PCL - PCLBase代碼研讀(二)- PCLBase實現
前言
接續PCL - PCLBase代碼研讀(一)- PCLBase架構,這邊繼續來看PCLBase
成員函數的實現。本篇主要關注的是common/include/pcl/impl/pcl_base.hpp
這份文件。
constructor & destructor
注意到use_indices_
和fake_indices_
都被初始化為false:
#ifndef PCL_PCL_IMPL_BASE_HPP_
#define PCL_PCL_IMPL_BASE_HPP_
#include <pcl/pcl_base.h>
#include <pcl/console/print.h>
#include <cstddef>
///
template <typename PointT>
pcl::PCLBase<PointT>::PCLBase ()
: input_ ()
, use_indices_ (false)
, fake_indices_ (false)
{
}
copy constructor:
///
template <typename PointT>
pcl::PCLBase<PointT>::PCLBase (const PCLBase& base)
: input_ (base.input_)
, indices_ (base.indices_)
, use_indices_ (base.use_indices_)
, fake_indices_ (base.fake_indices_)
{
}
setter
setInputCloud
設定input_
:
///
template <typename PointT> void
pcl::PCLBase<PointT>::setInputCloud (const PointCloudConstPtr &cloud)
{
input_ = cloud;
}
setIndices
indices_
的型別是IndicesPtr
,傳入的indices
與它類型相同,所以直接用=
賦值就好。fake_indices_ = false;
表示使用的indices_
是外部傳入的,而非內部產生的。
///
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (const IndicesPtr &indices)
{
indices_ = indices;
fake_indices_ = false;
use_indices_ = true;
}
如果傳入的indices
型別與indices_
類型不同,則需要先用*
來取出indices
所指向的Indices
物件(參考How to get the Object being pointed by a shared pointer?),然後再用取出的Indices
物件去創建一個新的Indices
物件,最後用std::shared_ptr::reset
將indices_
管理的指標替換為new Indices
。
///
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (const IndicesConstPtr &indices)
{
indices_.reset (new Indices (*indices));
fake_indices_ = false;
use_indices_ = true;
}
Replaces the managed object with an object pointed to by ptr.
如果傳入的indices
是PointIndicesConstPtr
型別的,一樣要重新創建一個Indices
物件後對indices_
做reset
:
///
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (const PointIndicesConstPtr &indices)
{
indices_.reset (new Indices (indices->indices));
fake_indices_ = false;
use_indices_ = true;
}
目前沒看到這個函數在哪裡被使用到,暫不展開。
///
template <typename PointT> void
pcl::PCLBase<PointT>::setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
{
if ((nb_rows > input_->height) || (row_start > input_->height))
{
PCL_ERROR ("[PCLBase::setIndices] cloud is only %d height\n", input_->height);
return;
}
if ((nb_cols > input_->width) || (col_start > input_->width))
{
PCL_ERROR ("[PCLBase::setIndices] cloud is only %d width\n", input_->width);
return;
}
std::size_t row_end = row_start + nb_rows;
if (row_end > input_->height)
{
PCL_ERROR ("[PCLBase::setIndices] %d is out of rows range %d\n", row_end, input_->height);
return;
}
std::size_t col_end = col_start + nb_cols;
if (col_end > input_->width)
{
PCL_ERROR ("[PCLBase::setIndices] %d is out of columns range %d\n", col_end, input_->width);
return;
}
indices_.reset (new Indices);
indices_->reserve (nb_cols * nb_rows);
for(std::size_t i = row_start; i < row_end; i++)
for(std::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;
}
initCompute
template <typename PointT> bool
pcl::PCLBase<PointT>::initCompute ()
{
檢查input_
指標是否為空,如果是,則退出:
// Check if input was set
if (!input_)
{
PCL_ERROR ("[initCompute] No input set.\n");
return (false);
}
檢查indices_
指標是否為空,如果是,則更新indices_
,並將它標註為虛假的(fake_indices_ = true;
),然後透過indices_.reset (new Indices);
將indices_
管理的物件替換為new Indices
:
// If no point indices have been given, construct a set of indices for the entire input point cloud
if (!indices_)
{
fake_indices_ = true;
indices_.reset (new Indices);
}
如果indices_
的內容是PCLBase
內部自行創造的(fake_indices_
為true),並且indices_
的大小不等於input_
的大小,則將indices_
resize為input_
的大小,然後依序填入0,1,2,3,…,indices_->size()-1:
// If we have a set of fake indices, but they do not match the number of points in the cloud, update them
if (fake_indices_ && indices_->size () != input_->size ())
{
const auto indices_size = indices_->size ();
try
{
indices_->resize (input_->size ());
}
catch (const std::bad_alloc&)
{
PCL_ERROR ("[initCompute] Failed to allocate %lu indices.\n", input_->size ());
}
for (auto i = indices_size; i < indices_->size (); ++i) { (*indices_)[i] = static_cast<int>(i); }
}
return (true);
}
deinitCompute
PCLBase
的deinitCompute
函數直接回傳true
,不做任何事情。
///
template <typename PointT> bool
pcl::PCLBase<PointT>::deinitCompute ()
{
return (true);
}
#define PCL_INSTANTIATE_PCLBase(T) template class PCL_EXPORTS pcl::PCLBase<T>;
#endif //#ifndef PCL_PCL_IMPL_BASE_HPP_