771 lines
30 KiB
C++
771 lines
30 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Copyright (c) 2010, 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.
|
|
*
|
|
* $Id$
|
|
*
|
|
*/
|
|
|
|
#ifndef PCL_SURFACE_IMPL_GRID_PROJECTION_H_
|
|
#define PCL_SURFACE_IMPL_GRID_PROJECTION_H_
|
|
|
|
#include <pcl/surface/grid_projection.h>
|
|
#include <pcl/common/common.h>
|
|
#include <pcl/common/centroid.h>
|
|
#include <pcl/common/vector_average.h>
|
|
#include <pcl/Vertices.h>
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT>
|
|
pcl::GridProjection<PointNT>::GridProjection () :
|
|
cell_hash_map_ (), leaf_size_ (0.001), gaussian_scale_ (),
|
|
data_size_ (0), max_binary_search_level_ (10), k_ (50), padding_size_ (3), data_ ()
|
|
{}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT>
|
|
pcl::GridProjection<PointNT>::GridProjection (double resolution) :
|
|
cell_hash_map_ (), leaf_size_ (resolution), gaussian_scale_ (),
|
|
data_size_ (0), max_binary_search_level_ (10), k_ (50), padding_size_ (3), data_ ()
|
|
{}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT>
|
|
pcl::GridProjection<PointNT>::~GridProjection ()
|
|
{
|
|
vector_at_data_point_.clear ();
|
|
surface_.clear ();
|
|
cell_hash_map_.clear ();
|
|
occupied_cell_list_.clear ();
|
|
data_.reset ();
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::scaleInputDataPoint (double scale_factor)
|
|
{
|
|
for (auto& point: *data_) {
|
|
point.getVector3fMap() /= static_cast<float> (scale_factor);
|
|
}
|
|
max_p_ /= static_cast<float> (scale_factor);
|
|
min_p_ /= static_cast<float> (scale_factor);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getBoundingBox ()
|
|
{
|
|
pcl::getMinMax3D (*data_, min_p_, max_p_);
|
|
|
|
Eigen::Vector4f bounding_box_size = max_p_ - min_p_;
|
|
double scale_factor = (std::max)((std::max)(bounding_box_size.x (),
|
|
bounding_box_size.y ()),
|
|
bounding_box_size.z ());
|
|
if (scale_factor > 1)
|
|
scaleInputDataPoint (scale_factor);
|
|
|
|
// Round the max_p_, min_p_ so that they are aligned with the cells vertices
|
|
int upper_right_index[3];
|
|
int lower_left_index[3];
|
|
for (std::size_t i = 0; i < 3; ++i)
|
|
{
|
|
upper_right_index[i] = static_cast<int> (max_p_(i) / leaf_size_ + 5);
|
|
lower_left_index[i] = static_cast<int> (min_p_(i) / leaf_size_ - 5);
|
|
max_p_(i) = static_cast<float> (upper_right_index[i] * leaf_size_);
|
|
min_p_(i) = static_cast<float> (lower_left_index[i] * leaf_size_);
|
|
}
|
|
bounding_box_size = max_p_ - min_p_;
|
|
PCL_DEBUG ("[pcl::GridProjection::getBoundingBox] Size of Bounding Box is [%f, %f, %f]\n",
|
|
bounding_box_size.x (), bounding_box_size.y (), bounding_box_size.z ());
|
|
double max_size =
|
|
(std::max) ((std::max)(bounding_box_size.x (), bounding_box_size.y ()),
|
|
bounding_box_size.z ());
|
|
|
|
data_size_ = static_cast<int> (max_size / leaf_size_);
|
|
PCL_DEBUG ("[pcl::GridProjection::getBoundingBox] Lower left point is [%f, %f, %f]\n",
