.cpp)
target_link_libraries(pcl_obj_rec_ransac_scene_opps pcl_common pcl_visualization pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_accepted_hypotheses ${SUBSYS_NAME} obj_rec_ransac_accepted_hypotheses.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_accepted_hypotheses "${SUBSYS_NAME}" obj_rec_ransac_accepted_hypotheses.cpp)
target_link_libraries(pcl_obj_rec_ransac_accepted_hypotheses pcl_common pcl_visualization pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_orr_octree ${SUBSYS_NAME} obj_rec_ransac_orr_octree.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_orr_octree "${SUBSYS_NAME}" obj_rec_ransac_orr_octree.cpp)
target_link_libraries(pcl_obj_rec_ransac_orr_octree pcl_common pcl_visualization pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_orr_octree_zprojection ${SUBSYS_NAME} obj_rec_ransac_orr_octree_zprojection.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_orr_octree_zprojection "${SUBSYS_NAME}" obj_rec_ransac_orr_octree_zprojection.cpp)
target_link_libraries(pcl_obj_rec_ransac_orr_octree_zprojection pcl_common pcl_visualization pcl_io pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_result ${SUBSYS_NAME} obj_rec_ransac_result.cpp)
+ PCL_ADD_EXECUTABLE(pcl_obj_rec_ransac_result "${SUBSYS_NAME}" obj_rec_ransac_result.cpp)
target_link_libraries(pcl_obj_rec_ransac_result pcl_common pcl_visualization pcl_io pcl_segmentation pcl_recognition)
- PCL_ADD_EXECUTABLE(pcl_registration_visualizer ${SUBSYS_NAME} registration_visualizer.cpp)
+ PCL_ADD_EXECUTABLE(pcl_registration_visualizer "${SUBSYS_NAME}" registration_visualizer.cpp)
target_link_libraries(pcl_registration_visualizer pcl_common pcl_io pcl_kdtree pcl_filters pcl_registration pcl_visualization)
- PCL_ADD_EXECUTABLE(pcl_octree_viewer ${SUBSYS_NAME} octree_viewer.cpp)
+ PCL_ADD_EXECUTABLE(pcl_octree_viewer "${SUBSYS_NAME}" octree_viewer.cpp)
target_link_libraries(pcl_octree_viewer pcl_common pcl_io pcl_octree pcl_visualization pcl_kdtree pcl_filters)
- PCL_ADD_EXECUTABLE(pcl_mesh2pcd ${SUBSYS_NAME} mesh2pcd.cpp)
- target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
+ PCL_ADD_EXECUTABLE(pcl_mesh2pcd "${SUBSYS_NAME}" mesh2pcd.cpp)
+ target_link_libraries(pcl_mesh2pcd pcl_common pcl_io pcl_visualization pcl_filters ${VTK_LIBRARIES})
- PCL_ADD_EXECUTABLE(pcl_mesh_sampling ${SUBSYS_NAME} mesh_sampling.cpp)
- target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters vtkCommon)
+ PCL_ADD_EXECUTABLE(pcl_mesh_sampling "${SUBSYS_NAME}" mesh_sampling.cpp)
+ target_link_libraries(pcl_mesh_sampling pcl_common pcl_io pcl_visualization pcl_filters ${VTK_LIBRARIES})
- PCL_ADD_EXECUTABLE(pcl_virtual_scanner ${SUBSYS_NAME} virtual_scanner.cpp)
- target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization vtkCommon vtkGraphics)
+ PCL_ADD_EXECUTABLE(pcl_virtual_scanner "${SUBSYS_NAME}" virtual_scanner.cpp)
+ target_link_libraries(pcl_virtual_scanner pcl_common pcl_io pcl_filters pcl_visualization ${VTK_LIBRARIES})
- PCL_ADD_EXECUTABLE (pcl_voxel_grid_occlusion_estimation ${SUBSYS_NAME} voxel_grid_occlusion_estimation.cpp)
+ PCL_ADD_EXECUTABLE (pcl_voxel_grid_occlusion_estimation "${SUBSYS_NAME}" voxel_grid_occlusion_estimation.cpp)
target_link_libraries (pcl_voxel_grid_occlusion_estimation pcl_common pcl_io pcl_filters pcl_visualization)
if(BUILD_OPENNI AND OPENNI_FOUND)
- PCL_ADD_EXECUTABLE(pcl_openni_save_image ${SUBSYS_NAME} openni_save_image.cpp)
+ PCL_ADD_EXECUTABLE(pcl_openni_save_image "${SUBSYS_NAME}" openni_save_image.cpp)
target_link_libraries(pcl_openni_save_image pcl_common pcl_io pcl_visualization)
endif(BUILD_OPENNI AND OPENNI_FOUND)
endif(BUILD_visualization)
endif(NOT VTK_FOUND)
- PCL_ADD_EXECUTABLE (pcl_transform_point_cloud ${SUBSYS_NAME} transform_point_cloud.cpp)
+ PCL_ADD_EXECUTABLE (pcl_transform_point_cloud "${SUBSYS_NAME}" transform_point_cloud.cpp)
target_link_libraries (pcl_transform_point_cloud pcl_common pcl_io pcl_registration)
- PCL_ADD_EXECUTABLE (pcl_transform_from_viewpoint ${SUBSYS_NAME} transform_from_viewpoint.cpp)
+ PCL_ADD_EXECUTABLE (pcl_transform_from_viewpoint "${SUBSYS_NAME}" transform_from_viewpoint.cpp)
target_link_libraries (pcl_transform_from_viewpoint pcl_common pcl_io pcl_registration)
find_package(tide QUIET)
if(Tide_FOUND)
include_directories(${Tide_INCLUDE_DIRS})
add_definitions(${Tide_DEFINITIONS})
- PCL_ADD_EXECUTABLE(pcl_video ${SUBSYS_NAME} pcl_video.cpp)
+ PCL_ADD_EXECUTABLE(pcl_video "${SUBSYS_NAME}" pcl_video.cpp)
target_link_libraries(pcl_video pcl_common pcl_io pcl_visualization
${Tide_LIBRARIES})
endif(Tide_FOUND)
-endif ()
+endif (BUILD_tools)
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/search/kdtree.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+using namespace pcl::search;
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s cloud_a.pcd cloud_b.pcd\n", argv[0]);
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &cloud)
+{
+ TicToc tt;
+ print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
+
+ tt.tic ();
+ if (loadPCDFile (filename, cloud) < 0)
+ return (false);
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+ print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
+
+ return (true);
+}
+
+void
+compute (Cloud &cloud_a, Cloud &cloud_b)
+{
+ // Estimate
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight (stderr, "Computing ");
+
+ // compare A to B
+ pcl::search::KdTree<PointType> tree_b;
+ tree_b.setInputCloud (cloud_b.makeShared ());
+ float max_dist_a = -std::numeric_limits<float>::max ();
+ for (size_t i = 0; i < cloud_a.points.size (); ++i)
+ {
+ std::vector<int> indices (1);
+ std::vector<float> sqr_distances (1);
+
+ tree_b.nearestKSearch (cloud_a.points[i], 1, indices, sqr_distances);
+ if (sqr_distances[0] > max_dist_a)
+ max_dist_a = sqr_distances[0];
+ }
+
+ // compare B to A
+ pcl::search::KdTree<PointType> tree_a;
+ tree_a.setInputCloud (cloud_a.makeShared ());
+ float max_dist_b = -std::numeric_limits<float>::max ();
+ for (size_t i = 0; i < cloud_b.points.size (); ++i)
+ {
+ std::vector<int> indices (1);
+ std::vector<float> sqr_distances (1);
+
+ tree_a.nearestKSearch (cloud_b.points[i], 1, indices, sqr_distances);
+ if (sqr_distances[0] > max_dist_b)
+ max_dist_b = sqr_distances[0];
+ }
+
+ max_dist_a = std::sqrt (max_dist_a);
+ max_dist_b = std::sqrt (max_dist_b);
+
+ float dist = std::max (max_dist_a, max_dist_b);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : ");
+ print_info ("A->B: "); print_value ("%f", max_dist_a);
+ print_info (", B->A: "); print_value ("%f", max_dist_b);
+ print_info (", Hausdorff Distance: "); print_value ("%f", dist);
+ print_info (" ]\n");
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ print_info ("Compute Hausdorff distance between point clouds. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 3)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ // Parse the command line arguments for .pcd files
+ std::vector<int> p_file_indices;
+ p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 2)
+ {
+ print_error ("Need two PCD files to compute Hausdorff distance.\n");
+ return (-1);
+ }
+
+ // Load the first file
+ Cloud::Ptr cloud_a (new Cloud);
+ if (!loadCloud (argv[p_file_indices[0]], *cloud_a))
+ return (-1);
+
+ // Load the second file
+ Cloud::Ptr cloud_b (new Cloud);
+ if (!loadCloud (argv[p_file_indices[1]], *cloud_b))
+ return (-1);
+
+ // Compute the Hausdorff distance
+ compute (*cloud_a, *cloud_b);
+}
+
{
if (!convex_concave_hull)
{
- print_info ("Computing the convex hull of a cloud with %zu points.\n", cloud_in->size ());
+ print_info ("Computing the convex hull of a cloud with %lu points.\n", cloud_in->size ());
ConvexHull<PointXYZ> convex_hull;
convex_hull.setInputCloud (cloud_in);
convex_hull.reconstruct (mesh_out);
}
else
{
- print_info ("Computing the concave hull (alpha shapes) with alpha %f of a cloud with %zu points.\n", alpha, cloud_in->size ());
+ print_info ("Computing the concave hull (alpha shapes) with alpha %f of a cloud with %lu points.\n", alpha, cloud_in->size ());
ConcaveHull<PointXYZ> concave_hull;
concave_hull.setInputCloud (cloud_in);
concave_hull.setAlpha (alpha);
//pcl::io::loadPCDFile (argv[file_indices[i]], cloud);
//cloud_all += cloud;
pcl::concatenatePointCloud (cloud_all, cloud, cloud_all);
- PCL_INFO ("Total number of points so far: %u. Total data size: %zu bytes.\n", cloud_all.width * cloud_all.height, cloud_all.data.size ());
+ PCL_INFO ("Total number of points so far: %u. Total data size: %lu bytes.\n", cloud_all.width * cloud_all.height, cloud_all.data.size ());
}
saveCloud ("output.pcd", cloud_all);
PointCloud<PointXYZ> xyz_filtered;
fbf.filter (xyz_filtered);
- print_highlight ("Filtered data in "); print_value ("%g", tt.toc ()); print_info (" ms for "); print_value ("%zu", xyz_filtered.size ()); print_info (" points.\n");
+ print_highlight ("Filtered data in "); print_value ("%g", tt.toc ()); print_info (" ms for "); print_value ("%lu", xyz_filtered.size ()); print_info (" points.\n");
// Convert data back
pcl::PCLPointCloud2 output_xyz;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/common/generate.h>
+#include <pcl/common/random.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::common;
+using namespace pcl::console;
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+typedef const Cloud::ConstPtr ConstCloudPtr;
+
+std::string default_distribution = "uniform";
+float default_xmin = 0.0f;
+float default_xmax = 1.0f;
+float default_xmean = 0.0f;
+float default_xstddev = 1.0f;
+float default_ymin = 0.0f;
+float default_ymax = 1.0f;
+float default_ymean = 0.0f;
+float default_ystddev = 1.0f;
+float default_zmin = 0.0f;
+float default_zmax = 1.0f;
+float default_zmean = 0.0f;
+float default_zstddev = 1.0f;
+int default_size = 10000;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s output.pcd <options>\n", argv[0]);
+ print_info (" where options are:\n");
+ print_info (" -distribution X = the distribution to be used (options: uniform / normal) (default: ");
+ print_value ("%s", default_distribution.c_str ()); print_info (")\n");
+ print_info (" -size X = number of points in cloud (default: ");
+ print_value ("%d", default_size); print_info (")\n");
+ print_info (" Options for uniform distribution:\n");
+ print_info (" -[x|y|z]min X = minimum for the [x|y|z] dimension (defaults: ");
+ print_value ("%f, %f, %f", default_xmin, default_ymin, default_zmin); print_info (")\n");
+ print_info (" -[x|y|z]max X = maximum for the [x|y|z] dimension (defaults: ");
+ print_value ("%f, %f, %f", default_xmax, default_ymax, default_zmax); print_info (")\n");
+ print_info (" Options for normal distribution:\n");
+ print_info (" -[x|y|z]mean X = mean for the [x|y|z] dimension (defaults: ");
+ print_value ("%f, %f, %f", default_xmean, default_ymean, default_zmean); print_info (")\n");
+ print_info (" -[x|y|z]stddev X = standard deviation for the [x|y|z] dimension (defaults: ");
+ print_value ("%f, %f, %f", default_xstddev, default_ystddev, default_zstddev); print_info (")\n");
+}
+
+void
+saveCloud (const std::string &filename, const Cloud &output)
+{
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+ PCDWriter w;
+ w.writeBinaryCompressed (filename, output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ if (find_switch (argc, argv, "-h"))
+ {
+ printHelp (argc, argv);
+ return (0);
+ }
+
+ print_info ("Generate a random point cloud. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 2)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ // Command line parsing
+ std::string distribution = default_distribution;
+ float xmin = default_xmin;
+ float xmax = default_xmax;
+ float xmean = default_xmean;
+ float xstddev = default_xstddev;
+ float ymin = default_ymin;
+ float ymax = default_ymax;
+ float ymean = default_ymean;
+ float ystddev = default_ystddev;
+ float zmin = default_zmin;
+ float zmax = default_zmax;
+ float zmean = default_zmean;
+ float zstddev = default_zstddev;
+ int size = default_size;
+ parse_argument (argc, argv, "-distribution", distribution);
+ parse_argument (argc, argv, "-xmin", xmin);
+ parse_argument (argc, argv, "-xmax", xmax);
+ parse_argument (argc, argv, "-xmean", xmean);
+ parse_argument (argc, argv, "-xstddev", xstddev);
+ parse_argument (argc, argv, "-ymin", ymin);
+ parse_argument (argc, argv, "-ymax", ymax);
+ parse_argument (argc, argv, "-ymean", ymean);
+ parse_argument (argc, argv, "-ystddev", ystddev);
+ parse_argument (argc, argv, "-zmin", zmin);
+ parse_argument (argc, argv, "-zmax", zmax);
+ parse_argument (argc, argv, "-zmean", zmean);
+ parse_argument (argc, argv, "-zstddev", zstddev);
+ parse_argument (argc, argv, "-size", size);
+
+ // Parse the command line arguments for .pcd files
+ std::vector<int> p_file_indices;
+ p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 1)
+ {
+ print_error ("Need one output PCD file to continue.\n");
+ return (-1);
+ }
+
+ // Perform the feature estimation
+ Cloud output;
+
+ // Estimate
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight (stderr, "Computing ");
+
+ if (distribution == "uniform")
+ {
+ CloudGenerator<pcl::PointXYZ, UniformGenerator<float> > generator;
+ uint32_t seed = static_cast<uint32_t> (time (NULL));
+ UniformGenerator<float>::Parameters x_params (xmin, xmax, seed++);
+ generator.setParametersForX (x_params);
+ UniformGenerator<float>::Parameters y_params (ymin, ymax, seed++);
+ generator.setParametersForY (y_params);
+ UniformGenerator<float>::Parameters z_params (zmin, zmax, seed++);
+ generator.setParametersForZ (z_params);
+
+ generator.fill (size, 1, output);
+ }
+ else if (distribution == "normal")
+ {
+ CloudGenerator<pcl::PointXYZ, NormalGenerator<float> > generator;
+ uint32_t seed = static_cast<uint32_t> (time (NULL));
+ NormalGenerator<float>::Parameters x_params (xmean, xstddev, seed++);
+ generator.setParametersForX (x_params);
+ NormalGenerator<float>::Parameters y_params (ymean, ystddev, seed++);
+ generator.setParametersForY (y_params);
+ NormalGenerator<float>::Parameters z_params (zmean, zstddev, seed++);
+ generator.setParametersForZ (z_params);
+
+ generator.fill (size, 1, output);
+ }
+ else
+ {
+ PCL_ERROR ("%s is not a valid generator! Quitting!\n", distribution.c_str ());
+ return (0);
+ }
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+
+ // Save into the second file
+ saveCloud (argv[p_file_indices[0]], output);
+}
+
gpt.reconstruct (output);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", output.polygons.size ()); print_info (" polygons]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", output.polygons.size ()); print_info (" polygons]\n");
}
void
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
saveVTKFile (filename, output);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%zu", output.polygons.size ()); print_info (" polygons]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%lu", output.polygons.size ()); print_info (" polygons]\n");
}
/* ---[ */
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/filters/grid_minimum.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+typedef const Cloud::ConstPtr ConstCloudPtr;
+
+float default_resolution = 1.0f;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
+ print_info (" where options are:\n");
+ print_info (" -resolution X = xy resolution of the grid (default: ");
+ print_value ("%f", default_resolution); print_info (")\n");
+ print_info (" -input_dir X = batch process all PCD files found in input_dir\n");
+ print_info (" -output_dir X = save the processed files from input_dir in this directory\n");
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &cloud)
+{
+ TicToc tt;
+ print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
+
+ tt.tic ();
+ if (loadPCDFile (filename, cloud) < 0)
+ return (false);
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+ print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
+
+ return (true);
+}
+
+void
+compute (ConstCloudPtr &input, Cloud &output, float resolution)
+{
+ // Estimate
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight (stderr, "Computing ");
+
+ GridMinimum<PointType> gm (resolution);
+ gm.setInputCloud (input);
+ gm.filter (output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+void
+saveCloud (const std::string &filename, const Cloud &output)
+{
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+ PCDWriter w;
+ w.writeBinaryCompressed (filename, output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+int
+batchProcess (const vector<string> &pcd_files, string &output_dir,
+ float resolution)
+{
+ vector<string> st;
+ for (size_t i = 0; i < pcd_files.size (); ++i)
+ {
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (pcd_files[i], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, resolution);
+
+ // Prepare output file name
+ string filename = pcd_files[i];
+ boost::trim (filename);
+ boost::split (st, filename, boost::is_any_of ("/\\"), boost::token_compress_on);
+
+ // Save into the second file
+ stringstream ss;
+ ss << output_dir << "/" << st.at (st.size () - 1);
+ saveCloud (ss.str (), output);
+ }
+ return (0);
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ print_info ("Filter a point cloud using the pcl::GridMinimum filter. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 3)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ bool batch_mode = false;
+
+ // Command line parsing
+ float resolution = default_resolution;
+ parse_argument (argc, argv, "-resolution", resolution);
+ string input_dir, output_dir;
+ if (parse_argument (argc, argv, "-input_dir", input_dir) != -1)
+ {
+ PCL_INFO ("Input directory given as %s. Batch process mode on.\n", input_dir.c_str ());
+ if (parse_argument (argc, argv, "-output_dir", output_dir) == -1)
+ {
+ PCL_ERROR ("Need an output directory! Please use -output_dir to continue.\n");
+ return (-1);
+ }
+
+ // Both input dir and output dir given, switch into batch processing mode
+ batch_mode = true;
+ }
+
+ if (!batch_mode)
+ {
+ // Parse the command line arguments for .pcd files
+ std::vector<int> p_file_indices;
+ p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 2)
+ {
+ print_error ("Need one input PCD file and one output PCD file to continue.\n");
+ return (-1);
+ }
+
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (argv[p_file_indices[0]], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, resolution);
+
+ // Save into the second file
+ saveCloud (argv[p_file_indices[1]], output);
+ }
+ else
+ {
+ if (input_dir != "" && boost::filesystem::exists (input_dir))
+ {
+ vector<string> pcd_files;
+ boost::filesystem::directory_iterator end_itr;
+ for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr)
+ {
+ // Only add PCD files
+ if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (boost::filesystem::extension (itr->path ())) == ".PCD" )
+ {
+ pcd_files.push_back (itr->path ().string ());
+ PCL_INFO ("[Batch processing mode] Added %s for processing.\n", itr->path ().string ().c_str ());
+ }
+ }
+ batchProcess (pcd_files, output_dir, resolution);
+ }
+ else
+ {
+ PCL_ERROR ("Batch processing mode enabled, but invalid input directory (%s) given!\n", input_dir.c_str ());
+ return (-1);
+ }
+ }
+}
{
const LineRGBD<PointXYZRGBA>::Detection & d = detections[i];
const BoundingBoxXYZ & bb = d.bounding_box;
- print_info ("%zu %zu %f (%f %f %f) (%f %f %f)\n",
+ print_info ("%lu %lu %f (%f %f %f) (%f %f %f)\n",
d.detection_id, d.template_id, d.response,
bb.x, bb.y, bb.z, bb.width, bb.height, bb.depth);
}
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/filters/local_maximum.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+typedef const Cloud::ConstPtr ConstCloudPtr;
+
+float default_radius = 1.0f;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
+ print_info (" where options are:\n");
+ print_info (" -radius X = xy radius to test for local max (default: ");
+ print_value ("%f", default_radius); print_info (")\n");
+ print_info (" -input_dir X = batch process all PCD files found in input_dir\n");
+ print_info (" -output_dir X = save the processed files from input_dir in this directory\n");
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &cloud)
+{
+ TicToc tt;
+ print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
+
+ tt.tic ();
+ if (loadPCDFile (filename, cloud) < 0)
+ return (false);
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+ print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
+
+ return (true);
+}
+
+void
+compute (ConstCloudPtr &input, Cloud &output, float radius)
+{
+ // Estimate
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight (stderr, "Computing ");
+
+ LocalMaximum<PointType> lm;
+ lm.setInputCloud (input);
+ lm.setRadius (radius);
+ lm.filter (output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+void
+saveCloud (const std::string &filename, const Cloud &output)
+{
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+ PCDWriter w;
+ w.writeBinaryCompressed (filename, output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+int
+batchProcess (const vector<string> &pcd_files, string &output_dir,
+ float radius)
+{
+ vector<string> st;
+ for (size_t i = 0; i < pcd_files.size (); ++i)
+ {
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (pcd_files[i], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, radius);
+
+ // Prepare output file name
+ string filename = pcd_files[i];
+ boost::trim (filename);
+ boost::split (st, filename, boost::is_any_of ("/\\"), boost::token_compress_on);
+
+ // Save into the second file
+ stringstream ss;
+ ss << output_dir << "/" << st.at (st.size () - 1);
+ saveCloud (ss.str (), output);
+ }
+ return (0);
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ print_info ("Filter a point cloud using the pcl::LocalMaximum filter. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 3)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ bool batch_mode = false;
+
+ // Command line parsing
+ float radius = default_radius;
+ parse_argument (argc, argv, "-radius", radius);
+ string input_dir, output_dir;
+ if (parse_argument (argc, argv, "-input_dir", input_dir) != -1)
+ {
+ PCL_INFO ("Input directory given as %s. Batch process mode on.\n", input_dir.c_str ());
+ if (parse_argument (argc, argv, "-output_dir", output_dir) == -1)
+ {
+ PCL_ERROR ("Need an output directory! Please use -output_dir to continue.\n");
+ return (-1);
+ }
+
+ // Both input dir and output dir given, switch into batch processing mode
+ batch_mode = true;
+ }
+
+ if (!batch_mode)
+ {
+ // Parse the command line arguments for .pcd files
+ std::vector<int> p_file_indices;
+ p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 2)
+ {
+ print_error ("Need one input PCD file and one output PCD file to continue.\n");
+ return (-1);
+ }
+
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (argv[p_file_indices[0]], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, radius);
+
+ // Save into the second file
+ saveCloud (argv[p_file_indices[1]], output);
+ }
+ else
+ {
+ if (input_dir != "" && boost::filesystem::exists (input_dir))
+ {
+ vector<string> pcd_files;
+ boost::filesystem::directory_iterator end_itr;
+ for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr)
+ {
+ // Only add PCD files
+ if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (boost::filesystem::extension (itr->path ())) == ".PCD" )
+ {
+ pcd_files.push_back (itr->path ().string ());
+ PCL_INFO ("[Batch processing mode] Added %s for processing.\n", itr->path ().string ().c_str ());
+ }
+ }
+ batchProcess (pcd_files, output_dir, radius);
+ }
+ else
+ {
+ PCL_ERROR ("Batch processing mode enabled, but invalid input directory (%s) given!\n", input_dir.c_str ());
+ return (-1);
+ }
+ }
+}
lum.compute ();
- for(int i = 0; i < lum.getNumVertices (); i++)
+ for(size_t i = 0; i < lum.getNumVertices (); i++)
{
//std::cout << i << ": " << lum.getTransformation (i) (0, 3) << " " << lum.getTransformation (i) (1, 3) << " " << lum.getTransformation (i) (2, 3) << std::endl;
clouds[i].second = lum.getTransformedCloud (i);
}
}
- for(int i = 0; i < lum.getNumVertices (); i++)
+ for(size_t i = 0; i < lum.getNumVertices (); i++)
{
std::string result_filename (clouds[i].first);
result_filename = result_filename.substr (result_filename.rfind ("/") + 1);
for (size_t i = 0; i < detections.size (); ++i)
{
const LINEMODDetection & d = detections[i];
- printf ("%zu: %d %d %d %f\n", i, d.x, d.y, d.template_id, d.score);
+ printf ("%lu: %d %d %d %f\n", i, d.x, d.y, d.template_id, d.score);
}
/*// Visualization code for testing purposes (requires libpng++)
{
vtkSmartPointer<vtkPLYReader> readerQuery = vtkSmartPointer<vtkPLYReader>::New ();
readerQuery->SetFileName (argv[ply_file_indices[0]]);
+ readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
- polydata1->Update ();
}
else if (obj_file_indices.size () == 1)
{
vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
readerQuery->SetFileName (argv[obj_file_indices[0]]);
+ readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
- polydata1->Update ();
}
bool INTER_VIS = false;
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>
+#include <vtkVersion.h>
#include <vtkPLYReader.h>
#include <vtkOBJReader.h>
#include <vtkTriangle.h>
{
vtkSmartPointer<vtkOBJReader> readerQuery = vtkSmartPointer<vtkOBJReader>::New ();
readerQuery->SetFileName (argv[obj_file_indices[0]]);
+ readerQuery->Update ();
polydata1 = readerQuery->GetOutput ();
- polydata1->Update ();
}
//make sure that the polygons are triangles!
