326 lines
8.5 KiB
C++
326 lines
8.5 KiB
C++
/*
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----
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This file is part of SECONDO.
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Copyright (C) 2019,
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Faculty of Mathematics and Computer Science,
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Database Systems for New Applications.
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SECONDO is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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SECONDO is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with SECONDO; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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----
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//[<] [\ensuremath{<}]
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//[>] [\ensuremath{>}]
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\setcounter{tocdepth}{3}
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\tableofcontents
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1 Implementation of the Basic Operators
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These Operators are:
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* bbox
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* bbox2d
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* maxz
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* minz
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* size
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*/
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#include "opBasicOperators.h"
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#include "QueryProcessor.h"
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using namespace pointcloud2;
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extern NestedList *nl;
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extern QueryProcessor *qp;
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/*
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1.1 The Pointcloud2 bbox Operator
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*/
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ListExpr op_bbox::bboxTM(ListExpr args) {
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const std::string err("pointcloud2 expected");
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// although bbox needs to be specified as "pattern op(_,_)"
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// to avoid contradictory definitions, only one parameter is accepted
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// (see detailed comment in Pointcloud2Algebra.spec):
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if (!nl->HasLength(args,1)) {
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return listutils::typeError(err + " (wrong number of arguments)");
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}
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if (Pointcloud2::TypeCheck(nl->First(args))) {
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return nl->SymbolAtom(Rectangle<DIMENSIONS>::BasicType());
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}
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return listutils::typeError(err);
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}
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int op_bbox::bboxVM(Word* args, Word& result, int message,
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Word& local, Supplier s) {
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Pointcloud2* pc2 = static_cast<Pointcloud2*>(args[0].addr);
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result = qp->ResultStorage(s);
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Rectangle<DIMENSIONS>* res =
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static_cast<Rectangle<DIMENSIONS>*>(result.addr);
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*res = pc2->getBoundingBox();
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return 0;
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}
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std::string op_bbox::getOperatorSpec(){
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return OperatorSpec(
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" pointcloud2 -> rectangle<" + std::to_string(DIMENSIONS) + ">",
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" bbox( _ ) ",
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" Returns bounding box of the pointcloud2 ",
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" query bbox(pc2)"
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).getStr();
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}
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std::shared_ptr<Operator> op_bbox::getOperator(){
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return std::make_shared<Operator>("bbox",
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getOperatorSpec(),
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&op_bbox::bboxVM,
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Operator::SimpleSelect,
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&op_bbox::bboxTM);
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}
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/*
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1.2 The Pointcloud2 bbox2d Operator
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*/
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ListExpr op_bbox2d::bbox2dTM(ListExpr args) {
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const std::string err("pointcloud2 expected");
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// although bbox2d needs to be specified as "pattern op(_,_)"
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// to avoid contradictory definitions, only one parameter is accepted
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// (see detailed comment in Pointcloud2Algebra.spec):
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if (!nl->HasLength(args,1)) {
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return listutils::typeError(err + " (wrong number of arguments)");
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}
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if (Pointcloud2::TypeCheck(nl->First(args))) {
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return nl->SymbolAtom(Rect::BasicType());
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}
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return listutils::typeError(err);
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}
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int op_bbox2d::bbox2dVM(Word* args, Word& result, int message,
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Word& local, Supplier s) {
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Pointcloud2* pc2 = static_cast<Pointcloud2*>(args[0].addr);
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result = qp->ResultStorage(s);
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Rect* res = static_cast<Rect*>(result.addr);
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if (pc2 != nullptr) {
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*res = pc2->getBoundingBox().Project2D(0,1);
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}
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return 0;
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}
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std::string op_bbox2d::getOperatorSpec(){
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return OperatorSpec(
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" pointcloud2 -> rect",
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" bbox2d( _ ) ",
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" Returns XY-projection of the bounding box of the pointcloud2 ",
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" query bbox2d(pc2)"
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).getStr();
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}
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std::shared_ptr<Operator> op_bbox2d::getOperator(){
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return std::make_shared<Operator>("bbox2d",
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getOperatorSpec(),
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&op_bbox2d::bbox2dVM,
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Operator::SimpleSelect,
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&op_bbox2d::bbox2dTM);
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}
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/*
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1.3 The Pointcloud2 maxZ Operator
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*/
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ListExpr op_maxz ::maxzTM(ListExpr args) {
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const std::string err("pointcloud2 expected");
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if (!nl->HasLength(args,1)) {
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return listutils::typeError(err + " (wrong number of arguments)");
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}
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if (Pointcloud2::TypeCheck(nl->First(args))) {
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return listutils::basicSymbol<CcReal>();