|
|
min_p_.x (), min_p_.y (), min_p_.z ());
|
|
PCL_DEBUG ("[pcl::GridProjection::getBoundingBox] Upper left point is [%f, %f, %f]\n",
|
|
max_p_.x (), max_p_.y (), max_p_.z ());
|
|
PCL_DEBUG ("[pcl::GridProjection::getBoundingBox] Padding size: %d\n", padding_size_);
|
|
PCL_DEBUG ("[pcl::GridProjection::getBoundingBox] Leaf size: %f\n", leaf_size_);
|
|
occupied_cell_list_.resize (data_size_ * data_size_ * data_size_);
|
|
gaussian_scale_ = pow ((padding_size_+1) * leaf_size_ / 2.0, 2.0);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getVertexFromCellCenter (
|
|
const Eigen::Vector4f &cell_center,
|
|
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &pts) const
|
|
{
|
|
assert (pts.size () == 8);
|
|
|
|
float sz = static_cast<float> (leaf_size_) / 2.0f;
|
|
|
|
pts[0] = cell_center + Eigen::Vector4f (-sz, sz, -sz, 0);
|
|
pts[1] = cell_center + Eigen::Vector4f (-sz, -sz, -sz, 0);
|
|
pts[2] = cell_center + Eigen::Vector4f (sz, -sz, -sz, 0);
|
|
pts[3] = cell_center + Eigen::Vector4f (sz, sz, -sz, 0);
|
|
pts[4] = cell_center + Eigen::Vector4f (-sz, sz, sz, 0);
|
|
pts[5] = cell_center + Eigen::Vector4f (-sz, -sz, sz, 0);
|
|
pts[6] = cell_center + Eigen::Vector4f (sz, -sz, sz, 0);
|
|
pts[7] = cell_center + Eigen::Vector4f (sz, sz, sz, 0);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getDataPtsUnion (const Eigen::Vector3i &index,
|
|
pcl::Indices &pt_union_indices)
|
|
{
|
|
for (int i = index[0] - padding_size_; i <= index[0] + padding_size_; ++i)
|
|
{
|
|
for (int j = index[1] - padding_size_; j <= index[1] + padding_size_; ++j)
|
|
{
|
|
for (int k = index[2] - padding_size_; k <= index[2] + padding_size_; ++k)
|
|
{
|
|
Eigen::Vector3i cell_index_3d (i, j, k);
|
|
int cell_index_1d = getIndexIn1D (cell_index_3d);
|
|
if (cell_hash_map_.find (cell_index_1d) != cell_hash_map_.end ())
|
|
{
|
|
// Get the indices of the input points within the cell(i,j,k), which
|
|
// is stored in the hash map
|
|
pt_union_indices.insert (pt_union_indices.end (),
|
|
cell_hash_map_.at (cell_index_1d).data_indices.begin (),
|
|
cell_hash_map_.at (cell_index_1d).data_indices.end ());
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::createSurfaceForCell (const Eigen::Vector3i &index,
|
|
pcl::Indices &pt_union_indices)
|
|
{
|
|
// 8 vertices of the cell
|
|
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > vertices (8);
|
|
|
|
// 4 end points that shared by 3 edges connecting the upper left front points
|
|
Eigen::Vector4f pts[4];
|
|
Eigen::Vector3f vector_at_pts[4];
|
|
|
|
// Given the index of cell, caluate the coordinates of the eight vertices of the cell
|
|
// index the index of the cell in (x,y,z) 3d format
|
|
Eigen::Vector4f cell_center = Eigen::Vector4f::Zero ();
|
|
getCellCenterFromIndex (index, cell_center);
|
|
getVertexFromCellCenter (cell_center, vertices);
|
|
|
|
// Get the indices of the cells which stores the 4 end points.