vtkSmartPointer<vtkTriangleFilter> triangleFilter = vtkSmartPointer<vtkTriangleFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
triangleFilter->SetInput (polydata1);
+#else
+ triangleFilter->SetInputData (polydata1);
+#endif
triangleFilter->Update ();
vtkSmartPointer<vtkPolyDataMapper> triangleMapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
triangleMapper->SetInputConnection (triangleFilter->GetOutputPort ());
triangleMapper->Update();
polydata1 = triangleMapper->GetInput();
- polydata1->Update ();
bool INTER_VIS = false;
bool VIS = true;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/filters/morphological_filter.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+typedef const Cloud::ConstPtr ConstCloudPtr;
+
+std::string default_method = "open";
+float default_resolution = 1.0f;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
+ print_info (" where options are:\n");
+ print_info (" -resolution X = cell size (default: ");
+ print_value ("%f", default_resolution); print_info (")\n");
+ print_info (" -method X = the morphological operator to be used (options: dilate / erode / open / close) (default: ");
+ print_value ("%s", default_method.c_str ()); print_info (")\n");
+ print_info (" -input_dir X = batch process all PCD files found in input_dir\n");
+ print_info (" -output_dir X = save the processed files from input_dir in this directory\n");
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &cloud)
+{
+ TicToc tt;
+ print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
+
+ tt.tic ();
+ if (loadPCDFile (filename, cloud) < 0)
+ return (false);
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+ print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
+
+ return (true);
+}
+
+void
+compute (ConstCloudPtr &input, Cloud &output, float resolution, std::string method)
+{
+ // Estimate
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight (stderr, "Computing ");
+
+ if (method == "dilate")
+ {
+ applyMorphologicalOperator<PointType> (input, resolution, MORPH_DILATE, output);
+ }
+ else if (method == "erode")
+ {
+ applyMorphologicalOperator<PointType> (input, resolution, MORPH_ERODE, output);
+ }
+ else if (method == "open")
+ {
+ applyMorphologicalOperator<PointType> (input, resolution, MORPH_OPEN, output);
+ }
+ else if (method == "close")
+ {
+ applyMorphologicalOperator<PointType> (input, resolution, MORPH_CLOSE, output);
+ }
+ else
+ {
+ PCL_ERROR ("%s is not a valid morphological operator! Quitting!\n", method.c_str ());
+ return;
+ }
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+void
+saveCloud (const std::string &filename, const Cloud &output)
+{
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+ PCDWriter w;
+ w.writeBinaryCompressed (filename, output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+int
+batchProcess (const vector<string> &pcd_files, string &output_dir,
+ float resolution, std::string method)
+{
+ vector<string> st;
+ for (size_t i = 0; i < pcd_files.size (); ++i)
+ {
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (pcd_files[i], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, resolution, method);
+
+ // Prepare output file name
+ string filename = pcd_files[i];
+ boost::trim (filename);
+ boost::split (st, filename, boost::is_any_of ("/\\"), boost::token_compress_on);
+
+ // Save into the second file
+ stringstream ss;
+ ss << output_dir << "/" << st.at (st.size () - 1);
+ saveCloud (ss.str (), output);
+ }
+ return (0);
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ print_info ("Filter a point cloud using the pcl::morphologicalOpen. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 3)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ bool batch_mode = false;
+
+ // Command line parsing
+ std::string method = default_method;
+ float resolution = default_resolution;
+ parse_argument (argc, argv, "-method", method);
+ parse_argument (argc, argv, "-resolution", resolution);
+ string input_dir, output_dir;
+ if (parse_argument (argc, argv, "-input_dir", input_dir) != -1)
+ {
+ PCL_INFO ("Input directory given as %s. Batch process mode on.\n", input_dir.c_str ());
+ if (parse_argument (argc, argv, "-output_dir", output_dir) == -1)
+ {
+ PCL_ERROR ("Need an output directory! Please use -output_dir to continue.\n");
+ return (-1);
+ }
+
+ // Both input dir and output dir given, switch into batch processing mode
+ batch_mode = true;
+ }
+
+ if (!batch_mode)
+ {
+ // Parse the command line arguments for .pcd files
+ std::vector<int> p_file_indices;
+ p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 2)
+ {
+ print_error ("Need one input PCD file and one output PCD file to continue.\n");
+ return (-1);
+ }
+
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (argv[p_file_indices[0]], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, resolution, method);
+
+ // Save into the second file
+ saveCloud (argv[p_file_indices[1]], output);
+ }
+ else
+ {
+ if (input_dir != "" && boost::filesystem::exists (input_dir))
+ {
+ vector<string> pcd_files;
+ boost::filesystem::directory_iterator end_itr;
+ for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr)
+ {
+ // Only add PCD files
+ if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (boost::filesystem::extension (itr->path ())) == ".PCD" )
+ {
+ pcd_files.push_back (itr->path ().string ());
+ PCL_INFO ("[Batch processing mode] Added %s for processing.\n", itr->path ().string ().c_str ());
+ }
+ }
+ batchProcess (pcd_files, output_dir, resolution, method);
+ }
+ else
+ {
+ PCL_ERROR ("Batch processing mode enabled, but invalid input directory (%s) given!\n", input_dir.c_str ());
+ return (-1);
+ }
+ }
+}
+
return (-1);
}
- print_info ("Estimating normals with a radius/k/smoothing size of: ");
+ print_info ("Estimating normals with a k/radius/smoothing size of: ");
print_value ("%d / %f / %f\n", k, radius, radius);
// Load the first file
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2012-, Open Perception, 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 the copyright holder(s) 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:
+ *
+ */
+
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/vtk_lib_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s input.obj output.pcd [options]\n", argv[0]);
+ print_info ("where options are: \n");
+ print_info (" -copy_normals 0/1 : set to true (1) or false (0) if the output PointCloud should contain normals or not.\n");
+}
+
+template <typename T> void
+saveCloud (const std::string &filename, const pcl::PointCloud<T> &cloud)
+{
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+ PCDWriter w;
+ w.writeBinaryCompressed (filename, cloud);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+}
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ print_info ("Convert a OBJ file to PCD format. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 3)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ // Parse the command line arguments for .pcd and .obj files
+ std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ std::vector<int> obj_file_indices = parse_file_extension_argument (argc, argv, ".obj");
+ if (pcd_file_indices.size () != 1 || obj_file_indices.size () != 1)
+ {
+ print_error ("Need one input OBJ file and one output PCD file.\n");
+ return (-1);
+ }
+
+ // Load the OBJ file
+ TicToc tt;
+ print_highlight ("Loading "); print_value ("%s ", argv[obj_file_indices[0]]);
+
+ // Load the input file
+ vtkSmartPointer<vtkPolyData> polydata;
+ vtkSmartPointer<vtkOBJReader> reader = vtkSmartPointer<vtkOBJReader>::New ();
+ reader->SetFileName (argv[obj_file_indices[0]]);
+ reader->Update ();
+ polydata = reader->GetOutput ();
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", polydata->GetNumberOfPoints ()); print_info (" points]\n");
+
+ bool copy_normals = false;
+ parse_argument (argc, argv, "-copy_normals", copy_normals);
+ PCL_INFO ("Copy normals: %s.\n", copy_normals ? "true" : "false");
+
+ if (copy_normals)
+ {
+ vtkSmartPointer<vtkPolyDataNormals> ng = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
+ ng->SetInput (polydata);
+#else
+ ng->SetInputData (polydata);
+#endif
+ ng->ComputePointNormalsOn ();
+ ng->ComputeCellNormalsOff ();
+ ng->Update ();
+ polydata = ng->GetOutput ();
+
+ pcl::PointCloud<pcl::PointNormal> cloud;
+ vtkPolyDataToPointCloud (polydata, cloud);
+ // Convert to pcd and save
+ saveCloud (argv[pcd_file_indices[0]], cloud);
+ }
+ else
+ {
+ pcl::PointCloud<pcl::PointXYZ> cloud;
+ vtkPolyDataToPointCloud (polydata, cloud);
+ // Convert to pcd and save
+ saveCloud (argv[pcd_file_indices[0]], cloud);
+ }
+
+ return (0);
+}
+
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkOBJReader> reader = vtkSmartPointer<vtkOBJReader>::New ();
reader->SetFileName (argv[obj_file_indices[0]]);
+ reader->Update ();
polydata = reader->GetOutput ();
- polydata->Update ();
// Convert to VTK and save
vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
writer->SetInput (polydata);
+#else
+ writer->SetInputData (polydata);
+#endif
writer->SetFileName (argv[vtk_file_indices[0]]);
writer->Write ();
}
#include <pcl/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
+#include <vtkVersion.h>
#include <vtkPolyDataReader.h>
#include <vtkRenderWindow.h>
#include <vtkTransformPolyDataFilter.h>
// Setup the transformator
vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
vtk_transformator->SetTransform (vtk_transform);
+#if VTK_MAJOR_VERSION < 6
vtk_transformator->SetInput (vtk_model);
+#else
+ vtk_transformator->SetInputData (vtk_model);
+#endif
vtk_transformator->Update ();
// Visualize
vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
vtk_mapper->SetInput(vtk_transformator->GetOutput ());
+#else
+ vtk_mapper->SetInputData (vtk_transformator->GetOutput ());
+#endif
vtk_actor->SetMapper(vtk_mapper);
// Set the appearance & add to the renderer
vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
}
}
- vis.addCoordinateSystem(1.5);
+ vis.addCoordinateSystem(1.5, "global");
vis.resetCamera ();
// Enter the main loop
#include <pcl/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
+#include <vtkVersion.h>
#include <vtkPolyDataReader.h>
#include <vtkDoubleArray.h>
#include <vtkDataArray.h>
// Save the normals
vtk_opps->GetPointData ()->SetNormals (vtk_normals);
// Setup the hedge hog object
+#if VTK_MAJOR_VERSION < 6
vtk_hedge_hog->SetInput (vtk_opps);
+#else
+ vtk_hedge_hog->SetInputData (vtk_opps);
+#endif
vtk_hedge_hog->SetVectorModeToUseNormal ();
vtk_hedge_hog->SetScaleFactor (0.5f*pair_width);
vtk_hedge_hog->Update ();
#include <pcl/io/pcd_io.h>
#include <pcl/recognition/ransac_based/orr_octree.h>
#include <pcl/visualization/pcl_visualizer.h>
+#include <vtkVersion.h>
#include <vtkPolyData.h>
#include <vtkAppendPolyData.h>
#include <vtkPolyDataReader.h>
cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
cube->Update ();
+#if VTK_MAJOR_VERSION < 6
additive_octree->AddInput (cube->GetOutput ());
+#else
+ additive_octree->AddInputData (cube->GetOutput ());
+#endif
}
//===============================================================================================================================
vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput(vtk_octree);
+#else
+ mapper->SetInputData (vtk_octree);
+#endif
octree_actor->SetMapper(mapper);
// Set the appearance & add to the renderer
#include <pcl/io/pcd_io.h>
#include <pcl/recognition/ransac_based/orr_octree_zprojection.h>
#include <pcl/visualization/pcl_visualizer.h>
+#include <vtkVersion.h>
#include <vtkRenderWindow.h>
#include <vtkPolyData.h>
#include <vtkAppendPolyData.h>
vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
vtkSmartPointer<vtkActor> octree_actor = vtkSmartPointer<vtkActor>::New();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput(vtk_octree);
+#else
+ mapper->SetInputData (vtk_octree);
+#endif
octree_actor->SetMapper(mapper);
// Set the appearance & add to the renderer
vtkRenderer *renderer = viz.getRenderWindow ()->GetRenderers ()->GetFirstRenderer ();
vtkSmartPointer<vtkActor> upper_actor = vtkSmartPointer<vtkActor>::New(), lower_actor = vtkSmartPointer<vtkActor>::New();
vtkSmartPointer<vtkDataSetMapper> upper_mapper = vtkSmartPointer<vtkDataSetMapper>::New (), lower_mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
upper_mapper->SetInput(upper_bound->GetOutput ());
+#else
+ upper_mapper->SetInputData (upper_bound->GetOutput ());
+#endif
upper_actor->SetMapper(upper_mapper);
+#if VTK_MAJOR_VERSION < 6
lower_mapper->SetInput(lower_bound->GetOutput ());
+#else
+ lower_mapper->SetInputData (lower_bound->GetOutput ());
+#endif
lower_actor->SetMapper(lower_mapper);
// Set the appearance & add to the renderer
cube->SetBounds (b[0], b[1], b[2], b[3], b[4], b[5]);
cube->Update ();
+#if VTK_MAJOR_VERSION < 6
additive_octree->AddInput (cube->GetOutput ());
+#else
+ additive_octree->AddInputData (cube->GetOutput ());
+#endif
}
//===============================================================================================================================
cube->SetBounds (x1, x2, y1, y2, z, z);
cube->Update ();
+#if VTK_MAJOR_VERSION < 6
additive_rectangle->AddInput (cube->GetOutput ());
+#else
+ additive_rectangle->AddInputData (cube->GetOutput ());
+#endif
}
//===============================================================================================================================
#include <pcl/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
+#include <vtkVersion.h>
#include <vtkPolyDataReader.h>
#include <vtkDoubleArray.h>
#include <vtkDataArray.h>
// Setup the transformator
vtkSmartPointer<vtkTransformPolyDataFilter> vtk_transformator = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
vtk_transformator->SetTransform (vtk_transform);
+#if VTK_MAJOR_VERSION < 6
vtk_transformator->SetInput (vtk_model);
+#else
+ vtk_transformator->SetInputData (vtk_model);
+#endif
vtk_transformator->Update ();
// Visualize
vtkSmartPointer<vtkActor> vtk_actor = vtkSmartPointer<vtkActor>::New();
vtkSmartPointer<vtkPolyDataMapper> vtk_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
vtk_mapper->SetInput(vtk_transformator->GetOutput ());
+#else
+ vtk_mapper->SetInputData (vtk_transformator->GetOutput ());
+#endif
vtk_actor->SetMapper(vtk_mapper);
// Set the appearance & add to the renderer
vtk_actor->GetProperty ()->SetColor (0.6, 0.7, 0.9);
for ( i = 0, j = 0, id = 0 ; i < inliers->indices.size () ; )
{
- if ( id == inliers->indices[i] )
+ if ( static_cast<int> (id) == inliers->indices[i] )
{
plane_points.points[i] = all_points->points[id];
++id;
#include <pcl/console/parse.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
+#include <vtkVersion.h>
#include <vtkPolyDataReader.h>
#include <vtkDoubleArray.h>
#include <vtkDataArray.h>
vtkSmartPointer<vtkHedgeHog> vtk_hh = vtkSmartPointer<vtkHedgeHog>::New ();
vtk_hh->SetVectorModeToUseNormal ();
vtk_hh->SetScaleFactor (0.5f*params->objrec_.getPairWidth ());
+#if VTK_MAJOR_VERSION < 6
vtk_hh->SetInput (vtk_opps);
+#else
+ vtk_hh->SetInputData (vtk_opps);
+#endif
vtk_hh->Update ();
// The lines
viz.addText(level, 0, 45, 1.0, 0.0, 0.0, "level_t1");
viz.removeShape("level_t2");
- sprintf(level, "Voxel size: %.4fm [%zu voxels]", sqrt(octree.getVoxelSquaredSideLen(displayedDepth)),
+ sprintf(level, "Voxel size: %.4fm [%lu voxels]", sqrt(octree.getVoxelSquaredSideLen(displayedDepth)),
displayCloud->points.size());
viz.addText(level, 0, 30, 1.0, 0.0, 0.0, "level_t2");
double y = displayCloud->points[i].y;
double z = displayCloud->points[i].z;
+#if VTK_MAJOR_VERSION < 6
treeWireframe->AddInput(GetCuboid(x - s, x + s, y - s, y + s, z - s, z + s));
+#else
+ treeWireframe->AddInputData (GetCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+#endif
}
vtkSmartPointer<vtkActor> treeActor = vtkSmartPointer<vtkActor>::New();
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput(treeWireframe->GetOutput());
+#else
+ mapper->SetInputData (treeWireframe->GetOutput ());
+#endif
treeActor->SetMapper(mapper);
treeActor->GetProperty()->SetColor(1.0, 1.0, 1.0);
}
double end = pcl::getTime ();
- printf("%zu pts, %.4gs. %.4gs./pt. =====\n", displayCloud->points.size (), end - start,
+ printf("%lu pts, %.4gs. %.4gs./pt. =====\n", displayCloud->points.size (), end - start,
(end - start) / static_cast<double> (displayCloud->points.size ()));
update();
PCDWriter w;
sprintf (buf, "frame_%06d.pcd", i);
w.writeBinaryCompressed (buf, *cloud);
- PCL_INFO ("Wrote a cloud with %zu (%ux%u) points in %s.\n",
+ PCL_INFO ("Wrote a cloud with %lu (%ux%u) points in %s.\n",
cloud->size (), cloud->width, cloud->height, buf);
++i;
}
filter.setStddevMulThresh (std_dev_mul);
filter.setNegative (negative);
filter.setKeepOrganized (keep_organized);
- PCL_INFO ("Computing filtered cloud from %zu points with mean_k %d, std_dev_mul %f, inliers %d ...", xyz_cloud->size (), filter.getMeanK (), filter.getStddevMulThresh (), filter.getNegative ());
+ PCL_INFO ("Computing filtered cloud from %lu points with mean_k %d, std_dev_mul %f, inliers %d ...", xyz_cloud->size (), filter.getMeanK (), filter.getStddevMulThresh (), filter.getNegative ());
filter.filter (*xyz_cloud_filtered);
// Get the indices that have been explicitly removed
filter.getRemovedIndices (*removed_indices);
filter.setMinNeighborsInRadius (min_pts);
filter.setNegative (negative);
filter.setKeepOrganized (keep_organized);
- PCL_INFO ("Computing filtered cloud from %zu points with radius %f, min_pts %d ...", xyz_cloud->size (), radius, min_pts);
+ PCL_INFO ("Computing filtered cloud from %lu points with radius %f, min_pts %d ...", xyz_cloud->size (), radius, min_pts);
filter.filter (*xyz_cloud_filtered);
// Get the indices that have been explicitly removed
filter.getRemovedIndices (*removed_indices);
return;
}
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", xyz_cloud_filtered->width * xyz_cloud_filtered->height); print_info (" points, %zu indices removed]\n", removed_indices->indices.size ());
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", xyz_cloud_filtered->width * xyz_cloud_filtered->height); print_info (" points, %lu indices removed]\n", removed_indices->indices.size ());
if (keep_organized)
{
std::cout << "Usage: " << argv[0] << " [Options] input.pcd output.png" << std::endl;
std::cout << std::endl;
std::cout << "Options:" << std::endl;
- std::cout << " --help : Show this help" << std::endl;
- std::cout << " --field : Set the field to extract data from. Supported fields:" << std::endl;
- std::cout << " - normal" << std::endl;
- std::cout << " * rgb (default)" << std::endl;
- std::cout << " - label" << std::endl;
- std::cout << " - z" << std::endl;
- std::cout << " - curvature" << std::endl;
- std::cout << " - intensity" << std::endl;
- std::cout << " --scale : Apply scaling to extracted data (only for z, curvature, and" << std::endl;
- std::cout << " intensity fields). Supported options:" << std::endl;
- std::cout << " - <float> : Scale by a fixed number" << std::endl;
- std::cout << " - auto : Auto-scale to the full range" << std::endl;
- std::cout << " - no : No scaling" << std::endl;
- std::cout << " If the option is omitted then default scaling (depends on" << std::endl;
- std::cout << " the field type) will be used." << std::endl;
- std::cout << " --colors : Choose color mapping mode for labels (only for label" << std::endl;
- std::cout << " field). Supported options:" << std::endl;
- std::cout << " * mono : Use shades of gray (default)" << std::endl;
- std::cout << " - rgb : Use randomly generated RGB colors" << std::endl;
std::cout << std::endl;
- std::cout << "Note: The converter will try to use RGB field if '--field' option is not" << std::endl;
- std::cout << " supplied." << std::endl;
+ std::cout << " --help : Show this help" << std::endl;
+ std::cout << " --no-nan : Paint NaN (infinite) points with black color regardless of" << std::endl;
+ std::cout << " field contents" << std::endl;
+ std::cout << " --field : Set the field to extract data from. Supported fields:" << std::endl;
+ std::cout << " - normal" << std::endl;
+ std::cout << " * rgb (default)" << std::endl;
+ std::cout << " - label" << std::endl;
+ std::cout << " - z" << std::endl;
+ std::cout << " - curvature" << std::endl;
+ std::cout << " - intensity" << std::endl;
+ std::cout << " --scale : Apply scaling to extracted data (only for z, curvature, and" << std::endl;
+ std::cout << " intensity fields). Supported options:" << std::endl;
+ std::cout << " - <float> : Scale by a fixed number" << std::endl;
+ std::cout << " - auto : Auto-scale to the full range" << std::endl;
+ std::cout << " - no : No scaling" << std::endl;
+ std::cout << " If the option is omitted then default scaling (depends on" << std::endl;
+ std::cout << " the field type) will be used." << std::endl;
+ std::cout << " --colors : Choose color mapping mode for labels (only for label field)." << std::endl;
+ std::cout << " Supported options:" << std::endl;
+ std::cout << " * mono : Use shades of gray (default)" << std::endl;
+ std::cout << " - rgb : Use randomly generated RGB colors" << std::endl;
+ std::cout << " - glasbey : Use fixed colors from the Glasbey lookup table¹" << std::endl;
+ std::cout << std::endl;
+ std::cout << "Notes:" << std::endl;
+ std::cout << std::endl;
+ std::cout << "¹) The Glasbey lookup table is a color table structured in a maximally" << std::endl;
+ std::cout << " discontinuous manner. Adjacent color bins are chosen to be as distinct" << std::endl;
+ std::cout << " from one another as possible (see http://fiji.sc/Glasbey)." << std::endl;
+ std::cout << " The label with the smallest id will be assigned the first color from the" << std::endl;
+ std::cout << " table, the second smallest will have the second color, and so on. Thus," << std::endl;
+ std::cout << " if you have several clouds with the same labels, you will get repetitive" << std::endl;
+ std::cout << " consistently colored PNG images." << std::endl;
}
bool
{
pcie.setColorMode(pcie.COLORS_RGB_RANDOM);
}
+ else if (colors == "glasbey")
+ {
+ pcie.setColorMode(pcie.COLORS_RGB_GLASBEY);
+ }
else
{
return false;
{
print_info ("Convert a PCD file to PNG format.\nFor more information, use: %s --help\n", argv[0]);
- if (argc < 3)
+ if (argc < 3 || pcl::console::find_switch (argc, argv, "--help"))
{
printHelp (argc, argv);
return (-1);
return (-1);
}
+ bool paint_nans_with_black = pcl::console::find_switch (argc, argv, "--no-nan");
+ print_info ("Paint infinite points with black: "); print_value ("%s\n", paint_nans_with_black ? "YES" : "NO");
+
std::string field_name = "rgb";
parse_argument (argc, argv, "--field", field_name);
print_info ("Field name: "); print_value ("%s\n", field_name.c_str());
+
pcl::PCLImage image;
bool extracted;
if (field_name == "normal")
{
- PointCloud<Normal> cloud;
+ PointCloud<PointNormal> cloud;
fromPCLPointCloud2 (*blob, cloud);
- PointCloudImageExtractorFromNormalField<Normal> pcie;
+ PointCloudImageExtractorFromNormalField<PointNormal> pcie;
+ pcie.setPaintNaNsWithBlack (paint_nans_with_black);
extracted = pcie.extract(cloud, image);
}
else if (field_name == "rgb")
PointCloud<PointXYZRGB> cloud;
fromPCLPointCloud2 (*blob, cloud);
PointCloudImageExtractorFromRGBField<PointXYZRGB> pcie;
+ pcie.setPaintNaNsWithBlack (paint_nans_with_black);
extracted = pcie.extract(cloud, image);
}
else if (field_name == "label")
{
- PointCloud<Label> cloud;
+ PointCloud<PointXYZL> cloud;
fromPCLPointCloud2 (*blob, cloud);
- PointCloudImageExtractorFromLabelField<Label> pcie;
+ PointCloudImageExtractorFromLabelField<PointXYZL> pcie;
+ pcie.setPaintNaNsWithBlack (paint_nans_with_black);
if (!parseColorsOption(argc, argv, pcie))
return (-1);
extracted = pcie.extract(cloud, image);
PointCloud<PointXYZ> cloud;
fromPCLPointCloud2 (*blob, cloud);
PointCloudImageExtractorFromZField<PointXYZ> pcie;
+ pcie.setPaintNaNsWithBlack (paint_nans_with_black);
if (!parseScaleOption(argc, argv, pcie))
return (-1);
extracted = pcie.extract(cloud, image);
}
else if (field_name == "curvature")
{
- PointCloud<Normal> cloud;
+ PointCloud<PointNormal> cloud;
fromPCLPointCloud2 (*blob, cloud);
- PointCloudImageExtractorFromCurvatureField<Normal> pcie;
+ PointCloudImageExtractorFromCurvatureField<PointNormal> pcie;
+ pcie.setPaintNaNsWithBlack (paint_nans_with_black);
if (!parseScaleOption(argc, argv, pcie))
return (-1);
extracted = pcie.extract(cloud, image);
}
else if (field_name == "intensity")
{
- PointCloud<Intensity> cloud;
+ PointCloud<PointXYZI> cloud;
fromPCLPointCloud2 (*blob, cloud);
- PointCloudImageExtractorFromIntensityField<Intensity> pcie;
+ PointCloudImageExtractorFromIntensityField<PointXYZI> pcie;
+ pcie.setPaintNaNsWithBlack (paint_nans_with_black);
if (!parseScaleOption(argc, argv, pcie))
return (-1);
extracted = pcie.extract(cloud, image);
}
else
{
- print_error ("Wrong number of values given (%zu): ", values.size ());
+ print_error ("Wrong number of values given (%lu): ", values.size ());
print_error ("The VIEWPOINT specified with -viewpoint must contain 7 elements (tx, ty, tz, qw, qx, qy, qz).\n");
return (-1);
}
void
printHelp (int, char **argv)
{
- print_error ("Syntax is: %s input.ply output.pcd\n", argv[0]);
+ print_error ("Syntax is: %s [-format 0|1] input.ply output.pcd\n", argv[0]);
}
bool
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New ();
reader->SetFileName (argv[ply_file_indices[0]]);
+ reader->Update ();
polydata = reader->GetOutput ();
- polydata->Update ();
- print_info ("Loaded %s with %zu points/vertices.\n", argv[ply_file_indices[0]], polydata->GetNumberOfPoints ());
+ print_info ("Loaded %s with %lu points/vertices.\n", argv[ply_file_indices[0]], polydata->GetNumberOfPoints ());
// Convert to VTK and save
vtkSmartPointer<vtkPolyDataWriter> writer = vtkSmartPointer<vtkPolyDataWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
writer->SetInput (polydata);
+#else
+ writer->SetInputData (polydata);
+#endif
writer->SetFileName (argv[vtk_file_indices[0]]);
writer->SetFileTypeToBinary ();
writer->Write ();
std::cout << "* PNG 2 PCD CONVERTER - Usage Guide *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "***************************************************************************" << std::endl << std::endl;
- std::cout << "Usage: " << argv[0] << " [Options] input.png output.pcd" << std::endl << std::endl;
+ std::cout << "Usage: " << argv[0] << " [Options] color.png [depth.png] output.pcd" << std::endl << std::endl;
std::cout << "Options:" << std::endl;
std::cout << " -h: Show this help." << std::endl;
std::cout << " -format 0 | 1: Set the format of the output pcd file." << std::endl;
std::cout << " -mode DEFAULT | FORCE_COLOR | FORCE_GRAYSCALE: Set the working mode of the converter." << std::endl;
- std::cout << " --intensity_type: FLOAT | UINT_8 Set the desired intensity type" << std::endl;
+ std::cout << " --intensity_type: FLOAT | UINT_8 Set the desired intensity type" << std::endl;
+ std::cout << " FLOAT is always used when depth input file is valid." << std::endl;
+ std::cout << " --v_viewing_angle angle Set vertical viewing angle of 3D camera." << std::endl;
+ std::cout << " Default value is 43 (for Kinect device)." << std::endl;
+ std::cout << " This option is only used when depth input file is valid." << std::endl;
+ std::cout << " --h_viewing_angle angle Set horizontal viewing angle of 3D camera." << std::endl;
+ std::cout << " Default value is 57 (for Kinect device)." << std::endl;
+ std::cout << " This option is only used when depth input file is valid." << std::endl;
+ std::cout << " --depth_unit mm | m Set unit of depth values in depth.png (default is mm)." << std::endl;
}
template<typename PointInT> void
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
}
+inline void
+depth2xyz (float v_viewing_angle, float h_viewing_angle,
+ int image_width, int image_height, int image_x, int image_y,
+ float depth, float &x, float &y, float &z)
+{
+ float width, height;
+ static const float PI = 3.1415927;
+
+ if (depth <= 0.0f)
+ {
+ x = y = z = std::numeric_limits<float>::quiet_NaN ();
+ }
+ else
+ {
+ width = depth * std::tan (h_viewing_angle * PI / 180 / 2) * 2;
+ height = depth * std::tan (v_viewing_angle * PI / 180 / 2) * 2;
+
+ x = (image_x - image_width / 2.0) / image_width * width;
+ y = (image_height / 2.0 - image_y) / image_height * height;
+ z = depth;
+ }
+}
+
/* ---[ */
int
main (int argc, char** argv)
{
- print_info ("Convert a PNG file to PCD format. For more information, use: %s -h\n", argv[0]);
+ print_info ("Convert a (or two with color and depth) PNG file to PCD format. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
std::vector<int> png_file_indices = parse_file_extension_argument (argc, argv, ".png");
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
- if (png_file_indices.size () != 1 || pcd_file_indices.size () != 1)
+ if ((png_file_indices.size () != 1 && png_file_indices.size () != 2) || pcd_file_indices.size () != 1)
{
- print_error ("Need one input PNG file and one output PCD file.\n");
+ print_error ("Need one/two input PNG file and one output PCD file.\n");
return (-1);
}
print_info ("%s mode selected.\n", mode.c_str ());
- // Load the input file
- vtkSmartPointer<vtkImageData> image_data;
- vtkSmartPointer<vtkPNGReader> reader = vtkSmartPointer<vtkPNGReader>::New ();
- reader->SetFileName (argv[png_file_indices[0]]);
- image_data = reader->GetOutput ();
- image_data->Update ();
-
- // Retrieve the entries from the image data and copy them into the output RGB cloud
- int components = image_data->GetNumberOfScalarComponents();
+ // Load the color input file
+ vtkSmartPointer<vtkImageData> color_image_data;
+ vtkSmartPointer<vtkPNGReader> color_reader = vtkSmartPointer<vtkPNGReader>::New ();
+ color_reader->SetFileName (argv[png_file_indices[0]]);
+ color_reader->Update ();
+ color_image_data = color_reader->GetOutput ();
+ int components = color_image_data->GetNumberOfScalarComponents ();
int dimensions[3];
- image_data->GetDimensions (dimensions);
+ color_image_data->GetDimensions (dimensions);
+
+ // Load the depth input file
+ vtkSmartPointer<vtkImageData> depth_image_data;
+ vtkSmartPointer<vtkPNGReader> depth_reader;
+ bool enable_depth = false;
+ float v_viewing_angle = 43.0f;
+ float h_viewing_angle = 57.0f;
+ float depth_unit_magic = 1000.0f;
+ if (png_file_indices.size () == 2)
+ {
+ depth_reader = vtkSmartPointer<vtkPNGReader>::New ();
+ depth_reader->SetFileName (argv[png_file_indices[1]]);
+ depth_reader->Update ();
+ depth_image_data = depth_reader->GetOutput ();
+ if (depth_reader->GetNumberOfScalarComponents () != 1)
+ {
+ print_error ("Component number of depth input file should be 1.\n");
+ exit (-1);
+ }
+
+ int depth_dimensions[3];
+ depth_image_data->GetDimensions (depth_dimensions);
+ if (depth_dimensions[0] != dimensions[0] || depth_dimensions[1] != dimensions[1])
+ {
+ print_error ("Width or height of the color and depth input file should be the same.\n");
+ exit (-1);
+ }
+
+ parse_argument (argc, argv, "--v_viewing_angle", v_viewing_angle);
+ parse_argument (argc, argv, "--h_viewing_angle", h_viewing_angle);
+
+ std::string depth_unit;
+ if (parse_argument (argc, argv, "--depth_unit", depth_unit) > 0)
+ {
+ if (depth_unit == "m")
+ {
+ depth_unit_magic = 1.0f;
+ }
+ else if (depth_unit == "mm")
+ {
+ depth_unit_magic = 1000.0f;
+ }
+ else
+ {
+ print_error ("Unknow depth unit defined.\n");
+ exit (-1);
+ }
+ }
+
+ enable_depth = true;
+ }
+
+ // Retrieve the entries from the image data and copy them into the output RGB cloud
double* pixel = new double [4];
- memset (pixel, 0, sizeof(double) * 4);
+ memset (pixel, 0, sizeof (double) * 4);
+ float depth;
std::string intensity_type;
PointCloud<Intensity> mono_cloud;
PointCloud<Intensity8u> mono_cloud_u8;
PointCloud<RGB> color_cloud;
+ PointCloud<PointXYZI> mono_depth_cloud;
+ PointCloud<PointXYZRGB> rgb_depth_cloud;
+ PointCloud<PointXYZRGBA> rgba_depth_cloud;
int rgb;
int rgba;
{
case 1: if (intensity_type.compare ("FLOAT") == 0)
{
- mono_cloud.width = dimensions[0];
- mono_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
- mono_cloud.is_dense = true;
- mono_cloud.points.resize (mono_cloud.width * mono_cloud.height);
+ if (enable_depth)
+ {
+ mono_depth_cloud.width = dimensions[0];
+ mono_depth_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ mono_depth_cloud.is_dense = false;
+ mono_depth_cloud.resize (mono_depth_cloud.width * mono_depth_cloud.height);
+
+ for (int y = 0; y < dimensions[1]; y++)
+ {
+ for (int x = 0; x < dimensions[0]; x++)
+ {
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
+ depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
- // TODO: is this Z loop needed?
- for (int z = 0; z < dimensions[2]; z++)
+ PointXYZI xyzi;
+ depth2xyz (v_viewing_angle, h_viewing_angle,
+ mono_depth_cloud.width, mono_depth_cloud.height, x, y,
+ depth, xyzi.x, xyzi.y, xyzi.z);
+ xyzi.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
+
+ mono_depth_cloud (x, dimensions[1] - y -1) = xyzi;
+ }
+ }
+
+ // Save the point cloud into a PCD file
+ saveCloud<PointXYZI> (argv[pcd_file_indices[0]], mono_depth_cloud, format);
+ }
+ else
{
+ mono_cloud.width = dimensions[0];
+ mono_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ mono_cloud.is_dense = true;
+ mono_cloud.points.resize (mono_cloud.width * mono_cloud.height);
+
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
- pixel[0] = image_data->GetScalarComponentAsDouble(x, y, 0, 0);
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
Intensity gray;
gray.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
mono_cloud (x, dimensions[1] - y - 1) = gray;
}
}
- }
- // Save the point cloud into a PCD file
- saveCloud<Intensity> (argv[pcd_file_indices[0]], mono_cloud, format);
+ // Save the point cloud into a PCD file
+ saveCloud<Intensity> (argv[pcd_file_indices[0]], mono_cloud, format);
+ }
}
else
{
mono_cloud_u8.is_dense = true;
mono_cloud_u8.points.resize (mono_cloud_u8.width * mono_cloud_u8.height);
- for (int z = 0; z < dimensions[2]; z++)
+ for (int y = 0; y < dimensions[1]; y++)
{
- for (int y = 0; y < dimensions[1]; y++)
+ for (int x = 0; x < dimensions[0]; x++)
{
- for (int x = 0; x < dimensions[0]; x++)
- {
- pixel[0] = image_data->GetScalarComponentAsDouble(x, y, 0, 0);
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
- Intensity8u gray;
- gray.intensity = static_cast<uint8_t> (pixel[0]);
+ Intensity8u gray;
+ gray.intensity = static_cast<uint8_t> (pixel[0]);
- mono_cloud_u8 (x, dimensions[1] - y - 1) = gray;
- }
+ mono_cloud_u8 (x, dimensions[1] - y - 1) = gray;
}
}
}
break;
- case 3: color_cloud.width = dimensions[0];
- color_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
- color_cloud.is_dense = true;
- color_cloud.points.resize (color_cloud.width * color_cloud.height);
+ case 3: if (enable_depth)
+ {
+ rgb_depth_cloud.width = dimensions[0];
+ rgb_depth_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ rgb_depth_cloud.is_dense = false;
+ rgb_depth_cloud.resize (rgb_depth_cloud.width * rgb_depth_cloud.height);
- for (int z = 0; z < dimensions[2]; z++)
+ for (int y = 0; y < dimensions[1]; y++)
+ {
+ for (int x = 0; x < dimensions[0]; x++)
+ {
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
+ pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
+ pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
+ depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
+
+ PointXYZRGB xyzrgb;
+ depth2xyz (v_viewing_angle, h_viewing_angle,
+ rgb_depth_cloud.width, rgb_depth_cloud.height, x, y,
+ depth, xyzrgb.x, xyzrgb.y, xyzrgb.z);
+ xyzrgb.r = static_cast<uint8_t> (pixel[0]);
+ xyzrgb.g = static_cast<uint8_t> (pixel[1]);
+ xyzrgb.b = static_cast<uint8_t> (pixel[2]);
+
+ rgb_depth_cloud (x, dimensions[1] - y - 1) = xyzrgb;
+ }
+ }
+
+ // Save the point cloud into a PCD file
+ saveCloud<PointXYZRGB> (argv[pcd_file_indices[0]], rgb_depth_cloud, format);
+ }
+ else
{
+ color_cloud.width = dimensions[0];
+ color_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ color_cloud.is_dense = true;
+ color_cloud.points.resize (color_cloud.width * color_cloud.height);
+
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
- pixel[0] = image_data->GetScalarComponentAsDouble(x, y, 0, 0);
- pixel[1] = image_data->GetScalarComponentAsDouble(x, y, 0, 1);
- pixel[2] = image_data->GetScalarComponentAsDouble(x, y, 0, 2);
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
+ pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
+ pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
RGB color;
color.r = static_cast<uint8_t> (pixel[0]);
color_cloud (x, dimensions[1] - y - 1) = color;
}
}
- }
- // Save the point cloud into a PCD file
- saveCloud<RGB> (argv[pcd_file_indices[0]], color_cloud, format);
+ // Save the point cloud into a PCD file
+ saveCloud<RGB> (argv[pcd_file_indices[0]], color_cloud, format);
+ }
break;
- case 4: color_cloud.width = dimensions[0];
- color_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
- color_cloud.is_dense = true;
- color_cloud.points.resize (color_cloud.width * color_cloud.height);
+ case 4: if (enable_depth)
+ {
+ rgba_depth_cloud.width = dimensions[0];
+ rgba_depth_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ rgba_depth_cloud.is_dense = false;
+ rgba_depth_cloud.resize (rgba_depth_cloud.width * rgba_depth_cloud.height);
+
+ for (int y = 0; y < dimensions[1]; y++)
+ {
+ for (int x = 0; x < dimensions[0]; x++)
+ {
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
+ pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
+ pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
+ pixel[3] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 3);
+ depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
+
+ PointXYZRGBA xyzrgba;
+ depth2xyz (v_viewing_angle, h_viewing_angle,
+ rgba_depth_cloud.width, rgba_depth_cloud.height, x, y,
+ depth, xyzrgba.x, xyzrgba.y, xyzrgba.z);
+ xyzrgba.r = static_cast<uint8_t> (pixel[0]);
+ xyzrgba.g = static_cast<uint8_t> (pixel[1]);
+ xyzrgba.b = static_cast<uint8_t> (pixel[2]);
+ xyzrgba.a = static_cast<uint8_t> (pixel[3]);
+
+ rgba_depth_cloud (x, dimensions[1] - y - 1) = xyzrgba;
+ }
+ }
- for (int z = 0; z < dimensions[2]; z++)
+ // Save the point cloud into a PCD file
+ saveCloud<PointXYZRGBA> (argv[pcd_file_indices[0]], rgba_depth_cloud, format);
+ }
+ else
{
+ color_cloud.width = dimensions[0];
+ color_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ color_cloud.is_dense = true;
+ color_cloud.points.resize (color_cloud.width * color_cloud.height);
+
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
- pixel[0] = image_data->GetScalarComponentAsDouble(x, y, 0, 0);
- pixel[1] = image_data->GetScalarComponentAsDouble(x, y, 0, 1);
- pixel[2] = image_data->GetScalarComponentAsDouble(x, y, 0, 2);
- pixel[3] = image_data->GetScalarComponentAsDouble(x, y, 0, 3);
+ pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
+ pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
+ pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
+ pixel[3] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 3);
RGB color;
color.r = static_cast<uint8_t> (pixel[0]);
color_cloud (x, dimensions[1] - y - 1) = color;
}
}
- }
- // Save the point cloud into a PCD file
- saveCloud<RGB> (argv[pcd_file_indices[0]], color_cloud, format);
+ // Save the point cloud into a PCD file
+ saveCloud<RGB> (argv[pcd_file_indices[0]], color_cloud, format);
+ }
break;
}
}
else if (mode.compare ("FORCE_COLOR") == 0)
{
//
- // Force the output cloud to be a pcl::PointCloud<pcl::RGB> even if the input image is a
+ // Force the output cloud to be colored even if the input image is a
// monochrome image.
//
+ if (enable_depth)
+ {
+ PointCloud<PointXYZRGBA> cloud;
+ int dimensions[3];
+ color_image_data->GetDimensions (dimensions);
+ cloud.width = dimensions[0];
+ cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ cloud.is_dense = false;
+ cloud.points.resize (cloud.width * cloud.height);
- PointCloud<RGB> cloud;
- int dimensions[3];
- image_data->GetDimensions (dimensions);
- cloud.width = dimensions[0];
- cloud.height = dimensions[1]; // This indicates that the point cloud is organized
- cloud.is_dense = true;
- cloud.points.resize (cloud.width * cloud.height);
+ for (int y = 0; y < dimensions[1]; y++)
+ {
+ for (int x = 0; x < dimensions[0]; x++)
+ {
+ for (int c = 0; c < components; c++)
+ pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
+ depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
+
+ PointXYZRGBA color;
+ depth2xyz (v_viewing_angle, h_viewing_angle,
+ cloud.width, cloud.height, x, y,
+ depth, color.x, color.y, color.z);
+ color.r = 0;
+ color.g = 0;
+ color.b = 0;
+ color.a = 0;
- for (int z = 0; z < dimensions[2]; z++)
+ switch (components)
+ {
+ case 1: color.r = static_cast<uint8_t> (pixel[0]);
+ color.g = static_cast<uint8_t> (pixel[0]);
+ color.b = static_cast<uint8_t> (pixel[0]);
+ break;
+
+ case 3: color.r = static_cast<uint8_t> (pixel[0]);
+ color.g = static_cast<uint8_t> (pixel[1]);
+ color.b = static_cast<uint8_t> (pixel[2]);
+ break;
+
+ case 4: color.r = static_cast<uint8_t> (pixel[0]);
+ color.g = static_cast<uint8_t> (pixel[1]);
+ color.b = static_cast<uint8_t> (pixel[2]);
+ color.a = static_cast<uint8_t> (pixel[3]);
+ break;
+ }
+
+ cloud (x, dimensions[1] - y -1) = color;
+ }
+ }
+
+ // Save the point cloud into a PCD file
+ saveCloud<PointXYZRGBA> (argv[pcd_file_indices[0]], cloud, format);
+ }
+ else
{
+ PointCloud<RGB> cloud;
+ int dimensions[3];
+ color_image_data->GetDimensions (dimensions);
+ cloud.width = dimensions[0];
+ cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ cloud.is_dense = true;
+ cloud.points.resize (cloud.width * cloud.height);
+
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
- pixel[c] = image_data->GetScalarComponentAsDouble(x, y, 0, c);
+ pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
RGB color;
color.r = 0;
}
cloud (x, dimensions[1] - y - 1) = color;
-
}
}
- }
- // Save the point cloud into a PCD file
- saveCloud<RGB> (argv[pcd_file_indices[0]], cloud, format);
+ // Save the point cloud into a PCD file
+ saveCloud<RGB> (argv[pcd_file_indices[0]], cloud, format);
+ }
}
else if (mode.compare ("FORCE_GRAYSCALE") == 0)
{
+ if (enable_depth)
+ {
+ PointCloud<PointXYZI> cloud;
+ int dimensions[3];
+ color_image_data->GetDimensions (dimensions);
+ cloud.width = dimensions[0];
+ cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ cloud.is_dense = false;
+ cloud.points.resize (cloud.width * cloud.height);
+
+ for (int y = 0; y < dimensions[1]; y++)
+ {
+ for (int x = 0; x < dimensions[0]; x++)
+ {
+ for (int c = 0; c < components; c++)
+ pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
+ depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
+
+ PointXYZI gray;
+ depth2xyz (v_viewing_angle, h_viewing_angle,
+ cloud.width, cloud.height, x, y,
+ depth, gray.x, gray.y, gray.z);
+
+ switch (components)
+ {
+ case 1: gray.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
+ break;
+
+ case 3: gray.intensity = static_cast<float> ( RED_MULTIPLIER * pixel[0] +
+ GREEN_MULTIPLIER * pixel[1] +
+ BLUE_MULTIPLIER * pixel[2] ) / MAX_COLOR_INTENSITY;
+ break;
+
+ case 4: gray.intensity = static_cast<float> ( RED_MULTIPLIER * pixel[0] +
+ GREEN_MULTIPLIER * pixel[1] +
+ BLUE_MULTIPLIER * pixel[2] ) / MAX_COLOR_INTENSITY;
+ break;
+ }
+
+ cloud (x, dimensions[1] - y - 1) = gray;
+ }
+ }
+
+ // Save the point cloud into a PCD file
+ saveCloud<PointXYZI> (argv[pcd_file_indices[0]], cloud, format);
+ }
+ else
//
// Force the output cloud to be:
// - a pcl::PointCloud<pcl::Intensity> if the intensity_type flag is set to FLOAT;
// - a pcl::PointCloud<pcl::Intensity8u> if the intensity_type flag is set to UINT_8;
// even if the input image is a RGB or a RGBA image.
