Point Cloud Library (PCL)
1.7.0
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: voxel_grid.hpp 1600 2011-07-07 16:55:51Z shapovalov $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_ 00039 #define PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_ 00040 00041 #include <pcl/common/common.h> 00042 #include <pcl/common/io.h> 00043 #include <pcl/filters/approximate_voxel_grid.h> 00044 00045 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00046 template <typename PointT> void 00047 pcl::ApproximateVoxelGrid<PointT>::flush (PointCloud &output, size_t op, he *hhe, int rgba_index, int centroid_size) 00048 { 00049 hhe->centroid /= static_cast<float> (hhe->count); 00050 pcl::for_each_type <FieldList> (pcl::xNdCopyEigenPointFunctor <PointT> (hhe->centroid, output.points[op])); 00051 // ---[ RGB special case 00052 if (rgba_index >= 0) 00053 { 00054 // pack r/g/b into rgb 00055 float r = hhe->centroid[centroid_size-3], 00056 g = hhe->centroid[centroid_size-2], 00057 b = hhe->centroid[centroid_size-1]; 00058 int rgb = (static_cast<int> (r)) << 16 | (static_cast<int> (g)) << 8 | (static_cast<int> (b)); 00059 memcpy (reinterpret_cast<char*> (&output.points[op]) + rgba_index, &rgb, sizeof (float)); 00060 } 00061 } 00062 00063 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00064 template <typename PointT> void 00065 pcl::ApproximateVoxelGrid<PointT>::applyFilter (PointCloud &output) 00066 { 00067 int centroid_size = 4; 00068 if (downsample_all_data_) 00069 centroid_size = boost::mpl::size<FieldList>::value; 00070 00071 // ---[ RGB special case 00072 std::vector<pcl::PCLPointField> fields; 00073 int rgba_index = -1; 00074 rgba_index = pcl::getFieldIndex (*input_, "rgb", fields); 00075 if (rgba_index == -1) 00076 rgba_index = pcl::getFieldIndex (*input_, "rgba", fields); 00077 if (rgba_index >= 0) 00078 { 00079 rgba_index = fields[rgba_index].offset; 00080 centroid_size += 3; 00081 } 00082 00083 for (size_t i = 0; i < histsize_; i++) 00084 { 00085 history_[i].count = 0; 00086 history_[i].centroid = Eigen::VectorXf::Zero (centroid_size); 00087 } 00088 Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size); 00089 00090 output.points.resize (input_->points.size ()); // size output for worst case 00091 size_t op = 0; // output pointer 00092 for (size_t cp = 0; cp < input_->points.size (); ++cp) 00093 { 00094 int ix = static_cast<int> (floor (input_->points[cp].x * inverse_leaf_size_[0])); 00095 int iy = static_cast<int> (floor (input_->points[cp].y * inverse_leaf_size_[1])); 00096 int iz = static_cast<int> (floor (input_->points[cp].z * inverse_leaf_size_[2])); 00097 unsigned int hash = static_cast<unsigned int> ((ix * 7171 + iy * 3079 + iz * 4231) & (histsize_ - 1)); 00098 he *hhe = &history_[hash]; 00099 if (hhe->count && ((ix != hhe->ix) || (iy != hhe->iy) || (iz != hhe->iz))) 00100 { 00101 flush (output, op++, hhe, rgba_index, centroid_size); 00102 hhe->count = 0; 00103 hhe->centroid.setZero ();// = Eigen::VectorXf::Zero (centroid_size); 00104 } 00105 hhe->ix = ix; 00106 hhe->iy = iy; 00107 hhe->iz = iz; 00108 hhe->count++; 00109 00110 // Unpack the point into scratch, then accumulate 00111 // ---[ RGB special case 00112 if (rgba_index >= 0) 00113 { 00114 // fill r/g/b data 00115 pcl::RGB rgb; 00116 memcpy (&rgb, (reinterpret_cast<const char *> (&input_->points[cp])) + rgba_index, sizeof (RGB)); 00117 scratch[centroid_size-3] = rgb.r; 00118 scratch[centroid_size-2] = rgb.g; 00119 scratch[centroid_size-1] = rgb.b; 00120 } 00121 pcl::for_each_type <FieldList> (xNdCopyPointEigenFunctor <PointT> (input_->points[cp], scratch)); 00122 hhe->centroid += scratch; 00123 } 00124 for (size_t i = 0; i < histsize_; i++) 00125 { 00126 he *hhe = &history_[i]; 00127 if (hhe->count) 00128 flush (output, op++, hhe, rgba_index, centroid_size); 00129 } 00130 output.points.resize (op); 00131 output.width = static_cast<uint32_t> (output.points.size ()); 00132 output.height = 1; // downsampling breaks the organized structure 00133 output.is_dense = false; // we filter out invalid points 00134 } 00135 00136 #define PCL_INSTANTIATE_ApproximateVoxelGrid(T) template class PCL_EXPORTS pcl::ApproximateVoxelGrid<T>; 00137 00138 #endif // PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_