Point Cloud Library (PCL) 1.15.0
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uniform_sampling.hpp
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37
38#ifndef PCL_FILTERS_UNIFORM_SAMPLING_IMPL_H_
39#define PCL_FILTERS_UNIFORM_SAMPLING_IMPL_H_
40
41#include <pcl/common/common.h>
42#include <pcl/filters/uniform_sampling.h>
43#include <pcl/common/point_tests.h>
44
45//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
46template <typename PointT> void
48{
49 // The arrays to be used
50 indices.resize (indices_->size ());
51 removed_indices_->resize (indices_->size ());
52
53 int oii = 0, rii = 0; // oii = output indices iterator, rii = removed indices iterator
54
55 Eigen::Vector4f min_p, max_p;
56 // Get the minimum and maximum dimensions
57 pcl::getMinMax3D<PointT>(*input_, min_p, max_p);
58
59 // Compute the minimum and maximum bounding box values
60 min_b_[0] = static_cast<int> (std::floor (min_p[0] * inverse_leaf_size_[0]));
61 max_b_[0] = static_cast<int> (std::floor (max_p[0] * inverse_leaf_size_[0]));
62 min_b_[1] = static_cast<int> (std::floor (min_p[1] * inverse_leaf_size_[1]));
63 max_b_[1] = static_cast<int> (std::floor (max_p[1] * inverse_leaf_size_[1]));
64 min_b_[2] = static_cast<int> (std::floor (min_p[2] * inverse_leaf_size_[2]));
65 max_b_[2] = static_cast<int> (std::floor (max_p[2] * inverse_leaf_size_[2]));
66
67 // Compute the number of divisions needed along all axis
68 div_b_ = max_b_ - min_b_ + Eigen::Vector4i::Ones ();
69 div_b_[3] = 0;
70
71 // Clear the leaves
72 leaves_.clear ();
73
74 // Set up the division multiplier
75 divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0);
76
77 // First pass: build a set of leaves with the point index closest to the leaf center
78 for (const auto& cp : *indices_)
79 {
80 if (!input_->is_dense)
81 {
82 // Check if the point is invalid
83 if (!pcl::isXYZFinite ((*input_)[cp]))
84 {
85 if (extract_removed_indices_)
86 (*removed_indices_)[rii++] = cp;
87 continue;
88 }
89 }
90
91 Eigen::Vector4i ijk = Eigen::Vector4i::Zero ();
92 ijk[0] = static_cast<int> (std::floor ((*input_)[cp].x * inverse_leaf_size_[0]));
93 ijk[1] = static_cast<int> (std::floor ((*input_)[cp].y * inverse_leaf_size_[1]));
94 ijk[2] = static_cast<int> (std::floor ((*input_)[cp].z * inverse_leaf_size_[2]));
95
96 // Compute the leaf index
97 int idx = (ijk - min_b_).dot (divb_mul_);
98 Leaf& leaf = leaves_[idx];
99
100 // Increment the count of points in this voxel
101 ++leaf.count;
102
103 // First time we initialize the index
104 if (leaf.idx == -1)
105 {
106 leaf.idx = cp;
107 continue;
108 }
109
110 // Compute the voxel center
111 Eigen::Vector4f voxel_center = (ijk.cast<float>() + Eigen::Vector4f::Constant(0.5)) * search_radius_;
112 voxel_center[3] = 0;
113 // Check to see if this point is closer to the leaf center than the previous one we saved
114 float diff_cur = ((*input_)[cp].getVector4fMap () - voxel_center).squaredNorm ();
115 float diff_prev = ((*input_)[leaf.idx].getVector4fMap () - voxel_center).squaredNorm ();
116
117 // If current point is closer, copy its index instead
118 if (diff_cur < diff_prev)
119 {
120 if (extract_removed_indices_)
121 (*removed_indices_)[rii++] = leaf.idx;
122 leaf.idx = cp;
123 }
124 else
125 {
126 if (extract_removed_indices_)
127 (*removed_indices_)[rii++] = cp;
128 }
129 }
130 removed_indices_->resize(rii);
131
132 // Second pass: go over all leaves and copy data
133 indices.resize (leaves_.size ());
134 for (const auto& leaf : leaves_)
135 {
136 if (leaf.second.count >= min_points_per_voxel_)
137 indices[oii++] = leaf.second.idx;
138 }
139
140 indices.resize (oii);
141 if(negative_){
142 indices.swap(*removed_indices_);
143 }
144}
145
146#define PCL_INSTANTIATE_UniformSampling(T) template class PCL_EXPORTS pcl::UniformSampling<T>;
147
148#endif // PCL_FILTERS_UNIFORM_SAMPLING_IMPL_H_
149
void applyFilter(Indices &indices) override
Filtered results are indexed by an indices array.
Define standard C methods and C++ classes that are common to all methods.
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
constexpr bool isXYZFinite(const PointT &) noexcept
Simple structure to hold an nD centroid and the number of points in a leaf.