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local_maximum.hpp
/*
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) 2014, RadiantBlue Technologies, Inc.
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#pragma once
#include <pcl/common/io.h>
#include <pcl/common/point_tests.h> // for pcl::isFinite
#include <pcl/filters/local_maximum.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/search/organized.h> // for OrganizedNeighbor
#include <pcl/search/kdtree.h> // for KdTree
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::LocalMaximum<PointT>::applyFilter (PointCloud &output)
{
// Has the input dataset been set already?
if (!input_)
{
PCL_WARN ("[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
output.width = output.height = 0;
output.clear ();
return;
}
Indices indices;
output.is_dense = true;
applyFilterIndices (indices);
pcl::copyPointCloud<PointT> (*input_, indices, output);
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::LocalMaximum<PointT>::applyFilterIndices (Indices &indices)
{
typename PointCloud::Ptr cloud_projected (new PointCloud);
// Create a set of planar coefficients with X=Y=0,Z=1
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
coefficients->values.resize (4);
coefficients->values[0] = coefficients->values[1] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;
// Create the filtering object and project input into xy plane
pcl::ProjectInliers<PointT> proj;
proj.setModelType (pcl::SACMODEL_PLANE);
proj.setInputCloud (input_);
proj.setModelCoefficients (coefficients);
proj.filter (*cloud_projected);
// Initialize the search class
if (!searcher_)
{
if (input_->isOrganized ())
searcher_.reset (new pcl::search::OrganizedNeighbor<PointT> ());
else
searcher_.reset (new pcl::search::KdTree<PointT> (false));
}
if (!searcher_->setInputCloud (cloud_projected))
{
PCL_ERROR ("[pcl::%s::applyFilter] Error when initializing search method!\n", getClassName ().c_str ());
indices.clear ();
removed_indices_->clear ();
return;
}
// The arrays to be used
indices.resize (indices_->size ());
removed_indices_->resize (indices_->size ());
int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
std::vector<bool> point_is_max (indices_->size (), false);
std::vector<bool> point_is_visited (indices_->size (), false);
// Find all points within xy radius (i.e., a vertical cylinder) of the query
// point, removing those that are locally maximal (i.e., highest z within the
// cylinder)
for (const auto& iii : (*indices_))
{
if (!isFinite ((*input_)[iii]))
{
continue;
}
// Points in the neighborhood of a previously identified local max, will
// not be maximal in their own neighborhood
if (point_is_visited[iii] && !point_is_max[iii])
{
if (negative_) {
if (extract_removed_indices_) {
(*removed_indices_)[rii++] = iii;
}
}
else {
indices[oii++] = iii;
}
continue;
}
// Assume the current query point is the maximum, mark as visited
point_is_max[iii] = true;
point_is_visited[iii] = true;
// Perform the radius search in the projected cloud
Indices radius_indices;
std::vector<float> radius_dists;
PointT p = (*cloud_projected)[iii];
if (searcher_->radiusSearch (p, radius_, radius_indices, radius_dists) == 0)
{
PCL_WARN ("[pcl::%s::applyFilter] Searching for neighbors within radius %f failed.\n", getClassName ().c_str (), radius_);
continue;
}
// If query point is alone, we retain it regardless
if (radius_indices.size () == 1)
{
point_is_max[iii] = false;
}
// Check to see if a neighbor is higher than the query point
float query_z = (*input_)[iii].z;
for (const auto& radius_index : radius_indices) // the query point itself is in the (unsorted) radius_indices, but that is okay since we compare with ">"
{
if ((*input_)[radius_index].z > query_z)
{
// Query point is not the local max, no need to check others
point_is_max[iii] = false;
break;
}
}
// If the query point was a local max, all neighbors can be marked as
// visited, excluding them from future consideration as local maxima
if (point_is_max[iii])
{
for (const auto& radius_index : radius_indices) // the query point itself is in the (unsorted) radius_indices, but it must also be marked as visited
{
point_is_visited[radius_index] = true;
}
}
// Points that are local maxima are passed to removed indices
// Unless negative was set, then it's the opposite condition
if ((!negative_ && point_is_max[iii]) || (negative_ && !point_is_max[iii]))
{
if (extract_removed_indices_)
{
(*removed_indices_)[rii++] = iii;
}
continue;
}
// Otherwise it was a normal point for output (inlier)
indices[oii++] = iii;
}
// Resize the output arrays
indices.resize (oii);
removed_indices_->resize (rii);
}
#define PCL_INSTANTIATE_LocalMaximum(T) template class PCL_EXPORTS pcl::LocalMaximum<T>;
pcl::Filter::filter
void filter(PointCloud &output)
Calls the filtering method and returns the filtered dataset in output.
Definition filter.h:121
pcl::LocalMaximum::applyFilter
void applyFilter(PointCloud &output) override
Downsample a Point Cloud by eliminating points that are locally maximal in z.
Definition local_maximum.hpp:54
pcl::LocalMaximum::applyFilterIndices
void applyFilterIndices(Indices &indices)
Filtered results are indexed by an indices array.
Definition local_maximum.hpp:74
pcl::LocalMaximum::PointCloud
typename FilterIndices< PointT >::PointCloud PointCloud
Definition local_maximum.h:63
pcl::PCLBase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition pcl_base.hpp:65
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::ProjectInliers
ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a sepa...
Definition project_inliers.h:56
pcl::ProjectInliers::setModelCoefficients
void setModelCoefficients(const ModelCoefficientsConstPtr &model)
Provide a pointer to the model coefficients.
Definition project_inliers.h:102
pcl::ProjectInliers::setModelType
void setModelType(int model)
The type of model to use (user given parameter).
Definition project_inliers.h:86
pcl::search::KdTree
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
Definition kdtree.h:62
pcl::search::OrganizedNeighbor
OrganizedNeighbor is a class for optimized nearest neighbor search in organized projectable point clo...
Definition organized.h:65
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition point_tests.h:55
pcl::SACMODEL_PLANE
@ SACMODEL_PLANE
Definition model_types.h:47
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
pcl::ModelCoefficients
Definition ModelCoefficients.h:12
pcl::ModelCoefficients::Ptr
shared_ptr< ::pcl::ModelCoefficients > Ptr
Definition ModelCoefficients.h:20
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:623