|
|
Eigen::Vector3i indices[4];
|
|
indices[0] = Eigen::Vector3i (index[0], index[1], index[2] - 1);
|
|
indices[1] = Eigen::Vector3i (index[0], index[1], index[2]);
|
|
indices[2] = Eigen::Vector3i (index[0], index[1] - 1, index[2]);
|
|
indices[3] = Eigen::Vector3i (index[0] + 1, index[1], index[2]);
|
|
|
|
// Get the coordinate of the 4 end points, and the corresponding vectors
|
|
for (std::size_t i = 0; i < 4; ++i)
|
|
{
|
|
pts[i] = vertices[I_SHIFT_PT[i]];
|
|
unsigned int index_1d = getIndexIn1D (indices[i]);
|
|
if (cell_hash_map_.find (index_1d) == cell_hash_map_.end () ||
|
|
occupied_cell_list_[index_1d] == 0)
|
|
return;
|
|
vector_at_pts[i] = cell_hash_map_.at (index_1d).vect_at_grid_pt;
|
|
}
|
|
|
|
// Go through the 3 edges, test whether they are intersected by the surface
|
|
for (std::size_t i = 0; i < 3; ++i)
|
|
{
|
|
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > end_pts (2);
|
|
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > vect_at_end_pts (2);
|
|
for (std::size_t j = 0; j < 2; ++j)
|
|
{
|
|
end_pts[j] = pts[I_SHIFT_EDGE[i][j]];
|
|
vect_at_end_pts[j] = vector_at_pts[I_SHIFT_EDGE[i][j]];
|
|
}
|
|
|
|
if (isIntersected (end_pts, vect_at_end_pts, pt_union_indices))
|
|
{
|
|
// Indices of cells that contains points which will be connected to
|
|
// create a polygon
|
|
Eigen::Vector3i polygon[4];
|
|
Eigen::Vector4f polygon_pts[4];
|
|
int polygon_indices_1d[4];
|
|
bool is_all_in_hash_map = true;
|
|
switch (i)
|
|
{
|
|
case 0:
|
|
polygon[0] = Eigen::Vector3i (index[0] - 1, index[1] + 1, index[2]);
|
|
polygon[1] = Eigen::Vector3i (index[0] - 1, index[1], index[2]);
|
|
polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);
|
|
polygon[3] = Eigen::Vector3i (index[0], index[1] + 1, index[2]);
|
|
break;
|
|
case 1:
|
|
polygon[0] = Eigen::Vector3i (index[0], index[1] + 1, index[2] + 1);
|
|
polygon[1] = Eigen::Vector3i (index[0], index[1] + 1, index[2]);
|
|
polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);
|
|
polygon[3] = Eigen::Vector3i (index[0], index[1], index[2] + 1);
|
|
break;
|
|
case 2:
|
|
polygon[0] = Eigen::Vector3i (index[0] - 1, index[1], index[2] + 1);
|
|
polygon[1] = Eigen::Vector3i (index[0] - 1, index[1], index[2]);
|
|
polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);
|
|
polygon[3] = Eigen::Vector3i (index[0], index[1], index[2] + 1);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
for (std::size_t k = 0; k < 4; k++)
|
|
{
|
|
polygon_indices_1d[k] = getIndexIn1D (polygon[k]);
|
|
if (!occupied_cell_list_[polygon_indices_1d[k]])
|
|
{
|
|
is_all_in_hash_map = false;
|
|
break;
|
|
}
|
|
}
|
|
if (is_all_in_hash_map)
|
|
{
|
|
for (std::size_t k = 0; k < 4; k++)
|
|
{
|
|
polygon_pts[k] = cell_hash_map_.at (polygon_indices_1d[k]).pt_on_surface;
|
|
surface_.push_back (polygon_pts[k]);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getProjection (const Eigen::Vector4f &p,
|
|
pcl::Indices &pt_union_indices, Eigen::Vector4f &projection)
|
|
{
|
|
const double projection_distance = leaf_size_ * 3;
|
|
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > end_pt (2);
|
|
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > end_pt_vect (2);
|
|
end_pt[0] = p;
|
|
getVectorAtPoint (end_pt[0], pt_union_indices, end_pt_vect[0]);
|
|
end_pt_vect[0].normalize();
|
|
|
|
double dSecond = getD2AtPoint (end_pt[0], end_pt_vect[0], pt_union_indices);
|
|
|
|
// Find another point which is projection_distance away from the p, do a
|
|
// binary search between these two points, to find the projected point on the
|
|
// surface
|
|
