PCL
LinearInterpolation.h
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7 // pcl/LinearInterpolation.h - Released 2024-01-13T15:47:58Z
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51 
52 #ifndef __PCL_LinearInterpolation_h
53 #define __PCL_LinearInterpolation_h
54 
56 
57 #include <pcl/Defs.h>
58 #include <pcl/Diagnostics.h>
59 
61 
62 namespace pcl
63 {
64 
65 // ----------------------------------------------------------------------------
66 
77 template <typename T = double>
79 {
80 public:
81 
82  using vector_type = typename UnidimensionalInterpolation<T>::vector_type;
83 
87  LinearInterpolation() = default;
88 
92  LinearInterpolation( const LinearInterpolation& ) = default;
93 
98  {
99  }
100 
105  bool IsValid() const override
106  {
107  return this->m_y.Length() > 1;
108  }
109 
113  double operator()( double x ) const override
114  {
115  PCL_PRECONDITION( IsValid() )
116 
117  if ( this->m_x )
118  {
119  // Interpolation with monotonically increasing, explicit x[i].
120 
121  PCL_CHECK( this->m_x.Length() >= this->m_y.Length() )
122  int i0 = 0;
123  int i1 = this->m_x.Length() - 1;
124  while ( i1-i0 > 1 )
125  {
126  int im = (i0 + i1) >> 1;
127  if ( x < this->m_x[im] )
128  i1 = im;
129  else
130  i0 = im;
131  }
132  double x0( this->m_x[i0] );
133  double y0( this->m_y[i0] );
134  double dx = double( this->m_x[i1] ) - x0;
135  if ( 1 + dx != 1 ) // if no infinite slope (to within roundoff)
136  y0 += (x - x0)*(double( this->m_y[i1] ) - y0)/dx;
137  return y0;
138  }
139  else
140  {
141  // Interpolation with implicit x[i] = i for i = {0,1,...,n-1}.
142 
143  if ( x <= 0 )
144  return this->m_y[0];
145  if ( x >= this->m_y.Length()-1 )
146  return this->m_y[this->m_y.Length()-1];
147  int i0 = TruncInt( x );
148  double y0( this->m_y[i0] );
149  return y0 + (x - i0)*(double( this->m_y[i0+1] ) - y0);
150  }
151  }
152 };
153 
154 // ----------------------------------------------------------------------------
155 
156 } // pcl
157 
158 #endif // __PCL_LinearInterpolation_h
159 
160 // ----------------------------------------------------------------------------
161 // EOF pcl/LinearInterpolation.h - Released 2024-01-13T15:47:58Z
pcl::LinearInterpolation::IsValid
bool IsValid() const override
Definition: LinearInterpolation.h:105
pcl
PCL root namespace.
Definition: AbstractImage.h:76
pcl::LinearInterpolation::~LinearInterpolation
~LinearInterpolation() override
Definition: LinearInterpolation.h:97
pcl::LinearInterpolation::operator()
double operator()(double x) const override
Definition: LinearInterpolation.h:113
UnidimensionalInterpolation.h
pcl::TruncInt
int TruncInt(T x) noexcept
Definition: Math.h:1132
pcl::UnidimensionalInterpolation
A generic interface to one-dimensional interpolation algorithms.
Definition: UnidimensionalInterpolation.h:75
Defs.h
pcl::GenericVector
Generic vector of arbitrary length.
Definition: Vector.h:106
pcl::LinearInterpolation
Linear interpolation algorithm.
Definition: LinearInterpolation.h:78