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approximate_voxel_grid.hpp
/*
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* $Id: voxel_grid.hpp 1600 2011-07-07 16:55:51Z shapovalov $
*
*/
#ifndef PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_
#define PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_
#include <pcl/common/io.h>
#include <pcl/filters/approximate_voxel_grid.h>
#include <boost/mpl/size.hpp> // for size
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::ApproximateVoxelGrid<PointT>::flush (PointCloud &output, std::size_t op, he *hhe, int rgba_index, int centroid_size)
{
hhe->centroid /= static_cast<float> (hhe->count);
pcl::for_each_type <FieldList> (pcl::xNdCopyEigenPointFunctor <PointT> (hhe->centroid, output[op]));
// ---[ RGB special case
if (rgba_index >= 0)
{
// pack r/g/b into rgb
float r = hhe->centroid[centroid_size-3],
g = hhe->centroid[centroid_size-2],
b = hhe->centroid[centroid_size-1];
int rgb = (static_cast<int> (r)) << 16 | (static_cast<int> (g)) << 8 | (static_cast<int> (b));
memcpy (reinterpret_cast<char*> (&output[op]) + rgba_index, &rgb, sizeof (float));
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::ApproximateVoxelGrid<PointT>::applyFilter (PointCloud &output)
{
int centroid_size = 4;
if (downsample_all_data_)
centroid_size = boost::mpl::size<FieldList>::value;
// ---[ RGB special case
std::vector<pcl::PCLPointField> fields;
int rgba_index = -1;
rgba_index = pcl::getFieldIndex<PointT> ("rgb", fields);
if (rgba_index == -1)
rgba_index = pcl::getFieldIndex<PointT> ("rgba", fields);
if (rgba_index >= 0)
{
rgba_index = fields[rgba_index].offset;
centroid_size += 3;
}
for (std::size_t i = 0; i < histsize_; i++)
{
history_[i].count = 0;
history_[i].centroid = Eigen::VectorXf::Zero (centroid_size);
}
Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size);
output.resize (input_->size ()); // size output for worst case
std::size_t op = 0; // output pointer
for (const auto& point: *input_)
{
int ix = static_cast<int> (std::floor (point.x * inverse_leaf_size_[0]));
int iy = static_cast<int> (std::floor (point.y * inverse_leaf_size_[1]));
int iz = static_cast<int> (std::floor (point.z * inverse_leaf_size_[2]));
auto hash = static_cast<unsigned int> ((ix * 7171 + iy * 3079 + iz * 4231) & (histsize_ - 1));
he *hhe = &history_[hash];
if (hhe->count && ((ix != hhe->ix) || (iy != hhe->iy) || (iz != hhe->iz)))
{
flush (output, op++, hhe, rgba_index, centroid_size);
hhe->count = 0;
hhe->centroid.setZero ();// = Eigen::VectorXf::Zero (centroid_size);
}
hhe->ix = ix;
hhe->iy = iy;
hhe->iz = iz;
hhe->count++;
// Unpack the point into scratch, then accumulate
// ---[ RGB special case
if (rgba_index >= 0)
{
// fill r/g/b data
pcl::RGB rgb;
memcpy (&rgb, (reinterpret_cast<const char *> (&point)) + rgba_index, sizeof (RGB));
scratch[centroid_size-3] = rgb.r;
scratch[centroid_size-2] = rgb.g;
scratch[centroid_size-1] = rgb.b;
}
pcl::for_each_type <FieldList> (xNdCopyPointEigenFunctor <PointT> (point, scratch));
hhe->centroid += scratch;
}
for (std::size_t i = 0; i < histsize_; i++)
{
he *hhe = &history_[i];
if (hhe->count)
flush (output, op++, hhe, rgba_index, centroid_size);
}
output.resize (op);
output.width = output.size ();
output.height = 1; // downsampling breaks the organized structure
output.is_dense = false; // we filter out invalid points
}
#define PCL_INSTANTIATE_ApproximateVoxelGrid(T) template class PCL_EXPORTS pcl::ApproximateVoxelGrid<T>;
#endif // PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_
pcl::ApproximateVoxelGrid::applyFilter
void applyFilter(PointCloud &output) override
Downsample a Point Cloud using a voxelized grid approach.
Definition approximate_voxel_grid.hpp:65
pcl::ApproximateVoxelGrid::flush
void flush(PointCloud &output, std::size_t op, he *hhe, int rgba_index, int centroid_size)
Write a single point from the hash to the output cloud.
Definition approximate_voxel_grid.hpp:47
pcl::RGB
A structure representing RGB color information.
Definition point_types.hpp:392