//
-
- PointCloud<Intensity> cloud;
- PointCloud<Intensity8u> cloud8u;
-
- if (pcl::console::parse_argument (argc, argv, "--intensity_type", intensity_type) != -1)
{
- if (intensity_type.compare ("FLOAT") == 0)
- {
- cloud.width = dimensions[0];
- cloud.height = dimensions[1]; // This indicates that the point cloud is organized
- cloud.is_dense = true;
- cloud.points.resize (cloud.width * cloud.height);
+ PointCloud<Intensity> cloud;
+ PointCloud<Intensity8u> cloud8u;
- for (int z = 0; z < dimensions[2]; z++)
+ if (pcl::console::parse_argument (argc, argv, "--intensity_type", intensity_type) != -1)
+ {
+ if (intensity_type.compare ("FLOAT") == 0)
{
+ cloud.width = dimensions[0];
+ cloud.height = dimensions[1]; // This indicates that the point cloud is organized
+ cloud.is_dense = true;
+ cloud.points.resize (cloud.width * cloud.height);
+
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
- pixel[c] = image_data->GetScalarComponentAsDouble(x, y, 0, c);
+ pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
Intensity gray;
cloud (x, dimensions[1] - y - 1) = gray;
}
}
- }
- // Save the point cloud into a PCD file
- saveCloud<Intensity> (argv[pcd_file_indices[0]], cloud, format);
- }
- else if (intensity_type.compare ("UINT_8") != 0)
- {
- cloud8u.width = dimensions[0];
- cloud8u.height = dimensions[1]; // This indicates that the point cloud is organized
- cloud8u.is_dense = true;
- cloud8u.points.resize (cloud8u.width * cloud8u.height);
-
- for (int z = 0; z < dimensions[2]; z++)
+ // Save the point cloud into a PCD file
+ saveCloud<Intensity> (argv[pcd_file_indices[0]], cloud, format);
+ }
+ else if (intensity_type.compare ("UINT_8") != 0)
{
+ cloud8u.width = dimensions[0];
+ cloud8u.height = dimensions[1]; // This indicates that the point cloud is organized
+ cloud8u.is_dense = true;
+ cloud8u.points.resize (cloud8u.width * cloud8u.height);
+
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
- pixel[c] = image_data->GetScalarComponentAsDouble(x, y, 0, c);
+ pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
Intensity8u gray;
cloud8u (x, dimensions[1] - y - 1) = gray;
}
}
- }
- // Save the point cloud into a PCD file
- saveCloud<Intensity8u> (argv[pcd_file_indices[0]], cloud8u, format);
+ // Save the point cloud into a PCD file
+ saveCloud<Intensity8u> (argv[pcd_file_indices[0]], cloud8u, format);
+ }
+ else
+ {
+ print_error ("Wrong intensity option.\n");
+ printHelp (argc, argv);
+ exit (-1);
+ }
}
else
{
- print_error ("Wrong intensity option.\n");
- printHelp (argc, argv);
+ print_error ("The intensity type must be set to enable the PNG conversion.\n");
exit (-1);
}
}
- else
- {
- print_error ("The intensity type must be set to enable the PNG conversion.\n");
- exit (-1);
- }
-
}
delete[] pixel;
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2012, Willow Garage, Inc.
+ * Copyright (c) 2012-, Open Perception, Inc.
+ * Copyright (c) 2014, RadiantBlue Technologies, 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 the copyright holder(s) 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.
+ *
+ * $Id$
+ */
+
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+#include <pcl/filters/extract_indices.h>
+#include <pcl/segmentation/approximate_progressive_morphological_filter.h>
+#include <pcl/segmentation/progressive_morphological_filter.h>
+
+using namespace std;
+using namespace pcl;
+using namespace pcl::io;
+using namespace pcl::console;
+
+typedef PointXYZ PointType;
+typedef PointCloud<PointXYZ> Cloud;
+typedef const Cloud::ConstPtr ConstCloudPtr;
+
+int default_max_window_size = 33;
+float default_slope = 0.7f;
+float default_max_distance = 10.0f;
+float default_initial_distance = 0.15f;
+float default_cell_size = 1.0f;
+float default_base = 2.0f;
+bool default_exponential = true;
+int default_verbosity_level = 3;
+
+void
+printHelp (int, char **argv)
+{
+ print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
+ print_info (" where options are:\n");
+ print_info (" -max_window_size X = maximum window size (default: ");
+ print_value ("%d", default_max_window_size); print_info (")\n");
+ print_info (" -slope X = slope value to compute threshold (default: ");
+ print_value ("%f", default_slope); print_info (")\n");
+ print_info (" -max_distnace X = maximum distance from parameterized ground surface to be considered ground (default: ");
+ print_value ("%f", default_max_distance); print_info (")\n");
+ print_info (" -initial_distance X = initial distance from parameterized ground surface to be considered ground (default: ");
+ print_value ("%f", default_initial_distance); print_info (")\n");
+ print_info (" -cell_size X = cell size (default: ");
+ print_value ("%f", default_cell_size); print_info (")\n");
+ print_info (" -base X = base to be used in computing progressive window sizes (default: ");
+ print_value ("%f", default_base); print_info (")\n");
+ print_info (" -exponential X = use exponential growth? (default: ");
+ print_value ("%s", default_exponential?"true":"false"); print_info (")\n");
+ print_info (" -approximate X = use approximate? (default: false\n");
+ print_info (" -input_dir X = batch process all PCD files found in input_dir\n");
+ print_info (" -output_dir X = save the processed files from input_dir in this directory\n");
+ print_info (" -verbosity X = verbosity level (default: ");
+ print_value ("%d", default_verbosity_level); print_info (")\n");
+}
+
+bool
+loadCloud (const std::string &filename, Cloud &cloud)
+{
+ TicToc tt;
+ print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
+
+ tt.tic ();
+ if (loadPCDFile (filename, cloud) < 0)
+ return (false);
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
+ print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
+
+ return (true);
+}
+
+void
+compute (ConstCloudPtr &input, Cloud &output, int max_window_size, float slope, float max_distance, float initial_distance, float cell_size, float base, bool exponential, bool approximate)
+{
+ // Estimate
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight (stderr, "Computing ");
+
+ std::vector<int> ground;
+
+ if (approximate)
+ {
+ PCL_DEBUG ("approx with %d points\n", input->points.size ());
+ ApproximateProgressiveMorphologicalFilter<PointType> pmf;
+ pmf.setInputCloud (input);
+ pmf.setMaxWindowSize (max_window_size);
+ pmf.setSlope (slope);
+ pmf.setMaxDistance (max_distance);
+ pmf.setInitialDistance (initial_distance);
+ pmf.setCellSize (cell_size);
+ pmf.setBase (base);
+ pmf.setExponential (exponential);
+ pmf.extract (ground);
+ }
+ else
+ {
+ PCL_DEBUG ("full\n");
+ ProgressiveMorphologicalFilter<PointType> pmf;
+ pmf.setInputCloud (input);
+ pmf.setMaxWindowSize (max_window_size);
+ pmf.setSlope (slope);
+ pmf.setMaxDistance (max_distance);
+ pmf.setInitialDistance (initial_distance);
+ pmf.setCellSize (cell_size);
+ pmf.setBase (base);
+ pmf.setExponential (exponential);
+ pmf.extract (ground);
+ }
+
+ PointIndicesPtr idx (new PointIndices);
+ idx->indices = ground;
+
+ ExtractIndices<PointType> extract;
+ extract.setInputCloud (input);
+ extract.setIndices (idx);
+ extract.setNegative (false);
+ extract.filter (output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+void
+saveCloud (const std::string &filename, const Cloud &output)
+{
+ TicToc tt;
+ tt.tic ();
+
+ print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
+
+ PCDWriter w;
+ w.writeBinaryCompressed (filename, output);
+
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
+}
+
+int
+batchProcess (const vector<string> &pcd_files, string &output_dir, int max_window_size, float slope, float max_distance, float initial_distance, float cell_size, float base, bool exponential, bool approximate)
+{
+ vector<string> st;
+ for (size_t i = 0; i < pcd_files.size (); ++i)
+ {
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (pcd_files[i], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, max_window_size, slope, max_distance, initial_distance, cell_size, base, exponential, approximate);
+
+ // Prepare output file name
+ string filename = pcd_files[i];
+ boost::trim (filename);
+ boost::split (st, filename, boost::is_any_of ("/\\"), boost::token_compress_on);
+
+ // Save into the second file
+ stringstream ss;
+ ss << output_dir << "/" << st.at (st.size () - 1);
+ saveCloud (ss.str (), output);
+ }
+ return (0);
+}
+
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ print_info ("Filter a point cloud using the pcl::ProgressiveMorphologicalFilter. For more information, use: %s -h\n", argv[0]);
+
+ if (argc < 3)
+ {
+ printHelp (argc, argv);
+ return (-1);
+ }
+
+ bool batch_mode = false;
+
+ // Command line parsing
+ int max_window_size = default_max_window_size;
+ float slope = default_slope;
+ float max_distance = default_max_distance;
+ float initial_distance = default_initial_distance;
+ float cell_size = default_cell_size;
+ float base = default_base;
+ bool exponential = default_exponential;
+ bool approximate;
+ int verbosity_level = default_verbosity_level;
+ parse_argument (argc, argv, "-max_window_size", max_window_size);
+ parse_argument (argc, argv, "-slope", slope);
+ parse_argument (argc, argv, "-max_distance", max_distance);
+ parse_argument (argc, argv, "-initial_distance", initial_distance);
+ parse_argument (argc, argv, "-cell_size", cell_size);
+ parse_argument (argc, argv, "-base", base);
+ parse_argument (argc, argv, "-exponential", exponential);
+ approximate = find_switch (argc, argv, "-approximate");
+ parse_argument (argc, argv, "-verbosity", verbosity_level);
+ string input_dir, output_dir;
+ if (parse_argument (argc, argv, "-input_dir", input_dir) != -1)
+ {
+ PCL_INFO ("Input directory given as %s. Batch process mode on.\n", input_dir.c_str ());
+ if (parse_argument (argc, argv, "-output_dir", output_dir) == -1)
+ {
+ PCL_ERROR ("Need an output directory! Please use -output_dir to continue.\n");
+ return (-1);
+ }
+
+ // Both input dir and output dir given, switch into batch processing mode
+ batch_mode = true;
+ }
+
+ switch (verbosity_level)
+ {
+ case 0:
+ pcl::console::setVerbosityLevel(pcl::console::L_ALWAYS);
+ break;
+
+ case 1:
+ pcl::console::setVerbosityLevel(pcl::console::L_ERROR);
+ break;
+
+ case 2:
+ pcl::console::setVerbosityLevel(pcl::console::L_WARN);
+ break;
+
+ case 3:
+ pcl::console::setVerbosityLevel(pcl::console::L_INFO);
+ break;
+
+ case 4:
+ pcl::console::setVerbosityLevel(pcl::console::L_DEBUG);
+ break;
+
+ default:
+ pcl::console::setVerbosityLevel(pcl::console::L_VERBOSE);
+ break;
+ }
+
+ if (!batch_mode)
+ {
+ // Parse the command line arguments for .pcd files
+ std::vector<int> p_file_indices;
+ p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 2)
+ {
+ print_error ("Need one input PCD file and one output PCD file to continue.\n");
+ return (-1);
+ }
+
+ // Load the first file
+ Cloud::Ptr cloud (new Cloud);
+ if (!loadCloud (argv[p_file_indices[0]], *cloud))
+ return (-1);
+
+ // Perform the feature estimation
+ Cloud output;
+ compute (cloud, output, max_window_size, slope, max_distance, initial_distance, cell_size, base, exponential, approximate);
+
+ // Save into the second file
+ saveCloud (argv[p_file_indices[1]], output);
+ }
+ else
+ {
+ if (input_dir != "" && boost::filesystem::exists (input_dir))
+ {
+ vector<string> pcd_files;
+ boost::filesystem::directory_iterator end_itr;
+ for (boost::filesystem::directory_iterator itr (input_dir); itr != end_itr; ++itr)
+ {
+ // Only add PCD files
+ if (!is_directory (itr->status ()) && boost::algorithm::to_upper_copy (boost::filesystem::extension (itr->path ())) == ".PCD" )
+ {
+ pcd_files.push_back (itr->path ().string ());
+ PCL_INFO ("[Batch processing mode] Added %s for processing.\n", itr->path ().string ().c_str ());
+ }
+ }
+ batchProcess (pcd_files, output_dir, max_window_size, slope, max_distance, initial_distance, cell_size, base, exponential, approximate);
+ }
+ else
+ {
+ PCL_ERROR ("Batch processing mode enabled, but invalid input directory (%s) given!\n", input_dir.c_str ());
+ return (-1);
+ }
+ }
+}
+
cond->addComparison (pcl::TfQuadraticXYZComparison<PointType>::ConstPtr (new pcl::TfQuadraticXYZComparison<PointType> (inside ? pcl::ComparisonOps::LT : pcl::ComparisonOps::GT, Eigen::Matrix3f::Identity (),
Eigen::Vector3f::Zero (), - radius * radius)));
- pcl::ConditionalRemoval<PointType> condrem (cond);
+ pcl::ConditionalRemoval<PointType> condrem;
+ condrem.setCondition (cond);
condrem.setInputCloud (input);
condrem.setKeepOrganized (keep_organized);
condrem.filter (*output);
sac.getInliers (inliers);
sac.getModelCoefficients (coefficients);
- print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms, plane has : "); print_value ("%zu", inliers.size ()); print_info (" points]\n");
+ print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms, plane has : "); print_value ("%lu", inliers.size ()); print_info (" points]\n");
print_info ("Model coefficients: [");
print_value ("%g %g %g %g", coefficients[0], coefficients[1], coefficients[2], coefficients[3]); print_info ("]\n");
if(ret == 2 || ret == 3)
{
reader->SetFileName (tiff_rgb_files[i].c_str());
+ reader->Update ();
rgb_data = reader->GetOutput ();
- rgb_data->Update ();
std::string rgb_filename = tiff_rgb_paths[i].filename().string();
std::string rgb_time = rgb_filename.substr(6,22);
// Try to read the depth file
int found = 0; // indicates if a corresponding depth file was found
// Find the correct file name
- for(int j = 0; j < tiff_depth_paths.size(); j++)
+ for(size_t j = 0; j < tiff_depth_paths.size(); j++)
{
std::string depth_filename = tiff_depth_paths[i].filename().string();
std::string depth_time = depth_filename.substr(6,22);
if(read == 2 || read == 3)
{
depth_reader->SetFileName (tiff_depth_files[j].c_str());
+ depth_reader->Update ();
depth_data = depth_reader->GetOutput ();
- depth_data->Update ();
processAndSave(depth_data, rgb_data, depth_time, focal_length, format, color, depth, use_output_path, output_path_);
}
bool has_normals = false;
for (size_t i = 0; i < input.fields.size (); ++i)
{
- if (input.fields[i].name == "rgb")
+ if (input.fields[i].name.find("rgb") != std::string::npos)
has_rgb = true;
if (input.fields[i].name == "normal_x")
has_normals = true;
}
else
{
- print_error ("Wrong number of values given (%zu): ", values.size ());
+ print_error ("Wrong number of values given (%lu): ", values.size ());
print_error ("The quaternion specified with -quat must contain 4 elements (w,x,y,z).\n");
}
}
}
else
{
- print_error ("Wrong number of values given (%zu): ", values.size ());
+ print_error ("Wrong number of values given (%lu): ", values.size ());
print_error ("The rotation specified with -axisangle must contain 4 elements (ax,ay,az,theta).\n");
}
}
}
else
{
- print_error ("Wrong number of values given (%zu): ", values.size ());
+ print_error ("Wrong number of values given (%lu): ", values.size ());
print_error ("The transformation specified with -matrix must be 3x3 (9) or 4x4 (16).\n");
}
}
vtkSmartPointer<vtkLoopSubdivisionFilter> subdivide = vtkSmartPointer<vtkLoopSubdivisionFilter>::New ();
subdivide->SetNumberOfSubdivisions (subdiv_level);
subdivide->SetInputConnection (icosa->GetOutputPort ());
+ subdivide->Update ();
// Get camera positions
vtkPolyData *sphere = subdivide->GetOutput ();
- sphere->Update ();
if (!single_view)
PCL_INFO ("Created %ld camera position points.\n", sphere->GetNumberOfPoints ());
}
pcl::PCDWriter writer;
- PCL_INFO ("Wrote %zu points (%d x %d) to %s\n", cloud.points.size (), cloud.width, cloud.height, fname.c_str ());
+ PCL_INFO ("Wrote %lu points (%d x %d) to %s\n", cloud.points.size (), cloud.width, cloud.height, fname.c_str ());
writer.writeBinaryCompressed (fname.c_str (), cloud);
} // sphere
return (0);
}
else
{
- print_error ("Leaf size must be specified with either 1 or 3 numbers (%zu given).\n", values.size ());
+ print_error ("Leaf size must be specified with either 1 or 3 numbers (%lu given).\n", values.size ());
}
print_info ("Using a leaf size of: "); print_value ("%f, %f, %f\n", leaf_x, leaf_y, leaf_z);
double y = voxelCenters.points[i].y;
double z = voxelCenters.points[i].z;
+#if VTK_MAJOR_VERSION < 6
treeWireframe->AddInput (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+#else
+ treeWireframe->AddInputData (getCuboid (x - s, x + s, y - s, y + s, z - s, z + s));
+#endif
+
}
vtkSmartPointer < vtkLODActor > treeActor = vtkSmartPointer<vtkLODActor>::New ();
vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (treeWireframe->GetOutput ());
+#else
+ mapper->SetInputData (treeWireframe->GetOutput ());
+#endif
+
treeActor->SetMapper (mapper);
treeActor->GetProperty ()->SetRepresentationToWireframe ();
vtkSmartPointer<vtkActorCollection> coll)
{
vtkSmartPointer < vtkAppendPolyData > treeWireframe = vtkSmartPointer<vtkAppendPolyData>::New ();
+#if VTK_MAJOR_VERSION < 6
treeWireframe->AddInput (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
+#else
+ treeWireframe->AddInputData (getCuboid (min_b[0], max_b[0], min_b[1], max_b[1], min_b[2], max_b[2]));
+#endif
vtkSmartPointer < vtkActor > treeActor = vtkSmartPointer<vtkActor>::New ();
vtkSmartPointer < vtkDataSetMapper > mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (treeWireframe->GetOutput ());
+#else
+ mapper->SetInputData (treeWireframe->GetOutput ());
+#endif
treeActor->SetMapper (mapper);
treeActor->GetProperty ()->SetRepresentationToWireframe ();
}
else
{
- print_error ("Leaf size must be specified with either 1 or 3 numbers (%zu given).\n", values.size ());
+ print_error ("Leaf size must be specified with either 1 or 3 numbers (%lu given).\n", values.size ());
}
print_info ("Using a leaf size of: "); print_value ("%f, %f, %f\n", leaf_x, leaf_y, leaf_z);
if (copy_normals)
{
vtkSmartPointer<vtkPolyDataNormals> ng = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
ng->SetInput (polydata);
+#else
+ ng->SetInputData (polydata);
+#endif
ng->ComputePointNormalsOn ();
ng->ComputeCellNormalsOff ();
ng->Update ();
vtkSmartPointer<vtkPolyData> polydata;
vtkSmartPointer<vtkPolyDataReader> reader = vtkSmartPointer<vtkPolyDataReader>::New ();
reader->SetFileName (argv[vtk_file_indices[0]]);
+ reader->Update ();
polydata = reader->GetOutput ();
- polydata->Update ();
- print_info ("Loaded %s with %zu points/vertices.\n", argv[vtk_file_indices[0]], polydata->GetNumberOfPoints ());
+ print_info ("Loaded %s with %lu points/vertices.\n", argv[vtk_file_indices[0]], polydata->GetNumberOfPoints ());
// Convert to PLY and save
vtkSmartPointer<vtkPLYWriter> writer = vtkSmartPointer<vtkPLYWriter>::New ();
+#if VTK_MAJOR_VERSION < 6
writer->SetInput (polydata);
+#else
+ writer->SetInputData (polydata);
+#endif
writer->SetArrayName ("Colors");
writer->SetFileTypeToASCII ();
writer->SetFileName (argv[ply_file_indices[0]]);
set(SUBSYS_DEPS common search kdtree filters octree)
set(build TRUE)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS})
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
)
set(incs
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/tracking.h
- include/pcl/${SUBSYS_NAME}/tracker.h
- include/pcl/${SUBSYS_NAME}/coherence.h
- include/pcl/${SUBSYS_NAME}/nearest_pair_point_cloud_coherence.h
- include/pcl/${SUBSYS_NAME}/approx_nearest_pair_point_cloud_coherence.h
- include/pcl/${SUBSYS_NAME}/distance_coherence.h
- include/pcl/${SUBSYS_NAME}/hsv_color_coherence.h
- include/pcl/${SUBSYS_NAME}/normal_coherence.h
- include/pcl/${SUBSYS_NAME}/particle_filter.h
- include/pcl/${SUBSYS_NAME}/particle_filter_omp.h
- include/pcl/${SUBSYS_NAME}/kld_adaptive_particle_filter.h
- include/pcl/${SUBSYS_NAME}/kld_adaptive_particle_filter_omp.h
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/tracking.h"
+ "include/pcl/${SUBSYS_NAME}/tracker.h"
+ "include/pcl/${SUBSYS_NAME}/coherence.h"
+ "include/pcl/${SUBSYS_NAME}/nearest_pair_point_cloud_coherence.h"
+ "include/pcl/${SUBSYS_NAME}/approx_nearest_pair_point_cloud_coherence.h"
+ "include/pcl/${SUBSYS_NAME}/distance_coherence.h"
+ "include/pcl/${SUBSYS_NAME}/hsv_color_coherence.h"
+ "include/pcl/${SUBSYS_NAME}/normal_coherence.h"
+ "include/pcl/${SUBSYS_NAME}/particle_filter.h"
+ "include/pcl/${SUBSYS_NAME}/particle_filter_omp.h"
+ "include/pcl/${SUBSYS_NAME}/kld_adaptive_particle_filter.h"
+ "include/pcl/${SUBSYS_NAME}/kld_adaptive_particle_filter_omp.h"
+ "include/pcl/${SUBSYS_NAME}/pyramidal_klt.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/tracking.hpp
- include/pcl/${SUBSYS_NAME}/impl/tracker.hpp
- include/pcl/${SUBSYS_NAME}/impl/coherence.hpp
- include/pcl/${SUBSYS_NAME}/impl/nearest_pair_point_cloud_coherence.hpp
- include/pcl/${SUBSYS_NAME}/impl/approx_nearest_pair_point_cloud_coherence.hpp
- include/pcl/${SUBSYS_NAME}/impl/distance_coherence.hpp
- include/pcl/${SUBSYS_NAME}/impl/hsv_color_coherence.hpp
- include/pcl/${SUBSYS_NAME}/impl/normal_coherence.hpp
- include/pcl/${SUBSYS_NAME}/impl/particle_filter.hpp
- include/pcl/${SUBSYS_NAME}/impl/particle_filter_omp.hpp
- include/pcl/${SUBSYS_NAME}/impl/kld_adaptive_particle_filter.hpp
- include/pcl/${SUBSYS_NAME}/impl/kld_adaptive_particle_filter_omp.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/tracking.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/tracker.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/coherence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/nearest_pair_point_cloud_coherence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/approx_nearest_pair_point_cloud_coherence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/distance_coherence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/hsv_color_coherence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/normal_coherence.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/particle_filter.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/particle_filter_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/kld_adaptive_particle_filter.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/kld_adaptive_particle_filter_omp.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/pyramidal_klt.hpp"
)
- set(LIB_NAME pcl_${SUBSYS_NAME})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${impl_incs})
- target_link_libraries(${LIB_NAME} pcl_common pcl_kdtree pcl_search pcl_filters pcl_octree)
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_search pcl_filters pcl_octree)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
endif(build)
addPointCoherence (PointCoherencePtr coherence) { point_coherences_.push_back (coherence); }
/** \brief add a PointCoherence to the PointCloudCoherence.
- * \param coherence a pointer to PointCoherence.
+ * \param cloud a pointer to PointCoherence.
*/
virtual inline void
setTargetCloud (const PointCloudInConstPtr &cloud) { target_input_ = cloud; }
target_h, target_s, target_v);
// hue value is in 0 ~ 2pi, but circulated.
const float _h_diff = fabsf (source_h - target_h);
+ // Also need to compute distance other way around circle - but need to check which is closer to 0
+ float _h_diff2;
+ if (source_h < target_h)
+ _h_diff2 = fabsf (1.0f + source_h - target_h); //Add 2pi to source, subtract target
+ else
+ _h_diff2 = fabsf (1.0f + target_h - source_h); //Add 2pi to target, subtract source
+
float h_diff;
- if (_h_diff > 0.5f)
- h_diff = static_cast<float> (h_weight_) * (_h_diff - 0.5f) * (_h_diff - 0.5f);
- else
+ //Now we need to choose the smaller distance
+ if (_h_diff < _h_diff2)
h_diff = static_cast<float> (h_weight_) * _h_diff * _h_diff;
+ else
+ h_diff = static_cast<float> (h_weight_) * _h_diff2 * _h_diff2;
const float s_diff = static_cast<float> (s_weight_) * (source_s - target_s) * (source_s - target_s);
const float v_diff = static_cast<float> (v_weight_) * (source_v - target_v) * (source_v - target_v);
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception, 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.
+ *
+ */
+
+#ifndef PCL_TRACKING_IMPL_PYRAMIDAL_KLT_HPP
+#define PCL_TRACKING_IMPL_PYRAMIDAL_KLT_HPP
+
+#include <pcl/common/time.h>
+#include <pcl/common/utils.h>
+#include <pcl/tracking/boost.h>
+#include <pcl/common/io.h>
+#include <pcl/common/utils.h>
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> inline void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::setTrackingWindowSize (int width, int height)
+{
+ track_width_ = width;
+ track_height_ = height;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> inline void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::setPointsToTrack (const pcl::PointCloud<pcl::PointUV>::ConstPtr& keypoints)
+{
+ if (keypoints->size () <= keypoints_nbr_)
+ keypoints_ = keypoints;
+ else
+ {
+ pcl::PointCloud<pcl::PointUV>::Ptr p (new pcl::PointCloud<pcl::PointUV>);
+ p->reserve (keypoints_nbr_);
+ for (std::size_t i = 0; i < keypoints_nbr_; ++i)
+ p->push_back (keypoints->points[i]);
+ keypoints_ = p;
+ }
+
+ keypoints_status_.reset (new pcl::PointIndices);
+ keypoints_status_->indices.resize (keypoints_->size (), 0);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> inline void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::setPointsToTrack (const pcl::PointIndicesConstPtr& points)
+{
+ assert ((input_ || ref_) && "[pcl::tracking::PyramidalKLTTracker] CALL setInputCloud FIRST!");
+
+ pcl::PointCloud<pcl::PointUV>::Ptr keypoints (new pcl::PointCloud<pcl::PointUV>);
+ keypoints->reserve (keypoints_nbr_);
+ for (std::size_t i = 0; i < keypoints_nbr_; ++i)
+ {
+ pcl::PointUV uv;
+ uv.u = points->indices[i] % input_->width;
+ uv.v = points->indices[i] / input_->width;
+ keypoints->push_back (uv);
+ }
+ setPointsToTrack (keypoints);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> bool
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::initCompute ()
+{
+ // std::cout << ">>> [PyramidalKLTTracker::initCompute]" << std::endl;
+ if (!PCLBase<PointInT>::initCompute ())
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] PCLBase::Init failed.\n",
+ tracker_name_.c_str ());
+ return (false);
+ }
+
+ if (!input_->isOrganized ())
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] Need an organized point cloud to proceed!",
+ tracker_name_.c_str ());
+ return (false);
+ }
+
+ if (!keypoints_ || keypoints_->empty ())
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] No keypoints aborting!",
+ tracker_name_.c_str ());
+ return (false);
+ }
+
+ // This is the first call
+ if (!ref_)
+ {
+ ref_ = input_;
+ // std::cout << "First run!!!" << std::endl;
+
+ if ((track_height_ * track_width_)%2 == 0)
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] Tracking window (%dx%d) must be odd!\n",
+ tracker_name_.c_str (), track_width_, track_height_);
+ return (false);
+ }
+
+ if (track_height_ < 3 || track_width_ < 3)
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] Tracking window (%dx%d) must be >= 3x3!\n",
+ tracker_name_.c_str (), track_width_, track_height_);
+ return (false);
+ }
+
+ track_width_2_ = track_width_ / 2;
+ track_height_2_ = track_height_ / 2;
+
+ if (nb_levels_ < 2)
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] Number of pyramid levels should be at least 2!",
+ tracker_name_.c_str ());
+ return (false);
+ }
+
+ if (nb_levels_ > 5)
+ {
+ PCL_ERROR ("[pcl::tracking::%s::initCompute] Number of pyramid levels should not exceed 5!",
+ tracker_name_.c_str ());
+ return (false);
+ }
+
+ computePyramids (ref_, ref_pyramid_, pcl::BORDER_REFLECT_101);
+ return (true);
+ }
+ else
+ initialized_ = true;
+
+ return (true);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::derivatives (const FloatImage& src, FloatImage& grad_x, FloatImage& grad_y) const
+{
+ // std::cout << ">>> derivatives" << std::endl;
+ ////////////////////////////////////////////////////////
+ // Use Shcarr operator to compute derivatives. //
+ // Vertical kernel +3 +10 +3 = [1 0 -1]T * [3 10 3] //
+ // 0 0 0 //
+ // -3 -10 -3 //
+ // Horizontal kernel +3 0 -3 = [3 10 3]T * [1 0 -1] //
+ // +10 0 -10 //
+ // +3 0 -3 //
+ ////////////////////////////////////////////////////////
+ if (grad_x.size () != src.size () || grad_x.width != src.width || grad_x.height != src.height)
+ grad_x = FloatImage (src.width, src.height);
+ if (grad_y.size () != src.size () || grad_y.width != src.width || grad_y.height != src.height)
+ grad_y = FloatImage (src.width, src.height);
+
+ int height = src.height, width = src.width;
+ float *row0 = new float [src.width + 2];
+ float *row1 = new float [src.width + 2];
+ float *trow0 = row0; ++trow0;
+ float *trow1 = row1; ++trow1;
+ const float* src_ptr = &(src.points[0]);
+
+ for (int y = 0; y < height; y++)
+ {
+ const float* srow0 = src_ptr + (y > 0 ? y-1 : height > 1 ? 1 : 0) * width;
+ const float* srow1 = src_ptr + y * width;
+ const float* srow2 = src_ptr + (y < height-1 ? y+1 : height > 1 ? height-2 : 0) * width;
+ float* grad_x_row = &(grad_x.points[y * width]);
+ float* grad_y_row = &(grad_y.points[y * width]);
+
+ // do vertical convolution
+ for (int x = 0; x < width; x++)
+ {
+ trow0[x] = (srow0[x] + srow2[x])*3 + srow1[x]*10;
+ trow1[x] = srow2[x] - srow0[x];
+ }
+
+ // make border
+ int x0 = width > 1 ? 1 : 0, x1 = width > 1 ? width-2 : 0;
+ trow0[-1] = trow0[x0]; trow0[width] = trow0[x1];
+ trow1[-1] = trow1[x0]; trow1[width] = trow1[x1];
+
+ // do horizontal convolution and store results
+ for (int x = 0; x < width; x++)
+ {
+ grad_x_row[x] = trow0[x+1] - trow0[x-1];
+ grad_y_row[x] = (trow1[x+1] + trow1[x-1])*3 + trow1[x]*10;
+ }
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::downsample (const FloatImageConstPtr& input,
+ FloatImageConstPtr& output) const
+{
+ FloatImage smoothed (input->width, input->height);
+ convolve (input, smoothed);
+
+ int width = (smoothed.width +1) / 2;
+ int height = (smoothed.height +1) / 2;
+
+ int *ii = new int[width];
+ int *ii_ptr = ii;
+ for (int i = 0; i < width; ++i)
+ *ii_ptr++ = 2*i;
+
+ FloatImagePtr down (new FloatImage (width, height));
+#ifdef _OPENMP
+#pragma omp parallel for shared (output) private (ii) num_threads (threads_)
+#endif
+ for (int j = 0; j < height; ++j)
+ {
+ int jj = 2*j;
+ for (int i = 0; i < width; ++i)
+ (*down) (i,j) = smoothed (ii[i],jj);
+ }
+
+ output = down;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::downsample (const FloatImageConstPtr& input,
+ FloatImageConstPtr& output,
+ FloatImageConstPtr& output_grad_x,
+ FloatImageConstPtr& output_grad_y) const
+{
+ downsample (input, output);
+ FloatImagePtr grad_x (new FloatImage (input->width, input->height));
+ FloatImagePtr grad_y (new FloatImage (input->width, input->height));
+ derivatives (*output, *grad_x, *grad_y);
+ output_grad_x = grad_x;
+ output_grad_y = grad_y;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::convolve (const FloatImageConstPtr& input, FloatImage& output) const
+{
+ FloatImagePtr tmp (new FloatImage (input->width, input->height));
+ convolveRows (input, *tmp);
+ convolveCols (tmp, output);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::convolveRows (const FloatImageConstPtr& input, FloatImage& output) const
+{
+ int width = input->width;
+ int height = input->height;
+ int last = input->width - kernel_size_2_;
+ int w = last - 1;
+
+#ifdef _OPENMP
+#pragma omp parallel for shared (output) num_threads (threads_)
+#endif
+ for (int j = 0; j < height; ++j)
+ {
+ for (int i = kernel_size_2_; i < last; ++i)
+ {
+ double result = 0;
+ for (int k = kernel_last_, l = i - kernel_size_2_; k > -1; --k, ++l)
+ result+= kernel_[k] * (*input) (l,j);
+
+ output (i,j) = static_cast<float> (result);
+ }
+
+ for (int i = last; i < width; ++i)
+ output (i,j) = output (w, j);
+
+ for (int i = 0; i < kernel_size_2_; ++i)
+ output (i,j) = output (kernel_size_2_, j);
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::convolveCols (const FloatImageConstPtr& input, FloatImage& output) const
+{
+ output = FloatImage (input->width, input->height);
+
+ int width = input->width;
+ int height = input->height;
+ int last = input->height - kernel_size_2_;
+ int h = last -1;
+
+#ifdef _OPENMP
+#pragma omp parallel for shared (output) num_threads (threads_)
+#endif
+ for (int i = 0; i < width; ++i)
+ {
+ for (int j = kernel_size_2_; j < last; ++j)
+ {
+ double result = 0;
+ for (int k = kernel_last_, l = j - kernel_size_2_; k > -1; --k, ++l)
+ result += kernel_[k] * (*input) (i,l);
+ output (i,j) = static_cast<float> (result);
+ }
+
+ for (int j = last; j < height; ++j)
+ output (i,j) = output (i,h);
+
+ for (int j = 0; j < kernel_size_2_; ++j)
+ output (i,j) = output (i, kernel_size_2_);
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::computePyramids (const PointCloudInConstPtr& input,
+ std::vector<FloatImageConstPtr>& pyramid,
+ pcl::InterpolationType border_type) const
+{
+ int step = 3;
+ pyramid.resize (step * nb_levels_);
+
+ FloatImageConstPtr previous;
+ FloatImagePtr tmp (new FloatImage (input->width, input->height));
+#ifdef _OPENMP
+#pragma omp parallel for num_threads (threads_)
+#endif
+ for (int i = 0; i < static_cast<int> (input->size ()); ++i)
+ tmp->points[i] = intensity_ (input->points[i]);
+ previous = tmp;
+
+ FloatImagePtr img (new FloatImage (previous->width + 2*track_width_,
+ previous->height + 2*track_height_));
+
+ pcl::copyPointCloud (*tmp, *img, track_height_, track_height_, track_width_, track_width_,
+ border_type, 0.f);
+ pyramid[0] = img;
+
+ // compute first level gradients
+ FloatImagePtr g_x (new FloatImage (input->width, input->height));
+ FloatImagePtr g_y (new FloatImage (input->width, input->height));
+ derivatives (*img, *g_x, *g_y);
+ // copy to bigger clouds
+ FloatImagePtr grad_x (new FloatImage (previous->width + 2*track_width_,
+ previous->height + 2*track_height_));
+ pcl::copyPointCloud (*g_x, *grad_x, track_height_, track_height_, track_width_, track_width_,
+ pcl::BORDER_CONSTANT, 0.f);
+ pyramid[1] = grad_x;
+
+ FloatImagePtr grad_y (new FloatImage (previous->width + 2*track_width_,
+ previous->height + 2*track_height_));
+ pcl::copyPointCloud (*g_y, *grad_y, track_height_, track_height_, track_width_, track_width_,
+ pcl::BORDER_CONSTANT, 0.f);
+ pyramid[2] = grad_y;
+
+ for (int level = 1; level < nb_levels_; ++level)
+ {
+ // compute current level and current level gradients
+ FloatImageConstPtr current;
+ FloatImageConstPtr g_x;
+ FloatImageConstPtr g_y;
+ downsample (previous, current, g_x, g_y);
+ // copy to bigger clouds
+ FloatImagePtr image (new FloatImage (current->width + 2*track_width_,
+ current->height + 2*track_height_));
+ pcl::copyPointCloud (*current, *image, track_height_, track_height_, track_width_, track_width_,
+ border_type, 0.f);
+ pyramid[level*step] = image;
+ FloatImagePtr gradx (new FloatImage (g_x->width + 2*track_width_, g_x->height + 2*track_height_));
+ pcl::copyPointCloud (*g_x, *gradx, track_height_, track_height_, track_width_, track_width_,
+ pcl::BORDER_CONSTANT, 0.f);
+ pyramid[level*step + 1] = gradx;
+ FloatImagePtr grady (new FloatImage (g_y->width + 2*track_width_, g_y->height + 2*track_height_));
+ pcl::copyPointCloud (*g_y, *grady, track_height_, track_height_, track_width_, track_width_,
+ pcl::BORDER_CONSTANT, 0.f);
+ pyramid[level*step + 2] = grady;
+ // set the new level
+ previous = current;
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::spatialGradient (const FloatImage& img,
+ const FloatImage& grad_x,
+ const FloatImage& grad_y,
+ const Eigen::Array2i& location,
+ const Eigen::Array4f& weight,
+ Eigen::ArrayXXf& win,
+ Eigen::ArrayXXf& grad_x_win,
+ Eigen::ArrayXXf& grad_y_win,
+ Eigen::Array3f &covariance) const
+{
+ const int step = img.width;
+ covariance.setZero ();
+
+ for (int y = 0; y < track_height_; y++)
+ {
+ const float* img_ptr = &(img.points[0]) + (y + location[1])*step + location[0];
+ const float* grad_x_ptr = &(grad_x.points[0]) + (y + location[1])*step + location[0];
+ const float* grad_y_ptr = &(grad_y.points[0]) + (y + location[1])*step + location[0];
+
+ float* win_ptr = win.data () + y*win.cols ();
+ float* grad_x_win_ptr = grad_x_win.data () + y*grad_x_win.cols ();
+ float* grad_y_win_ptr = grad_y_win.data () + y*grad_y_win.cols ();
+
+ for (int x =0; x < track_width_; ++x, ++grad_x_ptr, ++grad_y_ptr)
+ {
+ *win_ptr++ = img_ptr[x]*weight[0] + img_ptr[x+1]*weight[1] + img_ptr[x+step]*weight[2] + img_ptr[x+step+1]*weight[3];
+ float ixval = grad_x_ptr[0]*weight[0] + grad_x_ptr[1]*weight[1] + grad_x_ptr[step]*weight[2] + grad_x_ptr[step+1]*weight[3];
+ float iyval = grad_y_ptr[0]*weight[0] + grad_y_ptr[1]*weight[1] + grad_y_ptr[step]*weight[2] + grad_y_ptr[step+1]*weight[3];
+ //!!! store those
+ *grad_x_win_ptr++ = ixval;
+ *grad_y_win_ptr++ = iyval;
+ //covariance components
+ covariance[0] += ixval*ixval;
+ covariance[1] += ixval*iyval;
+ covariance[2] += iyval*iyval;
+ }
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::mismatchVector (const Eigen::ArrayXXf& prev,
+ const Eigen::ArrayXXf& prev_grad_x,
+ const Eigen::ArrayXXf& prev_grad_y,
+ const FloatImage& next,
+ const Eigen::Array2i& location,
+ const Eigen::Array4f& weight,
+ Eigen::Array2f &b) const
+{
+ const int step = next.width;
+ b.setZero ();
+ for (int y = 0; y < track_height_; y++)
+ {
+ const float* next_ptr = &(next.points[0]) + (y + location[1])*step + location[0];
+ const float* prev_ptr = prev.data () + y*prev.cols ();
+ const float* prev_grad_x_ptr = prev_grad_x.data () + y*prev_grad_x.cols ();
+ const float* prev_grad_y_ptr = prev_grad_y.data () + y*prev_grad_y.cols ();
+
+ for (int x = 0; x < track_width_; ++x, ++prev_grad_y_ptr, ++prev_grad_x_ptr)
+ {
+ float diff = next_ptr[x]*weight[0] + next_ptr[x+1]*weight[1]
+ + next_ptr[x+step]*weight[2] + next_ptr[x+step+1]*weight[3] - prev_ptr[x];
+ b[0] += *prev_grad_x_ptr * diff;
+ b[1] += *prev_grad_y_ptr * diff;
+ }
+ }
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::track (const PointCloudInConstPtr& prev_input,
+ const PointCloudInConstPtr& input,
+ const std::vector<FloatImageConstPtr>& prev_pyramid,
+ const std::vector<FloatImageConstPtr>& pyramid,
+ const pcl::PointCloud<pcl::PointUV>::ConstPtr& prev_keypoints,
+ pcl::PointCloud<pcl::PointUV>::Ptr& keypoints,
+ std::vector<int>& status,
+ Eigen::Affine3f& motion) const
+{
+ std::vector<Eigen::Array2f> next_pts (prev_keypoints->size ());
+ Eigen::Array2f half_win ((track_width_-1)*0.5f, (track_height_-1)*0.5f);
+ pcl::TransformationFromCorrespondences transformation_computer;
+ const int nb_points = prev_keypoints->size ();
+ for (int level = nb_levels_ - 1; level >= 0; --level)
+ {
+ const FloatImage& prev = *(prev_pyramid[level*3]);
+ const FloatImage& next = *(pyramid[level*3]);
+ const FloatImage& grad_x = *(prev_pyramid[level*3+1]);
+ const FloatImage& grad_y = *(prev_pyramid[level*3+2]);
+
+ Eigen::ArrayXXf prev_win (track_height_, track_width_);
+ Eigen::ArrayXXf grad_x_win (track_height_, track_width_);
+ Eigen::ArrayXXf grad_y_win (track_height_, track_width_);
+ float ratio (1./(1 << level));
+ for (int ptidx = 0; ptidx < nb_points; ptidx++)
+ {
+ Eigen::Array2f prev_pt (prev_keypoints->points[ptidx].u * ratio,
+ prev_keypoints->points[ptidx].v * ratio);
+ Eigen::Array2f next_pt;
+ if (level == nb_levels_ -1)
+ next_pt = prev_pt;
+ else
+ next_pt = next_pts[ptidx]*2.f;
+
+ next_pts[ptidx] = next_pt;
+
+ Eigen::Array2i iprev_point, inext_pt;
+ prev_pt -= half_win;
+ iprev_point[0] = floor (prev_pt[0]);
+ iprev_point[1] = floor (prev_pt[1]);
+
+ if (iprev_point[0] < -track_width_ || iprev_point[0] >= grad_x.width ||
+ iprev_point[1] < -track_height_ || iprev_point[1] >= grad_y.height)
+ {
+ if (level == 0)
+ status [ptidx] = -1;
+ continue;
+ }
+
+ float a = prev_pt[0] - iprev_point[0];
+ float b = prev_pt[1] - iprev_point[1];
+ Eigen::Array4f weight;
+ weight[0] = (1.f - a)*(1.f - b);
+ weight[1] = a*(1.f - b);
+ weight[2] = (1.f - a)*b;
+ weight[3] = 1 - weight[0] - weight[1] - weight[2];
+
+ Eigen::Array3f covar = Eigen::Array3f::Zero ();
+ spatialGradient (prev, grad_x, grad_y, iprev_point, weight, prev_win, grad_x_win, grad_y_win, covar);
+
+ float det = covar[0]*covar[2] - covar[1]*covar[1];
+ float min_eigenvalue = (covar[2] + covar[0] - std::sqrt ((covar[0]-covar[2])*(covar[0]-covar[2]) + 4.f*covar[1]*covar[1]))/2.f;
+
+ if (min_eigenvalue < min_eigenvalue_threshold_ || det < std::numeric_limits<float>::epsilon ())
+ {
+ status[ptidx] = -2;
+ continue;
+ }
+
+ det = 1.f/det;
+ next_pt -= half_win;
+
+ Eigen::Array2f prev_delta;
+ for (int j = 0; j < max_iterations_; j++)
+ {
+ inext_pt[0] = floor (next_pt[0]);
+ inext_pt[1] = floor (next_pt[1]);
+
+ if (inext_pt[0] < -track_width_ || inext_pt[0] >= next.width ||
+ inext_pt[1] < -track_height_ || inext_pt[1] >= next.height)
+ {
+ if (level == 0)
+ status[ptidx] = -1;
+ break;
+ }
+
+ a = next_pt[0] - inext_pt[0];
+ b = next_pt[1] - inext_pt[1];
+ weight[0] = (1.f - a)*(1.f - b);
+ weight[1] = a*(1.f - b);
+ weight[2] = (1.f - a)*b;
+ weight[3] = 1 - weight[0] - weight[1] - weight[2];
+ // compute mismatch vector
+ Eigen::Array2f beta = Eigen::Array2f::Zero ();
+ mismatchVector (prev_win, grad_x_win, grad_y_win, next, inext_pt, weight, beta);
+ // optical flow resolution
+ Eigen::Vector2f delta ((covar[1]*beta[1] - covar[2]*beta[0])*det, (covar[1]*beta[0] - covar[0]*beta[1])*det);
+ // update position
+ next_pt[0] += delta[0]; next_pt[1] += delta[1];
+ next_pts[ptidx] = next_pt + half_win;
+
+ if (delta.squaredNorm () <= epsilon_)
+ break;
+
+ if (j > 0 && std::abs (delta[0] + prev_delta[0]) < 0.01 &&
+ std::abs (delta[1] + prev_delta[1]) < 0.01 )
+ {
+ next_pts[ptidx][0] -= delta[0]*0.5f;
+ next_pts[ptidx][1] -= delta[1]*0.5f;
+ break;
+ }
+ // update delta
+ prev_delta = delta;
+ }
+
+ // update tracked points
+ if (level == 0 && !status[ptidx])
+ {
+ Eigen::Array2f next_point = next_pts[ptidx] - half_win;
+ Eigen::Array2i inext_point;
+
+ inext_point[0] = floor (next_point[0]);
+ inext_point[1] = floor (next_point[1]);
+
+ if (inext_point[0] < -track_width_ || inext_point[0] >= next.width ||
+ inext_point[1] < -track_height_ || inext_point[1] >= next.height)
+ {
+ status[ptidx] = -1;
+ continue;
+ }
+ // insert valid keypoint
+ pcl::PointUV n;
+ n.u = next_pts[ptidx][0];
+ n.v = next_pts[ptidx][1];
+ keypoints->push_back (n);
+ // add points pair to compute transformation
+ inext_point[0] = floor (next_pts[ptidx][0]);
+ inext_point[1] = floor (next_pts[ptidx][1]);
+ iprev_point[0] = floor (prev_keypoints->points[ptidx].u);
+ iprev_point[1] = floor (prev_keypoints->points[ptidx].v);
+ const PointInT& prev_pt = prev_input->points[iprev_point[1]*prev_input->width + iprev_point[0]];
+ const PointInT& next_pt = input->points[inext_pt[1]*input->width + inext_pt[0]];
+ transformation_computer.add (prev_pt.getVector3fMap (), next_pt.getVector3fMap (), 1.0);
+ }
+ }
+ }
+ motion = transformation_computer.getTransformation ();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename IntensityT> void
+pcl::tracking::PyramidalKLTTracker<PointInT, IntensityT>::computeTracking ()
+{
+ if (!initialized_)
+ return;
+
+ std::vector<FloatImageConstPtr> pyramid;
+ computePyramids (input_, pyramid, pcl::BORDER_REFLECT_101);
+ pcl::PointCloud<pcl::PointUV>::Ptr keypoints (new pcl::PointCloud<pcl::PointUV>);
+ keypoints->reserve (keypoints_->size ());
+ std::vector<int> status (keypoints_->size (), 0);
+ track (ref_, input_, ref_pyramid_, pyramid, keypoints_, keypoints, status, motion_);
+ //swap reference and input
+ ref_ = input_;
+ ref_pyramid_ = pyramid;
+ keypoints_ = keypoints;
+ keypoints_status_->indices = status;
+}
+
+#endif
* is optional, if this is not set, it will only use the data in the
* input cloud to estimate the features. This is useful when you only
* need to compute the features for a downsampled cloud.