if (dSecond > 0)
|
|
end_pt[1] = end_pt[0] + Eigen::Vector4f (
|
|
end_pt_vect[0][0] * static_cast<float> (projection_distance),
|
|
end_pt_vect[0][1] * static_cast<float> (projection_distance),
|
|
end_pt_vect[0][2] * static_cast<float> (projection_distance),
|
|
0.0f);
|
|
else
|
|
end_pt[1] = end_pt[0] - Eigen::Vector4f (
|
|
end_pt_vect[0][0] * static_cast<float> (projection_distance),
|
|
end_pt_vect[0][1] * static_cast<float> (projection_distance),
|
|
end_pt_vect[0][2] * static_cast<float> (projection_distance),
|
|
0.0f);
|
|
getVectorAtPoint (end_pt[1], pt_union_indices, end_pt_vect[1]);
|
|
if (end_pt_vect[1].dot (end_pt_vect[0]) < 0)
|
|
{
|
|
Eigen::Vector4f mid_pt = end_pt[0] + (end_pt[1] - end_pt[0]) * 0.5;
|
|
findIntersection (0, end_pt, end_pt_vect, mid_pt, pt_union_indices, projection);
|
|
}
|
|
else
|
|
projection = p;
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getProjectionWithPlaneFit (const Eigen::Vector4f &p,
|
|
pcl::Indices (&pt_union_indices),
|
|
Eigen::Vector4f &projection)
|
|
{
|
|
// Compute the plane coefficients
|
|
Eigen::Vector4f model_coefficients;
|
|
/// @remark iterative weighted least squares or sac might give better results
|
|
Eigen::Matrix3f covariance_matrix;
|
|
Eigen::Vector4f xyz_centroid;
|
|
|
|
computeMeanAndCovarianceMatrix (*data_, pt_union_indices, covariance_matrix, xyz_centroid);
|
|
|
|
// Get the plane normal
|
|
EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;
|
|
EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;
|
|
pcl::eigen33 (covariance_matrix, eigen_value, eigen_vector);
|
|
|
|
// The normalization is not necessary, since the eigenvectors from libeigen are already normalized
|
|
model_coefficients[0] = eigen_vector [0];
|
|
model_coefficients[1] = eigen_vector [1];
|
|
model_coefficients[2] = eigen_vector [2];
|
|
model_coefficients[3] = 0;
|
|
// Hessian form (D = nc . p_plane (centroid here) + p)
|
|
model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);
|
|
|
|
// Projected point
|
|
Eigen::Vector3f point (p.x (), p.y (), p.z ()); //= Eigen::Vector3f::MapAligned (&output[cp].x, 3);
|
|
float distance = point.dot (model_coefficients.head <3> ()) + model_coefficients[3];
|
|
point -= distance * model_coefficients.head < 3 > ();
|
|
|
|
projection = Eigen::Vector4f (point[0], point[1], point[2], 0);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getVectorAtPoint (const Eigen::Vector4f &p,
|
|
pcl::Indices &pt_union_indices,
|
|
Eigen::Vector3f &vo)
|
|
{
|
|
std::vector <double> pt_union_dist (pt_union_indices.size ());
|
|
std::vector <double> pt_union_weight (pt_union_indices.size ());
|
|
Eigen::Vector3f out_vector (0, 0, 0);
|
|
double sum = 0.0;
|
|
double mag = 0.0;
|
|
|
|
for (std::size_t i = 0; i < pt_union_indices.size (); ++i)
|
|
{
|
|
Eigen::Vector4f pp ((*data_)[pt_union_indices[i]].x, (*data_)[pt_union_indices[i]].y, (*data_)[pt_union_indices[i]].z, 0);
|
|
pt_union_dist[i] = (pp - p).squaredNorm ();
|
|
pt_union_weight[i] = pow (M_E, -pow (pt_union_dist[i], 2.0) / gaussian_scale_);
|
|
mag += pow (M_E, -pow (sqrt (pt_union_dist[i]), 2.0) / gaussian_scale_);
|
|
sum += pt_union_weight[i];
|
|
}
|
|
|
|
pcl::VectorAverage3f vector_average;
|
|
|
|
Eigen::Vector3f v (
|
|
(*data_)[pt_union_indices[0]].normal[0],
|
|
(*data_)[pt_union_indices[0]].normal[1],
|
|
(*data_)[pt_union_indices[0]].normal[2]);
|
|
|
|
for (std::size_t i = 0; i < pt_union_weight.size (); ++i)
|
|
{
|
|
pt_union_weight[i] /= sum;
|
|
Eigen::Vector3f vec ((*data_)[pt_union_indices[i]].normal[0],
|
|
(*data_)[pt_union_indices[i]].normal[1],
