passthrough.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.
*
*/
#ifndef PCL_CUDA_FILTERS_PASSTHROUGH_H_
#define PCL_CUDA_FILTERS_PASSTHROUGH_H_
#include <pcl_cuda/filters/filter.h>
#include <thrust/count.h>
#include <thrust/remove.h>
#include <vector_types.h>
namespace pcl_cuda
{
/** \brief Check if a specific point is valid or not. Applicable to AOS structures. */
struct isFiniteAOS
{
__inline__ __device__ bool
operator () (const PointXYZRGB &pt)
//operator () (const float3 &pt)
{
return (isfinite (pt.x) && isfinite (pt.y) && isfinite (pt.z));
}
};
/** \brief Check if a specific point is valid or not. Applicable to SOA structures. */
struct isFiniteSOA
{
__inline__ __device__ bool
operator () (const float &pt)
{
return (isfinite (pt));
}
};
/** \brief Check if a specific point is valid or not. Applicable to SOA structures. */
struct isFiniteZIPSOA
{
__inline__ __device__ bool
operator () (const PointCloudSOA<Device>::tuple_type& tuple)
{
using thrust::get;
return (!isfinite (get<0> (tuple)) ||
!isfinite (get<1> (tuple)) ||
!isfinite (get<2> (tuple)));
}
};
///////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b PassThrough uses the base Filter class methods to pass through
* all data that satisfies the user given constraints.
*/
template <typename CloudT>
class PassThrough: public Filter<CloudT>
{
public:
using Filter<CloudT>::filter_name_;
typedef typename PCLCUDABase<CloudT>::PointCloud PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;
/** \brief Empty constructor. */
PassThrough ()
{
filter_name_ = "PassThrough";
};
protected:
/** \brief Filter a Point Cloud.
* \param output the resultant point cloud message
*/
void
applyFilter (PointCloud &output)
{
std::cerr << "applyFilter" << std::endl;
}
};
///////////////////////////////////////////////////////////////////////////////////////////
template <>
class PassThrough<PointCloudAOS<Device> >: public Filter<PointCloudAOS<Device> >
{
public:
/** \brief Empty constructor. */
PassThrough ()
{
filter_name_ = "PassThroughAOS";
};
protected:
/** \brief Filter a Point Cloud.
* \param output the resultant point cloud message
*/
void
applyFilter (PointCloud &output)
{
// Allocate enough space
output.points.resize (input_->points.size ());
// Copy data
Device<PointXYZRGB>::type::iterator nr_points = thrust::copy_if (input_->points.begin (), input_->points.end (), output.points.begin (), isFiniteAOS ());
//Device<float3>::type::iterator nr_points = thrust::copy_if (input_->points.begin (), input_->points.end (), output.points.begin (), isFiniteAOS ());
output.points.resize (nr_points - output.points.begin ());
//std::cerr << "[applyFilterAOS]: ";
//std::cerr << input_->points.size () << " " << output.points.size () << std::endl;
}
};
//////////////////////////////////////////////////////////////////////////////////////////
template <>
class PassThrough<PointCloudSOA<Device> >: public Filter<PointCloudSOA<Device> >
{
public:
/** \brief Empty constructor. */
PassThrough () : zip_(false)
{
filter_name_ = "PassThroughSOA";
};
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_;
};
}
#endif //#ifndef PCL_FILTERS_PASSTHROUGH_H_
pcl_cuda::PassThrough< PointCloudSOA< Device > >::applyFilter
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition: passthrough.h:165
pcl_cuda::isFiniteSOA
Check if a specific point is valid or not.
Definition: passthrough.h:59
pcl_cuda::isFiniteAOS::operator()
__inline__ __device__ bool operator()(const PointXYZRGB &pt)
Definition: passthrough.h:51
pcl_cuda::isFiniteAOS
Check if a specific point is valid or not.
Definition: passthrough.h:48
pcl_cuda::PassThrough< PointCloudSOA< Device > >::PassThrough
PassThrough()
Empty constructor.
Definition: passthrough.h:148
pcl::PointCloud::Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl_cuda::PassThrough::PointCloudPtr
PointCloud::Ptr PointCloudPtr
Definition: passthrough.h:92
pcl_cuda::PassThrough
PassThrough uses the base Filter class methods to pass through all data that satisfies the user given...
Definition: passthrough.h:86
pcl_cuda::PassThrough< PointCloudAOS< Device > >::PassThrough
PassThrough()
Empty constructor.
Definition: passthrough.h:118
pcl::geometry::distance
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl_cuda::Filter< PointCloudAOS< Device > >::PointCloud
PCLCUDABase< PointCloudAOS< Device > >::PointCloud PointCloud
Definition: filter.h:67
pcl_cuda::Filter
Removes points with x, y, or z equal to NaN.
Definition: filter.h:59
pcl_cuda::PassThrough::PointCloud
PCLCUDABase< CloudT >::PointCloud PointCloud
Definition: passthrough.h:91
pcl_cuda::isFiniteZIPSOA
Check if a specific point is valid or not.
Definition: passthrough.h:69
pcl_cuda::PassThrough::PassThrough
PassThrough()
Empty constructor.
Definition: passthrough.h:96
pcl_cuda::PassThrough< PointCloudSOA< Device > >::setZip
void setZip(bool zip)
Definition: passthrough.h:154
pcl_cuda::PassThrough::applyFilter
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition: passthrough.h:106
pcl_cuda::PassThrough< PointCloudAOS< Device > >::applyFilter
void applyFilter(PointCloud &output)
Filter a Point Cloud.
Definition: passthrough.h:128
pcl_cuda::PassThrough::PointCloudConstPtr
PointCloud::ConstPtr PointCloudConstPtr
Definition: passthrough.h:93
pcl_cuda
Definition: filter.h:42