- * \param cloud a pointer to a PointCloud message
+ * \param search a pointer to a PointCloud message
*/
inline void
setSearchMethod (const SearchPtr &search) { search_ = search; }
/** \brief Implementation of "sample with replacement" using Walker's alias method.
about Walker's alias method, you can check the paper below:
- @article{355749,
+ article{355749},
author = {Walker, Alastair J.},
title = {An Efficient Method for Generating Discrete
Random Variables with General Distributions},
--- /dev/null
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2014-, Open Perception.
+ *
+ * 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.
+ *
+ */
+
+#ifndef PCL_TRACKING_PYRAMIDAL_KLT_H
+#define PCL_TRACKING_PYRAMIDAL_KLT_H
+
+#include <pcl/point_types.h>
+#include <pcl/tracking/tracker.h>
+#include <pcl/common/intensity.h>
+#include <pcl/common/transformation_from_correspondences.h>
+
+namespace pcl
+{
+ namespace tracking
+ {
+ /** Pyramidal Kanade Lucas Tomasi tracker.
+ * This is an implemntation of the Pyramidal Kanade Lucas Tomasi tracker that operates on
+ * organized 3D keypoints with color/intensity information (this is the default behaviour but you
+ * can alterate it by providing another operator as second template argument). It is an affine
+ * tracker that iteratively computes the optical flow to find the best guess for a point p at t
+ * given its location at t-1.
+ * User is advised to respect the Tomasi condition: the response computed is the maximum eigenvalue
+ * of the second moment matrix but no restrictin are applied to points to track so you can use a
+ * detector of your choice to indicate points to track.
+ *
+ * \author Nizar Sallem
+ */
+ template<typename PointInT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
+ class PyramidalKLTTracker : public Tracker<PointInT, Eigen::Affine3f>
+ {
+ public:
+ typedef pcl::tracking::Tracker<PointInT, Eigen::Affine3f> TrackerBase;
+ typedef typename TrackerBase::PointCloudIn PointCloudIn;
+ typedef typename PointCloudIn::Ptr PointCloudInPtr;
+ typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
+ typedef pcl::PointCloud<float> FloatImage;
+ typedef FloatImage::Ptr FloatImagePtr;
+ typedef FloatImage::ConstPtr FloatImageConstPtr;
+
+ using TrackerBase::tracker_name_;
+ using TrackerBase::input_;
+ using TrackerBase::indices_;
+
+ /// Constructor
+ PyramidalKLTTracker (int nb_levels = 5, int tracking_window_width = 7, int tracking_window_height = 7)
+ : ref_ ()
+ , nb_levels_ (nb_levels)
+ , track_width_ (tracking_window_width)
+ , track_height_ (tracking_window_height)
+ , threads_ (0)
+ , initialized_ (false)
+ {
+ tracker_name_ = "PyramidalKLTTracker";
+ accuracy_ = 0.1;
+ epsilon_ = 1e-3;
+ max_iterations_ = 10;
+ keypoints_nbr_ = 100;
+ min_eigenvalue_threshold_ = 1e-4;
+ kernel_ << 1.f/16 ,1.f/4 ,3.f/8 ,1.f/4 ,1.f/16;
+ kernel_size_2_ = kernel_.size () / 2;
+ kernel_last_ = kernel_.size () -1;
+ }
+
+ /// Destructor
+ virtual ~PyramidalKLTTracker () {}
+
+ /** \brief Set the number of pyramid levels
+ * \param levels desired number of pyramid levels
+ */
+ inline void
+ setNumberOfPyramidLevels (int levels) { nb_levels_ = levels; }
+
+ /// \brief \return the number of pyramid levels
+ inline int
+ getNumberOfPyramidLevels () const { return (nb_levels_); }
+
+ /** Set accuracy
+ * \param[in] accuracy desired accuracy.
+ */
+ inline void
+ setAccuracy (float accuracy) { accuracy_ = accuracy; }
+
+ /// \return the accuracy
+ inline float
+ getAccuracy () const { return (accuracy_); }
+
+ /** Set epsilon
+ * \param[in] epsilon desired epsilon.
+ */
+ inline void
+ setEpsilon (float epsilon) { epsilon_ = epsilon; }
+
+ /// \return the epsilon
+ inline float
+ getEpsilon () const { return (epsilon_); }
+
+ /** \brief Set the maximum number of points to track. Only the first keypoints_nbr_
+ * are used as points to track after sorting detected keypoints according to their
+ * response measure.
+ * \param[in] number the desired number of points to detect.
+ */
+ inline void
+ setNumberOfKeypoints (std::size_t number) { keypoints_nbr_ = number; }
+
+ /// \return the maximum number of keypoints to keep
+ inline std::size_t
+ getNumberOfKeypoints () { return (keypoints_nbr_); }
+
+ /** \brief set the tracking window size
+ * \param[in] width the tracking window width
+ * \param[in] height the tracking window height
+ */
+ inline void
+ setTrackingWindowSize (int width, int height);
+
+ /// \brief Set tracking window width
+ inline void
+ setTrackingWindowWidth (int width) {track_width_ = width; };
+
+ /// \brief \return the tracking window size
+ inline int
+ getTrackingWindowWidth () { return (track_width_); }
+
+ /// \brief Set tracking window height
+ inline void
+ setTrackingWindowHeight (int height) {track_height_ = height; };
+
+ /// \brief \return the tracking window size
+ inline int
+ getTrackingWindowHeight () { return (track_height_); }
+
+ /** \brief Initialize the scheduler and set the number of threads to use.
+ * \param nr_threads the number of hardware threads to use (0 sets the value back to
+ * automatic).
+ */
+ inline void
+ setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
+
+ /** \brief Get a pointer of the cloud at t-1. */
+ inline PointCloudInConstPtr
+ getReferenceCloud () const { return (ref_); }
+
+ /** \brief Set the maximum number of iterations in the Lucas Kanade loop.
+ * \param[in] max the desired maximum number of iterations
+ */
+ inline void
+ setMaxIterationsNumber (unsigned int max) { max_iterations_ = max; }
+
+ /// \brief \return the maximum iterations number
+ inline unsigned int
+ getMaxIterationsNumber () const { return (max_iterations_); }
+
+ /** \brief Provide a pointer to points to track.
+ * \param points the const boost shared pointer to a PointIndices message
+ */
+ inline void
+ setPointsToTrack (const pcl::PointIndicesConstPtr& points);
+
+ /** \brief Provide a pointer to points to track.
+ * \param points the const boost shared pointer to a PointIndices message
+ */
+ inline void
+ setPointsToTrack (const pcl::PointCloud<pcl::PointUV>::ConstPtr& points);
+
+ /// \brief \return a pointer to the points succesfully tracked.
+ inline pcl::PointCloud<pcl::PointUV>::ConstPtr
+ getTrackedPoints () const { return (keypoints_); };
+
+ /** \brief \return the status of points to track.
+ * Status == 0 --> points succesfully tracked;
+ * Status < 0 --> point is lost;
+ * Status == -1 --> point is out of bond;
+ * Status == -2 --> optical flow can not be computed for this point.
+ */
+ inline pcl::PointIndicesConstPtr
+ getPointsToTrackStatus () const { return (keypoints_status_); }
+
+ /** \brief Return the computed transfromation from tracked points. */
+ Eigen::Affine3f
+ getResult () const { return (motion_); }
+
+ /// \brief \return initialization state
+ bool
+ getInitialized () const { return (initialized_); }
+
+ protected:
+ virtual bool
+ initCompute ();
+
+ /** \brief compute Scharr derivatives of a source cloud.
+ * \param[in] src the image for which gradients are to be computed
+ * \param[out] grad_x image gradient along X direction
+ * \param[out] grad_y image gradient along Y direction
+ */
+ void
+ derivatives (const FloatImage& src, FloatImage& grad_x, FloatImage& grad_y) const;
+
+ /** \brief downsample input
+ * \param[in] input the image to downsample
+ * \param[out] output the downsampled image
+ */
+ void
+ downsample (const FloatImageConstPtr& input, FloatImageConstPtr& output) const;
+
+ /** \brief downsample input and compute output gradients.
+ * \param[in] input the image to downsample
+ * \param[out] output the downsampled image
+ * \param[out] output_grad_x downsampled image gradient along X direction
+ * \param[out] output_grad_y downsampled image gradient along Y direction
+ */
+ void
+ downsample (const FloatImageConstPtr& input, FloatImageConstPtr& output,
+ FloatImageConstPtr& output_grad_x, FloatImageConstPtr& output_grad_y) const;
+
+ /** \brief Separately convolve image with decomposable convolution kernel.
+ * \param[in] input input the image to convolve
+ * \param[out] output output the convolved image
+ */
+ void
+ convolve (const FloatImageConstPtr& input, FloatImage& output) const;
+
+ /** \brief Convolve image columns.
+ * \param[in] input input the image to convolve
+ * \param[out] output output the convolved image
+ */
+ void
+ convolveCols (const FloatImageConstPtr& input, FloatImage& output) const;
+
+ /** \brief Convolve image rows.
+ * \param[in] input input the image to convolve
+ * \param[out] output output the convolved image
+ */
+ void
+ convolveRows (const FloatImageConstPtr& input, FloatImage& output) const;
+
+ /** \brief extract the patch from the previous image, previous image gradients surrounding
+ * pixel alocation while interpolating image and gradients data and compute covariation
+ * matrix of derivatives.
+ * \param[in] img original image
+ * \param[in] grad_x original image gradient along X direction
+ * \param[in] grad_y original image gradient along Y direction
+ * \param[in] location pixel at the center of the patch
+ * \param[in] weights bilinear interpolation weights at this location computed from subpixel
+ * location
+ * \param[out] win patch with interpolated intensity values
+ * \param[out] grad_x_win patch with interpolated gradient along X values
+ * \param[out] grad_y_win patch with interpolated gradient along Y values
+ * \param[out] covariance covariance matrix coefficents
+ */
+ virtual void
+ spatialGradient (const FloatImage& img,
+ const FloatImage& grad_x,
+ const FloatImage& grad_y,
+ const Eigen::Array2i& location,
+ const Eigen::Array4f& weights,
+ Eigen::ArrayXXf& win,
+ Eigen::ArrayXXf& grad_x_win,
+ Eigen::ArrayXXf& grad_y_win,
+ Eigen::Array3f & covariance) const;
+ void
+ mismatchVector (const Eigen::ArrayXXf& prev,
+ const Eigen::ArrayXXf& prev_grad_x,
+ const Eigen::ArrayXXf& prev_grad_y,
+ const FloatImage& next,
+ const Eigen::Array2i& location,
+ const Eigen::Array4f& weights,
+ Eigen::Array2f &b) const;
+
+ /** \brief Compute the pyramidal representation of an image.
+ * \param[in] input the input cloud
+ * \param[out] pyramid computed pyramid levels along with their respective gradients
+ * \param[in] border_type
+ */
+ virtual void
+ computePyramids (const PointCloudInConstPtr& input,
+ std::vector<FloatImageConstPtr>& pyramid,
+ pcl::InterpolationType border_type) const;
+
+ virtual void
+ track (const PointCloudInConstPtr& previous_input,
+ const PointCloudInConstPtr& current_input,
+ const std::vector<FloatImageConstPtr>& previous_pyramid,
+ const std::vector<FloatImageConstPtr>& current_pyramid,
+ const pcl::PointCloud<pcl::PointUV>::ConstPtr& previous_keypoints,
+ pcl::PointCloud<pcl::PointUV>::Ptr& current_keypoints,
+ std::vector<int>& status,
+ Eigen::Affine3f& motion) const;
+
+ virtual void
+ computeTracking ();
+
+ /// \brief input pyranid at t-1
+ std::vector<FloatImageConstPtr> ref_pyramid_;
+ /// \brief point cloud at t-1
+ PointCloudInConstPtr ref_;
+ /// \brief number of pyramid levels
+ int nb_levels_;
+ /// \brief detected keypoints 2D coordinates
+ pcl::PointCloud<pcl::PointUV>::ConstPtr keypoints_;
+ /// \brief status of keypoints of t-1 at t
+ pcl::PointIndicesPtr keypoints_status_;
+ /// \brief number of points to detect
+ std::size_t keypoints_nbr_;
+ /// \brief tracking width
+ int track_width_;
+ /// \brief half of tracking window width
+ int track_width_2_;
+ /// \brief tracking height
+ int track_height_;
+ /// \brief half of tracking window height
+ int track_height_2_;
+ /// \brief maximum number of iterations
+ unsigned int max_iterations_;
+ /// \brief accuracy criterion to stop iterating
+ float accuracy_;
+ float min_eigenvalue_threshold_;
+ /// \brief epsilon for subpixel computation
+ float epsilon_;
+ float max_residue_;
+ /// \brief number of hardware threads
+ unsigned int threads_;
+ /// \brief intensity accessor
+ IntensityT intensity_;
+ /// \brief is the tracker initialized ?
+ bool initialized_;
+ /// \brief compute transformation from successfully tracked points
+ pcl::TransformationFromCorrespondences transformation_computer_;
+ /// \brief computed transformation between tracked points
+ Eigen::Affine3f motion_;
+ /// \brief smoothing kernel
+ Eigen::Array<float, 5, 1> kernel_;
+ /// \brief smoothing kernel half size
+ int kernel_size_2_;
+ /// \brief index of last element in kernel
+ int kernel_last_;
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+ };
+ }
+}
+
+#include <pcl/tracking/impl/pyramidal_klt.hpp>
+#endif
* is optional, if this is not set, it will only use the data in the
* input cloud to estimate the features. This is useful when you only
* need to compute the features for a downsampled cloud.
- * \param cloud a pointer to a PointCloud message
+ * \param search a pointer to a PointCloud message
*/
inline void
setSearchMethod (const SearchPtr &search) { search_ = search; }
else(NOT VTK_FOUND)
set(DEFAULT TRUE)
set(REASON)
- set(VTK_USE_FILE ${VTK_USE_FILE} CACHE INTERNAL "VTK_USE_FILE")
- include (${VTK_USE_FILE})
- include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+ set(VTK_USE_FILE "${VTK_USE_FILE}" CACHE INTERNAL "VTK_USE_FILE")
+ include("${VTK_USE_FILE}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
endif(NOT VTK_FOUND)
-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
-PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni)
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2)
if (ANDROID)
set (build FALSE)
message("VTK was found, but cannot be compiled for Android. Please use VES instead.")
endif ()
-find_package(OpenGL)
if (OPENGL_FOUND)
if(OPENGL_INCLUDE_DIR)
include_directories("${OPENGL_INCLUDE_DIR}")
endif()
endif()
-PCL_ADD_DOC(${SUBSYS_NAME})
+PCL_ADD_DOC("${SUBSYS_NAME}")
if(build)
set(srcs
)
if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
# A custom interactor is necessary on VTK 5.4 and below
- set(srcs ${srcs} src/interactor.cpp)
+ list(APPEND srcs src/interactor.cpp)
endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
# PCLPainter2D uses some functions not present in vtk 5.6
- set(srcs
- ${srcs}
+ list(APPEND srcs
src/pcl_painter2D.cpp
src/pcl_plotter.cpp
)
endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
set(incs
- include/pcl/${SUBSYS_NAME}/eigen.h
- include/pcl/${SUBSYS_NAME}/boost.h
- include/pcl/${SUBSYS_NAME}/cloud_viewer.h
- include/pcl/${SUBSYS_NAME}/histogram_visualizer.h
- include/pcl/${SUBSYS_NAME}/image_viewer.h
- include/pcl/${SUBSYS_NAME}/interactor_style.h
- include/pcl/${SUBSYS_NAME}/pcl_visualizer.h
- include/pcl/${SUBSYS_NAME}/pcl_painter2D.h
- include/pcl/${SUBSYS_NAME}/registration_visualizer.h
- include/pcl/${SUBSYS_NAME}/point_cloud_handlers.h
- include/pcl/${SUBSYS_NAME}/point_cloud_color_handlers.h
- include/pcl/${SUBSYS_NAME}/point_cloud_geometry_handlers.h
- include/pcl/${SUBSYS_NAME}/keyboard_event.h
- include/pcl/${SUBSYS_NAME}/point_picking_event.h
- include/pcl/${SUBSYS_NAME}/area_picking_event.h
- include/pcl/${SUBSYS_NAME}/mouse_event.h
- include/pcl/${SUBSYS_NAME}/window.h
- include/pcl/${SUBSYS_NAME}/range_image_visualizer.h
- include/pcl/${SUBSYS_NAME}/interactor.h
- include/pcl/${SUBSYS_NAME}/vtk.h
- include/pcl/${SUBSYS_NAME}/simple_buffer_visualizer.h
+ "include/pcl/${SUBSYS_NAME}/eigen.h"
+ "include/pcl/${SUBSYS_NAME}/boost.h"
+ "include/pcl/${SUBSYS_NAME}/cloud_viewer.h"
+ "include/pcl/${SUBSYS_NAME}/histogram_visualizer.h"
+ "include/pcl/${SUBSYS_NAME}/image_viewer.h"
+ "include/pcl/${SUBSYS_NAME}/interactor_style.h"
+ "include/pcl/${SUBSYS_NAME}/pcl_visualizer.h"
+ "include/pcl/${SUBSYS_NAME}/pcl_painter2D.h"
+ "include/pcl/${SUBSYS_NAME}/registration_visualizer.h"
+ "include/pcl/${SUBSYS_NAME}/point_cloud_handlers.h"
+ "include/pcl/${SUBSYS_NAME}/point_cloud_color_handlers.h"
+ "include/pcl/${SUBSYS_NAME}/point_cloud_geometry_handlers.h"
+ "include/pcl/${SUBSYS_NAME}/keyboard_event.h"
+ "include/pcl/${SUBSYS_NAME}/point_picking_event.h"
+ "include/pcl/${SUBSYS_NAME}/area_picking_event.h"
+ "include/pcl/${SUBSYS_NAME}/mouse_event.h"
+ "include/pcl/${SUBSYS_NAME}/window.h"
+ "include/pcl/${SUBSYS_NAME}/range_image_visualizer.h"
+ "include/pcl/${SUBSYS_NAME}/interactor.h"
+ "include/pcl/${SUBSYS_NAME}/vtk.h"
+ "include/pcl/${SUBSYS_NAME}/simple_buffer_visualizer.h"
)
if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
- set(incs
- ${incs}
- include/pcl/${SUBSYS_NAME}/pcl_plotter.h
+ list(APPEND incs
+ "include/pcl/${SUBSYS_NAME}/pcl_plotter.h"
)
endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
set(common_incs
- include/pcl/${SUBSYS_NAME}/common/actor_map.h
- include/pcl/${SUBSYS_NAME}/common/common.h
- include/pcl/${SUBSYS_NAME}/common/io.h
- include/pcl/${SUBSYS_NAME}/common/ren_win_interact_map.h
- include/pcl/${SUBSYS_NAME}/common/shapes.h
- include/pcl/${SUBSYS_NAME}/common/float_image_utils.h
+ "include/pcl/${SUBSYS_NAME}/common/actor_map.h"
+ "include/pcl/${SUBSYS_NAME}/common/common.h"
+ "include/pcl/${SUBSYS_NAME}/common/io.h"
+ "include/pcl/${SUBSYS_NAME}/common/ren_win_interact_map.h"
+ "include/pcl/${SUBSYS_NAME}/common/shapes.h"
+ "include/pcl/${SUBSYS_NAME}/common/float_image_utils.h"
)
set(impl_incs
- include/pcl/${SUBSYS_NAME}/impl/histogram_visualizer.hpp
- include/pcl/${SUBSYS_NAME}/impl/pcl_visualizer.hpp
- include/pcl/${SUBSYS_NAME}/impl/image_viewer.hpp
- include/pcl/${SUBSYS_NAME}/impl/registration_visualizer.hpp
- include/pcl/${SUBSYS_NAME}/impl/point_cloud_handlers.hpp
- include/pcl/${SUBSYS_NAME}/impl/point_cloud_color_handlers.hpp
- include/pcl/${SUBSYS_NAME}/impl/point_cloud_geometry_handlers.hpp
+ "include/pcl/${SUBSYS_NAME}/impl/histogram_visualizer.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/pcl_visualizer.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/image_viewer.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/registration_visualizer.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/point_cloud_handlers.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/point_cloud_color_handlers.hpp"
+ "include/pcl/${SUBSYS_NAME}/impl/point_cloud_geometry_handlers.hpp"
)
if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
- set(impl_incs
- ${impl_incs}
- include/pcl/${SUBSYS_NAME}/impl/pcl_plotter.hpp
+ list(APPEND impl_incs
+ "include/pcl/${SUBSYS_NAME}/impl/pcl_plotter.hpp"
)
endif("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_GREATER "5.6")
- set(common_impl_incs include/pcl/${SUBSYS_NAME}/common/impl/shapes.hpp
- include/pcl/${SUBSYS_NAME}/common/impl/common.hpp)
+ set(common_impl_incs "include/pcl/${SUBSYS_NAME}/common/impl/shapes.hpp"
+ "include/pcl/${SUBSYS_NAME}/common/impl/common.hpp")
set(vtk_incs
- include/pcl/${SUBSYS_NAME}/vtk/pcl_image_canvas_source_2d.h
- include/pcl/${SUBSYS_NAME}/vtk/pcl_context_item.h
- include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h
- include/pcl/${SUBSYS_NAME}/vtk/vtkRenderWindowInteractorFix.h
- include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h
+ "include/pcl/${SUBSYS_NAME}/vtk/pcl_image_canvas_source_2d.h"
+ "include/pcl/${SUBSYS_NAME}/vtk/pcl_context_item.h"
+ "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObject.h"
+ "include/pcl/${SUBSYS_NAME}/vtk/vtkRenderWindowInteractorFix.h"
+ "include/pcl/${SUBSYS_NAME}/vtk/vtkVertexBufferObjectMapper.h"
)
# on apple, a workaround is used for the cocoa render window interactor
include/pcl/visualization/vtk/vtkRenderWindowInteractorFix.mm)
endif()
- set(LIB_NAME pcl_${SUBSYS_NAME})
- PCL_ADD_LIBRARY(${LIB_NAME} ${SUBSYS_NAME} ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
# apple workaround (continued)
if(APPLE)
- target_link_libraries(${LIB_NAME} "-framework Cocoa")
+ target_link_libraries("${LIB_NAME}" "-framework Cocoa")
endif()
if("${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}" VERSION_LESS "5.6")
- target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
else()
- target_link_libraries(${LIB_NAME} pcl_common pcl_io pcl_kdtree vtkCommon vtkWidgets vtkHybrid vtkCharts vtkFiltering vtkRendering ${OPENGL_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_io pcl_kdtree ${VTK_LIBRARIES} ${OPENGL_LIBRARIES})
endif()
set(EXT_DEPS "")
- PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+ if(OPENNI_FOUND)
+ list(APPEND EXT_DEPS openni-dev)
+ endif(OPENNI_FOUND)
+ if(OPENNI2_FOUND)
+ list(APPEND EXT_DEPS openni2-dev)
+ endif(OPENNI2_FOUND)
+ PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
"${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
# Install include files
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME} ${incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/common ${common_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/impl ${impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/common/impl ${common_impl_incs})
- PCL_ADD_INCLUDES(${SUBSYS_NAME} ${SUBSYS_NAME}/vtk ${vtk_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/common" ${common_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/common/impl" ${common_impl_incs})
+ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/vtk" ${vtk_incs})
if(BUILD_TESTS)
add_subdirectory(test)
endif(BUILD_TESTS)
-
- add_subdirectory(tools)
+
+ if(BUILD_tools)
+ add_subdirectory(tools)
+ endif(BUILD_tools)
endif(build)
class PCL_EXPORTS AreaPickingEvent
{
public:
- AreaPickingEvent (std::size_t nb_points, const std::vector<int>& indices)
+ AreaPickingEvent (int nb_points, const std::vector<int>& indices)
: nb_points_ (nb_points)
, indices_ (indices)
{}
inline bool
getPointsIndices (std::vector<int>& indices) const
{
- if (nb_points_ == -1)
+ if (nb_points_ <= 0)
return (false);
indices = indices_;
return (true);
}
private:
- std::size_t nb_points_;
+ int nb_points_;
std::vector<int> indices_;
};
} //namespace visualization
typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > ShapeActorMap;
typedef boost::shared_ptr<ShapeActorMap> ShapeActorMapPtr;
- typedef std::map<int, vtkSmartPointer<vtkProp> > CoordinateActorMap;
+ typedef boost::unordered_map<std::string, vtkSmartPointer<vtkProp> > CoordinateActorMap;
+ typedef boost::shared_ptr<CoordinateActorMap> CoordinateActorMapPtr;
}
}
poly_grid->Allocate (1, 1);
poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
poly_grid->SetPoints (poly_points);
- poly_grid->Update ();
return (poly_grid);
}
poly_grid->Allocate (1, 1);
poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
poly_grid->SetPoints (poly_points);
- poly_grid->Update ();
return (poly_grid);
}
create2DCircle (const pcl::ModelCoefficients &coefficients, double z = 0.0);
/** \brief Create a cone shape from a set of model coefficients.
- * \param[in] coefficients the cone coefficients (point_on_axis, axis_direction, radius)
+ * \param[in] coefficients the cone coefficients (cone_apex, axis_direction, angle)
+ *
+ * \code
+ * // The following are given (or computed using sample consensus techniques -- see SampleConsensusModelCone)
+ * // Eigen::Vector3f cone_apex, axis_direction;
+ * // float angle;
+ * // Note: The height of the cone is set using the magnitude of the axis_direction vector.
+ *
+ * pcl::ModelCoefficients cone_coeff;
+ * plane_coeff.values.resize (7); // We need 7 values
+ * plane_coeff.values[0] = cone_apex.x ();
+ * plane_coeff.values[1] = cone_apex.y ();
+ * plane_coeff.values[2] = cone_apex.z ();
+ * plane_coeff.values[3] = axis_direction.x ();
+ * plane_coeff.values[4] = axis_direction.y ();
+ * plane_coeff.values[5] = axis_direction.z ();
+ * plane_coeff.values[6] = angle (); // degrees
+ *
+ * vtkSmartPointer<vtkDataSet> data = pcl::visualization::createCone (cone_coeff);
+ * \endcode
+ *
* \ingroup visualization
*/
PCL_EXPORTS vtkSmartPointer<vtkDataSet>
* \param[in] y_max is the maximum y value of the box
* \param[in] z_min is the minimum z value of the box
* \param[in] z_max is the maximum z value of the box
- * \param[in] id the cube id/name (default: "cube")
- * \param[in] viewport (optional) the id of the new viewport (default: 0)
*/
PCL_EXPORTS vtkSmartPointer<vtkDataSet>
createCube (double x_min, double x_max,
/** \brief Remove the current 2d actor and create a new 2D actor from the given vtkDoubleArray histogram and add it to the screen.
