Point Cloud Library (PCL)
1.3.1
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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: approximate_voxel_grid.hpp 3028 2011-11-01 04:12:17Z rusu $ 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/filters/approximate_voxel_grid.h" 00043 00045 template <typename PointT> void 00046 pcl::ApproximateVoxelGrid<PointT>::flush (PointCloud &output, size_t op, he *hhe, int rgba_index, int centroid_size) 00047 { 00048 hhe->centroid /= hhe->count; 00049 pcl::for_each_type <FieldList> (pcl::xNdCopyEigenPointFunctor <PointT> (hhe->centroid, output.points[op])); 00050 // ---[ RGB special case 00051 if (rgba_index >= 0) 00052 { 00053 // pack r/g/b into rgb 00054 float r = hhe->centroid[centroid_size-3], 00055 g = hhe->centroid[centroid_size-2], 00056 b = hhe->centroid[centroid_size-1]; 00057 int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b); 00058 memcpy (((char *)&output.points[op]) + rgba_index, &rgb, sizeof (float)); 00059 } 00060 } 00061 00063 template <typename PointT> void 00064 pcl::ApproximateVoxelGrid<PointT>::applyFilter (PointCloud &output) 00065 { 00066 int centroid_size = 4; 00067 if (downsample_all_data_) 00068 centroid_size = boost::mpl::size<FieldList>::value; 00069 00070 // ---[ RGB special case 00071 std::vector<sensor_msgs::PointField> fields; 00072 int rgba_index = -1; 00073 rgba_index = pcl::getFieldIndex (*input_, "rgb", fields); 00074 if (rgba_index == -1) 00075 rgba_index = pcl::getFieldIndex (*input_, "rgba", fields); 00076 if (rgba_index >= 0) 00077 { 00078 rgba_index = fields[rgba_index].offset; 00079 centroid_size += 3; 00080 } 00081 00082 for (size_t i = 0; i < histsize; i++) 00083 { 00084 history[i].count = 0; 00085 history[i].centroid = Eigen::VectorXf::Zero (centroid_size); 00086 } 00087 Eigen::VectorXf scratch = Eigen::VectorXf::Zero (centroid_size); 00088 00089 output.points.resize (input_->points.size ()); // size output for worst case 00090 size_t op = 0; // output pointer 00091 for (size_t cp = 0; cp < input_->points.size (); ++cp) 00092 { 00093 int ix = (int)floor (input_->points[cp].x * inverse_leaf_size_[0]); 00094 int iy = (int)floor (input_->points[cp].y * inverse_leaf_size_[1]); 00095 int iz = (int)floor (input_->points[cp].z * inverse_leaf_size_[2]); 00096 unsigned int hash = (ix * 7171 + iy * 3079 + iz * 4231) & (histsize - 1); 00097 he *hhe = &history[hash]; 00098 if (hhe->count && ((ix != hhe->ix) || (iy != hhe->iy) || (iz != hhe->iz))) 00099 { 00100 flush (output, op++, hhe, rgba_index, centroid_size); 00101 hhe->count = 0; 00102 hhe->centroid.setZero ();// = Eigen::VectorXf::Zero (centroid_size); 00103 } 00104 hhe->ix = ix; 00105 hhe->iy = iy; 00106 hhe->iz = iz; 00107 hhe->count++; 00108 00109 // Unpack the point into scratch, then accumulate 00110 // ---[ RGB special case 00111 if (rgba_index >= 0) 00112 { 00113 // fill r/g/b data 00114 pcl::RGB rgb; 00115 memcpy (&rgb, ((char *)&(input_->points[cp])) + rgba_index, sizeof (RGB)); 00116 scratch[centroid_size-3] = rgb.r; 00117 scratch[centroid_size-2] = rgb.g; 00118 scratch[centroid_size-1] = rgb.b; 00119 } 00120 pcl::for_each_type <FieldList> (xNdCopyPointEigenFunctor <PointT> (input_->points[cp], scratch)); 00121 hhe->centroid += scratch; 00122 } 00123 for (size_t i = 0; i < histsize; i++) 00124 { 00125 he *hhe = &history[i]; 00126 if (hhe->count) 00127 flush (output, op++, hhe, rgba_index, centroid_size); 00128 } 00129 output.points.resize (op); 00130 output.width = output.points.size (); 00131 output.height = 1; // downsampling breaks the organized structure 00132 output.is_dense = false; // we filter out invalid points 00133 } 00134 00135 #define PCL_INSTANTIATE_ApproximateVoxelGrid(T) template class PCL_EXPORTS pcl::ApproximateVoxelGrid<T>; 00136 00137 #endif // PCL_FILTERS_IMPL_FAST_VOXEL_GRID_H_