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Add overload to fromPCLPointCloud2 to avoid copying data #5608

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Feb 14, 2023
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Add overload to fromPCLPointCloud2 to avoid copying data #5608

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39 changes: 27 additions & 12 deletions common/include/pcl/conversions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -151,21 +151,17 @@ namespace pcl
}

/** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
* \param[in] msg the PCLPointCloud2 binary blob
* \param[in] msg the PCLPointCloud2 binary blob (note that the binary point data in msg.data will not be used!)
* \param[out] cloud the resultant pcl::PointCloud<T>
* \param[in] field_map a MsgFieldMap object
* \param[in] msg_data pointer to binary blob data, used instead of msg.data
*
* \note Use fromPCLPointCloud2 (PCLPointCloud2, PointCloud<T>) directly or create you
* own MsgFieldMap using:
*
* \code
* MsgFieldMap field_map;
* createMapping<PointT> (msg.fields, field_map);
* \endcode
* \note Use fromPCLPointCloud2 (PCLPointCloud2, PointCloud<T>) instead, except if you have a binary blob of
* point data that you do not want to copy into a pcl::PCLPointCloud2 in order to use fromPCLPointCloud2.
*/
template <typename PointT> void
fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
const MsgFieldMap& field_map)
const MsgFieldMap& field_map, const std::uint8_t* msg_data)
{
// Copy info fields
cloud.header = msg.header;
Expand All @@ -187,11 +183,10 @@ namespace pcl
field_map[0].size == sizeof(PointT))
{
const auto cloud_row_step = (sizeof (PointT) * cloud.width);
const std::uint8_t* msg_data = &msg.data[0];
// Should usually be able to copy all rows at once
if (msg.row_step == cloud_row_step)
{
std::copy(msg.data.cbegin(), msg.data.cend(), cloud_data);
memcpy (cloud_data, msg_data, msg.width * msg.height * sizeof(PointT));
}
else
{
Expand All @@ -205,7 +200,7 @@ namespace pcl
// If not, memcpy each group of contiguous fields separately
for (uindex_t row = 0; row < msg.height; ++row)
{
const std::uint8_t* row_data = &msg.data[row * msg.row_step];
const std::uint8_t* row_data = msg_data + row * msg.row_step;
for (uindex_t col = 0; col < msg.width; ++col)
{
const std::uint8_t* msg_data = row_data + col * msg.point_step;
Expand All @@ -220,6 +215,26 @@ namespace pcl
}
}

/** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object using a field_map.
* \param[in] msg the PCLPointCloud2 binary blob
* \param[out] cloud the resultant pcl::PointCloud<T>
* \param[in] field_map a MsgFieldMap object
*
* \note Use fromPCLPointCloud2 (PCLPointCloud2, PointCloud<T>) directly or create you
* own MsgFieldMap using:
*
* \code
* MsgFieldMap field_map;
* createMapping<PointT> (msg.fields, field_map);
* \endcode
*/
template <typename PointT> void
fromPCLPointCloud2 (const pcl::PCLPointCloud2& msg, pcl::PointCloud<PointT>& cloud,
const MsgFieldMap& field_map)
{
fromPCLPointCloud2 (msg, cloud, field_map, msg.data.data());
}

/** \brief Convert a PCLPointCloud2 binary data blob into a pcl::PointCloud<T> object.
* \param[in] msg the PCLPointCloud2 binary blob
* \param[out] cloud the resultant pcl::PointCloud<T>
Expand Down