* \param[in] xy_array the input vtkDoubleArray holding the histogram data
- * \param[out] renwinint the resultant render window interactor holding the rendered object
- * \param[in] id the point cloud object id
+ * \param[out] renwinupd the resultant render window interactor holding the rendered object
+ * \param[in] hsize Histogram size
*/
void
reCreateActor (const vtkSmartPointer<vtkDoubleArray> &xy_array,
#include <boost/shared_array.hpp>
+#include <vtkVersion.h>
#include <vtkInteractorStyleImage.h>
class vtkImageSlice;
markPoint (size_t u, size_t v, Vector3ub fg_color, Vector3ub bg_color = red_color, double radius = 3.0,
const std::string &layer_id = "points", double opacity = 1.0);
+ /** \brief Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another
+ * \param[in] uv the u/x, v/y coordinate of the pixels to be marked
+ * \param[in] fg_color the pixel color
+ * \param[in] bg_color the neighborhood color
+ * \param[in] size edge of the square surrounding each pixel
+ * \param[in] layer_id the name of the layer (default: "markers")
+ * \param[in] opacity the opacity of the layer (default: 1.0)
+ */
+ void
+ markPoints (const std::vector<int>& uv, Vector3ub fg_color, Vector3ub bg_color = red_color, double size = 3.0,
+ const std::string &layer_id = "markers", double opacity = 1.0);
+
+ /** \brief Sets the pixel at coordinates(u,v) to color while setting the neighborhood to another (float coordinates version).
+ * \param[in] uv the u/x, v/y coordinate of the pixels to be marked
+ * \param[in] fg_color the pixel color
+ * \param[in] bg_color the neighborhood color
+ * \param[in] size edge of the square surrounding each pixel
+ * \param[in] layer_id the name of the layer (default: "markers")
+ * \param[in] opacity the opacity of the layer (default: 1.0)
+ */
+ void
+ markPoints (const std::vector<float>& uv, Vector3ub fg_color, Vector3ub bg_color = red_color, double size = 3.0,
+ const std::string &layer_id = "markers", double opacity = 1.0);
+
/** \brief Set the window title name
* \param[in] name the window title
*/
resetStoppedFlag () { stopped_ = false; }
/** \brief Fire up a mouse event with a specified event ID
- * \param[int] event_id the id of the event
+ * \param[in] event_id the id of the event
*/
void
emitMouseEvent (unsigned long event_id);
/** \brief Fire up a keyboard event with a specified event ID
- * \param[int] event_id the id of the event
+ * \param[in] event_id the id of the event
*/
void
emitKeyboardEvent (unsigned long event_id);
/** \brief The renderer. */
vtkSmartPointer<vtkRenderer> ren_;
-#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
+#if !((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
/** \brief Global prop. This is the actual "actor". */
vtkSmartPointer<vtkImageSlice> slice_;
#endif
// Parse the cloud data and store it in the array
double xy[2];
- for (int d = 0; d < fields[field_idx].count; ++d)
+ for (uint32_t d = 0; d < fields[field_idx].count; ++d)
{
xy[0] = d;
//xy[1] = cloud.points[index].histogram[d];
// Parse the cloud data and store it in the array
double xy[2];
- for (int d = 0; d < fields[field_idx].count; ++d)
+ for (uint32_t d = 0; d < fields[field_idx].count; ++d)
{
xy[0] = d;
//xy[1] = cloud.points[index].histogram[d];
#ifndef PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
#define PCL_VISUALIZATION_IMAGE_VISUALIZER_HPP_
+#include <vtkVersion.h>
#include <vtkContextActor.h>
#include <vtkContextScene.h>
#include <vtkImageData.h>
pcl::PointXY min_pt_2d, max_pt_2d;
min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
- max_pt_2d.x = max_pt_2d.y = std::numeric_limits<float>::min ();
+ max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
// Search for the two extrema
for (size_t i = 0; i < pp_2d.size (); ++i)
{
pcl::PointXY min_pt_2d, max_pt_2d;
min_pt_2d.x = min_pt_2d.y = std::numeric_limits<float>::max ();
- max_pt_2d.x = max_pt_2d.y = std::numeric_limits<float>::min ();
+ max_pt_2d.x = max_pt_2d.y = -std::numeric_limits<float>::max ();
// Search for the two extrema
for (size_t i = 0; i < pp_2d.size (); ++i)
{
setSize (source_img.width + target_img.width , std::max (source_img.height, target_img.height));
// Set data size
- if (data_size_ < (src_size + tgt_size))
+ if (data_size_ < static_cast<size_t> (src_size + tgt_size))
{
data_size_ = src_size + tgt_size;
data_.reset (new unsigned char[data_size_]);
vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
image->SetDimensions (source_img.width + target_img.width, std::max (source_img.height, target_img.height), 1);
+#if VTK_MAJOR_VERSION < 6
image->SetScalarTypeToUnsignedChar ();
image->SetNumberOfScalarComponents (3);
image->AllocateScalars ();
+#else
+ image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
+#endif
image->GetPointData ()->GetScalars ()->SetVoidArray (data, data_size_, 1);
vtkSmartPointer<PCLContextImageItem> image_item = vtkSmartPointer<PCLContextImageItem>::New ();
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
#ifndef PCL_PCL_VISUALIZER_IMPL_H_
#define PCL_PCL_VISUALIZER_IMPL_H_
+#include <vtkVersion.h>
#include <vtkSmartPointer.h>
#include <vtkCellArray.h>
#include <vtkLeaderActor2D.h>
vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
// Add old data
+#if VTK_MAJOR_VERSION < 6
all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
-
+#else
+ all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+#endif
+
// Add new data
vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
- surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
+#if VTK_MAJOR_VERSION < 6
+ surface_filter->AddInput (vtkUnstructuredGrid::SafeDownCast (data));
+#else
+ surface_filter->AddInputData (vtkUnstructuredGrid::SafeDownCast (data));
+#endif
vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
+#if VTK_MAJOR_VERSION < 6
all_data->AddInput (poly_data);
+#else
+ all_data->AddInputData (poly_data);
+#endif
// Create an Actor
vtkSmartPointer<vtkActor> actor;
vtkSmartPointer<vtkAppendPolyData> all_data = vtkSmartPointer<vtkAppendPolyData>::New ();
// Add old data
+#if VTK_MAJOR_VERSION < 6
all_data->AddInput (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+#else
+ all_data->AddInputData (reinterpret_cast<vtkPolyDataMapper*> ((vtkActor::SafeDownCast (am_it->second))->GetMapper ())->GetInput ());
+#endif
// Add new data
vtkSmartPointer<vtkDataSetSurfaceFilter> surface_filter = vtkSmartPointer<vtkDataSetSurfaceFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
surface_filter->SetInput (vtkUnstructuredGrid::SafeDownCast (data));
+#else
+ surface_filter->SetInputData (vtkUnstructuredGrid::SafeDownCast (data));
+#endif
vtkSmartPointer<vtkPolyData> poly_data = surface_filter->GetOutput ();
+#if VTK_MAJOR_VERSION < 6
all_data->AddInput (poly_data);
+#else
+ all_data->AddInputData (poly_data);
+#endif
// Create an Actor
vtkSmartPointer<vtkActor> actor;
//////////////////////////////////////////////////////////////////////////
// Get the actor pointer
vtkLODActor* actor = vtkLODActor::SafeDownCast (am_it->second);
+#if VTK_MAJOR_VERSION < 6
vtkAlgorithm *algo = actor->GetMapper ()->GetInput ()->GetProducerPort ()->GetProducer ();
+#else
+ vtkAlgorithm *algo = actor->GetMapper ()->GetInputAlgorithm ();
+#endif
vtkSphereSource *src = vtkSphereSource::SafeDownCast (algo);
src->SetCenter (double (center.x), double (center.y), double (center.z));
polyData->SetLines (lines);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (polyData);
+#else
+ mapper->SetInputData (polyData);
+#endif
mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData();
polyData->SetLines(lines);
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (polyData);
+#else
+ mapper->SetInputData (polyData);
+#endif
mapper->SetColorModeToMapScalars();
mapper->SetScalarModeToUsePointData();
int j = 0, idx = 0;
// Draw lines between the best corresponding points
- for (size_t i = 0; i < n_corr; ++i)
+ for (int i = 0; i < n_corr; ++i)
{
const PointT &p_src = source_points->points[i];
const PointT &p_tgt = target_points->points[correspondences[i]];
line_data->SetLines (line_cells);
line_data->GetPointData ()->SetTCoords (line_tcoords);
line_data->GetCellData ()->SetScalars (line_colors);
- line_data->Update ();
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
line_data->SetLines (line_cells);
line_data->GetPointData ()->SetTCoords (line_tcoords);
line_data->GetCellData ()->SetScalars (line_colors);
- line_data->Update ();
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
line_data->SetLines (line_cells);
line_data->GetPointData ()->SetTCoords (line_tcoords);
line_data->GetCellData ()->SetScalars (line_colors);
- line_data->Update ();
// Update the mapper
+#if VTK_MAJOR_VERSION < 6
reinterpret_cast<vtkPolyDataMapper*>(actor->GetMapper ())->SetInput (line_data);
+#else
+ reinterpret_cast<vtkPolyDataMapper*> (actor->GetMapper ())->SetInputData (line_data);
+#endif
return (true);
}
// Convert the PointCloud to VTK PolyData
convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
// use the given geometry handler
- polydata->Update ();
// Get the colors from the handler
bool has_colors = false;
// Convert the PointCloud to VTK PolyData
convertPointCloudToVTKPolyData<PointT> (geometry_handler, polydata, initcells);
// use the given geometry handler
- polydata->Update ();
// Get the colors from the handler
bool has_colors = false;
// Convert the PointCloud to VTK PolyData
convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
// use the given geometry handler
- polydata->Update ();
// Get the colors from the handler
bool has_colors = false;
vtkSmartPointer<vtkPolyData> polydata = reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->GetInput ();
// Convert the PointCloud to VTK PolyData
convertPointCloudToVTKPolyData<PointT> (cloud, polydata, am_it->second.cells);
- polydata->Update ();
// Set scalars to blank, since there is no way we can update them here.
vtkSmartPointer<vtkDataArray> scalars;
polydata->GetPointData ()->SetScalars (scalars);
- polydata->Update ();
double minmax[2];
minmax[0] = std::numeric_limits<double>::min ();
minmax[1] = std::numeric_limits<double>::max ();
am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
// Update the mapper
+#if VTK_MAJOR_VERSION < 6
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
+#else
+ reinterpret_cast<vtkPolyDataMapper*> (am_it->second.actor->GetMapper ())->SetInputData (polydata);
+#endif
return (true);
}
// Set scalars to blank, since there is no way we can update them here.
vtkSmartPointer<vtkDataArray> scalars;
polydata->GetPointData ()->SetScalars (scalars);
- polydata->Update ();
double minmax[2];
minmax[0] = std::numeric_limits<double>::min ();
minmax[1] = std::numeric_limits<double>::max ();
am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
// Update the mapper
+#if VTK_MAJOR_VERSION < 6
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
+#else
+ reinterpret_cast<vtkPolyDataMapper*> (am_it->second.actor->GetMapper ())->SetInputData (polydata);
+#endif
return (true);
}
scalars->GetRange (minmax);
// Update the data
polydata->GetPointData ()->SetScalars (scalars);
- polydata->Update ();
am_it->second.actor->GetMapper ()->ImmediateModeRenderingOff ();
am_it->second.actor->GetMapper ()->SetScalarRange (minmax);
// Update the mapper
+#if VTK_MAJOR_VERSION < 6
reinterpret_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ())->SetInput (polydata);
+#else
+ reinterpret_cast<vtkPolyDataMapper*> (am_it->second.actor->GetMapper ())->SetInputData (polydata);
+#endif
return (true);
}
allocVtkPolyData (polydata);
cell_array->GetData ()->SetNumberOfValues (idx);
cell_array->Squeeze ();
- polydata->SetStrips (cell_array);
+ polydata->SetPolys (cell_array);
polydata->SetPoints (points);
if (colors)
poly_grid->Allocate (1, 1);
poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
poly_grid->SetPoints (points);
- poly_grid->Update ();
if (colors)
poly_grid->GetPointData ()->SetScalars (colors);
cells->GetData ()->SetNumberOfValues (idx);
cells->Squeeze ();
// Set the the vertices
- polydata->SetStrips (cells);
- polydata->Update ();
+ polydata->SetPolys (cells);
return (true);
}
}
///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> bool
+template <typename PointT> bool
pcl::visualization::PointCloudColorHandlerHSVField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
{
if (!capable_ || !cloud_)
reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
- int j = 0;
+ int idx = 0;
// If XYZ present, check if the points are invalid
int x_idx = -1;
-
+
for (size_t d = 0; d < fields_.size (); ++d)
if (fields_[d].name == "x")
x_idx = static_cast<int> (d);
{
// Copy the value at the specified field
if (!pcl_isfinite (cloud_->points[cp].x) ||
- !pcl_isfinite (cloud_->points[cp].y) ||
+ !pcl_isfinite (cloud_->points[cp].y) ||
!pcl_isfinite (cloud_->points[cp].z))
continue;
- int idx = j * 3;
-
///@todo do this with the point_types_conversion in common, first template it!
+ float h = cloud_->points[cp].h;
+ float v = cloud_->points[cp].v;
+ float s = cloud_->points[cp].s;
+
// Fill color data with HSV here:
- if (cloud_->points[cp].s == 0)
+ // restrict the hue value to [0,360[
+ h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;
+
+ // restrict s and v to [0,1]
+ if (s > 1.0f) s = 1.0f;
+ if (s < 0.0f) s = 0.0f;
+ if (v > 1.0f) v = 1.0f;
+ if (v < 0.0f) v = 0.0f;
+
+ if (s == 0.0f)
{
- colors[idx] = colors[idx+1] = colors[idx+2] = cloud_->points[cp].v;
- return;
- }
- float a = cloud_->points[cp].h / 60;
- int i = floor (a);
- float f = a - i;
- float p = cloud_->points[cp].v * (1 - cloud_->points[cp].s);
- float q = cloud_->points[cp].v * (1 - cloud_->points[cp].s * f);
- float t = cloud_->points[cp].v * (1 - cloud_->points[cp].s * (1 - f));
-
- switch (i)
+ colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
+ }
+ else
{
- case 0:
- colors[idx] = cloud_->points[cp].v; colors[idx+1] = t; colors[idx+2] = p; break;
- case 1:
- colors[idx] = q; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = p; break;
- case 2:
- colors[idx] = p; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = t; break;
- case 3:
- colors[idx] = p; colors[idx+1] = q; colors[idx+2] = cloud_->points[cp].v; break;
- case 4:
- colors[idx] = t; colors[idx+1] = p; colors[idx+2] = cloud_->points[cp].v; break;
- default:
- colors[idx] = cloud_->points[cp].v; colors[idx+1] = p; colors[idx+2] = q; break;
+ // calculate p, q, t from HSV-values
+ float a = h / 60;
+ int i = floor (a);
+ float f = a - i;
+ float p = v * (1 - s);
+ float q = v * (1 - s * f);
+ float t = v * (1 - s * (1 - f));
+
+ switch (i)
+ {
+ case 0:
+ colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
+ case 1:
+ colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
+ case 2:
+ colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
+ case 3:
+ colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
+ case 4:
+ colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
+ case 5:
+ colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
+ }
}
- j++;
+ idx +=3;
}
}
else
// Color every point
for (vtkIdType cp = 0; cp < nr_points; ++cp)
{
- int idx = cp * 3;
+ float h = cloud_->points[cp].h;
+ float v = cloud_->points[cp].v;
+ float s = cloud_->points[cp].s;
// Fill color data with HSV here:
- if (cloud_->points[cp].s == 0)
+ // restrict the hue value to [0,360[
+ h = h < 0.0f ? h - (((int)h)/360 - 1)*360 : h - (((int)h)/360)*360;
+
+ // restrict s and v to [0,1]
+ if (s > 1.0f) s = 1.0f;
+ if (s < 0.0f) s = 0.0f;
+ if (v > 1.0f) v = 1.0f;
+ if (v < 0.0f) v = 0.0f;
+
+ if (s == 0.0f)
{
- colors[idx] = colors[idx+1] = colors[idx+2] = cloud_->points[cp].v;
- return;
- }
- float a = cloud_->points[cp].h / 60;
- int i = floor (a);
- float f = a - i;
- float p = cloud_->points[cp].v * (1 - cloud_->points[cp].s);
- float q = cloud_->points[cp].v * (1 - cloud_->points[cp].s * f);
- float t = cloud_->points[cp].v * (1 - cloud_->points[cp].s * (1 - f));
-
- switch (i)
+ colors[idx] = colors[idx+1] = colors[idx+2] = v*255;
+ }
+ else
{
- case 0:
- colors[idx] = cloud_->points[cp].v; colors[idx+1] = t; colors[idx+2] = p; break;
- case 1:
- colors[idx] = q; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = p; break;
- case 2:
- colors[idx] = p; colors[idx+1] = cloud_->points[cp].v; colors[idx+2] = t; break;
- case 3:
- colors[idx] = p; colors[idx+1] = q; colors[idx+2] = cloud_->points[cp].v; break;
- case 4:
- colors[idx] = t; colors[idx+1] = p; colors[idx+2] = cloud_->points[cp].v; break;
- default:
- colors[idx] = cloud_->points[cp].v; colors[idx+1] = p; colors[idx+2] = q; break;
+ // calculate p, q, t from HSV-values
+ float a = h / 60;
+ int i = floor (a);
+ float f = a - i;
+ float p = v * (1 - s);
+ float q = v * (1 - s * f);
+ float t = v * (1 - s * (1 - f));
+
+ switch (i)
+ {
+ case 0:
+ colors[idx] = v*255; colors[idx+1] = t*255; colors[idx+2] = p*255; break;
+ case 1:
+ colors[idx] = q*255; colors[idx+1] = v*255; colors[idx+2] = p*255; break;
+ case 2:
+ colors[idx] = p*255; colors[idx+1] = v*255; colors[idx+2] = t*255; break;
+ case 3:
+ colors[idx] = p*255; colors[idx+1] = q*255; colors[idx+2] = v*255; break;
+ case 4:
+ colors[idx] = t*255; colors[idx+1] = p*255; colors[idx+2] = v*255; break;
+ case 5:
+ colors[idx] = v*255; colors[idx+1] = p*255; colors[idx+2] = q*255; break;
+ }
}
+ idx +=3;
}
}
return (true);
return (true);
}
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> void
+pcl::visualization::PointCloudColorHandlerRGBAField<PointT>::setInputCloud (
+ const PointCloudConstPtr &cloud)
+{
+ PointCloudColorHandler<PointT>::setInputCloud (cloud);
+ // Handle the 24-bit packed RGBA values
+ field_idx_ = pcl::getFieldIndex (*cloud, "rgba", fields_);
+ if (field_idx_ != -1)
+ capable_ = true;
+ else
+ capable_ = false;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointT> bool
+pcl::visualization::PointCloudColorHandlerRGBAField<PointT>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
+{
+ if (!capable_ || !cloud_)
+ return (false);
+
+ if (!scalars)
+ scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+ scalars->SetNumberOfComponents (4);
+
+ vtkIdType nr_points = cloud_->points.size ();
+ reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
+ unsigned char* colors = reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->GetPointer (0);
+
+ int j = 0;
+ // If XYZ present, check if the points are invalid
+ int x_idx = -1;
+ for (size_t d = 0; d < fields_.size (); ++d)
+ if (fields_[d].name == "x")
+ x_idx = static_cast<int> (d);
+
+ if (x_idx != -1)
+ {
+ // Color every point
+ for (vtkIdType cp = 0; cp < nr_points; ++cp)
+ {
+ // Copy the value at the specified field
+ if (!pcl_isfinite (cloud_->points[cp].x) ||
+ !pcl_isfinite (cloud_->points[cp].y) ||
+ !pcl_isfinite (cloud_->points[cp].z))
+ continue;
+
+ colors[j ] = cloud_->points[cp].r;
+ colors[j + 1] = cloud_->points[cp].g;
+ colors[j + 2] = cloud_->points[cp].b;
+ colors[j + 3] = cloud_->points[cp].a;
+ j += 4;
+ }
+ }
+ else
+ {
+ // Color every point
+ for (vtkIdType cp = 0; cp < nr_points; ++cp)
+ {
+ int idx = static_cast<int> (cp) * 4;
+ colors[idx ] = cloud_->points[cp].r;
+ colors[idx + 1] = cloud_->points[cp].g;
+ colors[idx + 2] = cloud_->points[cp].b;
+ colors[idx + 3] = cloud_->points[cp].a;
+ }
+ }
+ return (true);
+}
+
#endif // PCL_POINT_CLOUD_COLOR_HANDLERS_IMPL_HPP_
size_t correspondeces_old_size = 0;
// Add coordinate system to both ports
- viewer_->addCoordinateSystem (1.0);
+ viewer_->addCoordinateSystem (1.0, "global");
// The root name of correspondence lines
std::string line_root_ = "line";
# include <vtkWin32RenderWindowInteractor.h>
#else
#include <vtkConfigure.h>
-#if defined VTK_USE_CARBON
-# include <vtkCarbonRenderWindowInteractor.h>
-#elif defined VTK_USE_COCOA
+#if (VTK_MAJOR_VERSION <= 5 && defined VTK_USE_COCOA) || defined __APPLE__
# include <vtkCocoaRenderWindowInteractor.h>
+#elif VTK_MAJOR_VERSION <= 5 && defined VTK_USE_CARBON
+# include <vtkCarbonRenderWindowInteractor.h>
#else
// Stupid X.h defines Complex, Bool, Success globally (!)
# include <vtkXRenderWindowInteractor.h>
/** \brief The PCLVisualizer interactor */
#ifdef _WIN32
class PCL_EXPORTS PCLVisualizerInteractor : public vtkWin32RenderWindowInteractor
-#elif defined VTK_USE_CARBON
- class PCLVisualizerInteractor : public vtkCarbonRenderWindowInteractor
-#elif defined VTK_USE_COCOA
+#elif (VTK_MAJOR_VERSION <= 5 && defined VTK_USE_COCOA) || defined __APPLE__
class PCLVisualizerInteractor : public vtkCocoaRenderWindowInteractor
+#elif VTK_MAJOR_VERSION <= 5 && defined VTK_USE_CARBON
+ class PCLVisualizerInteractor : public vtkCarbonRenderWindowInteractor
#else
class PCLVisualizerInteractor : public vtkXRenderWindowInteractor
#endif
namespace visualization
{
- /** \brief A list of potential keyboard modifiers for \ref PCLVisualizerInteractorStyle.
+ /** \brief A list of potential keyboard modifiers for \ref pcl::visualization::PCLVisualizerInteractorStyle::PCLVisualizerInteractorStyle()
* Defaults to Alt.
*/
enum InteractorKeyboardModifier
* - g, G : display scale grid (on/off)
* - u, U : display lookup table (on/off)
* - r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
+ * - CTRL + s, S : save camera parameters
+ * - CTRL + r, R : restore camera parameters
* - ALT + s, S : turn stereo mode on/off
* - ALT + f, F : switch between maximized window mode and original size
* - l, L : list all available geometric and color handlers for the current actor map
max_win_height_ (), max_win_width_ (), grid_enabled_ (), grid_actor_ (), lut_enabled_ (),
lut_actor_ (), snapshot_writer_ (), wif_ (), mouse_signal_ (), keyboard_signal_ (),
point_picking_signal_ (), area_picking_signal_ (), stereo_anaglyph_mask_default_ (),
- mouse_callback_ (), modifier_ ()
+ mouse_callback_ (), modifier_ (), camera_file_ (), camera_ (), camera_saved_ (), win_ ()
{}
/** \brief Empty destructor */
setRendererCollection (vtkSmartPointer<vtkRendererCollection> &rens) { rens_ = rens; }
/** \brief Pass a pointer to the actor map
- * \param[in] actors the actor map that will be used with this style
+ * \param[in] use_vbos
*/
inline void
setUseVbos (const bool use_vbos) { use_vbos_ = use_vbos; }
void
saveScreenshot (const std::string &file);
+ /** \brief Save the camera parameters to disk, as a .cam file.
+ * \param[in] file the name of the .cam file
+ */
+ bool
+ saveCameraParameters (const std::string &file);
+
+ /** \brief Get camera parameters and save them to a \ref pcl::visualization::Camera.
+ * \param[out] camera the name of the \ref pcl::visualization::Camera
+ */
+ void
+ getCameraParameters (Camera &camera);
+
+ /** \brief Load camera parameters from a camera parameter file.
+ * \param[in] file the name of the camera parameter file
+ */
+ bool
+ loadCameraParameters (const std::string &file);
+
+ /** \brief Set the camera parameters via an intrinsics and and extrinsics matrix
+ * \note This assumes that the pixels are square and that the center of the image is at the center of the sensor.
+ * \param[in] intrinsics the intrinsics that will be used to compute the VTK camera parameters
+ * \param[in] extrinsics the extrinsics that will be used to compute the VTK camera parameters
+ * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
+ */
+ void
+ setCameraParameters (const Eigen::Matrix3f &intrinsics, const Eigen::Matrix4f &extrinsics, int viewport = 0);
+
+ /** \brief Set the camera parameters by given a full camera data structure.
+ * \param[in] camera camera structure containing all the camera parameters.
+ * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
+ */
+ void
+ setCameraParameters (const Camera &camera, int viewport = 0);
+
+ /** \brief Set camera file for camera parameter saving/restoring.
+ * \param[in] file the name of the camera parameter file
+ */
+ void
+ setCameraFile (const std::string file)
+ {
+ camera_file_ = file;
+ }
+
+ /** \brief Get camera file for camera parameter saving/restoring. */
+ std::string
+ getCameraFile () const
+ {
+ return (camera_file_);
+ }
+
/** \brief Change the default keyboard modified from ALT to a different special key.
* Allowed values are:
* - INTERACTOR_KB_MOD_ALT
void
zoomOut ();
+ /** \brief Get camera parameters from a string vector.
+ * \param[in] camera A string vector:
+ * Clipping Range, Focal Point, Position, ViewUp, Distance, Field of View Y, Window Size, Window Pos.
+ * Values in each string are seperated by a ','
+ */
+ bool
+ getCameraParameters (const std::vector<std::string> &camera);
+
+ /** \brief Set render window. */
+ void
+ setRenderWindow (const vtkSmartPointer<vtkRenderWindow> &win)
+ {
+ win_ = win;
+ }
+
/** \brief True if we're using red-blue colors for anaglyphic stereo, false if magenta-green. */
bool stereo_anaglyph_mask_default_;
/** \brief The keyboard modifier to use. Default: Alt. */
InteractorKeyboardModifier modifier_;
+ /** \brief Camera file for camera parameter saving/restoring. */
+ std::string camera_file_;
+ /** \brief A \ref pcl::visualization::Camera for camera parameter saving/restoring. */
+ Camera camera_;
+ /** \brief A \ref pcl::visualization::Camera is saved or not. */
+ bool camera_saved_;
+ /** \brief The render window.
+ * Only used when interactor maybe not available
+ */
+ vtkSmartPointer<vtkRenderWindow> win_;
+
friend class PointPickingCallback;
+ friend class PCLVisualizer;
};
/** \brief PCL histogram visualizer interactory style class.
#include <iostream>
#include <map>
#include <vector>
+#include <pcl/pcl_exports.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkPoints2D.h>
#include "vtkCommand.h"
-#include <vtkRegressionTestImage.h>
-
namespace pcl
{
namespace visualization
* \author Kripasindhu Sarkar
* \ingroup visualization
*/
- class PCLPainter2D: public vtkContextItem
+ class PCL_EXPORTS PCLPainter2D: public vtkContextItem
{
public:
/** \brief Constructor of the class
*/
PCLPainter2D (char const * name = "PCLPainter2D");
- vtkTypeRevisionMacro (PCLPainter2D, vtkContextItem);
+ vtkTypeMacro (PCLPainter2D, vtkContextItem);
/** \brief Paint event for the chart, called whenever the chart needs to be drawn
- * \param[in] name Name of the window
+ * \param[in] painter Name of the window
*/
virtual bool
Paint (vtkContext2D *painter);
scalePen(double x, double y);
/** \brief Create a translation matrix and concatenate it with the current transformation.
- * \param[in] x translation along X axis
- * \param[in] y translation along Y axis
+ * \param[in] matrix the transformation matrix
*/
void
setTransform(vtkMatrix3x3 *matrix);
char const *color=NULL);
/** \brief Adds a plot with correspondences in vectors arrayX and arrayY. This is the vector version of the addPlotData function.
- * \param[in] array_X X coordinates of point correspondence array
- * \param[in] array_Y Y coordinates of point correspondence array
- * \param[in] size length of the array arrayX and arrayY
+ * \param[in] array_x X coordinates of point correspondence array
+ * \param[in] array_y Y coordinates of point correspondence array
* \param[in] name name of the plot which appears in the legend when toggled on
* \param[in] type type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
* \param[in] color a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme
*/
void
- addPlotData (std::vector<double> const &array_X,
- std::vector<double>const &array_Y,
+ addPlotData (std::vector<double> const &array_x,
+ std::vector<double>const &array_y,
char const * name = "Y Axis",
int type = vtkChart::LINE,
std::vector<char> const &color = std::vector<char> ());
- /** \brief Adds a plot with correspondences in vector of pairs. The the first and second field of the pairs of the vector forms the correspondence.
+ /** \brief Adds a plot with correspondences in vector of pairs. The the first and second field of the pairs of the vector forms the correspondence.
+ * \param plot_data
* \param[in] name name of the plot which appears in the legend when toggled on
* \param[in] type type of the graph plotted. vtkChart::LINE for line plot, vtkChart::BAR for bar plot, and vtkChart::POINTS for a scattered point plot
* \param[in] color a character array of 4 fields denoting the R,G,B and A component of the color of the plot ranging from 0 to 255. If this argument is not passed (or NULL is passed) the plot is colored based on a color scheme
void
setWindowSize (int w, int h);
+ /** \brief Set the position in screen coordinates.
+ * \param[in] x where to move the window to (X)
+ * \param[in] y where to move the window to (Y)
+ */
+ void
+ setWindowPosition (int x, int y);
+
+ /** \brief Set the visualizer window name.
+ * \param[in] name the name of the window
+ */
+ void
+ setWindowName (const std::string &name);
+
/** \brief set/get method for the window size.
* \return[in] array containing the width and height of the window
*/
//extra state variables
int current_plot_; //stores the id of the current (most recent) plot, used in automatic coloring and other state change schemes
int win_width_, win_height_;
+ int win_x_, win_y_; //window position according to screen coordinate
double bkg_color_[3];
+ std::string win_name_;
//####event callback class####
struct ExitMainLoopTimerCallback : public vtkCommand
#include <pcl/correspondence.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
//
#include <pcl/console/print.h>
#include <pcl/visualization/common/actor_map.h>
* \param[in] scale the scale of the axes (default: 1)
* \param[in] viewport the view port where the 3D axes should be added (default: all)
*/
+ PCL_DEPRECATED (
+ "addCoordinateSystem (scale, viewport) is deprecated, please use function "
+ "addCoordinateSystem (scale, id, viewport) with id a unique string identifier.")
void
- addCoordinateSystem (double scale = 1.0, int viewport = 0);
+ addCoordinateSystem (double scale, int viewport);
+
+ /** \brief Adds 3D axes describing a coordinate system to screen at 0,0,0.
+ * \param[in] scale the scale of the axes (default: 1)
+ * \param[in] id the coordinate system object id (default: reference)
+ * \param[in] viewport the view port where the 3D axes should be added (default: all)
+ */
+ void
+ addCoordinateSystem (double scale = 1.0, const std::string& id = "reference", int viewport = 0);
+
+ /** \brief Adds 3D axes describing a coordinate system to screen at x, y, z
+ * \param[in] scale the scale of the axes (default: 1)
+ * \param[in] x the X position of the axes
+ * \param[in] y the Y position of the axes
+ * \param[in] z the Z position of the axes
+ * \param[in] viewport the view port where the 3D axes should be added (default: all)
+ */
+ PCL_DEPRECATED (
+ "addCoordinateSystem (scale, x, y, z, viewport) is deprecated, please use function "
+ "addCoordinateSystem (scale, x, y, z, id, viewport) with id a unique string identifier.")
+ void
+ addCoordinateSystem (double scale, float x, float y, float z, int viewport);
/** \brief Adds 3D axes describing a coordinate system to screen at x, y, z
* \param[in] scale the scale of the axes (default: 1)
* \param[in] x the X position of the axes
* \param[in] y the Y position of the axes
* \param[in] z the Z position of the axes
+ * \param[in] id the coordinate system object id (default: reference)
* \param[in] viewport the view port where the 3D axes should be added (default: all)
*/
void
- addCoordinateSystem (double scale, float x, float y, float z, int viewport = 0);
+ addCoordinateSystem (double scale, float x, float y, float z, const std::string &id = "reference", int viewport = 0);
+
+ /** \brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
+ *
+ * \param[in] scale the scale of the axes (default: 1)
+ * \param[in] t transformation matrix
+ * \param[in] viewport the view port where the 3D axes should be added (default: all)
+ */
+ PCL_DEPRECATED (
+ "addCoordinateSystem (scale, t, viewport) is deprecated, please use function "
+ "addCoordinateSystem (scale, t, id, viewport) with id a unique string identifier.")
+ void
+ addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport);
/** \brief Adds 3D axes describing a coordinate system to screen at x, y, z, Roll,Pitch,Yaw
*
* \param[in] scale the scale of the axes (default: 1)
* \param[in] t transformation matrix
+ * \param[in] id the coordinate system object id (default: reference)
* \param[in] viewport the view port where the 3D axes should be added (default: all)
*
* RPY Angles
*
* All axies use right hand rule. x=red axis, y=green axis, z=blue axis
* z direction is point into the screen.
+ * \code
* z
* \
* \
* |
* |
* y
+ * \endcode
*/
+
void
- addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport = 0);
+ addCoordinateSystem (double scale, const Eigen::Affine3f& t, const std::string &id = "reference", int viewport = 0);
+
+ /** \brief Removes a previously added 3D axes (coordinate system)
+ * \param[in] viewport view port where the 3D axes should be removed from (default: all)
+ */
+ PCL_DEPRECATED (
+ "removeCoordinateSystem (viewport) is deprecated, please use function "
+ "addCoordinateSystem (id, viewport) with id a unique string identifier.")
+ bool
+ removeCoordinateSystem (int viewport);
/** \brief Removes a previously added 3D axes (coordinate system)
+ * \param[in] id the coordinate system object id (default: reference)
* \param[in] viewport view port where the 3D axes should be removed from (default: all)
*/
bool
- removeCoordinateSystem (int viewport = 0);
+ removeCoordinateSystem (const std::string &id = "reference", int viewport = 0);
/** \brief Removes a Point Cloud from screen, based on a given ID.
* \param[in] id the point cloud object id (i.e., given on \a addPointCloud)
bool
updateShapePose (const std::string &id, const Eigen::Affine3f& pose);
+ /** \brief Set the pose of an existing coordinate system.
+ *
+ * Returns false if the coordinate system doesn't exist, true if the pose was successfully
+ * updated.
+ *
+ * \param[in] id the point cloud object id (i.e., given on \a addCoordinateSystem etc.)
+ * \param[in] pose the new pose
+ * \return false if no coordinate system with the specified ID was found
+ */
+ bool
+ updateCoordinateSystemPose (const std::string &id, const Eigen::Affine3f& pose);
+
/** \brief Set the pose of an existing point cloud.
*
* Returns false if the point cloud doesn't exist, true if the pose was successfully
const std::string &id = "correspondences",
int viewport = 0);
+ /** \brief Add a TextureMesh object to screen
+ * \param[in] polymesh the textured polygonal mesh
+ * \param[in] id the texture mesh object id (default: "texture")
+ * \param[in] viewport the view port where the TextureMesh should be added (default: all)
+ */
+ bool
+ addTextureMesh (const pcl::TextureMesh &polymesh,
+ const std::string &id = "texture",
+ int viewport = 0);
+
/** \brief Add the specified correspondences to the display.
* \param[in] source_points The source points
* \param[in] target_points The target points
const std::string &id = "line", int viewport = 0);
/** \brief Add a line arrow segment between two points, and display the distance between them
+ *
+ * Arrow heads are attached to both end points of the arrow.
