copy.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include <Utils/copy.h>
 
// CV_DB_LIB
#include <ecvPointCloud.h>
#include <ecvScalarField.h>
 
void copyScalarFields(const ccPointCloud *inCloud,
                      ccPointCloud *outCloud,
                      pcl::PointIndicesPtr &in2outMapping,
                      bool overwrite) {
    if (in2outMapping->indices.empty()) return;
    assert(in2outMapping->indices.size() == outCloud->size());
 
    unsigned n_out = outCloud->size();
 
    unsigned sfCount = inCloud->getNumberOfScalarFields();
    for (unsigned i = 0; i < sfCount; ++i) {
        const cloudViewer::ScalarField *field =
                inCloud->getScalarField(static_cast<int>(i));
        const char *name = field->getName();
 
        ccScalarField *new_field = nullptr;
 
        // we need to verify no scalar field with the same name exists in the
        // output cloud
        int id = outCloud->getScalarFieldIndexByName(name);
        if (id >= 0)  // a scalar field with the same name exists
        {
            if (overwrite) {
                new_field = static_cast<ccScalarField *>(
                        outCloud->getScalarField(id));
            } else {
                continue;
            }
        } else {
            new_field = new ccScalarField(name);
 
            // resize the scalar field to the outcloud size
            if (!new_field->resizeSafe(n_out)) {
                // not enough memory!
                new_field->release();
                new_field = nullptr;
                continue;
            }
        }
 
        // now perform point to point copy
        for (std::size_t j = 0; j < n_out; ++j) {
            new_field->setValue(j,
                                field->getValue(in2outMapping->indices.at(j)));
        }
 
        // recompute stats
        new_field->computeMinAndMax();
 
        // now put back the scalar field to the outCloud
        if (id < 0) {
            outCloud->addScalarField(new_field);
        }
    }
 
    outCloud->showSF(outCloud->sfShown() || inCloud->sfShown());
}
 
void copyRGBColors(const ccPointCloud *inCloud,
                   ccPointCloud *outCloud,
                   pcl::PointIndicesPtr &in2outMapping,
                   bool overwrite) {
    // if inCloud has no color there is nothing to do
    if (!inCloud->hasColors()) return;
 
    if (in2outMapping->indices.empty()) return;
    assert(in2outMapping->indices.size() == outCloud->size());
 
    if (outCloud->hasColors() && !overwrite) return;
 
    if (outCloud->reserveTheRGBTable()) {
        // now perform point to point copy
        unsigned n_out = outCloud->size();
        for (unsigned j = 0; j < n_out; ++j) {
            outCloud->addRGBColor(
                    inCloud->getPointColor(in2outMapping->indices.at(j)));
        }
    }
 
    outCloud->showColors(outCloud->colorsShown() || inCloud->colorsShown());
}
 
// #endif // LP_PCL_PATCH_ENABLED