intensity.hpp

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#ifndef PCL_COMMON_INTENSITY_FIELD_ACCESSOR_IMPL_HPP
#define PCL_COMMON_INTENSITY_FIELD_ACCESSOR_IMPL_HPP

#include <pcl/point_types.h>
namespace pcl
{
  namespace common
  {
    template<>
    struct IntensityFieldAccessor<pcl::PointNormal>
    {
      inline float
      operator () (const pcl::PointNormal &p) const
      {
        return (p.curvature);
      }

      inline void
      get (const pcl::PointNormal &p, float &intensity) const
      {
        intensity = p.curvature;
      }

      inline void
      set (pcl::PointNormal &p, float intensity) const
      {
        p.curvature = intensity;
      }

      inline void
      demean (pcl::PointNormal& p, float value) const
      {
        p.curvature -= value;
      }

      inline void
      add (pcl::PointNormal& p, float value) const
      {
        p.curvature += value;
      }
    };
    
    template<>
    struct IntensityFieldAccessor<pcl::PointXYZ>
    {
      inline float
      operator () (const pcl::PointXYZ &p) const
      {
        return (p.z);
      }

      inline void
      get (const pcl::PointXYZ &p, float &intensity) const
      {
        intensity = p.z;
      }

      inline void
      set (pcl::PointXYZ &p, float intensity) const
      {
        p.z = intensity;
      }

      inline void
      demean (pcl::PointXYZ& p, float value) const
      {
        p.z -= value;
      }

      inline void
      add (pcl::PointXYZ& p, float value) const
      {
        p.z += value;
      }
    };

    template<>
    struct IntensityFieldAccessor<pcl::PointXYZRGB>
    {
      inline float
      operator () (const pcl::PointXYZRGB &p) const
      {
        return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f);
      }

      inline void
      get (const pcl::PointXYZRGB &p, float& intensity) const
      {
        intensity = static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f;
      }
      
      inline void
      set (pcl::PointXYZRGB &p, float intensity) const
      {
        p.r = static_cast<uint8_t> (intensity * 3.34448160535f); // 1000 / 299
        p.g = static_cast<uint8_t> (intensity * 1.70357751278f); // 1000 / 587
        p.b = static_cast<uint8_t> (intensity * 8.77192982456f); // 1000 / 114
      }
      
      inline void
      demean (pcl::PointXYZRGB& p, float value) const
      {
        float intensity = this->operator () (p);
        intensity -= value;
        set (p, intensity);
      }
      
      inline void
      add (pcl::PointXYZRGB& p, float value) const
      {
        float intensity = this->operator () (p);
        intensity += value;
        set (p, intensity);
      }
    };

    template<>
    struct IntensityFieldAccessor<pcl::PointXYZRGBA>
    {
      inline float
      operator () (const pcl::PointXYZRGBA &p) const
      {
        return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f);
      }
      
      inline void
      get (const pcl::PointXYZRGBA &p, float& intensity) const
      {
        intensity = static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f;
      }

      inline void
      set (pcl::PointXYZRGBA &p, float intensity) const
      {
        p.r = static_cast<uint8_t> (intensity * 3.34448160535f); // 1000 / 299
        p.g = static_cast<uint8_t> (intensity * 1.70357751278f); // 1000 / 587
        p.b = static_cast<uint8_t> (intensity * 8.77192982456f); // 1000 / 114
      }
      
      inline void
      demean (pcl::PointXYZRGBA& p, float value) const
      {
        float intensity = this->operator () (p);
        intensity -= value;
        set (p, intensity);
      }
      
      inline void
      add (pcl::PointXYZRGBA& p, float value) const
      {
        float intensity = this->operator () (p);
        intensity += value;
        set (p, intensity);
      }
    };

    template<>
    struct IntensityFieldAccessor<pcl::PointXYZRGBNormal>
    {
      inline float
      operator () (const pcl::PointXYZRGBNormal &p) const
      {
        return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f);
      }
      
      inline void
      get (const pcl::PointXYZRGBNormal &p, float& intensity) const
      {
        intensity = static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f;
      }

      inline void
      set (pcl::PointXYZRGBNormal &p, float intensity) const
      {
        p.r = static_cast<uint8_t> (intensity * 3.34448160535f); // 1000 / 299
        p.g = static_cast<uint8_t> (intensity * 1.70357751278f); // 1000 / 587
        p.b = static_cast<uint8_t> (intensity * 8.77192982456f); // 1000 / 114
      }
      
      inline void
      demean (pcl::PointXYZRGBNormal &p, float value) const
      {
        float intensity = this->operator () (p);
        intensity -= value;
        set (p, intensity);
      }
      
      inline void
      add (pcl::PointXYZRGBNormal &p, float value) const
      {
        float intensity = this->operator () (p);
        intensity += value;
        set (p, intensity);
      }
    };

    template<>
    struct IntensityFieldAccessor<pcl::PointXYZRGBL>
    {
      inline float
      operator () (const pcl::PointXYZRGBL &p) const
      {
        return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f);
      }

      inline void
      get (const pcl::PointXYZRGBL &p, float& intensity) const
      {
        intensity = static_cast<float> (299*p.r + 587*p.g + 114*p.b) * 0.001f;
      }
      
      inline void
      set (pcl::PointXYZRGBL &p, float intensity) const
      {
        p.r = static_cast<uint8_t> (intensity * 3.34448160535f); // 1000 / 299
        p.g = static_cast<uint8_t> (intensity * 1.70357751278f); // 1000 / 587
        p.b = static_cast<uint8_t> (intensity * 8.77192982456f); // 1000 / 114
      }
      
      inline void
      demean (pcl::PointXYZRGBL& p, float value) const
      {
        float intensity = this->operator () (p);
        intensity -= value;
        set (p, intensity);
      }
      
      inline void
      add (pcl::PointXYZRGBL& p, float value) const
      {
        float intensity = this->operator () (p);
        intensity += value;
        set (p, intensity);
      }
    };
  }
}

#endif