+ *
* \param[in] pt1 the first (start) point on the line
* \param[in] pt2 the second (end) point on the line
* \param[in] r the red channel of the color that the line should be rendered with
addArrow (const P1 &pt1, const P2 &pt2, double r, double g, double b,
const std::string &id = "arrow", int viewport = 0);
- /** \brief Add a line arrow segment between two points, and display the distance between them
+ /** \brief Add a line arrow segment between two points, and (optianally) display the distance between them
+ *
+ * Arrow head is attached on the **start** point (\c pt1) of the arrow.
+ *
* \param[in] pt1 the first (start) point on the line
* \param[in] pt2 the second (end) point on the line
* \param[in] r the red channel of the color that the line should be rendered with
const std::string &id = "arrow", int viewport = 0);
/** \brief Add a line arrow segment between two points, and display the distance between them in a given color
+ *
+ * Arrow heads are attached to both end points of the arrow.
+ *
* \param[in] pt1 the first (start) point on the line
* \param[in] pt2 the second (end) point on the line
* \param[in] r_line the red channel of the color that the line should be rendered with
bool
getCameraParameters (int argc, char **argv);
- /** \brief Checks whether the camera parameters were manually loaded from file.*/
+ /** \brief Load camera parameters from a camera parameters file.
+ * \param[in] file the name of the camera parameters file
+ */
+ bool
+ loadCameraParameters (const std::string &file);
+
+ /** \brief Checks whether the camera parameters were manually loaded.
+ * \return True if valid "-cam" option is available in command line.
+ * \sa cameraFileLoaded ()
+ */
bool
cameraParamsSet () const;
+ /** \brief Checks whether a camera file were automatically loaded.
+ * \return True if a valid camera file is automatically loaded.
+ * \note The camera file is saved by pressing "ctrl + s" during last run of the program
+ * and restored automatically when the program runs this time.
+ * \sa cameraParamsSet ()
+ */
+ bool
+ cameraFileLoaded () const;
+
+ /** \brief Get camera file for camera parameter saving/restoring.
+ * \note This will be valid only when valid "-cam" option were available in command line
+ * or a saved camera file were automatically loaded.
+ * \sa cameraParamsSet (), cameraFileLoaded ()
+ */
+ std::string
+ getCameraFile () const;
+
/** \brief Update camera parameters and render. */
void
updateCamera ();
/** \brief Set the camera clipping distances.
* \param[in] near the near clipping distance (no objects closer than this to the camera will be drawn)
* \param[in] far the far clipping distance (no objects further away than this to the camera will be drawn)
+ * \param[in] viewport the viewport to modify camera of (0 modifies all cameras)
*/
void
setCameraClipDistances (double near, double far, int viewport = 0);
void
saveScreenshot (const std::string &file);
+ /** \brief Save the camera parameters to disk, as a .cam file.
+ * \param[in] file the name of the .cam file
+ */
+ void
+ saveCameraParameters (const std::string &file);
+
+ /** \brief Get camera parameters and save them to a pcl::visualization::Camera.
+ * \param[out] camera the name of the pcl::visualization::Camera
+ */
+ void
+ getCameraParameters (Camera &camera);
+
/** \brief Return a pointer to the underlying VTK Render Window used. */
vtkSmartPointer<vtkRenderWindow>
getRenderWindow ()
return (cloud_actor_map_);
}
+ /** \brief Return a pointer to the ShapeActorMap this visualizer uses. */
+ ShapeActorMapPtr
+ getShapeActorMap ()
+ {
+ return (shape_actor_map_);
+ }
/** \brief Set the position in screen coordinates.
* \param[in] x where to move the window to (X)
ShapeActorMapPtr shape_actor_map_;
/** \brief Internal list with actor pointers and viewpoint for coordinates. */
- CoordinateActorMap coordinate_actor_map_;
+ CoordinateActorMapPtr coordinate_actor_map_;
/** \brief Internal pointer to widget which contains a set of axes */
vtkSmartPointer<vtkOrientationMarkerWidget> axes_widget_;
- /** \brief Boolean that holds whether or not the camera parameters were manually initialized*/
+ /** \brief Boolean that holds whether or not the camera parameters were manually initialized */
bool camera_set_;
+ /** \brief Boolean that holds whether or not a camera file were automatically loaded */
+ bool camera_file_loaded_;
+
/** \brief Boolean that holds whether or not to use the vtkVertexBufferObjectMapper*/
bool use_vbos_;
const Eigen::Quaternion<float> &orientation,
Eigen::Matrix4f &transformation);
+ /** \brief Fills a vtkTexture structure from pcl::TexMaterial.
+ * \param[in] tex_mat texture material in PCL format
+ * \param[out] vtk_tex texture material in VTK format
+ * \return 0 on success and -1 else.
+ * \note for now only image based textures are supported, image file must be in
+ * tex_file attribute of \a tex_mat.
+ */
+ int
+ textureFromTexMaterial (const pcl::TexMaterial& tex_mat,
+ vtkTexture* vtk_tex) const;
+
+ /** \brief Get camera file for camera parameter saving/restoring from command line.
+ * Camera filename is calculated using sha1 value of all pathes of input .pcd files
+ * \return empty string if failed.
+ */
+ std::string
+ getUniqueCameraFile (int argc, char **argv);
+
//There's no reason these conversion functions shouldn't be public and static so others can use them.
public:
/** \brief Convert Eigen::Matrix4f to vtkMatrix4x4
std::string field_name_;
};
+
+ //////////////////////////////////////////////////////////////////////////////////////
+ /** \brief RGBA handler class for colors. Uses the data present in the "rgba" field as
+ * the color at each point. Transparency is handled.
+ * \author Nizar Sallem
+ * \ingroup visualization
+ */
+ template <typename PointT>
+ class PointCloudColorHandlerRGBAField : public PointCloudColorHandler<PointT>
+ {
+ typedef typename PointCloudColorHandler<PointT>::PointCloud PointCloud;
+ typedef typename PointCloud::Ptr PointCloudPtr;
+ typedef typename PointCloud::ConstPtr PointCloudConstPtr;
+
+ public:
+ typedef boost::shared_ptr<PointCloudColorHandlerRGBAField<PointT> > Ptr;
+ typedef boost::shared_ptr<const PointCloudColorHandlerRGBAField<PointT> > ConstPtr;
+
+ /** \brief Constructor. */
+ PointCloudColorHandlerRGBAField ()
+ {
+ capable_ = false;
+ }
+
+ /** \brief Constructor. */
+ PointCloudColorHandlerRGBAField (const PointCloudConstPtr &cloud)
+ : PointCloudColorHandler<PointT> (cloud)
+ {
+ setInputCloud (cloud);
+ }
+
+ /** \brief Destructor. */
+ virtual ~PointCloudColorHandlerRGBAField () {}
+
+ /** \brief Get the name of the field used. */
+ virtual std::string
+ getFieldName () const { return ("rgba"); }
+
+ /** \brief Obtain the actual color for the input dataset as vtk scalars.
+ * \param[out] scalars the output scalars containing the color for the dataset
+ * \return true if the operation was successful (the handler is capable and
+ * the input cloud was given as a valid pointer), false otherwise
+ */
+ virtual bool
+ getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
+
+ /** \brief Set the input cloud to be used.
+ * \param[in] cloud the input cloud to be used by the handler
+ */
+ virtual void
+ setInputCloud (const PointCloudConstPtr &cloud);
+
+ protected:
+ /** \brief Class getName method. */
+ virtual std::string
+ getName () const { return ("PointCloudColorHandlerRGBAField"); }
+
+ // Members derived from the base class
+ using PointCloudColorHandler<PointT>::cloud_;
+ using PointCloudColorHandler<PointT>::capable_;
+ using PointCloudColorHandler<PointT>::field_idx_;
+ using PointCloudColorHandler<PointT>::fields_;
+ };
+
//////////////////////////////////////////////////////////////////////////////////////
/** \brief Base Handler class for PointCloud colors.
* \author Radu B. Rusu
/** \brief Name of the field used to create the color handler. */
std::string field_name_;
};
+
+ //////////////////////////////////////////////////////////////////////////////////////
+ /** \brief RGBA handler class for colors. Uses the data present in the "rgba" field as
+ * the color at each point. Transparency is handled.
+ * \author Nizar Sallem
+ * \ingroup visualization
+ */
+ template <>
+ class PCL_EXPORTS PointCloudColorHandlerRGBAField<pcl::PCLPointCloud2> : public PointCloudColorHandler<pcl::PCLPointCloud2>
+ {
+ typedef PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloud PointCloud;
+ typedef PointCloud::Ptr PointCloudPtr;
+ typedef PointCloud::ConstPtr PointCloudConstPtr;
+
+ public:
+ typedef boost::shared_ptr<PointCloudColorHandlerRGBAField<PointCloud> > Ptr;
+ typedef boost::shared_ptr<const PointCloudColorHandlerRGBAField<PointCloud> > ConstPtr;
+
+ /** \brief Constructor. */
+ PointCloudColorHandlerRGBAField (const PointCloudConstPtr &cloud);
+
+ /** \brief Empty destructor */
+ virtual ~PointCloudColorHandlerRGBAField () {}
+
+ /** \brief Obtain the actual color for the input dataset as vtk scalars.
+ * \param[out] scalars the output scalars containing the color for the dataset
+ * \return true if the operation was successful (the handler is capable and
+ * the input cloud was given as a valid pointer), false otherwise
+ */
+ virtual bool
+ getColor (vtkSmartPointer<vtkDataArray> &scalars) const;
+
+ protected:
+ /** \brief Get the name of the class. */
+ virtual std::string
+ getName () const { return ("PointCloudColorHandlerRGBAField"); }
+
+ /** \brief Get the name of the field used. */
+ virtual std::string
+ getFieldName () const { return ("rgba"); }
+ };
}
}
idx_ (idx1), idx2_ (idx2), x_ (x1), y_ (y1), z_ (z1), x2_ (x2), y2_ (y2), z2_ (z2)
{}
- /** \brief Obtain the ID of a point that the user just clicked on. */
+ /** \brief Obtain the ID of a point that the user just clicked on.
+ * \warning If the cloud contains NaNs the index returned by this function will not correspond to the
+ * original indices. To get the correct index either sanitize the input cloud to remove NaNs or use the
+ * PointPickingEvent::getPoint function to get the x,y,z of the picked point and then search the original
+ * cloud for the correct index. An example of how to do this can be found in the pp_callback function in
+ * visualization/tools/pcd_viewer.cpp
+ */
inline int
getPointIndex () const
{
* \param[out] index_1 index of the first point selected by user
* \param[out] index_2 index of the second point selected by user
* \return true, if two points are available and have been clicked by the user, false otherwise
+ * \warning If the cloud contains NaNs the index returned by this function will not correspond to the
+ * original indices. To get the correct index either sanitize the input cloud to remove NaNs or use the
+ * PointPickingEvent::getPoint function to get the x,y,z of the picked point and then search the original
+ * cloud for the correct index. An example of how to do this can be found in the pp_callback function in
+ * visualization/tools/pcd_viewer.cpp
*/
inline bool
getPointIndices (int &index_1, int &index_2) const
virtual void set (float x, float y, const std::string& _text);
std::string text;
};
+
+ struct PCL_EXPORTS Markers : public Points
+ {
+ vtkTypeMacro (Markers, Points);
+ static Markers *New ();
+ virtual bool Paint (vtkContext2D *painter);
+ void setSize (float _size) { size = _size; }
+ void setPointColors (unsigned char r, unsigned char g, unsigned char b);
+ void setPointColors (unsigned char rgb[3]);
+ float size;
+ unsigned char point_colors[3];
+ };
}
}
}
/**
* @brief registering a callback function for mouse events
- * @param the boost function that will be registered as a callback for a mouse event
* @return connection object that allows to disconnect the callback function.
*/
+ // param the boost function that will be registered as a callback for a mouse event
boost::signals2::connection
registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> );
/**
* @brief registering a callback boost::function for keyboard events
- * @param the boost function that will be registered as a callback for a keyboard event
* @return connection object that allows to disconnect the callback function.
*/
+ // param the boost function that will be registered as a callback for a keyboard event
boost::signals2::connection
registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> );
viewer_ = boost::shared_ptr<PCLVisualizer>(new PCLVisualizer (window_name_, true));
#endif
viewer_->setBackgroundColor (0.1, 0.1, 0.1);
- viewer_->addCoordinateSystem (0.1);
+ viewer_->addCoordinateSystem (0.1, "global");
while (!quit_)
{
*
*/
+#include <vtkVersion.h>
#include <vtkPolyData.h>
#include <vtkCleanPolyData.h>
#include <vtkSmartPointer.h>
// Clean the data (no duplicates!)
vtkSmartPointer<vtkCleanPolyData> cleaner = vtkSmartPointer<vtkCleanPolyData>::New ();
cleaner->SetTolerance (0.0);
+#if VTK_MAJOR_VERSION < 6
cleaner->SetInput (data);
+#else
+ cleaner->SetInputData (data);
+#endif
cleaner->ConvertLinesToPointsOff ();
cleaner->ConvertPolysToLinesOff ();
cleaner->ConvertStripsToPolysOff ();
tuber->SetInputConnection (line->GetOutputPort ());
tuber->SetRadius (coefficients.values[6]);
tuber->SetNumberOfSides (numsides);
+ tuber->Update ();
return (tuber->GetOutput ());
}
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (s_sphere->GetOutputPort ());
+ tf->Update ();
return (tf->GetOutput ());
}
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (cube->GetOutputPort ());
+ tf->Update ();
return (tf->GetOutput ());
}
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (cube->GetOutputPort ());
+ tf->Update ();
return (tf->GetOutput ());
}
vtkSmartPointer<vtkCubeSource> cube = vtkSmartPointer<vtkCubeSource>::New ();
cube->SetBounds (x_min, x_max, y_min, y_max, z_min, z_max);
-
+ cube->Update ();
return (cube->GetOutput ());
}
+ coefficients.values[2] * coefficients.values[2];
plane->Push (-coefficients.values[3] / sqrt(norm_sqr));
+ plane->Update ();
return (plane->GetOutput ());
}
y -= coefficients.values[1] * t * norm_sqr;
z -= coefficients.values[2] * t * norm_sqr;
plane->SetCenter (x, y, z);
+ plane->Update ();
return (plane->GetOutput ());
}
vtkSmartPointer<vtkTransformPolyDataFilter> tf = vtkSmartPointer<vtkTransformPolyDataFilter>::New ();
tf->SetTransform (t);
tf->SetInputConnection (disk->GetOutputPort ());
+ tf->Update ();
/*
tf->SetInputConnection (tube->GetOutputPort ());
*/
pcl::visualization::createCone (const pcl::ModelCoefficients &coefficients)
{
vtkSmartPointer<vtkConeSource> cone = vtkSmartPointer<vtkConeSource>::New ();
- cone->SetHeight (1.0);
- cone->SetCenter (coefficients.values[0] + coefficients.values[3] * 0.5,
- coefficients.values[1] + coefficients.values[1] * 0.5,
- coefficients.values[2] + coefficients.values[2] * 0.5);
+ cone->SetHeight (std::sqrt (coefficients.values[3] * coefficients.values[3] +
+ coefficients.values[4] * coefficients.values[4] +
+ coefficients.values[5] * coefficients.values[5]));
+ cone->SetCenter (coefficients.values[0] + coefficients.values[3] * 0.5,
+ coefficients.values[1] + coefficients.values[4] * 0.5,
+ coefficients.values[2] + coefficients.values[5] * 0.5);
cone->SetDirection (-coefficients.values[3], -coefficients.values[4], -coefficients.values[5]);
cone->SetResolution (100);
cone->SetAngle (coefficients.values[6]);
-
+ cone->Update ();
return (cone->GetOutput ());
}
#include <pcl/visualization/histogram_visualizer.h>
#include <pcl/visualization/boost.h>
+#include <vtkVersion.h>
#include <vtkXYPlotActor.h>
#include <vtkDoubleArray.h>
#include <vtkTextProperty.h>
const vtkSmartPointer<vtkDoubleArray> &xy_array, RenWinInteract* renwinupd, const int hsize)
{
renwinupd->ren_->RemoveActor2D (renwinupd->xy_plot_);
+#if VTK_MAJOR_VERSION < 6
renwinupd->xy_plot_->RemoveAllInputs ();
+#else
+ renwinupd->xy_plot_->RemoveAllDataSetInputConnections ();
+#endif
+
double min_max[2];
xy_array->GetRange (min_max, 1);
*
*/
+#include <vtkVersion.h>
#include <vtkImageViewer.h>
#include <vtkCallbackCommand.h>
#include <vtkRenderer.h>
#include <vtkCamera.h>
+#if VTK_MAJOR_VERSION >= 6
+#include <vtkImageSlice.h>
+#include <vtkImageSliceMapper.h>
+#endif
+
#include <pcl/visualization/image_viewer.h>
#include <pcl/visualization/common/float_image_utils.h>
#include <pcl/visualization/keyboard_event.h>
vtkSmartPointer<vtkImageData> empty_image = vtkSmartPointer<vtkImageData>::New ();
vtkSmartPointer<vtkImageSliceMapper> map = vtkSmartPointer<vtkImageSliceMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
map->SetInput (empty_image);
+#else
+ map->SetInputData (empty_image);
+#endif
slice_->SetMapper (map);
ren_->AddViewProp (slice_);
interactor_->SetInteractorStyle (interactor_style_);
vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
+#if VTK_MAJOR_VERSION < 6
image->SetScalarTypeToUnsignedChar ();
image->SetNumberOfScalarComponents (3);
image->AllocateScalars ();
+#else
+ image->AllocateScalars (VTK_UNSIGNED_CHAR, 3);
+#endif
image->GetPointData ()->GetScalars ()->SetVoidArray (data, 3 * width * height, 1);
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
// Now create filter and set previously created transformation
# else
image_viewer_->SetInputConnection (algo_->GetOutputPort ());
# endif
-#else
+#elif VTK_MAJOR_VERSION < 6
image_viewer_->SetInputData (image);
interactor_style_->adjustCamera (image, ren_);
+#else
+ algo_->SetInputData (image);
+ algo_->Update ();
#endif
}
vtkSmartPointer<vtkImageData> image = vtkSmartPointer<vtkImageData>::New ();
image->SetExtent (0, width - 1, 0, height - 1, 0, 0);
+#if VTK_MAJOR_VERSION < 6
image->SetScalarTypeToUnsignedChar ();
image->SetNumberOfScalarComponents (1);
image->AllocateScalars ();
+#else
+ image->AllocateScalars (VTK_UNSIGNED_CHAR, 1);
+#endif
image->GetPointData ()->GetScalars ()->SetVoidArray (data, width * height, 1);
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION <= 10))
# else
image_viewer_->SetInputConnection (algo_->GetOutputPort ());
# endif
-#else
+#elif VTK_MAJOR_VERSION < 6
image_viewer_->SetInputData (image);
interactor_style_->adjustCamera (image, ren_);
+#else
+ algo_->SetInputData (image);
+ algo_->Update ();
#endif
}
rect->set (0, 0, static_cast<float> (width), static_cast<float> (height));
l.actor->GetScene ()->AddItem (rect);
}
+#if VTK_MAJOR_VERSION < 6
image_viewer_->GetRenderer ()->AddActor (l.actor);
+#else
+ ren_->AddActor (l.actor);
+#endif
// Add another element
layer_map_.push_back (l);
PCL_DEBUG ("[pcl::visualization::ImageViewer::removeLayer] No layer with ID='%s' found.\n", layer_id.c_str ());
return;
}
+#if VTK_MAJOR_VERSION < 6
image_viewer_->GetRenderer ()->RemoveActor (am_it->actor);
+#else
+ ren_->RemoveActor (am_it->actor);
+#endif
layer_map_.erase (am_it);
}
pcl::visualization::ImageViewer::addCircle (unsigned int x, unsigned int y, double radius,
const std::string &layer_id, double opacity)
{
- return (addCircle (x, y, radius, layer_id, opacity));
+ return (addCircle (x, y, radius, 0.0, 1.0, 0.0, layer_id, opacity));
}
//////////////////////////////////////////////////////////////////////////////////////////
am_it->actor->GetScene ()->AddItem (point);
}
+//////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::ImageViewer::markPoints (
+ const std::vector<int>& uv, Vector3ub fg_color, Vector3ub bg_color, double size,
+ const std::string &layer_id, double opacity)
+{
+ if (uv.size () == 0)
+ return;
+
+ std::vector<float> float_uv (uv.size ());
+ for (std::size_t i = 0; i < uv.size (); ++i)
+ float_uv[i] = static_cast<float> (uv[i]);
+ return (markPoints (float_uv, fg_color, bg_color, size, layer_id, opacity));
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::ImageViewer::markPoints (
+ const std::vector<float>& uv, Vector3ub fg_color, Vector3ub bg_color, double size,
+ const std::string &layer_id, double opacity)
+{
+ if (uv.size () == 0)
+ return;
+
+ // Check to see if this ID entry already exists (has it been already added to the visualizer?)
+ LayerMap::iterator am_it = std::find_if (layer_map_.begin (), layer_map_.end (), LayerComparator (layer_id));
+ if (am_it == layer_map_.end ())
+ {
+ PCL_DEBUG ("[pcl::visualization::ImageViewer::markPoint] No layer with ID='%s' found. Creating new one...\n", layer_id.c_str ());
+ am_it = createLayer (layer_id, getSize ()[0] - 1, getSize ()[1] - 1, opacity, false);
+#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION > 10))
+ interactor_style_->adjustCamera (ren_);
+#endif
+ }
+
+ vtkSmartPointer<context_items::Markers> markers = vtkSmartPointer<context_items::Markers>::New ();
+ markers->setOpacity (opacity);
+#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION > 10))
+ markers->set (uv);
+#else
+ // translate v which is on odd indices
+ std::vector<float> points = uv;
+ for (std::size_t i = 1; i < points.size (); i+=2)
+ points[i] = getSize ()[1] - points[i];
+ markers->set (points);
+#endif
+ markers->setSize (size);
+ markers->setColors (bg_color[0], bg_color[1], bg_color[2]);
+ markers->setPointColors (fg_color[0], fg_color[1], fg_color[2]);
+ am_it->actor->GetScene ()->AddItem (markers);
+}
+
//////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::ImageViewer::render ()
pcl::visualization::ImageViewer::setWindowTitle (const std::string& name)
{
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
- win_->SetWindowName (name.c_str ());
-#else
image_viewer_->GetRenderWindow ()->SetWindowName (name.c_str ());
+#else
+ win_->SetWindowName (name.c_str ());
#endif
}
pcl::visualization::ImageViewer::setPosition (int x, int y)
{
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
- win_->SetPosition (x, y);
-#else
image_viewer_->GetRenderWindow ()->SetPosition (x, y);
+#else
+ win_->SetPosition (x, y);
#endif
}
pcl::visualization::ImageViewer::getSize ()
{
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
- return (win_->GetSize ());
-#else
return (image_viewer_->GetRenderWindow ()->GetSize ());
+#else
+ return (win_->GetSize ());
#endif
}
pcl::visualization::ImageViewer::setSize (int xw, int yw)
{
#if ((VTK_MAJOR_VERSION == 5) && (VTK_MINOR_VERSION >= 10))
- win_->SetSize (xw, yw);
-#else
image_viewer_->GetRenderWindow ()->SetSize (xw, yw);
+#else
+ win_->SetSize (xw, yw);
+
#endif
}
#include <list>
#include <pcl/visualization/common/io.h>
#include <pcl/visualization/interactor_style.h>
+#include <vtkVersion.h>
#include <vtkLODActor.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
snapshot_writer_->Write ();
}
+//////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizerInteractorStyle::saveCameraParameters (const std::string &file)
+{
+ FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
+
+ ofstream ofs_cam (file.c_str ());
+ if (!ofs_cam.is_open ())
+ {
+ return (false);
+ }
+
+ vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
+ double clip[2], focal[3], pos[3], view[3];
+ cam->GetClippingRange (clip);
+ cam->GetFocalPoint (focal);
+ cam->GetPosition (pos);
+ cam->GetViewUp (view);
+ int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
+ int *win_size = Interactor->GetRenderWindow ()->GetSize ();
+ ofs_cam << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
+ pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
+ cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
+ << endl;
+ ofs_cam.close ();
+
+ return (true);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLVisualizerInteractorStyle::getCameraParameters (pcl::visualization::Camera &camera)
+{
+ FindPokedRenderer (Interactor->GetEventPosition ()[0], Interactor->GetEventPosition ()[1]);
+
+ vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
+ cam->GetClippingRange (camera.clip);
+ cam->GetFocalPoint (camera.focal);
+ cam->GetPosition (camera.pos);
+ cam->GetViewUp (camera.view);
+ camera.fovy = cam->GetViewAngle () / 180.0 * M_PI;
+ int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
+ int *win_size = Interactor->GetRenderWindow ()->GetSize ();
+ camera.window_pos[0] = win_pos[0];
+ camera.window_pos[1] = win_pos[1];
+ camera.window_size[0] = win_size[0];
+ camera.window_size[1] = win_size[1];
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizerInteractorStyle::loadCameraParameters (const std::string &file)
+{
+ std::ifstream fs;
+ std::string line;
+ std::vector<std::string> camera;
+ bool ret;
+
+ fs.open (file.c_str ());
+ while (!fs.eof ())
+ {
+ getline (fs, line);
+ if (line == "")
+ continue;
+
+ boost::split (camera, line, boost::is_any_of ("/"), boost::token_compress_on);
+ break;
+ }
+ fs.close ();
+
+ ret = getCameraParameters (camera);
+ if (ret)
+ {
+ camera_file_ = file;
+ }
+
+ return (ret);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLVisualizerInteractorStyle::setCameraParameters (const Eigen::Matrix3f &intrinsics,
+ const Eigen::Matrix4f &extrinsics,
+ int viewport)
+{
+ // Position = extrinsic translation
+ Eigen::Vector3f pos_vec = extrinsics.block<3, 1> (0, 3);
+
+ // Rotate the view vector
+ Eigen::Matrix3f rotation = extrinsics.block<3, 3> (0, 0);
+ Eigen::Vector3f y_axis (0.f, 1.f, 0.f);
+ Eigen::Vector3f up_vec (rotation * y_axis);
+
+ // Compute the new focal point
+ Eigen::Vector3f z_axis (0.f, 0.f, 1.f);
+ Eigen::Vector3f focal_vec = pos_vec + rotation * z_axis;
+
+ // Get the width and height of the image - assume the calibrated centers are at the center of the image
+ Eigen::Vector2i window_size;
+ window_size[0] = static_cast<int> (intrinsics (0, 2));
+ window_size[1] = static_cast<int> (intrinsics (1, 2));
+
+ // Compute the vertical field of view based on the focal length and image heigh
+ double fovy = 2 * atan (window_size[1] / (2. * intrinsics (1, 1))) * 180.0 / M_PI;
+
+
+ rens_->InitTraversal ();
+ vtkRenderer* renderer = NULL;
+ int i = 0;
+ while ((renderer = rens_->GetNextItem ()) != NULL)
+ {
+ // Modify all renderer's cameras
+ if (viewport == 0 || viewport == i)
+ {
+ vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
+ cam->SetPosition (pos_vec[0], pos_vec[1], pos_vec[2]);
+ cam->SetFocalPoint (focal_vec[0], focal_vec[1], focal_vec[2]);
+ cam->SetViewUp (up_vec[0], up_vec[1], up_vec[2]);
+ cam->SetUseHorizontalViewAngle (0);
+ cam->SetViewAngle (fovy);
+ cam->SetClippingRange (0.01, 1000.01);
+ win_->SetSize (window_size[0], window_size[1]);
+ }
+ ++i;
+ }
+ win_->Render ();
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLVisualizerInteractorStyle::setCameraParameters (const pcl::visualization::Camera &camera, int viewport)
+{
+ rens_->InitTraversal ();
+ vtkRenderer* renderer = NULL;
+ int i = 0;
+ while ((renderer = rens_->GetNextItem ()) != NULL)
+ {
+ // Modify all renderer's cameras
+ if (viewport == 0 || viewport == i)
+ {
+ vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
+ cam->SetPosition (camera.pos[0], camera.pos[1], camera.pos[2]);
+ cam->SetFocalPoint (camera.focal[0], camera.focal[1], camera.focal[2]);
+ cam->SetViewUp (camera.view[0], camera.view[1], camera.view[2]);
+ cam->SetClippingRange (camera.clip);
+ cam->SetUseHorizontalViewAngle (0);
+ cam->SetViewAngle (camera.fovy * 180.0 / M_PI);
+
+ win_->SetSize (static_cast<int> (camera.window_size[0]),
+ static_cast<int> (camera.window_size[1]));
+ }
+ ++i;
+ }
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizerInteractorStyle::zoomIn ()
EndDolly ();
}
+//////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizerInteractorStyle::getCameraParameters (const std::vector<std::string> &camera)
+{
+ pcl::visualization::Camera camera_temp;
+
+ // look for '/' as a separator
+ if (camera.size () != 7)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Camera parameters given, but with an invalid number of options (%lu vs 7)!\n", static_cast<unsigned long> (camera.size ()));
+ return (false);
+ }
+
+ std::string clip_str = camera.at (0);
+ std::string focal_str = camera.at (1);
+ std::string pos_str = camera.at (2);
+ std::string view_str = camera.at (3);
+ std::string fovy_str = camera.at (4);
+ std::string win_size_str = camera.at (5);
+ std::string win_pos_str = camera.at (6);
+
+ // Get each camera setting separately and parse for ','
+ std::vector<std::string> clip_st;
+ boost::split (clip_st, clip_str, boost::is_any_of (","), boost::token_compress_on);
+ if (clip_st.size () != 2)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera clipping angle!\n");
+ return (false);
+ }
+ camera_temp.clip[0] = atof (clip_st.at (0).c_str ());
+ camera_temp.clip[1] = atof (clip_st.at (1).c_str ());
+
+ std::vector<std::string> focal_st;
+ boost::split (focal_st, focal_str, boost::is_any_of (","), boost::token_compress_on);
+ if (focal_st.size () != 3)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera focal point!\n");
+ return (false);
+ }
+ camera_temp.focal[0] = atof (focal_st.at (0).c_str ());
+ camera_temp.focal[1] = atof (focal_st.at (1).c_str ());
+ camera_temp.focal[2] = atof (focal_st.at (2).c_str ());
+
+ std::vector<std::string> pos_st;
+ boost::split (pos_st, pos_str, boost::is_any_of (","), boost::token_compress_on);
+ if (pos_st.size () != 3)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera position!\n");
+ return (false);
+ }
+ camera_temp.pos[0] = atof (pos_st.at (0).c_str ());
+ camera_temp.pos[1] = atof (pos_st.at (1).c_str ());
+ camera_temp.pos[2] = atof (pos_st.at (2).c_str ());
+
+ std::vector<std::string> view_st;
+ boost::split (view_st, view_str, boost::is_any_of (","), boost::token_compress_on);
+ if (view_st.size () != 3)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera viewup!\n");
+ return (false);
+ }
+ camera_temp.view[0] = atof (view_st.at (0).c_str ());
+ camera_temp.view[1] = atof (view_st.at (1).c_str ());
+ camera_temp.view[2] = atof (view_st.at (2).c_str ());
+
+ std::vector<std::string> fovy_size_st;
+ boost::split (fovy_size_st, fovy_str, boost::is_any_of (","), boost::token_compress_on);
+ if (fovy_size_st.size () != 1)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for field of view angle!\n");
+ return (false);
+ }
+ camera_temp.fovy = atof (fovy_size_st.at (0).c_str ());
+
+ std::vector<std::string> win_size_st;
+ boost::split (win_size_st, win_size_str, boost::is_any_of (","), boost::token_compress_on);
+ if (win_size_st.size () != 2)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for window size!\n");
+ return (false);
+ }
+ camera_temp.window_size[0] = atof (win_size_st.at (0).c_str ());
+ camera_temp.window_size[1] = atof (win_size_st.at (1).c_str ());
+
+ std::vector<std::string> win_pos_st;
+ boost::split (win_pos_st, win_pos_str, boost::is_any_of (","), boost::token_compress_on);
+ if (win_pos_st.size () != 2)
+ {
+ pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for window position!\n");
+ return (false);
+ }
+ camera_temp.window_pos[0] = atof (win_pos_st.at (0).c_str ());
+ camera_temp.window_pos[1] = atof (win_pos_st.at (1).c_str ());
+
+ setCameraParameters (camera_temp);
+
+ return (true);
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizerInteractorStyle::OnChar ()
{
break;
}
- // S have a special !ALT case
+ // S have special !ALT case
case 's': case 'S':
{
if (!keymod)
// ---[ Check the rest of the key codes
+ // Save camera parameters
+ if ((Interactor->GetKeySym ()[0] == 'S' || Interactor->GetKeySym ()[0] == 's') && ctrl && !alt && !shift)
+ {
+ if (camera_file_.empty ())
+ {
+ getCameraParameters (camera_);
+ camera_saved_ = true;
+ pcl::console::print_info ("Camera parameters saved, you can press CTRL + R to restore.\n");
+ }
+ else
+ {
+ if (saveCameraParameters (camera_file_))
+ {
+ pcl::console::print_info ("Save camera parameters to %s, you can press CTRL + R to restore.\n", camera_file_.c_str ());
+ }
+ else
+ {
+ pcl::console::print_error ("[PCLVisualizerInteractorStyle] Can't save camera parameters to file: %s.\n", camera_file_.c_str ());
+ }
+ }
+ }
+
+ // Restore camera parameters
+ if ((Interactor->GetKeySym ()[0] == 'R' || Interactor->GetKeySym ()[0] == 'r') && ctrl && !alt && !shift)
+ {
+ if (camera_file_.empty ())
+ {
+ if (camera_saved_)
+ {
+ setCameraParameters (camera_);
+ pcl::console::print_info ("Camera parameters restored.\n");
+ }
+ else
+ {
+ pcl::console::print_info ("No camera parameters saved for restoring.\n");
+ }
+ }
+ else
+ {
+ if (boost::filesystem::exists (camera_file_))
+ {
+ if (loadCameraParameters (camera_file_))
+ {
+ pcl::console::print_info ("Restore camera parameters from %s.\n", camera_file_.c_str ());
+ }
+ else
+ {