|
|
(*data_)[pt_union_indices[i]].normal[2]);
|
|
if (vec.dot (v) < 0)
|
|
vec = -vec;
|
|
vector_average.add (vec, static_cast<float> (pt_union_weight[i]));
|
|
}
|
|
out_vector = vector_average.getMean ();
|
|
// vector_average.getEigenVector1(out_vector);
|
|
|
|
out_vector.normalize ();
|
|
double d1 = getD1AtPoint (p, out_vector, pt_union_indices);
|
|
out_vector *= static_cast<float> (sum);
|
|
vo = ((d1 > 0) ? -1 : 1) * out_vector;
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::getVectorAtPointKNN (const Eigen::Vector4f &p,
|
|
pcl::Indices &k_indices,
|
|
std::vector <float> &k_squared_distances,
|
|
Eigen::Vector3f &vo)
|
|
{
|
|
Eigen::Vector3f out_vector (0, 0, 0);
|
|
std::vector <float> k_weight;
|
|
k_weight.resize (k_);
|
|
float sum = 0.0;
|
|
for (int i = 0; i < k_; i++)
|
|
{
|
|
//k_weight[i] = pow (M_E, -pow (k_squared_distances[i], 2.0) / gaussian_scale_);
|
|
k_weight[i] = std::pow (static_cast<float>(M_E), static_cast<float>(-std::pow (static_cast<float>(k_squared_distances[i]), 2.0f) / gaussian_scale_));
|
|
sum += k_weight[i];
|
|
}
|
|
pcl::VectorAverage3f vector_average;
|
|
for (int i = 0; i < k_; i++)
|
|
{
|
|
k_weight[i] /= sum;
|
|
Eigen::Vector3f vec ((*data_)[k_indices[i]].normal[0],
|
|
(*data_)[k_indices[i]].normal[1],
|
|
(*data_)[k_indices[i]].normal[2]);
|
|
vector_average.add (vec, k_weight[i]);
|
|
}
|
|
vector_average.getEigenVector1 (out_vector);
|
|
out_vector.normalize ();
|
|
double d1 = getD1AtPoint (p, out_vector, k_indices);
|
|
out_vector *= sum;
|
|
vo = ((d1 > 0) ? -1 : 1) * out_vector;
|
|
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> double
|
|
pcl::GridProjection<PointNT>::getMagAtPoint (const Eigen::Vector4f &p,
|
|
const pcl::Indices &pt_union_indices)
|
|
{
|
|
std::vector <double> pt_union_dist (pt_union_indices.size ());
|
|
double sum = 0.0;
|
|
for (std::size_t i = 0; i < pt_union_indices.size (); ++i)
|
|
{
|
|
Eigen::Vector4f pp ((*data_)[pt_union_indices[i]].x, (*data_)[pt_union_indices[i]].y, (*data_)[pt_union_indices[i]].z, 0);
|
|
pt_union_dist[i] = (pp - p).norm ();
|
|
sum += pow (M_E, -pow (pt_union_dist[i], 2.0) / gaussian_scale_);
|
|
}
|
|
return (sum);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> double
|
|
pcl::GridProjection<PointNT>::getD1AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec,
|
|
const pcl::Indices &pt_union_indices)
|
|
{
|
|
double sz = 0.01 * leaf_size_;
|
|
Eigen::Vector3f v = vec * static_cast<float> (sz);
|
|
|
|
double forward = getMagAtPoint (p + Eigen::Vector4f (v[0], v[1], v[2], 0), pt_union_indices);
|
|
double backward = getMagAtPoint (p - Eigen::Vector4f (v[0], v[1], v[2], 0), pt_union_indices);
|
|
return ((forward - backward) / (0.02 * leaf_size_));
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> double
|
|
pcl::GridProjection<PointNT>::getD2AtPoint (const Eigen::Vector4f &p, const Eigen::Vector3f &vec,
|
|
const pcl::Indices &pt_union_indices)
|
|
{
|
|
double sz = 0.01 * leaf_size_;
|
|
Eigen::Vector3f v = vec * static_cast<float> (sz);
|
|
|
|
double forward = getD1AtPoint (p + Eigen::Vector4f (v[0], v[1], v[2], 0), vec, pt_union_indices);
|
|
double backward = getD1AtPoint (p - Eigen::Vector4f (v[0], v[1], v[2], 0), vec, pt_union_indices);
|
|
return ((forward - backward) / (0.02 * leaf_size_));
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> bool
|
|
pcl::GridProjection<PointNT>::isIntersected (const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &end_pts,
|
|
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > &vect_at_end_pts,
|
|
