Method fillRaw

io/src/image_ir.cpp:114–155

void pcl::io::IRImage::fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step) const
{
  if (width > wrapper_->getWidth () || height > wrapper_->getHeight ())
    THROW_IO_EXCEPTION ("upsampling not supported: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);

  if (wrapper_->getWidth () % width != 0 || wrapper_->getHeight () % height != 0)
    THROW_IO_EXCEPTION ("downsampling only supported for integer scale: %d x %d -> %d x %d", wrapper_->getWidth (), wrapper_->getHeight (), width, height);

  if (line_step == 0)
    line_step = width * static_cast<unsigned> (sizeof (unsigned short));

  // special case no sclaing, no padding => memcopy!
  if (width == wrapper_->getWidth () && height == wrapper_->getHeight () && (line_step == width * sizeof (unsigned short)))
  {
    memcpy (ir_buffer, wrapper_->getData (), wrapper_->getDataSize ());
    return;
  }

  // padding skip for destination image
  unsigned bufferSkip = line_step - width * static_cast<unsigned> (sizeof (unsigned short));

  // step and padding skip for source image
  unsigned xStep = wrapper_->getWidth () / width;
  unsigned ySkip = (wrapper_->getHeight () / height - 1) * wrapper_->getWidth ();

  unsigned irIdx = 0;

  const auto* inputBuffer = static_cast<const unsigned short*> (wrapper_->getData ());

  for (unsigned yIdx = 0; yIdx < height; ++yIdx, irIdx += ySkip)
  {
    for (unsigned xIdx = 0; xIdx < width; ++xIdx, irIdx += xStep, ++ir_buffer)
      *ir_buffer = inputBuffer[irIdx];

    // if we have padding
    if (bufferSkip > 0)
    {
      char* cBuffer = reinterpret_cast<char*> (ir_buffer);
      ir_buffer = reinterpret_cast<unsigned short*> (cBuffer + bufferSkip);
    }
  }
}