291 lines
8.4 KiB
C++
291 lines
8.4 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2014-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP
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#define PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP
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#include <map>
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#include <boost/mpl/filter_view.hpp>
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#include <boost/fusion/include/mpl.hpp>
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#include <boost/fusion/include/for_each.hpp>
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#include <boost/fusion/include/as_vector.hpp>
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#include <boost/fusion/include/filter_if.hpp>
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/point_types.h>
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namespace pcl
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{
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namespace detail
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{
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/* Below are several helper accumulator structures that are used by the
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* `CentroidPoint` class. Each of them is capable of accumulating
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* information from a particular field(s) of a point. The points are
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* inserted via `add()` and extracted via `get()` functions. Note that the
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* accumulators are not templated on point type, so in principle it is
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* possible to insert and extract points of different types. It is the
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* responsibility of the user to make sure that points have corresponding
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* fields. */
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struct AccumulatorXYZ
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{
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// Requires that point type has x, y, and z fields
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using IsCompatible = pcl::traits::has_xyz<boost::mpl::_1>;
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// Storage
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Eigen::Vector3f xyz = Eigen::Vector3f::Zero ();
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template <typename PointT> void
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add (const PointT& t) { xyz += t.getVector3fMap (); }
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template <typename PointT> void
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get (PointT& t, std::size_t n) const { t.getVector3fMap () = xyz / n; }
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct AccumulatorNormal
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{
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// Requires that point type has normal_x, normal_y, and normal_z fields
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using IsCompatible = pcl::traits::has_normal<boost::mpl::_1>;
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// Storage
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Eigen::Vector4f normal = Eigen::Vector4f::Zero ();
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// Requires that the normal of the given point is normalized, otherwise it
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// does not make sense to sum it up with the accumulated value.
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template <typename PointT> void
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add (const PointT& t) { normal += t.getNormalVector4fMap (); }
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template <typename PointT> void
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get (PointT& t, std::size_t) const
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{
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#if EIGEN_VERSION_AT_LEAST (3, 3, 0)
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t.getNormalVector4fMap () = normal.normalized ();
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#else
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if (normal.squaredNorm() > 0)
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t.getNormalVector4fMap () = normal.normalized ();
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else
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t.getNormalVector4fMap () = Eigen::Vector4f::Zero ();
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#endif
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}
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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struct AccumulatorCurvature
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{
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// Requires that point type has curvature field
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using IsCompatible = pcl::traits::has_curvature<boost::mpl::_1>;
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// Storage
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float curvature = 0;
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template <typename PointT> void
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add (const PointT& t) { curvature += t.curvature; }
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template <typename PointT> void
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get (PointT& t, std::size_t n) const { t.curvature = curvature / n; }
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};
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struct AccumulatorRGBA
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{
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// Requires that point type has rgb or rgba field
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using IsCompatible = pcl::traits::has_color<boost::mpl::_1>;
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// Storage
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float r = 0, g = 0, b = 0, a = 0;
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template <typename PointT> void
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add (const PointT& t)
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{
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r += static_cast<float> (t.r);
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g += static_cast<float> (t.g);
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b += static_cast<float> (t.b);
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a += static_cast<float> (t.a);
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}
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template <typename PointT> void
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get (PointT& t, std::size_t n) const
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{
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t.rgba = static_cast<std::uint32_t> (a / n) << 24 |
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static_cast<std::uint32_t> (r / n) << 16 |
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static_cast<std::uint32_t> (g / n) << 8 |
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static_cast<std::uint32_t> (b / n);
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}
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};
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struct AccumulatorIntensity
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{
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// Requires that point type has intensity field
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using IsCompatible = pcl::traits::has_intensity<boost::mpl::_1>;
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// Storage
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float intensity = 0;
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template <typename PointT> void
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add (const PointT& t) { intensity += t.intensity; }
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template <typename PointT> void
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get (PointT& t, std::size_t n) const { t.intensity = intensity / n; }
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};
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struct AccumulatorLabel
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{
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// Requires that point type has label field
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using IsCompatible = pcl::traits::has_label<boost::mpl::_1>;
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// Storage
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// A better performance may be achieved with a heap structure
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std::map<std::uint32_t, std::size_t> labels;
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template <typename PointT> void
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add (const PointT& t)
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{
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auto itr = labels.find (t.label);
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if (itr == labels.end ())
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labels.insert (std::make_pair (t.label, 1));
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else
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++itr->second;
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}
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template <typename PointT> void
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get (PointT& t, std::size_t) const
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{
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std::size_t max = 0;
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for (const auto &label : labels)
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if (label.second > max)
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{
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max = label.second;
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t.label = label.first;
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}
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}
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};
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/* Meta-function that checks if an accumulator is compatible with given
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* point type(s). */
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template <typename Point1T, typename Point2T = Point1T>
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struct IsAccumulatorCompatible {
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template <typename AccumulatorT>
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struct apply : boost::mpl::and_<
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boost::mpl::apply<typename AccumulatorT::IsCompatible, Point1T>,
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boost::mpl::apply<typename AccumulatorT::IsCompatible, Point2T>
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> {};
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};
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/* Meta-function that creates a Fusion vector of accumulator types that are
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* compatible with a given point type. */
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template <typename PointT>
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struct Accumulators
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{
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using type =
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typename boost::fusion::result_of::as_vector<
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typename boost::mpl::filter_view<
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boost::mpl::vector<
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AccumulatorXYZ
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, AccumulatorNormal
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, AccumulatorCurvature
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, AccumulatorRGBA
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, AccumulatorIntensity
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, AccumulatorLabel
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>
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, IsAccumulatorCompatible<PointT>
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>
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>::type;
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};
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/* Fusion function object to invoke point addition on every accumulator in
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* a fusion sequence. */
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template <typename PointT>
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struct AddPoint
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{
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const PointT& p;
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AddPoint (const PointT& point) : p (point) { }
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template <typename AccumulatorT> void
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operator () (AccumulatorT& accumulator) const
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{
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accumulator.add (p);
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}
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};
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/* Fusion function object to invoke get point on every accumulator in a
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* fusion sequence. */
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template <typename PointT>
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struct GetPoint
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{
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PointT& p;
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std::size_t n;
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GetPoint (PointT& point, std::size_t num) : p (point), n (num) { }
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template <typename AccumulatorT> void
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operator () (AccumulatorT& accumulator) const
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{
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accumulator.get (p, n);
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}
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};
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}
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}
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#endif /* PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP */
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