pcl::Indices &pt_union_indices)
|
|
{
|
|
assert (end_pts.size () == 2);
|
|
assert (vect_at_end_pts.size () == 2);
|
|
|
|
double length[2];
|
|
for (std::size_t i = 0; i < 2; ++i)
|
|
{
|
|
length[i] = vect_at_end_pts[i].norm ();
|
|
vect_at_end_pts[i].normalize ();
|
|
}
|
|
double dot_prod = vect_at_end_pts[0].dot (vect_at_end_pts[1]);
|
|
if (dot_prod < 0)
|
|
{
|
|
double ratio = length[0] / (length[0] + length[1]);
|
|
Eigen::Vector4f start_pt =
|
|
end_pts[0] + (end_pts[1] - end_pts[0]) * static_cast<float> (ratio);
|
|
Eigen::Vector4f intersection_pt = Eigen::Vector4f::Zero ();
|
|
findIntersection (0, end_pts, vect_at_end_pts, start_pt, pt_union_indices, intersection_pt);
|
|
|
|
Eigen::Vector3f vec;
|
|
getVectorAtPoint (intersection_pt, pt_union_indices, vec);
|
|
vec.normalize ();
|
|
|
|
double d2 = getD2AtPoint (intersection_pt, vec, pt_union_indices);
|
|
if (d2 < 0)
|
|
return (true);
|
|
}
|
|
return (false);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::findIntersection (int level,
|
|
const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &end_pts,
|
|
const std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > &vect_at_end_pts,
|
|
const Eigen::Vector4f &start_pt,
|
|
pcl::Indices &pt_union_indices,
|
|
Eigen::Vector4f &intersection)
|
|
{
|
|
assert (end_pts.size () == 2);
|
|
assert (vect_at_end_pts.size () == 2);
|
|
|
|
Eigen::Vector3f vec;
|
|
getVectorAtPoint (start_pt, pt_union_indices, vec);
|
|
double d1 = getD1AtPoint (start_pt, vec, pt_union_indices);
|
|
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > new_end_pts (2);
|
|
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > new_vect_at_end_pts (2);
|
|
if ((std::abs (d1) < 10e-3) || (level == max_binary_search_level_))
|
|
{
|
|
intersection = start_pt;
|
|
return;
|
|
}
|
|
vec.normalize ();
|
|
if (vec.dot (vect_at_end_pts[0]) < 0)
|
|
{
|
|
Eigen::Vector4f new_start_pt = end_pts[0] + (start_pt - end_pts[0]) * 0.5;
|
|
new_end_pts[0] = end_pts[0];
|
|
new_end_pts[1] = start_pt;
|
|
new_vect_at_end_pts[0] = vect_at_end_pts[0];
|
|
new_vect_at_end_pts[1] = vec;
|
|
findIntersection (level + 1, new_end_pts, new_vect_at_end_pts, new_start_pt, pt_union_indices, intersection);
|
|
return;
|
|
}
|
|
if (vec.dot (vect_at_end_pts[1]) < 0)
|
|
{
|
|
Eigen::Vector4f new_start_pt = start_pt + (end_pts[1] - start_pt) * 0.5;
|
|
new_end_pts[0] = start_pt;
|
|
new_end_pts[1] = end_pts[1];
|
|
new_vect_at_end_pts[0] = vec;
|
|
new_vect_at_end_pts[1] = vect_at_end_pts[1];
|
|
findIntersection (level + 1, new_end_pts, new_vect_at_end_pts, new_start_pt, pt_union_indices, intersection);
|
|
return;
|
|
}
|
|
intersection = start_pt;
|
|
return;
|
|
}
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::fillPad (const Eigen::Vector3i &index)
|
|
{
|
|
for (int i = index[0] - padding_size_; i < index[0] + padding_size_; ++i)
|
|
{
|
|
for (int j = index[1] - padding_size_; j < index[1] + padding_size_; ++j)
|
|
{
|
|
for (int k = index[2] - padding_size_; k < index[2] + padding_size_; ++k)
|
|
{
|
|
Eigen::Vector3i cell_index_3d (i, j, k);
|
|
unsigned int cell_index_1d = getIndexIn1D (cell_index_3d);
|
|
if (cell_hash_map_.find (cell_index_1d) == cell_hash_map_.end ())
|
|
{
|
|
cell_hash_map_[cell_index_1d].data_indices.resize (0);
|
|
getCellCenterFromIndex (cell_index_3d, cell_hash_map_[cell_index_1d].pt_on_surface);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::storeVectAndSurfacePoint (int index_1d,
|
|
const Eigen::Vector3i &,
|
|
pcl::Indices &pt_union_indices,
|
|
const Leaf &cell_data)
|
|
{
|
|
// Get point on grid
|
|