+ pcl::console::print_error ("Can't restore camera parameters from file: %s.\n", camera_file_.c_str ());
+ }
+ }
+ else
+ {
+ pcl::console::print_info ("No camera parameters saved in %s for restoring.\n", camera_file_.c_str ());
+ }
+ }
+ }
+
// Switch between point color/geometry handlers
if (Interactor->GetKeySym () && Interactor->GetKeySym ()[0] >= '0' && Interactor->GetKeySym ()[0] <= '9')
{
else
{
vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
+#else
+ mapper->SetInputData (data);
+#endif
// Modify the actor
act->actor->SetMapper (mapper);
}
// Update the data
vtkPolyData *data = static_cast<vtkPolyData*>(act->actor->GetMapper ()->GetInput ());
data->GetPointData ()->SetScalars (scalars);
- data->Update ();
// Modify the mapper
if (use_vbos_)
{
vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(act->actor->GetMapper ());
mapper->SetScalarRange (minmax);
mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
+#else
+ mapper->SetInputData (data);
+#endif
// Modify the actor
act->actor->SetMapper (mapper);
}
" g, G : display scale grid (on/off)\n"
" u, U : display lookup table (on/off)\n"
"\n"
+ " o, O : switch between perspective/parallel projection (default = perspective)\n"
" r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]\n"
+ " CTRL + s, S : save camera parameters\n"
+ " CTRL + r, R : restore camera parameters\n"
"\n"
" ALT + s, S : turn stereo mode on/off\n"
" ALT + f, F : switch between maximized window mode and original size\n"
" ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)\n"
" 0..9 [+ CTRL] : switch between different color handlers (where available)\n"
"\n"
- " SHIFT + left click : select a point\n"
+ " SHIFT + left click : select a point (start with -use_point_picking)\n"
"\n"
" x, X : toggle rubber band selection mode for left mouse button\n"
);
saveScreenshot (snapshot_fn);
sprintf (cam_fn, "screenshot-%d.cam", t);
- ofstream ofs_cam;
- ofs_cam.open (cam_fn);
- vtkSmartPointer<vtkCamera> cam = Interactor->GetRenderWindow ()->GetRenderers ()->GetFirstRenderer ()->GetActiveCamera ();
- double clip[2], focal[3], pos[3], view[3];
- cam->GetClippingRange (clip);
- cam->GetFocalPoint (focal);
- cam->GetPosition (pos);
- cam->GetViewUp (view);
- int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
- int *win_size = Interactor->GetRenderWindow ()->GetSize ();
- ofs_cam << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
- pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
- cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
- << endl;
- ofs_cam.close ();
+ saveCameraParameters (cam_fn);
pcl::console::print_info ("Screenshot (%s) and camera information (%s) successfully captured.\n", snapshot_fn, cam_fn);
break;
cam->GetViewUp (view);
int *win_pos = Interactor->GetRenderWindow ()->GetPosition ();
int *win_size = Interactor->GetRenderWindow ()->GetSize ();
- std::cerr << clip[0] << "," << clip[1] << "/" << focal[0] << "," << focal[1] << "," << focal[2] << "/" <<
- pos[0] << "," << pos[1] << "," << pos[2] << "/" << view[0] << "," << view[1] << "," << view[2] << "/" <<
- cam->GetViewAngle () / 180.0 * M_PI << "/" << win_size[0] << "," << win_size[1] << "/" << win_pos[0] << "," << win_pos[1]
- << endl;
+ std::cerr << "Clipping plane [near,far] " << clip[0] << ", " << clip[1] << endl <<
+ "Focal point [x,y,z] " << focal[0] << ", " << focal[1] << ", " << focal[2] << endl <<
+ "Position [x,y,z] " << pos[0] << ", " << pos[1] << ", " << pos[2] << endl <<
+ "View up [x,y,z] " << view[0] << ", " << view[1] << ", " << view[2] << endl <<
+ "Camera view angle [degrees] " << cam->GetViewAngle () << endl <<
+ "Window size [x,y] " << win_size[0] << ", " << win_size[1] << endl <<
+ "Window position [x,y] " << win_pos[0] << ", " << win_pos[1] << endl;
break;
}
case '=':
#include <pcl/visualization/pcl_painter2D.h>
-vtkCxxRevisionMacro (pcl::visualization::PCLPainter2D, "$Revision: 1.2 $");
-
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLPainter2D::PCLPainter2D(char const * name)
{
*
*/
+#include <vtkVersion.h>
#include <vtkSmartPointer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderWindow.h>
//initializing default state values
win_width_ = 640;
win_height_ = 480;
+ win_x_ = 0;
+ win_y_ = 0;
bkg_color_[0] = 1; bkg_color_[1] = 1; bkg_color_[2] = 1;
current_plot_ = -1;
color_series_->SetColorScheme (vtkColorSeries::SPECTRUM);
+ win_name_ = "PCL Plotter";
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//adding to chart
//vtkPlot *line = chart_->AddPlot(vtkChart::LINE);
vtkPlot *line = chart_->AddPlot (type);
+#if VTK_MAJOR_VERSION < 6
line->SetInput (table, 0, 1);
+#else
+ line->SetInputData (table, 0, 1);
+#endif
line->SetWidth (1);
if (color == NULL) //color automatically based on the ColorScheme
//apply current states
view_->GetRenderer ()->SetBackground (bkg_color_[0], bkg_color_[1], bkg_color_[2]);
view_->GetRenderWindow ()->SetSize (win_width_, win_height_);
-
+ view_->GetRenderWindow ()->SetPosition (win_x_, win_y_);
view_->GetInteractor ()->Initialize ();
- view_->GetRenderWindow ()->Render();
+
+ //according to vtk bug 976, SetWindowName must be called after RenderWindow Initialize();
+ view_->GetRenderWindow ()->SetWindowName (win_name_.c_str());
+ view_->GetRenderWindow ()->Render ();
view_->GetInteractor ()->Start ();
}
return (sz);
}
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLPlotter::setWindowPosition (int x, int y)
+{
+ win_x_ = x;
+ win_y_ = y;
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLPlotter::setWindowName (const std::string &name)
+{
+ win_name_ = name;
+}
+
//////////////////////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLPlotter::startInteractor ()
//find min and max in the data
double min = data[0], max = data[0];
- for (int i = 1; i < data.size (); i++)
+ for (size_t i = 1; i < data.size (); i++)
{
if (data[i] < min) min = data[i];
if (data[i] > max) max = data[i];
}
//fill the freq for each data
- for (int i = 0; i < data.size (); i++)
+ for (size_t i = 0; i < data.size (); i++)
{
int index = int (floor ((data[i] - min) / size));
if (index == nbins) index = nbins - 1; //including right boundary
#include <pcl/visualization/common/common.h>
#include <pcl/conversions.h>
+#include <vtkVersion.h>
#include <vtkTextActor.h>
#include <vtkTextProperty.h>
#include <vtkCellData.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkAreaPicker.h>
#include <vtkXYPlotActor.h>
+#include <vtkOpenGLHardwareSupport.h>
+#include <vtkOpenGLRenderWindow.h>
+#include <vtkJPEGReader.h>
+#include <vtkBMPReader.h>
+#include <vtkPNMReader.h>
+#include <vtkPNGReader.h>
+#include <vtkTIFFReader.h>
#include <pcl/visualization/common/shapes.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/common/time.h>
+#include <boost/uuid/sha1.hpp>
+#include <boost/filesystem.hpp>
+#include <pcl/console/parse.h>
+
+#if defined(_WIN32)
+ // Remove macros defined in Windows.h
+ #undef near
+ #undef far
+#endif
/////////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLVisualizer::PCLVisualizer (const std::string &name, const bool create_interactor)
, style_ (vtkSmartPointer<pcl::visualization::PCLVisualizerInteractorStyle>::New ())
, cloud_actor_map_ (new CloudActorMap)
, shape_actor_map_ (new ShapeActorMap)
- , coordinate_actor_map_ ()
+ , coordinate_actor_map_ (new CoordinateActorMap)
, camera_set_ ()
+ , camera_file_loaded_ (false)
{
// Create a Renderer
vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New ();
update_fps_->pcl_visualizer = this;
update_fps_->decimated = false;
ren->AddActor (txt);
+ txt->SetInput("0 FPS");
// Create a RendererWindow
win_ = vtkSmartPointer<vtkRenderWindow>::New ();
while ((renderer = rens_->GetNextItem ()) != NULL)
win_->AddRenderer (renderer);
+ // Set renderer window in case no interactor is created
+ style_->setRenderWindow (win_);
+
// Create the interactor style
style_->Initialize ();
style_->setRendererCollection (rens_);
, style_ (style)
, cloud_actor_map_ (new CloudActorMap)
, shape_actor_map_ (new ShapeActorMap)
- , coordinate_actor_map_ ()
+ , coordinate_actor_map_ (new CoordinateActorMap)
, camera_set_ ()
+ , camera_file_loaded_ (false)
{
- style_ = style;
-
// Create a Renderer
vtkSmartPointer<vtkRenderer> ren = vtkSmartPointer<vtkRenderer>::New ();
ren->AddObserver (vtkCommand::EndEvent, update_fps_);
win_ = vtkSmartPointer<vtkRenderWindow>::New ();
win_->SetWindowName (name.c_str ());
- // Get screen size
- int *scr_size = win_->GetScreenSize ();
-
- // Set default camera parameters
- initCameraParameters ();
-
- // Parse the camera settings and update the internal camera
- camera_set_ = getCameraParameters (argc, argv);
- // Set the window size as 1/2 of the screen size or the user given parameter
- win_->SetSize (scr_size[0]/2, scr_size[1]/2);
- win_->SetPosition (0, 0);
-
// By default, don't use vertex buffer objects
use_vbos_ = false;
while ((renderer = rens_->GetNextItem ()) != NULL)
win_->AddRenderer (renderer);
+ // Set renderer window in case no interactor is created
+ style_->setRenderWindow (win_);
+
// Create the interactor style
style_->Initialize ();
style_->setRendererCollection (rens_);
style_->setCloudActorMap (cloud_actor_map_);
style_->UseTimersOn ();
+ // Get screen size
+ int *scr_size = win_->GetScreenSize ();
+
+ // Set default camera parameters
+ initCameraParameters ();
+
+ // Parse the camera settings and update the internal camera
+ camera_set_ = getCameraParameters (argc, argv);
+ // Calculate unique camera filename for camera parameter saving/restoring
+ if (!camera_set_)
+ {
+ std::string camera_file = getUniqueCameraFile (argc, argv);
+ if (!camera_file.empty ())
+ {
+ if (boost::filesystem::exists (camera_file) && style_->loadCameraParameters (camera_file))
+ {
+ camera_file_loaded_ = true;
+ }
+ else
+ {
+ style_->setCameraFile (camera_file);
+ }
+ }
+ }
+ // Set the window size as 1/2 of the screen size or the user given parameter
+ if (!camera_set_ && !camera_file_loaded_)
+ {
+ win_->SetSize (scr_size[0]/2, scr_size[1]/2);
+ win_->SetPosition (0, 0);
+ }
+
if (create_interactor)
createInteractor ();
style_->saveScreenshot (file);
}
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLVisualizer::saveCameraParameters (const std::string &file)
+{
+ style_->saveCameraParameters (file);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLVisualizer::getCameraParameters (pcl::visualization::Camera &camera)
+{
+ style_->getCameraParameters (camera);
+}
+
/////////////////////////////////////////////////////////////////////////////////////////////
boost::signals2::connection
pcl::visualization::PCLVisualizer::registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> callback)
void
pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, int viewport)
{
+ addCoordinateSystem (scale, "reference", viewport);
+}
+
+void
+pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, int viewport)
+{
+ addCoordinateSystem (scale, x, y, z, "reference", viewport);
+}
+
+void
+pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport)
+{
+ addCoordinateSystem (scale, t, "reference", viewport);
+}
+
+bool
+pcl::visualization::PCLVisualizer::removeCoordinateSystem (int viewport)
+{
+ return (removeCoordinateSystem ("reference", viewport));
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const std::string &id, int viewport)
+{
+ if (scale <= 0.0)
+ scale = 1.0;
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
+ axes->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
- axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
+#else
+ axes_tubes->SetInputData (axes_data);
+#endif
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+ axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+#endif
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
// Save the ID and actor pair to the global actor map
- coordinate_actor_map_[viewport] = axes_actor;
+ (*coordinate_actor_map_) [id] = axes_actor;
addActorToRenderer (axes_actor, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
-pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, int viewport)
+pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, float x, float y, float z, const std::string& id, int viewport)
{
+ if (scale <= 0.0)
+ scale = 1.0;
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
+ axes->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
- axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
+#else
+ axes_tubes->SetInputData (axes_data);
+#endif
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+ axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+#endif
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
axes_actor->SetPosition (x, y, z);
// Save the ID and actor pair to the global actor map
- coordinate_actor_map_[viewport] = axes_actor;
+ (*coordinate_actor_map_) [id] = axes_actor;
addActorToRenderer (axes_actor, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
-pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eigen::Affine3f& t, int viewport)
+pcl::visualization::PCLVisualizer::addCoordinateSystem (double scale, const Eigen::Affine3f& t, const std::string& id, int viewport)
{
+ if (scale <= 0.0)
+ scale = 1.0;
vtkSmartPointer<vtkAxes> axes = vtkSmartPointer<vtkAxes>::New ();
axes->SetOrigin (0, 0, 0);
axes->SetScaleFactor (scale);
+ axes->Update ();
vtkSmartPointer<vtkFloatArray> axes_colors = vtkSmartPointer<vtkFloatArray>::New ();
axes_colors->Allocate (6);
axes_colors->InsertNextValue (1.0);
vtkSmartPointer<vtkPolyData> axes_data = axes->GetOutput ();
- axes_data->Update ();
axes_data->GetPointData ()->SetScalars (axes_colors);
vtkSmartPointer<vtkTubeFilter> axes_tubes = vtkSmartPointer<vtkTubeFilter>::New ();
+#if VTK_MAJOR_VERSION < 6
axes_tubes->SetInput (axes_data);
+#else
+ axes_tubes->SetInputData (axes_data);
+#endif
axes_tubes->SetRadius (axes->GetScaleFactor () / 50.0);
axes_tubes->SetNumberOfSides (6);
vtkSmartPointer<vtkPolyDataMapper> axes_mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
axes_mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
axes_mapper->SetInput (axes_tubes->GetOutput ());
+#else
+ axes_mapper->SetInputConnection (axes_tubes->GetOutputPort ());
+#endif
vtkSmartPointer<vtkLODActor> axes_actor = vtkSmartPointer<vtkLODActor>::New ();
axes_actor->SetMapper (axes_mapper);
//WAS: axes_actor->SetOrientation (roll, pitch, yaw);
// Save the ID and actor pair to the global actor map
- coordinate_actor_map_[viewport] = axes_actor;
+ (*coordinate_actor_map_) [id] = axes_actor;
addActorToRenderer (axes_actor, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
bool
-pcl::visualization::PCLVisualizer::removeCoordinateSystem (int viewport)
+pcl::visualization::PCLVisualizer::removeCoordinateSystem (const std::string& id, int viewport)
{
// Check to see if the given ID entry exists
- CoordinateActorMap::iterator am_it = coordinate_actor_map_.find (viewport);
+ CoordinateActorMap::iterator am_it = coordinate_actor_map_->find (id);
- if (am_it == coordinate_actor_map_.end ())
+ if (am_it == coordinate_actor_map_->end ())
return (false);
// Remove it from all renderers
if (removeActorFromRenderer (am_it->second, viewport))
{
// Remove the ID pair to the global actor map
- coordinate_actor_map_.erase (am_it);
+ coordinate_actor_map_->erase (am_it);
return (true);
}
return (false);
line_1->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
line_1->SetPoint2 (p.x, p.y, p.z);
line_1->Update ();
+#if VTK_MAJOR_VERSION < 6
polydata_1->AddInput (line_1->GetOutput ());
+#else
+ polydata_1->AddInputData (line_1->GetOutput ());
+#endif
line_1_colors->InsertNextTupleValue (green);
}
polydata_1->Update ();
line_2->SetPoint1 (cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
line_2->SetPoint2 (p.x, p.y, p.z);
line_2->Update ();
+#if VTK_MAJOR_VERSION < 6
polydata_2->AddInput (line_2->GetOutput ());
+#else
+ polydata_2->AddInputData (line_2->GetOutput ());
+#endif
+
line_2_colors->InsertNextTupleValue (blue);
}
polydata_2->Update ();
// Assemble the two sets of lines
vtkSmartPointer<vtkAppendPolyData> alldata = vtkSmartPointer<vtkAppendPolyData>::New ();
+#if VTK_MAJOR_VERSION < 6
alldata->AddInput (line_1_data);
alldata->AddInput (line_2_data);
+#else
+ alldata->AddInputData (line_1_data);
+ alldata->AddInputData (line_2_data);
+#endif
// Create an Actor
vtkSmartPointer<vtkLODActor> actor;
if (viewport == 0)
{
renderer->RemoveActor (actor);
-// renderer->Render ();
}
else if (viewport == i) // add the actor only to the specified viewport
{
if (current_actor != actor_to_remove)
continue;
renderer->RemoveActor (actor);
-// renderer->Render ();
// Found the correct viewport and removed the actor
return (true);
}
// Add it to all renderers
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
- int i = 1;
+ int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Should we remove the actor from all renderers?
if (viewport == 0)
{
renderer->RemoveActor (actor);
-// renderer->Render ();
}
else if (viewport == i) // add the actor only to the specified viewport
{
if (current_actor != actor_to_remove)
continue;
renderer->RemoveActor (actor);
-// renderer->Render ();
// Found the correct viewport and removed the actor
return (true);
}
if (viewport == 0)
{
renderer->AddActor (actor);
-// renderer->Render ();
}
else if (viewport == i) // add the actor only to the specified viewport
{
renderer->AddActor (actor);
-// renderer->Render ();
}
++i;
}
if (viewport == 0)
{
renderer->RemoveActor (actor);
-// renderer->Render ();
}
else if (viewport == i) // add the actor only to the specified viewport
{
if (current_actor != actor_to_remove)
continue;
renderer->RemoveActor (actor);
-// renderer->Render ();
// Found the correct viewport and removed the actor
return (true);
}
else
{
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
+#else
+ mapper->SetInputData (data);
+#endif
if (use_scalars)
{
else
{
vtkSmartPointer<vtkDataSetMapper> mapper = vtkSmartPointer<vtkDataSetMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
+#else
+ mapper->SetInputData (data);
+#endif
if (use_scalars)
{
{
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
- int i = 1;
+ int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Should we add the actor to all renderers?
if (viewport == 0)
{
renderer->SetBackground (r, g, b);
-// renderer->Render ();
}
else if (viewport == i) // add the actor only to the specified viewport
{
renderer->SetBackground (r, g, b);
-// renderer->Render ();
}
++i;
}
{
PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Gouraud shading was requested. Estimating normals...\n");
vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
normals->SetInput (actor->GetMapper ()->GetInput ());
- normals->Update ();
vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
+#else
+ normals->SetInputConnection (actor->GetMapper ()->GetInputAlgorithm ()->GetOutputPort ());
+ vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputConnection (normals->GetOutputPort ());
+#endif
}
actor->GetProperty ()->SetInterpolationToGouraud ();
break;
{
PCL_INFO ("[pcl::visualization::PCLVisualizer::setShapeRenderingProperties] Normals do not exist in the dataset, but Phong shading was requested. Estimating normals...\n");
vtkSmartPointer<vtkPolyDataNormals> normals = vtkSmartPointer<vtkPolyDataNormals>::New ();
+#if VTK_MAJOR_VERSION < 6
normals->SetInput (actor->GetMapper ()->GetInput ());
- normals->Update ();
vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInput (normals->GetOutput ());
+#else
+ normals->SetInputConnection (actor->GetMapper ()->GetInputAlgorithm ()->GetOutputPort ());
+ vtkDataSetMapper::SafeDownCast (actor->GetMapper ())->SetInputConnection (normals->GetOutputPort ());
+#endif
}
actor->GetProperty ()->SetInterpolationToPhong ();
break;
return (camera_set_);
}
+/////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::cameraFileLoaded () const
+{
+ return (camera_file_loaded_);
+}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+std::string
+pcl::visualization::PCLVisualizer::getCameraFile () const
+{
+ return (style_->getCameraFile ());
+}
+
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::updateCamera ()
PCL_WARN ("[pcl::visualization::PCLVisualizer::updateCamera()] This method was deprecated, just re-rendering all scenes now.");
rens_->InitTraversal ();
// Update the camera parameters
- vtkRenderer* renderer = NULL;
- while ((renderer = rens_->GetNextItem ()) != NULL)
- renderer->Render ();
+ win_->Render ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
return (true);
}
+/////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::updateCoordinateSystemPose (const std::string &id, const Eigen::Affine3f& pose)
+{
+ ShapeActorMap::iterator am_it = coordinate_actor_map_->find (id);
+
+ vtkLODActor* actor;
+
+ if (am_it == coordinate_actor_map_->end ())
+ return (false);
+ else
+ actor = vtkLODActor::SafeDownCast (am_it->second);
+
+ vtkSmartPointer<vtkMatrix4x4> matrix = vtkSmartPointer<vtkMatrix4x4>::New ();
+
+ convertToVtkMatrix (pose.matrix (), matrix);
+
+ actor->SetUserMatrix (matrix);
+ actor->Modified ();
+
+ return (true);
+}
+
/////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::updatePointCloudPose (const std::string &id, const Eigen::Affine3f& pose)
{
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
- int i = 1;
+ int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Modify all renderer's cameras
cam->SetPosition (pos_x, pos_y, pos_z);
cam->SetFocalPoint (view_x, view_y, view_z);
cam->SetViewUp (up_x, up_y, up_z);
- renderer->Render ();
+ renderer->ResetCameraClippingRange ();
}
++i;
}
+ win_->Render ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
{
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
- int i = 1;
+ int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Modify all renderer's cameras
vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
cam->SetPosition (pos_x, pos_y, pos_z);
cam->SetViewUp (up_x, up_y, up_z);
- renderer->Render ();
}
++i;
}
+ win_->Render ();
}
/////////////////////////////////////////////////////////////////////////////////////////////
const Eigen::Matrix4f &extrinsics,
int viewport)
{
- // Position = extrinsic translation
- Eigen::Vector3f pos_vec = extrinsics.block<3, 1> (0, 3);
-
- // Rotate the view vector
- Eigen::Matrix3f rotation = extrinsics.block<3, 3> (0, 0);
- Eigen::Vector3f y_axis (0.f, 1.f, 0.f);
- Eigen::Vector3f up_vec (rotation * y_axis);
-
- // Compute the new focal point
- Eigen::Vector3f z_axis (0.f, 0.f, 1.f);
- Eigen::Vector3f focal_vec = pos_vec + rotation * z_axis;
-
- // Get the width and height of the image - assume the calibrated centers are at the center of the image
- Eigen::Vector2i window_size;
- window_size[0] = static_cast<int> (intrinsics (0, 2));
- window_size[1] = static_cast<int> (intrinsics (1, 2));
-
- // Compute the vertical field of view based on the focal length and image heigh
- double fovy = 2 * atan (window_size[1] / (2. * intrinsics (1, 1))) * 180.0 / M_PI;
-
-
- rens_->InitTraversal ();
- vtkRenderer* renderer = NULL;
- int i = 1;
- while ((renderer = rens_->GetNextItem ()) != NULL)
- {
- // Modify all renderer's cameras
- if (viewport == 0 || viewport == i)
- {
- vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
- cam->SetPosition (pos_vec[0], pos_vec[1], pos_vec[2]);
- cam->SetFocalPoint (focal_vec[0], focal_vec[1], focal_vec[2]);
- cam->SetViewUp (up_vec[0], up_vec[1], up_vec[2]);
- cam->SetUseHorizontalViewAngle (0);
- cam->SetViewAngle (fovy);
- cam->SetClippingRange (0.01, 1000.01);
- win_->SetSize (window_size[0], window_size[1]);
-
- renderer->Render ();
- }
- }
+ style_->setCameraParameters (intrinsics, extrinsics, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::setCameraParameters (const pcl::visualization::Camera &camera, int viewport)
{
- rens_->InitTraversal ();
- vtkRenderer* renderer = NULL;
- int i = 1;
- while ((renderer = rens_->GetNextItem ()) != NULL)
- {
- // Modify all renderer's cameras
- if (viewport == 0 || viewport == i)
- {
- vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
- cam->SetPosition (camera.pos[0], camera.pos[1], camera.pos[2]);
- cam->SetFocalPoint (camera.focal[0], camera.focal[1], camera.focal[2]);
- cam->SetViewUp (camera.view[0], camera.view[1], camera.view[2]);
- cam->SetClippingRange (camera.clip);
- cam->SetUseHorizontalViewAngle (0);
- cam->SetViewAngle (camera.fovy * 180.0 / M_PI);
-
- win_->SetSize (static_cast<int> (camera.window_size[0]),
- static_cast<int> (camera.window_size[1]));
- }
- }
+ style_->setCameraParameters (camera, viewport);
}
/////////////////////////////////////////////////////////////////////////////////////////////
{
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
- int i = 1;
+ int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Modify all renderer's cameras
vtkSmartPointer<vtkCamera> cam = renderer->GetActiveCamera ();
cam->SetClippingRange (near, far);
}
+ ++i;
}
}
{
rens_->InitTraversal ();
vtkRenderer* renderer = NULL;
- int i = 1;
+ int i = 0;
while ((renderer = rens_->GetNextItem ()) != NULL)
{
// Modify all renderer's cameras
cam->SetUseHorizontalViewAngle (0);
cam->SetViewAngle (fovy * 180.0 / M_PI);
}
+ ++i;
}
}
renderer->SetActiveCamera (cam);
renderer->ResetCameraClippingRange ();
- renderer->Render ();
}
+ win_->Render ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::getCameraParameters (int argc, char **argv)
{
- Camera camera_temp;
for (int i = 1; i < argc; i++)
{
if ((strcmp (argv[i], "-cam") == 0) && (++i < argc))
{
- std::ifstream fs;
std::string camfile = std::string (argv[i]);
- std::string line;
- std::vector<std::string> camera;
if (camfile.find (".cam") == std::string::npos)
{
// Assume we have clip/focal/pos/view
+ std::vector<std::string> camera;
boost::split (camera, argv[i], boost::is_any_of ("/"), boost::token_compress_on);
+ return (style_->getCameraParameters (camera));
}
else
{
// Assume that if we don't have clip/focal/pos/view, a filename.cam was given as a parameter
- fs.open (camfile.c_str ());
- while (!fs.eof ())
- {
- getline (fs, line);
- if (line == "")
- continue;
-
- boost::split (camera, line, boost::is_any_of ("/"), boost::token_compress_on);
- break;
- }
- fs.close ();
- }
-
- // look for '/' as a separator
- if (camera.size () != 7)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Camera parameters given, but with an invalid number of options (%lu vs 7)!\n", static_cast<unsigned long> (camera.size ()));
- return (false);
- }
-
- std::string clip_str = camera.at (0);
- std::string focal_str = camera.at (1);
- std::string pos_str = camera.at (2);
- std::string view_str = camera.at (3);
- std::string fovy_str = camera.at (4);
- std::string win_size_str = camera.at (5);
- std::string win_pos_str = camera.at (6);
-
- // Get each camera setting separately and parse for ','
- std::vector<std::string> clip_st;
- boost::split (clip_st, clip_str, boost::is_any_of (","), boost::token_compress_on);
- if (clip_st.size () != 2)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera clipping angle!\n");
- return (false);
- }
- camera_temp.clip[0] = atof (clip_st.at (0).c_str ());
- camera_temp.clip[1] = atof (clip_st.at (1).c_str ());
-
- std::vector<std::string> focal_st;
- boost::split (focal_st, focal_str, boost::is_any_of (","), boost::token_compress_on);
- if (focal_st.size () != 3)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera focal point!\n");
- return (false);
- }
- camera_temp.focal[0] = atof (focal_st.at (0).c_str ());
- camera_temp.focal[1] = atof (focal_st.at (1).c_str ());
- camera_temp.focal[2] = atof (focal_st.at (2).c_str ());
-
- std::vector<std::string> pos_st;
- boost::split (pos_st, pos_str, boost::is_any_of (","), boost::token_compress_on);
- if (pos_st.size () != 3)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera position!\n");
- return (false);
- }
- camera_temp.pos[0] = atof (pos_st.at (0).c_str ());
- camera_temp.pos[1] = atof (pos_st.at (1).c_str ());
- camera_temp.pos[2] = atof (pos_st.at (2).c_str ());
-
- std::vector<std::string> view_st;
- boost::split (view_st, view_str, boost::is_any_of (","), boost::token_compress_on);
- if (view_st.size () != 3)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for camera viewup!\n");
- return (false);
- }
- camera_temp.view[0] = atof (view_st.at (0).c_str ());
- camera_temp.view[1] = atof (view_st.at (1).c_str ());
- camera_temp.view[2] = atof (view_st.at (2).c_str ());
-
- std::vector<std::string> fovy_size_st;
- boost::split (fovy_size_st, fovy_str, boost::is_any_of (","), boost::token_compress_on);
- if (fovy_size_st.size () != 1)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for field of view angle!\n");
- return (false);
- }
- camera_temp.fovy = atof (fovy_size_st.at (0).c_str ());
-
- std::vector<std::string> win_size_st;
- boost::split (win_size_st, win_size_str, boost::is_any_of (","), boost::token_compress_on);
- if (win_size_st.size () != 2)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for window size!\n");
- return (false);
+ return (style_->loadCameraParameters (camfile));
}
- camera_temp.window_size[0] = atof (win_size_st.at (0).c_str ());
- camera_temp.window_size[1] = atof (win_size_st.at (1).c_str ());
-
- std::vector<std::string> win_pos_st;
- boost::split (win_pos_st, win_pos_str, boost::is_any_of (","), boost::token_compress_on);
- if (win_pos_st.size () != 2)
- {
- pcl::console::print_error ("[PCLVisualizer::getCameraParameters] Invalid parameters given for window position!\n");
- return (false);
- }
- camera_temp.window_pos[0] = atof (win_pos_st.at (0).c_str ());
- camera_temp.window_pos[1] = atof (win_pos_st.at (1).c_str ());
-
- setCameraParameters (camera_temp);
-
- return (true);
}
}
return (false);
}
+//////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::loadCameraParameters (const std::string &file)
+{
+ return (style_->loadCameraParameters (file));
+}
+
////////////////////////////////////////////////////////////////////////////////////////////
bool
pcl::visualization::PCLVisualizer::addCylinder (const pcl::ModelCoefficients &coefficients,
vtkSmartPointer<vtkDataSet> data = createCube (x_min, x_max, y_min, y_max, z_min, z_max);
// Create an Actor
- vtkSmartPointer<vtkActor> actor;
+ vtkSmartPointer<vtkLODActor> actor;
createActorFromVTKDataSet (data, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
actor->GetProperty ()->SetLighting (false);
vtkSmartPointer <vtkTransformFilter> trans_filter = vtkSmartPointer<vtkTransformFilter>::New ();
trans_filter->SetTransform (transform);
+#if VTK_MAJOR_VERSION < 6
trans_filter->SetInput (polydata);
+#else
+ trans_filter->SetInputData (polydata);
+#endif
trans_filter->Update();
// Create an Actor
// Update the data
vtkPolyData *data = static_cast<vtkPolyData*>(am_it->second.actor->GetMapper ()->GetInput ());
data->GetPointData ()->SetScalars (scalars);
- data->Update ();
// Modify the mapper
if (use_vbos_)
{
vtkPolyDataMapper* mapper = static_cast<vtkPolyDataMapper*>(am_it->second.actor->GetMapper ());
mapper->SetScalarRange (minmax);
mapper->SetScalarModeToUsePointData ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (data);
+#else
+ mapper->SetInputData (data);
+#endif
// Modify the actor
am_it->second.actor->SetMapper (mapper);
am_it->second.actor->Modified ();
poly_grid->Allocate (1, 1);
poly_grid->InsertNextCell (polygon->GetCellType (), polygon->GetPointIds ());
poly_grid->SetPoints (poly_points);
- poly_grid->Update ();
createActorFromVTKDataSet (poly_grid, actor);
actor->GetProperty ()->SetRepresentationToWireframe ();
cells->Squeeze ();
// Set the the vertices
polydata->SetStrips (cells);
- polydata->Update ();
return (true);
}
// Setup actor and mapper
vtkSmartPointer < vtkPolyDataMapper > mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
mapper->SetInput (polyData);
+#else
+ mapper->SetInputData (polyData);
+#endif
vtkSmartPointer < vtkActor > actor = vtkSmartPointer<vtkActor>::New ();
actor->SetMapper (mapper);
return (true);
}
+/////////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PCLVisualizer::addTextureMesh (const pcl::TextureMesh &mesh,
+ const std::string &id,
+ int viewport)
+{
+ CloudActorMap::iterator am_it = cloud_actor_map_->find (id);
+ if (am_it != cloud_actor_map_->end ())
+ {
+ PCL_ERROR ("[PCLVisualizer::addTextureMesh] A shape with id <%s> already exists!"
