Loading...
Searching...
No Matches
voxel_grid.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
PCL_DEPRECATED_HEADER(1, 16, "The CUDA VoxelGrid filter does not work. Use the CPU VoxelGrid filter instead.")
#include <pcl_cuda/filters/filter.h>
#include <pcl_cuda/filters/passthrough.h>
#include <thrust/count.h>
#include <thrust/remove.h>
#include <vector_types.h>
namespace pcl_cuda
{
///////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
*/
template <typename CloudT>
class VoxelGrid: public Filter<CloudT>
{
public:
using Filter<CloudT>::filter_name_;
using PointCloud = typename PCLCUDABase<CloudT>::PointCloud;
using PointCloudPtr = typename PointCloud::Ptr;
using PointCloudConstPtr = typename PointCloud::ConstPtr;
/** \brief Empty constructor. */
VoxelGrid ()
{
filter_name_ = "VoxelGrid";
};
protected:
/** \brief Filter a Point Cloud.
* \param output the resultant point cloud message
*/
void
applyFilter (PointCloud &output)
{
std::cerr << "applyFilter" << std::endl;
}
};
///////////////////////////////////////////////////////////////////////////////////////////
template <>
class VoxelGrid<PointCloudAOS<Device> >: public Filter<PointCloudAOS<Device> >
{
public:
/** \brief Empty constructor. */
VoxelGrid ()
{
filter_name_ = "VoxelGridAOS";
};
protected:
/** \brief Filter a Point Cloud.
* \param output the resultant point cloud message
*/
void
applyFilter (PointCloud &output)
{
// Allocate enough space
output.resize (input_->points.size ());
// Copy data
Device<PointXYZRGB>::type::iterator nr_points = thrust::copy_if (input_->points.begin (), input_->points.end (), output.begin (), isFiniteAOS ());
output.resize (nr_points - output.begin ());
//std::cerr << "[applyFilterAOS]: ";
//std::cerr << input_->points.size () << " " << output.size () << std::endl;
}
};
//////////////////////////////////////////////////////////////////////////////////////////
template <>
class VoxelGrid<PointCloudSOA<Device> >: public Filter<PointCloudSOA<Device> >
{
public:
/** \brief Empty constructor. */
VoxelGrid () : zip_(false)
{
filter_name_ = "VoxelGridSOA";
};
inline void
setZip (bool zip)
{
zip_ = zip;
}
protected:
/** \brief Filter a Point Cloud.
* \param output the resultant point cloud message
*/
void
applyFilter (PointCloud &output)
{
if (!zip_)
{
// Allocate enough space
output.resize (input_->size ());
// Copy data
Device<float>::type::iterator nr_points = thrust::copy_if (input_->points_x.begin (), input_->points_x.end (), output.points_x.begin (), isFiniteSOA ());
nr_points = thrust::copy_if (input_->points_y.begin (), input_->points_y.end (), output.points_y.begin (), isFiniteSOA ());
nr_points = thrust::copy_if (input_->points_z.begin (), input_->points_z.end (), output.points_z.begin (), isFiniteSOA ());
output.resize (nr_points - output.points_z.begin ());
//std::cerr << "[applyFilterSOA]: ";
//std::cerr << input_->size () << " " << output.size () << std::endl;
}
else
{
output = *input_;
PointCloud::zip_iterator result = thrust::remove_if (output.zip_begin (), output.zip_end (), isFiniteZIPSOA ());
PointCloud::iterator_tuple result_tuple = result.get_iterator_tuple ();
PointCloud::float_iterator xiter = thrust::get<0> (result_tuple),
yiter = thrust::get<1> (result_tuple),
ziter = thrust::get<2> (result_tuple);
unsigned badpoints = distance (xiter, output.points_x.end ());
unsigned goodpoints = distance (output.points_x.begin (), xiter);
output.resize (goodpoints);
//std::cerr << "[applyFilterSOA-ZIP]: ";
//std::cerr << input_->size () << " " << output.size () << std::endl;
}
}
private:
bool zip_;
};
}
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:414
pcl_cuda::Filter
Removes points with x, y, or z equal to NaN.
Definition filter.h:59
pcl_cuda::Filter< PointCloudAOS< Device > >::PointCloud
typename PCLCUDABase< PointCloudAOS< Device > >::PointCloud PointCloud
Definition filter.h:66
pcl_cuda::Filter::filter_name_
std::string filter_name_
The filter name.
Definition filter.h:159
pcl_cuda::VoxelGrid< PointCloudAOS< Device > >::VoxelGrid
VoxelGrid()
Empty constructor.
Definition voxel_grid.h:84
pcl_cuda::VoxelGrid< PointCloudAOS< Device > >::applyFilter
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition voxel_grid.h:94
pcl_cuda::VoxelGrid< PointCloudSOA< Device > >::applyFilter
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition voxel_grid.h:130
pcl_cuda::VoxelGrid< PointCloudSOA< Device > >::VoxelGrid
VoxelGrid()
Empty constructor.
Definition voxel_grid.h:113
pcl_cuda::VoxelGrid< PointCloudSOA< Device > >::setZip
void setZip(bool zip)
Definition voxel_grid.h:119
pcl_cuda::VoxelGrid
VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
Definition voxel_grid.h:53
pcl_cuda::VoxelGrid::PointCloudConstPtr
typename PointCloud::ConstPtr PointCloudConstPtr
Definition voxel_grid.h:59
pcl_cuda::VoxelGrid::PointCloud
typename PCLCUDABase< CloudT >::PointCloud PointCloud
Definition voxel_grid.h:57
pcl_cuda::VoxelGrid::PointCloudPtr
typename PointCloud::Ptr PointCloudPtr
Definition voxel_grid.h:58
pcl_cuda::VoxelGrid::applyFilter
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition voxel_grid.h:72
pcl_cuda::VoxelGrid::VoxelGrid
VoxelGrid()
Empty constructor.
Definition voxel_grid.h:62
pcl_cuda
Definition filter.h:42
PCL_DEPRECATED_HEADER
#define PCL_DEPRECATED_HEADER(Major, Minor, Message)
macro for compatibility across compilers and help remove old deprecated headers for the Major....
Definition pcl_macros.h:176
pcl_cuda::isFiniteAOS
Check if a specific point is valid or not.
Definition passthrough.h:48
pcl_cuda::isFiniteSOA
Check if a specific point is valid or not.
Definition passthrough.h:59
pcl_cuda::isFiniteZIPSOA
Check if a specific point is valid or not.
Definition passthrough.h:69