Eigen::Vector4f grid_pt (
|
|
cell_data.pt_on_surface.x () - static_cast<float> (leaf_size_) / 2.0f,
|
|
cell_data.pt_on_surface.y () + static_cast<float> (leaf_size_) / 2.0f,
|
|
cell_data.pt_on_surface.z () + static_cast<float> (leaf_size_) / 2.0f, 0.0f);
|
|
|
|
// Save the vector and the point on the surface
|
|
getVectorAtPoint (grid_pt, pt_union_indices, cell_hash_map_[index_1d].vect_at_grid_pt);
|
|
getProjection (cell_data.pt_on_surface, pt_union_indices, cell_hash_map_[index_1d].pt_on_surface);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::storeVectAndSurfacePointKNN (int index_1d, const Eigen::Vector3i &,
|
|
const Leaf &cell_data)
|
|
{
|
|
Eigen::Vector4f cell_center = cell_data.pt_on_surface;
|
|
Eigen::Vector4f grid_pt (
|
|
cell_center.x () - static_cast<float> (leaf_size_) / 2.0f,
|
|
cell_center.y () + static_cast<float> (leaf_size_) / 2.0f,
|
|
cell_center.z () + static_cast<float> (leaf_size_) / 2.0f, 0.0f);
|
|
|
|
pcl::Indices k_indices;
|
|
k_indices.resize (k_);
|
|
std::vector <float> k_squared_distances;
|
|
k_squared_distances.resize (k_);
|
|
|
|
PointNT pt; pt.x = grid_pt.x (); pt.y = grid_pt.y (); pt.z = grid_pt.z ();
|
|
tree_->nearestKSearch (pt, k_, k_indices, k_squared_distances);
|
|
|
|
getVectorAtPointKNN (grid_pt, k_indices, k_squared_distances, cell_hash_map_[index_1d].vect_at_grid_pt);
|
|
getProjectionWithPlaneFit (cell_center, k_indices, cell_hash_map_[index_1d].pt_on_surface);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> bool
|
|
pcl::GridProjection<PointNT>::reconstructPolygons (std::vector<pcl::Vertices> &polygons)
|
|
{
|
|
data_.reset (new pcl::PointCloud<PointNT> (*input_));
|
|
getBoundingBox ();
|
|
|
|
// Store the point cloud data into the voxel grid, and at the same time
|
|
// create a hash map to store the information for each cell
|
|
cell_hash_map_.max_load_factor (2.0);
|
|
cell_hash_map_.rehash (data_->size () / static_cast<long unsigned int> (cell_hash_map_.max_load_factor ()));
|
|
|
|
// Go over all points and insert them into the right leaf
|
|
for (pcl::index_t cp = 0; cp < static_cast<pcl::index_t> (data_->size ()); ++cp)
|
|
{
|
|
// Check if the point is invalid
|
|
if (!std::isfinite ((*data_)[cp].x) ||
|
|
!std::isfinite ((*data_)[cp].y) ||
|
|
!std::isfinite ((*data_)[cp].z))
|
|
continue;
|
|
|
|
Eigen::Vector3i index_3d;
|
|
getCellIndex ((*data_)[cp].getVector4fMap (), index_3d);
|
|
int index_1d = getIndexIn1D (index_3d);
|
|
if (cell_hash_map_.find (index_1d) == cell_hash_map_.end ())
|
|
{
|
|
Leaf cell_data;
|
|
cell_data.data_indices.push_back (cp);
|
|
getCellCenterFromIndex (index_3d, cell_data.pt_on_surface);
|
|
cell_hash_map_[index_1d] = cell_data;
|
|
occupied_cell_list_[index_1d] = 1;
|
|
}
|
|
else
|
|
{
|
|
Leaf cell_data = cell_hash_map_.at (index_1d);
|
|
cell_data.data_indices.push_back (cp);
|
|
cell_hash_map_[index_1d] = cell_data;
|
|
}
|
|
}
|
|
|
|
Eigen::Vector3i index;
|
|
int numOfFilledPad = 0;
|
|
|
|
for (int i = 0; i < data_size_; ++i)
|
|
{
|
|
for (int j = 0; j < data_size_; ++j)
|
|
{
|
|
for (int k = 0; k < data_size_; ++k)
|
|
{
|
|
index[0] = i;
|
|
index[1] = j;
|
|
index[2] = k;
|
|
if (occupied_cell_list_[getIndexIn1D (index)])
|
|
{
|
|
fillPad (index);
|
|
numOfFilledPad++;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// Update the hashtable and store the vector and point
|
|
for (const auto &entry : cell_hash_map_)
|
|
{
|
|
getIndexIn3D (entry.first, index);
|
|
pcl::Indices pt_union_indices;
|
|
getDataPtsUnion (index, pt_union_indices);
|
|
|
|
// Needs at least 10 points (?)