+ " Please choose a different id and retry.\n",
+ id.c_str ());
+ return (false);
+ }
+ // no texture materials --> exit
+ if (mesh.tex_materials.size () == 0)
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] No textures found!\n");
+ return (false);
+ }
+ // polygons are mapped to texture materials
+ if (mesh.tex_materials.size () != mesh.tex_polygons.size ())
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] Materials number %lu differs from polygons number %lu!\n",
+ mesh.tex_materials.size (), mesh.tex_polygons.size ());
+ return (false);
+ }
+ // each texture material should have its coordinates set
+ if (mesh.tex_materials.size () != mesh.tex_coordinates.size ())
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] Coordinates number %lu differs from materials number %lu!\n",
+ mesh.tex_coordinates.size (), mesh.tex_materials.size ());
+ return (false);
+ }
+ // total number of vertices
+ std::size_t nb_vertices = 0;
+ for (std::size_t i = 0; i < mesh.tex_polygons.size (); ++i)
+ nb_vertices+= mesh.tex_polygons[i].size ();
+ // no vertices --> exit
+ if (nb_vertices == 0)
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] No vertices found!\n");
+ return (false);
+ }
+ // total number of coordinates
+ std::size_t nb_coordinates = 0;
+ for (std::size_t i = 0; i < mesh.tex_coordinates.size (); ++i)
+ nb_coordinates+= mesh.tex_coordinates[i].size ();
+ // no texture coordinates --> exit
+ if (nb_coordinates == 0)
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] No textures coordinates found!\n");
+ return (false);
+ }
+
+ // Create points from mesh.cloud
+ vtkSmartPointer<vtkPoints> poly_points = vtkSmartPointer<vtkPoints>::New ();
+ vtkSmartPointer<vtkUnsignedCharArray> colors = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+ bool has_color = false;
+ vtkSmartPointer<vtkMatrix4x4> transformation = vtkSmartPointer<vtkMatrix4x4>::New ();
+ if ((pcl::getFieldIndex(mesh.cloud, "rgba") != -1) ||
+ (pcl::getFieldIndex(mesh.cloud, "rgb") != -1))
+ {
+ pcl::PointCloud<pcl::PointXYZRGB> cloud;
+ pcl::fromPCLPointCloud2(mesh.cloud, cloud);
+ if (cloud.points.size () == 0)
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] Cloud is empty!\n");
+ return (false);
+ }
+ convertToVtkMatrix (cloud.sensor_origin_, cloud.sensor_orientation_, transformation);
+ has_color = true;
+ colors->SetNumberOfComponents (3);
+ colors->SetName ("Colors");
+ poly_points->SetNumberOfPoints (cloud.size ());
+ for (std::size_t i = 0; i < cloud.points.size (); ++i)
+ {
+ const pcl::PointXYZRGB &p = cloud.points[i];
+ poly_points->InsertPoint (i, p.x, p.y, p.z);
+ const unsigned char color[3] = {p.r, p.g, p.b};
+ colors->InsertNextTupleValue(color);
+ }
+ }
+ else
+ {
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
+ pcl::fromPCLPointCloud2 (mesh.cloud, *cloud);
+ // no points --> exit
+ if (cloud->points.size () == 0)
+ {
+ PCL_ERROR("[PCLVisualizer::addTextureMesh] Cloud is empty!\n");
+ return (false);
+ }
+ convertToVtkMatrix (cloud->sensor_origin_, cloud->sensor_orientation_, transformation);
+ poly_points->SetNumberOfPoints (cloud->points.size ());
+ for (std::size_t i = 0; i < cloud->points.size (); ++i)
+ {
+ const pcl::PointXYZ &p = cloud->points[i];
+ poly_points->InsertPoint (i, p.x, p.y, p.z);
+ }
+ }
+
+ //create polys from polyMesh.tex_polygons
+ vtkSmartPointer<vtkCellArray> polys = vtkSmartPointer<vtkCellArray>::New ();
+ for (std::size_t i = 0; i < mesh.tex_polygons.size (); i++)
+ {
+ for (std::size_t j = 0; j < mesh.tex_polygons[i].size (); j++)
+ {
+ std::size_t n_points = mesh.tex_polygons[i][j].vertices.size ();
+ polys->InsertNextCell (int (n_points));
+ for (std::size_t k = 0; k < n_points; k++)
+ polys->InsertCellPoint (mesh.tex_polygons[i][j].vertices[k]);
+ }
+ }
+
+ vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
+ polydata->SetPolys (polys);
+ polydata->SetPoints (poly_points);
+ if (has_color)
+ polydata->GetPointData()->SetScalars(colors);
+
+ vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
+#if VTK_MAJOR_VERSION < 6
+ mapper->SetInput (polydata);
+#else
+ mapper->SetInputData (polydata);
+#endif
+
+ vtkSmartPointer<vtkLODActor> actor = vtkSmartPointer<vtkLODActor>::New ();
+ vtkOpenGLHardwareSupport* hardware = vtkOpenGLRenderWindow::SafeDownCast (win_)->GetHardwareSupport ();
+ bool supported = hardware->GetSupportsMultiTexturing ();
+ // Check if hardware support multi texture
+ std::size_t texture_units (hardware->GetNumberOfFixedTextureUnits ());
+ if ((mesh.tex_materials.size () > 1) && supported && (texture_units > 1))
+ {
+ if (texture_units < mesh.tex_materials.size ())
+ PCL_WARN ("[PCLVisualizer::addTextureMesh] GPU texture units %d < mesh textures %d!\n",
+ texture_units, mesh.tex_materials.size ());
+ // Load textures
+ std::size_t last_tex_id = std::min (mesh.tex_materials.size (), texture_units);
+ int tu = vtkProperty::VTK_TEXTURE_UNIT_0;
+ std::size_t tex_id = 0;
+ while (tex_id < last_tex_id)
+ {
+ vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New ();
+ if (textureFromTexMaterial (mesh.tex_materials[tex_id], texture))
+ {
+ PCL_WARN ("[PCLVisualizer::addTextureMesh] Failed to load texture %s, skipping!\n",
+ mesh.tex_materials[tex_id].tex_name.c_str ());
+ continue;
+ }
+ // the first texture is in REPLACE mode others are in ADD mode
+ if (tex_id == 0)
+ texture->SetBlendingMode(vtkTexture::VTK_TEXTURE_BLENDING_MODE_REPLACE);
+ else
+ texture->SetBlendingMode(vtkTexture::VTK_TEXTURE_BLENDING_MODE_ADD);
+ // add a texture coordinates array per texture
+ vtkSmartPointer<vtkFloatArray> coordinates = vtkSmartPointer<vtkFloatArray>::New ();
+ coordinates->SetNumberOfComponents (2);
+ std::stringstream ss; ss << "TCoords" << tex_id;
+ std::string this_coordinates_name = ss.str ();
+ coordinates->SetName (this_coordinates_name.c_str ());
+
+ for (std::size_t t = 0 ; t < mesh.tex_coordinates.size (); ++t)
+ if (t == tex_id)
+ for (std::size_t tc = 0; tc < mesh.tex_coordinates[t].size (); ++tc)
+ coordinates->InsertNextTuple2 (mesh.tex_coordinates[t][tc][0],
+ mesh.tex_coordinates[t][tc][1]);
+ else
+ for (std::size_t tc = 0; tc < mesh.tex_coordinates[t].size (); ++tc)
+ coordinates->InsertNextTuple2 (-1.0, -1.0);
+
+ mapper->MapDataArrayToMultiTextureAttribute(tu,
+ this_coordinates_name.c_str (),
+ vtkDataObject::FIELD_ASSOCIATION_POINTS);
+ polydata->GetPointData ()->AddArray (coordinates);
+ actor->GetProperty ()->SetTexture(tu, texture);
+ ++tex_id;
+ ++tu;
+ }
+ } // end of multi texturing
+ else
+ {
+ if (!supported || texture_units < 2)
+ PCL_WARN ("[PCLVisualizer::addTextureMesh] Your GPU doesn't support multi texturing. "
+ "Will use first one only!\n");
+
+ vtkSmartPointer<vtkTexture> texture = vtkSmartPointer<vtkTexture>::New ();
+ // fill vtkTexture from pcl::TexMaterial structure
+ if (textureFromTexMaterial (mesh.tex_materials[0], texture))
+ PCL_WARN ("[PCLVisualizer::addTextureMesh] Failed to create vtkTexture from %s!\n",
+ mesh.tex_materials[0].tex_name.c_str ());
+
+ // set texture coordinates
+ vtkSmartPointer<vtkFloatArray> coordinates = vtkSmartPointer<vtkFloatArray>::New ();
+ coordinates->SetNumberOfComponents (2);
+ coordinates->SetNumberOfTuples (mesh.tex_coordinates[0].size ());
+ for (std::size_t tc = 0; tc < mesh.tex_coordinates[0].size (); ++tc)
+ {
+ const Eigen::Vector2f &uv = mesh.tex_coordinates[0][tc];
+ coordinates->SetTuple2 (tc, uv[0], uv[1]);
+ }
+ coordinates->SetName ("TCoords");
+ polydata->GetPointData ()->SetTCoords(coordinates);
+ // apply texture
+ actor->SetTexture (texture);
+ } // end of one texture
+
+ // set mapper
+ actor->SetMapper (mapper);
+ addActorToRenderer (actor, viewport);
+
+ // Save the pointer/ID pair to the global actor map
+ (*cloud_actor_map_)[id].actor = actor;
+
+ // Save the viewpoint transformation matrix to the global actor map
+ (*cloud_actor_map_)[id].viewpoint_transformation_ = transformation;
+
+ return (true);
+}
+
///////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PCLVisualizer::setRepresentationToSurfaceForAllActors ()
vtkSmartPointer<vtkTransformFilter> trans_filter_center = vtkSmartPointer<vtkTransformFilter>::New ();
trans_filter_center->SetTransform (trans_center);
+#if VTK_MAJOR_VERSION < 6
trans_filter_center->SetInput (polydata);
+#else
+ trans_filter_center->SetInputData (polydata);
+#endif
trans_filter_center->Update ();
vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New ();
vtkSmartPointer<vtkLoopSubdivisionFilter> subdivide = vtkSmartPointer<vtkLoopSubdivisionFilter>::New ();
subdivide->SetNumberOfSubdivisions (tesselation_level);
subdivide->SetInputConnection (ico->GetOutputPort ());
+ subdivide->Update ();
// Get camera positions
vtkPolyData *sphere = subdivide->GetOutput ();
- sphere->Update ();
std::vector<Eigen::Vector3f> cam_positions;
if (!use_vertices)
hardware_selector->SetArea (0, 0, xres - 1, yres - 1);
hardware_selector->SetFieldAssociation(vtkDataObject::FIELD_ASSOCIATION_CELLS);
hdw_selection = hardware_selector->Select ();
+ if (!hdw_selection || !hdw_selection->GetNode (0) || !hdw_selection->GetNode (0)->GetSelectionList ())
+ {
+ PCL_WARN ("[renderViewTesselatedSphere] Invalid selection, skipping!\n");
+ continue;
+ }
+
vtkSmartPointer<vtkIdTypeArray> ids = vtkSmartPointer<vtkIdTypeArray>::New ();
ids = vtkIdTypeArray::SafeDownCast(hdw_selection->GetNode(0)->GetSelectionList());
double visible_area = 0;
int id_mesh = static_cast<int> (ids->GetValue (sel_id));
vtkCell * cell = polydata->GetCell (id_mesh);
vtkTriangle* triangle = dynamic_cast<vtkTriangle*> (cell);
+ if (!triangle)
+ {
+ PCL_WARN ("[renderViewTesselatedSphere] Invalid triangle %d, skipping!\n", id_mesh);
+ continue;
+ }
+
double p0[3];
double p1[3];
double p2[3];
// Convert the PointCloud to VTK PolyData
convertPointCloudToVTKPolyData (geometry_handler, polydata, initcells);
// use the given geometry handler
- polydata->Update ();
// Get the colors from the handler
bool has_colors = false;
sprintf (buf, "%.1f FPS", fps);
actor->SetInput (buf);
}
+
+/////////////////////////////////////////////////////////////////////////////////////////////
+int
+pcl::visualization::PCLVisualizer::textureFromTexMaterial (const pcl::TexMaterial& tex_mat,
+ vtkTexture* vtk_tex) const
+{
+ if (tex_mat.tex_file == "")
+ {
+ PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] No texture file given for material %s!\n",
+ tex_mat.tex_name.c_str ());
+ return (-1);
+ }
+
+ boost::filesystem::path full_path (tex_mat.tex_file.c_str ());
+ if (!boost::filesystem::exists (full_path))
+ {
+ boost::filesystem::path parent_dir = full_path.parent_path ();
+ std::string upper_filename = tex_mat.tex_file;
+ boost::to_upper (upper_filename);
+ std::string real_name = "";
+
+ try
+ {
+ if (!boost::filesystem::exists (parent_dir))
+ {
+ PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Parent directory '%s' doesn't exist!\n",
+ parent_dir.string ().c_str ());
+ return (-1);
+ }
+
+ if (!boost::filesystem::is_directory (parent_dir))
+ {
+ PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Parent '%s' is not a directory !\n",
+ parent_dir.string ().c_str ());
+ return (-1);
+ }
+
+ typedef std::vector<boost::filesystem::path> paths_vector;
+ paths_vector paths;
+ std::copy (boost::filesystem::directory_iterator (parent_dir),
+ boost::filesystem::directory_iterator (),
+ back_inserter (paths));
+
+ for (paths_vector::const_iterator it = paths.begin (); it != paths.end (); ++it)
+ {
+ if (boost::filesystem::is_regular_file (*it))
+ {
+ std::string name = it->string ();
+ boost::to_upper (name);
+ if (name == upper_filename)
+ {
+ real_name = it->string ();
+ break;
+ }
+ }
+ }
+ // Check texture file existence
+ if (real_name == "")
+ {
+ PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Can not find texture file %s!\n",
+ tex_mat.tex_file.c_str ());
+ return (-1);
+ }
+ }
+ catch (const boost::filesystem::filesystem_error& ex)
+ {
+
+ PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Error %s when looking for file %s\n!",
+ ex.what (), tex_mat.tex_file.c_str ());
+ return (-1);
+ }
+
+ //Save the real path
+ full_path = real_name.c_str ();
+ }
+
+ std::string extension = full_path.extension ().string ();
+ //!!! nizar 20131206 : The list is far from being exhaustive I am afraid.
+ if ((extension == ".jpg") || (extension == ".JPG"))
+ {
+ vtkSmartPointer<vtkJPEGReader> jpeg_reader = vtkSmartPointer<vtkJPEGReader>::New ();
+ jpeg_reader->SetFileName (full_path.string ().c_str ());
+ jpeg_reader->Update ();
+ vtk_tex->SetInputConnection (jpeg_reader->GetOutputPort ());
+ }
+ else if ((extension == ".bmp") || (extension == ".BMP"))
+ {
+ vtkSmartPointer<vtkBMPReader> bmp_reader = vtkSmartPointer<vtkBMPReader>::New ();
+ bmp_reader->SetFileName (full_path.string ().c_str ());
+ bmp_reader->Update ();
+ vtk_tex->SetInputConnection (bmp_reader->GetOutputPort ());
+ }
+ else if ((extension == ".pnm") || (extension == ".PNM"))
+ {
+ vtkSmartPointer<vtkPNMReader> pnm_reader = vtkSmartPointer<vtkPNMReader>::New ();
+ pnm_reader->SetFileName (full_path.string ().c_str ());
+ pnm_reader->Update ();
+ vtk_tex->SetInputConnection (pnm_reader->GetOutputPort ());
+ }
+ else if ((extension == ".png") || (extension == ".PNG"))
+ {
+ vtkSmartPointer<vtkPNGReader> png_reader = vtkSmartPointer<vtkPNGReader>::New ();
+ png_reader->SetFileName (full_path.string ().c_str ());
+ png_reader->Update ();
+ vtk_tex->SetInputConnection (png_reader->GetOutputPort ());
+ }
+ else if ((extension == ".tiff") || (extension == ".TIFF"))
+ {
+ vtkSmartPointer<vtkTIFFReader> tiff_reader = vtkSmartPointer<vtkTIFFReader>::New ();
+ tiff_reader->SetFileName (full_path.string ().c_str ());
+ tiff_reader->Update ();
+ vtk_tex->SetInputConnection (tiff_reader->GetOutputPort ());
+ }
+ else
+ {
+ PCL_WARN ("[PCLVisualizer::textureFromTexMaterial] Unhandled image %s for material %s!\n",
+ full_path.c_str (), tex_mat.tex_name.c_str ());
+ return (-1);
+ }
+
+ return (0);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+std::string
+pcl::visualization::PCLVisualizer::getUniqueCameraFile (int argc, char **argv)
+{
+ std::vector<int> p_file_indices;
+ boost::uuids::detail::sha1 sha1;
+ unsigned int digest[5];
+ const char *str;
+ std::ostringstream sstream;
+ bool valid = false;
+
+ p_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
+ if (p_file_indices.size () != 0)
+ {
+ // Calculate sha1 using canonical paths
+ for (size_t i = 0; i < p_file_indices.size (); ++i)
+ {
+ boost::filesystem::path path (argv[p_file_indices[i]]);
+ if (boost::filesystem::exists (path))
+ {
+ path = boost::filesystem::canonical (path);
+ str = path.string ().c_str ();
+ sha1.process_bytes (str, std::strlen (str));
+ valid = true;
+ }
+ }
+
+ // Build camera filename
+ if (valid)
+ {
+ sha1.get_digest (digest);
+ sstream << ".";
+ sstream << std::hex << digest[0] << digest[1] << digest[2] << digest[3] << digest[4];
+ sstream << ".cam";
+ }
+ }
+
+ return (sstream.str ());
+}
return (true);
}
+///////////////////////////////////////////////////////////////////////////////////////////
+pcl::visualization::PointCloudColorHandlerRGBAField<pcl::PCLPointCloud2>::PointCloudColorHandlerRGBAField (
+ const pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudConstPtr &cloud) :
+ pcl::visualization::PointCloudColorHandler<pcl::PCLPointCloud2>::PointCloudColorHandler (cloud)
+{
+ // Handle the 24-bit packed RGBA values
+ field_idx_ = pcl::getFieldIndex (*cloud, "rgba");
+ if (field_idx_ != -1)
+ capable_ = true;
+ else
+ capable_ = false;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::PointCloudColorHandlerRGBAField<pcl::PCLPointCloud2>::getColor (vtkSmartPointer<vtkDataArray> &scalars) const
+{
+ if (!capable_ || !cloud_)
+ return (false);
+
+ if (!scalars)
+ scalars = vtkSmartPointer<vtkUnsignedCharArray>::New ();
+ scalars->SetNumberOfComponents (4);
+
+ vtkIdType nr_points = cloud_->width * cloud_->height;
+ reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (nr_points);
+ // Allocate enough memory to hold all colors
+ unsigned char* colors = new unsigned char[nr_points * 4];
+
+ pcl::RGB rgba_data;
+ int point_offset = cloud_->fields[field_idx_].offset;
+ int j = 0;
+
+ // If XYZ present, check if the points are invalid
+ int x_idx = pcl::getFieldIndex (*cloud_, "x");
+ if (x_idx != -1)
+ {
+ float x_data, y_data, z_data;
+ int x_point_offset = cloud_->fields[x_idx].offset;
+
+ // Color every point
+ for (vtkIdType cp = 0; cp < nr_points; ++cp,
+ point_offset += cloud_->point_step,
+ x_point_offset += cloud_->point_step)
+ {
+ // Copy the value at the specified field
+ memcpy (&rgba_data, &cloud_->data[point_offset], sizeof (float));
+
+ memcpy (&x_data, &cloud_->data[x_point_offset], sizeof (float));
+ memcpy (&y_data, &cloud_->data[x_point_offset + sizeof (float)], sizeof (float));
+ memcpy (&z_data, &cloud_->data[x_point_offset + 2 * sizeof (float)], sizeof (float));
+
+ if (!pcl_isfinite (x_data) || !pcl_isfinite (y_data) || !pcl_isfinite (z_data))
+ continue;
+
+ colors[j + 0] = rgba_data.r;
+ colors[j + 1] = rgba_data.g;
+ colors[j + 2] = rgba_data.b;
+ colors[j + 3] = rgba_data.a;
+ j += 4;
+ }
+ }
+ // No XYZ data checks
+ else
+ {
+ // Color every point
+ for (vtkIdType cp = 0; cp < nr_points; ++cp, point_offset += cloud_->point_step)
+ {
+ // Copy the value at the specified field
+ memcpy (&rgba_data, &cloud_->data[point_offset], sizeof (float));
+
+ colors[j + 0] = rgba_data.r;
+ colors[j + 1] = rgba_data.g;
+ colors[j + 2] = rgba_data.b;
+ colors[j + 3] = rgba_data.a;
+ j += 4;
+ }
+ }
+ if (j != 0)
+ reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetArray (colors, j, 0);
+ else
+ reinterpret_cast<vtkUnsignedCharArray*>(&(*scalars))->SetNumberOfTuples (0);
+ //delete [] colors;
+ return (true);
+}
+
///////////////////////////////////////////////////////////////////////////////////////////
void
pcl::visualization::PointCloudGeometryHandler<pcl::PCLPointCloud2>::getGeometry (vtkSmartPointer<vtkPoints> &points) const
// Instantiations of specific point types
#ifdef PCL_ONLY_CORE_POINT_TYPES
- PCL_INSTANTIATE(PointCloudGeometryHandlerXYZ, (pcl::PointSurfel)(pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointNormal)(pcl::PointXYZRGBNormal))
+ PCL_INSTANTIATE(PointCloudGeometryHandlerXYZ, (pcl::PointSurfel)(pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointNormal)(pcl::PointXYZRGBNormal)(pcl::PointXYZRGBL))
PCL_INSTANTIATE(PointCloudGeometryHandlerSurfaceNormal, (pcl::Normal)(pcl::PointNormal)(pcl::PointXYZRGBNormal))
#else
PCL_INSTANTIATE(PointCloudGeometryHandlerXYZ, PCL_XYZ_POINT_TYPES)
#include <pcl/visualization/point_picking_event.h>
#include <pcl/visualization/interactor_style.h>
+#include <vtkVersion.h>
#include <vtkPointPicker.h>
#include <vtkAreaPicker.h>
#include <vtkRenderWindowInteractor.h>
vtkSmartPointer<vtkExtractGeometry> extract_geometry = vtkSmartPointer<vtkExtractGeometry>::New ();
extract_geometry->SetImplicitFunction (frustum);
-#if VTK_MAJOR_VERSION <= 5
+#if VTK_MAJOR_VERSION < 6
extract_geometry->SetInput (picker->GetDataSet ());
#else
extract_geometry->SetInputData (picker->GetDataSet ());
vtkStandardNewMacro (Points);
vtkStandardNewMacro (Polygon);
vtkStandardNewMacro (Text);
+ vtkStandardNewMacro (Markers);
}
}
}
return (true);
}
+///////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::context_items::Markers::setPointColors (unsigned char r, unsigned char g, unsigned char b)
+{
+ point_colors[0] = r; point_colors[1] = g; point_colors[2] = b;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////
+void
+pcl::visualization::context_items::Markers::setPointColors (unsigned char rgb[3])
+{
+ memcpy (point_colors, rgb, 3 * sizeof (unsigned char));
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////
+bool
+pcl::visualization::context_items::Markers::Paint (vtkContext2D *painter)
+{
+ int nb_points (params.size () / 2);
+ if (size <= 0)
+ size = 2.3 * painter->GetPen ()->GetWidth ();
+
+ painter->GetPen ()->SetWidth (size);
+ painter->GetPen ()->SetColor (colors);
+ painter->DrawPointSprites (0, ¶ms[0], nb_points);
+ painter->GetPen ()->SetWidth (1);
+ painter->GetPen ()->SetColor (point_colors);
+ painter->DrawPointSprites (0, ¶ms[0], nb_points);
+ return (true);
+}
+
///////////////////////////////////////////////////////////////////////////////////////////
pcl::visualization::PCLContextImageItem::PCLContextImageItem ()
{
{
GLuint ioBuf;
vtkgl::GenBuffers(1, &ioBuf);
- vtkGraphicErrorMacro(this->Context, "after GenBuffers");
this->Handle = ioBuf;
}
}
#include "pcl/visualization/vtk/vtkVertexBufferObject.h"
#include "pcl/visualization/vtk/vtkVertexBufferObjectMapper.h"
+#include "vtkVersion.h"
#include "vtkCellData.h"
#include "vtkExecutive.h"
#include "vtkInformation.h"
// std::cout << "SetInput" << endl;
if(input)
{
+#if VTK_MAJOR_VERSION < 6
this->SetInputConnection(0, input->GetProducerPort());
+#else
+ this->SetInputDataObject (0, input);
+#endif
}
else
{
// std::cout << "SetInput" << endl;
if(input)
{
+#if VTK_MAJOR_VERSION < 6
this->SetInputConnection(0, input->GetProducerPort());
+#else
+ this->SetInputDataObject (0, input);
+#endif
}
else
{
// Start the visualizer
pcl::visualization::PCLVisualizer p ("test_shapes");
p.setBackgroundColor (1, 1, 1);
- p.addCoordinateSystem (1.0);
+ p.addCoordinateSystem (1.0, "first");
//p.addPolygon (cloud, "polygon");
p.addPolygon<PointXYZ> (cloud, 1.0, 0.0, 0.0, "polygon", 0);
p.addText3D ("text3D", cloud->points[0], 1.0, 1.0, 0.0, 0.0);
p.spin ();
- p.removeCoordinateSystem (0);
+ p.removeCoordinateSystem ("first", 0);
p.spin ();
- p.addCoordinateSystem (1.0, 5, 3, 1);
+ p.addCoordinateSystem (1.0, 5, 3, 1, "second");
p.spin ();
- p.removeCoordinateSystem (0);
+ p.removeCoordinateSystem ("second", 0);
p.spin ();
}
target_link_libraries(pcl_openni_image pcl_common pcl_io pcl_kdtree pcl_visualization)
endif()
+if(OPENNI2_FOUND AND BUILD_OPENNI2)
+ PCL_ADD_EXECUTABLE_OPT_BUNDLE(pcl_openni2_viewer ${SUBSYS_NAME} openni2_viewer.cpp)
+ target_link_libraries(pcl_openni2_viewer pcl_common pcl_io pcl_kdtree pcl_visualization)
+endif()
}
void
- cloud_callback (const CloudConstPtr& cloud, float startAngle,
- float endAngle)
+ cloud_callback (const CloudConstPtr& cloud,
+ float /*startAngle*/,
+ float /*endAngle*/)
{
FPS_CALC ("cloud callback");
boost::mutex::scoped_lock lock (cloud_mutex_);
void
keyboard_callback (const KeyboardEvent& event,
- void* cookie)
+ void* /*cookie*/)
{
if (event.keyUp ())
{
void
mouse_callback (const MouseEvent& mouse_event,
- void* cookie)
+ void* /*cookie*/)
{
if (mouse_event.getType () == MouseEvent::MouseButtonPress &&
mouse_event.getButton () == MouseEvent::LeftButton)
void
run ()
{
- cloud_viewer_->addCoordinateSystem (3.0);
+ cloud_viewer_->addCoordinateSystem (3.0, "global");
cloud_viewer_->setBackgroundColor (0, 0, 0);
cloud_viewer_->initCameraParameters ();
cloud_viewer_->setCameraPosition (0.0, 0.0, 30.0, 0.0, 1.0, 0.0, 0);
float ax_x = 0.0, ax_y = 0.0, ax_z = 0.0;
pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z, false);
// Draw XYZ axes if command-line enabled
- cloud_viewer->addCoordinateSystem (axes, ax_x, ax_y, ax_z);
+ cloud_viewer->addCoordinateSystem (axes, ax_x, ax_y, ax_z, "global");
}
float frames_per_second = 0; // 0 means only if triggered!
--- /dev/null
+/*
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2010, 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.
+*
+* $Id$
+*
+*/
+
+#define MEASURE_FUNCTION_TIME
+#include <pcl/common/time.h> //fps calculations
+#include <pcl/common/angles.h>
+#include <pcl/io/openni2_grabber.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/visualization/boost.h>
+#include <pcl/visualization/image_viewer.h>
+#include <pcl/console/print.h>
+#include <pcl/console/parse.h>
+#include <pcl/console/time.h>
+
+#include <boost/chrono.hpp>
+
+#include "pcl/io/openni2/openni.h"
+
+typedef boost::chrono::high_resolution_clock HRClock;
+
+#define SHOW_FPS 1
+#if SHOW_FPS
+#define FPS_CALC(_WHAT_) \
+ do \
+{ \
+ static unsigned count = 0;\
+ static double last = pcl::getTime ();\
+ double now = pcl::getTime (); \
+ ++count; \
+ if (now - last >= 1.0) \
+{ \
+ std::cout << "Average framerate ("<< _WHAT_ << "): " << double (count)/double (now - last) << " Hz" << std::endl; \
+ count = 0; \
+ last = now; \
+} \
+}while (false)
+#else
+#define FPS_CALC (_WHAT_) \
+ do \
+{ \
+}while (false)
+#endif
+
+void
+printHelp (int, char **argv)
+{
+ using pcl::console::print_error;
+ using pcl::console::print_info;
+
+ print_error ("Syntax is: %s [((<device_id> | <path-to-oni-file>) [-depthmode <mode>] [-imagemode <mode>] [-xyz] | -l [<device_id>]| -h | --help)]\n", argv [0]);
+ print_info ("%s -h | --help : shows this help\n", argv [0]);
+ print_info ("%s -xyz : use only XYZ values and ignore RGB components (this flag is required for use with ASUS Xtion Pro) \n", argv [0]);
+ print_info ("%s -l : list all available devices\n", argv [0]);
+ print_info ("%s -l <device-id> :list all available modes for specified device\n", argv [0]);
+ print_info ("\t\t<device_id> may be \"#1\", \"#2\", ... for the first, second etc device in the list\n");
+#ifndef _WIN32
+ print_info ("\t\t bus@address for the device connected to a specific usb-bus / address combination\n");
+ print_info ("\t\t <serial-number>\n");
+#endif
+ print_info ("\n\nexamples:\n");
+ print_info ("%s \"#1\"\n", argv [0]);
+ print_info ("\t\t uses the first device.\n");
+ print_info ("%s \"./temp/test.oni\"\n", argv [0]);
+ print_info ("\t\t uses the oni-player device to play back oni file given by path.\n");
+ print_info ("%s -l\n", argv [0]);
+ print_info ("\t\t list all available devices.\n");
+ print_info ("%s -l \"#2\"\n", argv [0]);
+ print_info ("\t\t list all available modes for the second device.\n");
+#ifndef _WIN32
+ print_info ("%s A00361800903049A\n", argv [0]);
+ print_info ("\t\t uses the device with the serial number \'A00361800903049A\'.\n");
+ print_info ("%s 1@16\n", argv [0]);
+ print_info ("\t\t uses the device on address 16 at USB bus 1.\n");
+#endif
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointType>
+class OpenNI2Viewer
+{
+public:
+ typedef pcl::PointCloud<PointType> Cloud;
+ typedef typename Cloud::ConstPtr CloudConstPtr;
+
+ OpenNI2Viewer (pcl::io::OpenNI2Grabber& grabber)
+ : cloud_viewer_ (new pcl::visualization::PCLVisualizer ("PCL OpenNI2 cloud"))
+ , image_viewer_ ()
+ , grabber_ (grabber)
+ , rgb_data_ (0), rgb_data_size_ (0)
+ {
+ }
+
+ void
+ cloud_callback (const CloudConstPtr& cloud)
+ {
+ FPS_CALC ("cloud callback");
+ boost::mutex::scoped_lock lock (cloud_mutex_);
+ cloud_ = cloud;
+ }
+
+ void
+ image_callback (const boost::shared_ptr<pcl::io::openni2::Image>& image)
+ {
+ FPS_CALC ("image callback");
+ boost::mutex::scoped_lock lock (image_mutex_);
+ image_ = image;
+
+ if (image->getEncoding () != pcl::io::openni2::Image::RGB)
+ {
+ if (rgb_data_size_ < image->getWidth () * image->getHeight ())
+ {
+ if (rgb_data_)
+ delete [] rgb_data_;
+ rgb_data_size_ = image->getWidth () * image->getHeight ();
+ rgb_data_ = new unsigned char [rgb_data_size_ * 3];
+ }
+ image_->fillRGB (image_->getWidth (), image_->getHeight (), rgb_data_);
+ }
+ }
+
+ void
+ keyboard_callback (const pcl::visualization::KeyboardEvent& event, void*)
+ {
+ if (event.getKeyCode ())
+ cout << "the key \'" << event.getKeyCode () << "\' (" << event.getKeyCode () << ") was";
+ else
+ cout << "the special key \'" << event.getKeySym () << "\' was";
+ if (event.keyDown ())
+ cout << " pressed" << endl;
+ else
+ cout << " released" << endl;
+ }
+
+ void
+ mouse_callback (const pcl::visualization::MouseEvent& mouse_event, void*)
+ {
+ if (mouse_event.getType () == pcl::visualization::MouseEvent::MouseButtonPress && mouse_event.getButton () == pcl::visualization::MouseEvent::LeftButton)
+ {
+ cout << "left button pressed @ " << mouse_event.getX () << " , " << mouse_event.getY () << endl;
+ }
+ }
+
+ /**
+ * @brief starts the main loop
+ */
+ void
+ run ()
+ {
+ cloud_viewer_->registerMouseCallback (&OpenNI2Viewer::mouse_callback, *this);
+ cloud_viewer_->registerKeyboardCallback (&OpenNI2Viewer::keyboard_callback, *this);
+ cloud_viewer_->setCameraFieldOfView (1.02259994f);
+ boost::function<void (const CloudConstPtr&) > cloud_cb = boost::bind (&OpenNI2Viewer::cloud_callback, this, _1);
+ boost::signals2::connection cloud_connection = grabber_.registerCallback (cloud_cb);
+
+ boost::signals2::connection image_connection;
+ if (grabber_.providesCallback<void (const boost::shared_ptr<pcl::io::openni2::Image>&)>())
+ {
+ image_viewer_.reset (new pcl::visualization::ImageViewer ("PCL OpenNI image"));
+ image_viewer_->registerMouseCallback (&OpenNI2Viewer::mouse_callback, *this);
+ image_viewer_->registerKeyboardCallback (&OpenNI2Viewer::keyboard_callback, *this);
+ boost::function<void (const boost::shared_ptr<pcl::io::openni2::Image>&) > image_cb = boost::bind (&OpenNI2Viewer::image_callback, this, _1);
+ image_connection = grabber_.registerCallback (image_cb);
+ }
+
+ bool image_init = false, cloud_init = false;
+
+ grabber_.start ();
+
+ while (!cloud_viewer_->wasStopped () && (image_viewer_ && !image_viewer_->wasStopped ()))
+ {
+ boost::shared_ptr<pcl::io::openni2::Image> image;
+ CloudConstPtr cloud;
+
+ cloud_viewer_->spinOnce ();
+
+ // See if we can get a cloud
+ if (cloud_mutex_.try_lock ())
+ {
+ cloud_.swap (cloud);
+ cloud_mutex_.unlock ();
+ }
+
+ if (cloud)
+ {
+ FPS_CALC("drawing cloud");
+
+ if (!cloud_init)
+ {
+ cloud_viewer_->setPosition (0, 0);
+ cloud_viewer_->setSize (cloud->width, cloud->height);
+ cloud_init = !cloud_init;
+ }
+
+ if (!cloud_viewer_->updatePointCloud (cloud, "OpenNICloud"))
+ {
+ cloud_viewer_->addPointCloud (cloud, "OpenNICloud");
+ cloud_viewer_->resetCameraViewpoint ("OpenNICloud");
+ cloud_viewer_->setCameraPosition (
+ 0,0,0, // Position
+ 0,0,1, // Viewpoint
+ 0,-1,0); // Up
+ }
+ }
+
+ // See if we can get an image
+ if (image_mutex_.try_lock ())
+ {
+ image_.swap (image);
+ image_mutex_.unlock ();
+ }
+
+
+ if (image)
+ {
+ if (!image_init && cloud && cloud->width != 0)
+ {
+ image_viewer_->setPosition (cloud->width, 0);
+ image_viewer_->setSize (cloud->width, cloud->height);
+ image_init = !image_init;
+ }
+
+ if (image->getEncoding () == pcl::io::openni2::Image::RGB)
+ image_viewer_->addRGBImage ( (const unsigned char*)image->getData (), image->getWidth (), image->getHeight ());
+ else
+ image_viewer_->addRGBImage (rgb_data_, image->getWidth (), image->getHeight ());
+ image_viewer_->spinOnce ();
+
+ }
+ }
+
+ grabber_.stop ();
+
+ cloud_connection.disconnect ();
+ image_connection.disconnect ();
+ if (rgb_data_)
+ delete[] rgb_data_;
+ }
+
+ boost::shared_ptr<pcl::visualization::PCLVisualizer> cloud_viewer_;
+ boost::shared_ptr<pcl::visualization::ImageViewer> image_viewer_;
+
+ pcl::io::OpenNI2Grabber& grabber_;
+ boost::mutex cloud_mutex_;
+ boost::mutex image_mutex_;
+
+ CloudConstPtr cloud_;
+ boost::shared_ptr<pcl::io::openni2::Image> image_;
+ unsigned char* rgb_data_;
+ unsigned rgb_data_size_;
+};
+
+// Create the PCLVisualizer object
+boost::shared_ptr<pcl::visualization::PCLVisualizer> cld;
+boost::shared_ptr<pcl::visualization::ImageViewer> img;
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+ std::string device_id ("");
+ pcl::io::OpenNI2Grabber::Mode depth_mode = pcl::io::OpenNI2Grabber::OpenNI_Default_Mode;
+ pcl::io::OpenNI2Grabber::Mode image_mode = pcl::io::OpenNI2Grabber::OpenNI_Default_Mode;
+ bool xyz = false;
+
+ if (argc >= 2)
+ {
+ device_id = argv[1];
+ if (device_id == "--help" || device_id == "-h")
+ {
+ printHelp (argc, argv);
+ return 0;
+ }
+ else if (device_id == "-l")
+ {
+ if (argc >= 3)
+ {
+ pcl::io::OpenNI2Grabber grabber (argv[2]);
+ boost::shared_ptr<pcl::io::openni2::OpenNI2Device> device = grabber.getDevice ();
+ cout << *device; // Prints out all sensor data, including supported video modes
+ }
+ else
+ {
+ boost::shared_ptr<pcl::io::openni2::OpenNI2DeviceManager> deviceManager = pcl::io::openni2::OpenNI2DeviceManager::getInstance ();
+ if (deviceManager->getNumOfConnectedDevices () > 0)
+ {
+ for (unsigned deviceIdx = 0; deviceIdx < deviceManager->getNumOfConnectedDevices (); ++deviceIdx)
+ {
+ boost::shared_ptr<pcl::io::openni2::OpenNI2Device> device = deviceManager->getDeviceByIndex (deviceIdx);
+ cout << "Device " << device->getStringID () << "connected." << endl;
+ }
+
+ }
+ else
+ cout << "No devices connected." << endl;
+
+ cout <<"Virtual Devices available: ONI player" << endl;
+ }
+ return 0;
+ }
+ }
+ else
+ {
+ boost::shared_ptr<pcl::io::openni2::OpenNI2DeviceManager> deviceManager = pcl::io::openni2::OpenNI2DeviceManager::getInstance ();
+ if (deviceManager->getNumOfConnectedDevices () > 0)
+ {
+ boost::shared_ptr<pcl::io::openni2::OpenNI2Device> device = deviceManager->getAnyDevice ();
+ cout << "Device ID not set, using default device: " << device->getStringID () << endl;
+ }
+ }
+
+ unsigned mode;
+ if (pcl::console::parse (argc, argv, "-depthmode", mode) != -1)
+ depth_mode = pcl::io::OpenNI2Grabber::Mode (mode);
+
+ if (pcl::console::parse (argc, argv, "-imagemode", mode) != -1)
+ image_mode = pcl::io::OpenNI2Grabber::Mode (mode);
+
+ if (pcl::console::find_argument (argc, argv, "-xyz") != -1)
+ xyz = true;
+
+ pcl::io::OpenNI2Grabber grabber (device_id, depth_mode, image_mode);
+
+ if (xyz || !grabber.providesCallback<pcl::io::OpenNI2Grabber::sig_cb_openni_point_cloud_rgb> ())
+ {
+ OpenNI2Viewer<pcl::PointXYZ> openni_viewer (grabber);
+ openni_viewer.run ();
+ }
+ else
+ {
+ OpenNI2Viewer<pcl::PointXYZRGBA> openni_viewer (grabber);
+ openni_viewer.run ();
+ }
+
+ return (0);
+}
+/* ]--- */
float ax_x = 0.0, ax_y = 0.0, ax_z = 0.0;
pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z, false);
// Draw XYZ axes if command-line enabled
- cloud_viewer->addCoordinateSystem (axes, ax_x, ax_y, ax_z);
+ cloud_viewer->addCoordinateSystem (axes, ax_x, ax_y, ax_z, "global");
}
float frames_per_second = 0; // 0 means only if triggered!
if (debug)
pcl::console::setVerbosityLevel (pcl::console::L_DEBUG);
- bool cam = pcl::console::find_switch (argc, argv, "-cam");
-
// Parse the command line arguments for .pcd files
std::vector<int> p_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".pcd");
std::vector<int> vtk_file_indices = pcl::console::parse_file_extension_argument (argc, argv, ".vtk");
// Set whether or not we should be using the vtkVertexBufferObjectMapper
p->setUseVbos (use_vbos);
- if (!cam)
+ if (!p->cameraParamsSet () && !p->cameraFileLoaded ())
{
Eigen::Matrix3f rotation;
rotation = orientation;
// Add every dimension as a possible color
if (!fcolorparam)
{
+ int idx = 0;
for (size_t f = 0; f < cloud->fields.size (); ++f)
{
if (cloud->fields[f].name == "rgb" || cloud->fields[f].name == "rgba")
+ {
+ idx = f + 1;
color_handler.reset (new pcl::visualization::PointCloudColorHandlerRGBField<pcl::PCLPointCloud2> (cloud));
+ }
else
{
if (!isValidFieldName (cloud->fields[f].name))
//p->addPointCloud<pcl::PointXYZ> (cloud_xyz, color_handler, cloud_name.str (), viewport);
p->addPointCloud (cloud, color_handler, origin, orientation, cloud_name.str (), viewport);
}
+ // Set RGB color handler as default
+ p->updateColorHandlerIndex (cloud_name.str (), idx);
}
// Additionally, add normals as a handler
p->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY, opaque.at (i), cloud_name.str ());
// Reset camera viewpoint to center of cloud if camera parameters were not passed manually and this is the first loaded cloud
- if (i == 0 && !p->cameraParamsSet ())
+ if (i == 0 && !p->cameraParamsSet () && !p->cameraFileLoaded ())
+ {
p->resetCameraViewpoint (cloud_name.str ());
+ p->resetCamera ();
+ }
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%u", cloud->width * cloud->height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (*cloud).c_str ());
+ if (p->cameraFileLoaded ())
+ print_info ("Camera parameters restored from %s.\n", p->getCameraFile ().c_str ());
}
if (!mview && p)
if (axes != 0.0 && p)
{
float ax_x = 0.0, ax_y = 0.0, ax_z = 0.0;
- pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z, false);
+ pcl::console::parse_3x_arguments (argc, argv, "-ax_pos", ax_x, ax_y, ax_z);
// Draw XYZ axes if command-line enabled
- p->addCoordinateSystem (axes, ax_x, ax_y, ax_z);
+ p->addCoordinateSystem (axes, ax_x, ax_y, ax_z, "global");
}
// Clean up the memory used by the binary blob
- VTK
- \ref io "io"
- \ref kdtree "kdtree"
- - \ref range_image "range_image"
+ - \ref pcl::RangeImage "RangeImage"
*/
projects / pcl.git / commitdiff
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