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Add getRGBVector3i() to every point type with RGB #450

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merged 5 commits into from
Jan 24, 2014
Merged

Add getRGBVector3i() to every point type with RGB #450

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4abc879
Add getRGBVector3i() to every point type with RGB
taketwo Jan 20, 2014
b6f1860
Split PCL_ADD_POINT4D and PCL_ADD_NORMAL4D into parts
taketwo Jan 21, 2014
43c6781
Split PCL_ADD_RGB macro into two parts
taketwo Jan 21, 2014
1310d74
Add getRGBAVector4i() and getBGRVector3/4cMap() functions
taketwo Jan 21, 2014
16b2f16
Add tests for all combinations of point types and Eigen vector accessors
taketwo Jan 21, 2014
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110 changes: 45 additions & 65 deletions common/include/pcl/impl/point_types.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,15 +145,17 @@
namespace pcl
{

#define PCL_ADD_POINT4D \
#define PCL_ADD_UNION_POINT4D \
union EIGEN_ALIGN16 { \
float data[4]; \
struct { \
float x; \
float y; \
float z; \
}; \
}; \
};

#define PCL_ADD_EIGEN_MAPS_POINT4D \
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)); } \
Expand All @@ -163,7 +165,11 @@ namespace pcl
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_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]; \
Expand All @@ -172,13 +178,19 @@ namespace pcl
float normal_y; \
float normal_z; \
}; \
}; \
};

#define PCL_ADD_EIGEN_MAPS_NORMAL4D \
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_NORMAL4D \
PCL_ADD_UNION_NORMAL4D \
PCL_ADD_EIGEN_MAPS_NORMAL4D

#define PCL_ADD_UNION_RGB \
union \
{ \
union \
Expand All @@ -195,6 +207,22 @@ namespace pcl
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 Vector3cMap getBGRVector3cMap () { return (Vector3cMap (reinterpret_cast<uint8_t*> (&rgba))); } \
inline Vector3cMapConst getBGRVector3cMap () const { return (Vector3cMapConst (reinterpret_cast<const uint8_t*> (&rgba))); } \
inline Vector4cMap getBGRAVector4cMap () { return (Vector4cMap (reinterpret_cast<uint8_t*> (&rgba))); } \
inline Vector4cMapConst getBGRAVector4cMap () const { return (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 \
{ \
Expand Down Expand Up @@ -222,6 +250,13 @@ namespace pcl
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;


struct _PointXYZ
{
Expand Down Expand Up @@ -506,17 +541,7 @@ namespace pcl
r = g = b = 0;
a = 255;
}
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 PointXYZRGBA& p);
};

Expand Down Expand Up @@ -592,18 +617,6 @@ namespace pcl
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
};
Expand Down Expand Up @@ -859,23 +872,12 @@ namespace pcl
{
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
};

Expand Down Expand Up @@ -928,17 +930,6 @@ namespace pcl
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);
};

Expand Down Expand Up @@ -1475,25 +1466,14 @@ namespace pcl
{
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
};

Expand Down
66 changes: 66 additions & 0 deletions test/common/test_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -297,6 +297,72 @@ TEST (PCL, PointTypes)
EXPECT_EQ (__alignof (PointXYZRGBNormal), 16);
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////

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)
{
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));
}

TYPED_TEST(XYZPointTypesTest, GetArrayXfMap)
{
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));
}

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)
{
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));
}

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)
{
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));
}

TYPED_TEST(RGBPointTypesTest, GetBGRVectorXcMap)
{
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, Intersections)
{
Expand Down