|
|
// NOTE: set as parameter later
|
|
if (pt_union_indices.size () > 10)
|
|
{
|
|
storeVectAndSurfacePoint (entry.first, index, pt_union_indices, entry.second);
|
|
//storeVectAndSurfacePointKNN(entry.first, index, entry.second);
|
|
occupied_cell_list_[entry.first] = 1;
|
|
}
|
|
}
|
|
|
|
// Go through the hash table another time to extract surface
|
|
for (const auto &entry : cell_hash_map_)
|
|
{
|
|
getIndexIn3D (entry.first, index);
|
|
pcl::Indices pt_union_indices;
|
|
getDataPtsUnion (index, pt_union_indices);
|
|
|
|
// Needs at least 10 points (?)
|
|
// NOTE: set as parameter later
|
|
if (pt_union_indices.size () > 10)
|
|
createSurfaceForCell (index, pt_union_indices);
|
|
}
|
|
|
|
polygons.resize (surface_.size () / 4);
|
|
// Copy the data from surface_ to polygons
|
|
for (int i = 0; i < static_cast<int> (polygons.size ()); ++i)
|
|
{
|
|
pcl::Vertices v;
|
|
v.vertices.resize (4);
|
|
for (int j = 0; j < 4; ++j)
|
|
v.vertices[j] = i*4+j;
|
|
polygons[i] = v;
|
|
}
|
|
return (true);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::performReconstruction (pcl::PolygonMesh &output)
|
|
{
|
|
if (!reconstructPolygons (output.polygons))
|
|
return;
|
|
|
|
// The mesh surface is held in surface_. Copy it to the output format
|
|
output.header = input_->header;
|
|
|
|
pcl::PointCloud<pcl::PointXYZ> cloud;
|
|
cloud.width = surface_.size ();
|
|
cloud.height = 1;
|
|
cloud.is_dense = true;
|
|
|
|
cloud.resize (surface_.size ());
|
|
// Copy the data from surface_ to cloud
|
|
for (std::size_t i = 0; i < cloud.size (); ++i)
|
|
{
|
|
cloud[i].x = surface_[i].x ();
|
|
cloud[i].y = surface_[i].y ();
|
|
cloud[i].z = surface_[i].z ();
|
|
}
|
|
pcl::toPCLPointCloud2 (cloud, output.cloud);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointNT> void
|
|
pcl::GridProjection<PointNT>::performReconstruction (pcl::PointCloud<PointNT> &points,
|
|
std::vector<pcl::Vertices> &polygons)
|
|
{
|
|
if (!reconstructPolygons (polygons))
|
|
return;
|
|
|
|
// The mesh surface is held in surface_. Copy it to the output format
|
|
points.header = input_->header;
|
|
points.width = surface_.size ();
|
|
points.height = 1;
|
|
points.is_dense = true;
|
|
|
|
points.resize (surface_.size ());
|
|
// Copy the data from surface_ to cloud
|
|
for (std::size_t i = 0; i < points.size (); ++i)
|
|
{
|
|
points[i].x = surface_[i].x ();
|
|
points[i].y = surface_[i].y ();
|
|
points[i].z = surface_[i].z ();
|
|
}
|
|
}
|
|
|
|
#define PCL_INSTANTIATE_GridProjection(T) template class PCL_EXPORTS pcl::GridProjection<T>;
|
|
|
|
#endif // PCL_SURFACE_IMPL_GRID_PROJECTION_H_
|
|
|