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}
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return listutils::typeError(err);
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}
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int op_maxz ::maxzVM(Word* args, Word& result, int message,
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Word& local, Supplier s) {
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Pointcloud2* pc2 = static_cast<Pointcloud2*>(args[0].addr);
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result = qp->ResultStorage(s);
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CcReal* res = static_cast<CcReal*>(result.addr);
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if (pc2 == nullptr || !pc2->isDefined()) {
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res->SetDefined(false);
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} else {
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Rect3 bbox = pc2->getBoundingBox();
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if (bbox.IsDefined()) {
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res->Set(true, bbox.MaxD(2));
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} else {
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res->SetDefined(false);
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}
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}
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return 0;
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}
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std::string op_maxz ::getOperatorSpec(){
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return OperatorSpec(
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" pointcloud2 -> real",
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" maxZ( _ ) ",
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" Returns the maximum height of points ",
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" query maxZ(pc2)"
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).getStr();
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}
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std::shared_ptr<Operator> op_maxz ::getOperator(){
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return std::make_shared<Operator>("maxZ",
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getOperatorSpec(),
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&op_maxz ::maxzVM,
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Operator::SimpleSelect,
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&op_maxz ::maxzTM);
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}
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/*
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1.4 The Pointcloud2 minZ Operator
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*/
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ListExpr op_minz::minzTM(ListExpr args) {
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const std::string err("pointcloud2 expected");
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if (!nl->HasLength(args,1)) {
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return listutils::typeError(err + " (wrong number of arguments)");
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}
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if (Pointcloud2::TypeCheck(nl->First(args))) {
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return listutils::basicSymbol<CcReal>();
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}
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return listutils::typeError(err);
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}
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int op_minz::minzVM(Word* args, Word& result, int message,
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Word& local, Supplier s) {
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Pointcloud2* pc2 = static_cast<Pointcloud2*>(args[0].addr);
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result = qp->ResultStorage(s);
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CcReal* res = static_cast<CcReal*>(result.addr);
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if (pc2 == nullptr || !pc2->isDefined()) {
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res->SetDefined(false);
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} else {
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Rect3 bbox = pc2->getBoundingBox();
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if (bbox.IsDefined()) {
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res->Set(true, bbox.MinD(2));
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} else {
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res->SetDefined(false);
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}
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}
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return 0;
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}
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std::string op_minz::getOperatorSpec(){
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return OperatorSpec(
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" pointcloud2 -> real",
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" minZ( _ ) ",
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" Returns the minimal height of points ",
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" query minZ(pc2)"
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).getStr();
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}
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std::shared_ptr<Operator> op_minz::getOperator(){
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return std::make_shared<Operator>("minZ",
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getOperatorSpec(),
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&op_minz::minzVM,
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Operator::SimpleSelect,
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&op_minz::minzTM);
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}
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/*
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1.5 The Pointcloud2 size Operator
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*/
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ListExpr op_size::sizeTM(ListExpr args) {
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const std::string err("pointcloud2 expected");
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if (!nl->HasLength(args,1)) {
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return listutils::typeError(err + " (wrong number of arguments)");
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}
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if (Pointcloud2::TypeCheck(nl->First(args))) {
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return listutils::basicSymbol<CcInt>();
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}
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return listutils::typeError(err);
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}
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int op_size::sizeVM(Word* args, Word& result, int message,
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Word& local, Supplier s) {
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Pointcloud2* pc2 = static_cast<Pointcloud2*>(args[0].addr);
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result = qp->ResultStorage(s);
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CcInt* res = static_cast<CcInt*>(result.addr);
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if (pc2 == nullptr) {
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res->SetDefined(false);
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} else if (pc2->isDefined()) {
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res->Set(true, pc2->getPointCount());
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} else {
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res->SetDefined(false);
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}
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return 0;
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}
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std::string op_size::getOperatorSpec(){
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return OperatorSpec(
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" pointcloud2 -> int",
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" size( _ ) ",
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" Returns the number of points ",
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" query size(pc2)"
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).getStr();
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}
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std::shared_ptr<Operator> op_size::getOperator(){
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return std::make_shared<Operator>("size",
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getOperatorSpec(),
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&op_size::sizeVM,
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Operator::SimpleSelect,
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&op_size::sizeTM);
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}
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