boundary.hpp

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#pragma once
 
#include <pcl/features/boundary.h>
#include <pcl/common/point_tests.h> // for pcl::isFinite
 
#include <cfloat>
 
#ifdef _OPENMP
#include <omp.h>
#endif
 
template <typename PointInT, typename PointNT, typename PointOutT>
void
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::setNumberOfThreads(
    unsigned int nr_threads)
{
#ifdef _OPENMP
  if (nr_threads == 0)
    threads_ = omp_get_num_procs();
  else
    threads_ = nr_threads;
  PCL_DEBUG("[pcl::BoundaryEstimation::setNumberOfThreads] Setting number of threads "
            "to %u.\n",
            threads_);
#else
  threads_ = 1;
  if (nr_threads != 1)
    PCL_WARN(
        "[pcl::BoundaryEstimation::setNumberOfThreads] Parallelization is requested, "
        "but OpenMP is not available! Continuing without parallelization.\n");
#endif // _OPENMP
}
 
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
      const pcl::PointCloud<PointInT> &cloud, int q_idx, 
      const pcl::Indices &indices, 
      const Eigen::Vector4f &u, const Eigen::Vector4f &v, 
      const float angle_threshold) const
{
  return (isBoundaryPoint (cloud, cloud[q_idx], indices, u, v, angle_threshold));
}
 
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
      const pcl::PointCloud<PointInT> &cloud, const PointInT &q_point, 
      const pcl::Indices &indices, 
      const Eigen::Vector4f &u, const Eigen::Vector4f &v, 
      const float angle_threshold) const
{
  if (indices.size () < 3)
    return (false);
 
  if (!std::isfinite (q_point.x) || !std::isfinite (q_point.y) || !std::isfinite (q_point.z))
    return (false);
 
  // Compute the angles between each neighboring point and the query point itself
  std::vector<float> angles (indices.size ());
  float max_dif = 0, dif;
  int cp = 0;
 
  for (const auto &index : indices)
  {
    if (!std::isfinite (cloud[index].x) || 
        !std::isfinite (cloud[index].y) || 
        !std::isfinite (cloud[index].z))
      continue;
 
    Eigen::Vector4f delta = cloud[index].getVector4fMap () - q_point.getVector4fMap ();
    if (delta == Eigen::Vector4f::Zero())
      continue;
 
    angles[cp++] = std::atan2 (v.dot (delta), u.dot (delta)); // the angles are fine between -PI and PI too
  }
  if (cp == 0)
    return (false);
 
  angles.resize (cp);
  std::sort (angles.begin (), angles.end ());
 
  // Compute the maximal angle difference between two consecutive angles
  for (std::size_t i = 0; i < angles.size () - 1; ++i)
  {
    dif = angles[i + 1] - angles[i];
    if (max_dif < dif)
      max_dif = dif;
  }
  // Get the angle difference between the last and the first
  dif = 2 * static_cast<float> (M_PI) - angles[angles.size () - 1] + angles[0];
  if (max_dif < dif)
    max_dif = dif;
 
  // Check results
  return (max_dif > angle_threshold);
}
 
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
  // Allocate enough space to hold the results
  // \note This resize is irrelevant for a radiusSearch ().
  pcl::Indices nn_indices (k_);
  std::vector<float> nn_dists (k_);
 
  Eigen::Vector4f u = Eigen::Vector4f::Zero (), v = Eigen::Vector4f::Zero ();
 
  output.is_dense = true;
  // Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
  if (input_->is_dense)
  {
    #pragma omp parallel for \
    default(none) \
    shared(output) \
    firstprivate(nn_indices, nn_dists, u, v) \
    num_threads(threads_) \
    schedule(dynamic, chunk_size_)
    // Iterating over the entire index vector
    for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t>(indices_->size());
         ++idx)
    {
      if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
      {
        output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
        output.is_dense = false;
        continue;
      }
 
      // Obtain a coordinate system on the least-squares plane
      //v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
      //u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
      getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);
 
      // Estimate whether the point is lying on a boundary surface or not
      output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
    }
  }
  else
  {
    #pragma omp parallel for \
    default(none) \
    shared(output) \
    firstprivate(nn_indices, nn_dists, u, v) \
    num_threads(threads_) \
    schedule(dynamic, chunk_size_)
    // Iterating over the entire index vector
    for (std::ptrdiff_t idx = 0; idx < static_cast<std::ptrdiff_t>(indices_->size());
         ++idx)
    {
      if (!isFinite ((*input_)[(*indices_)[idx]]) ||
          this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
      {
        output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
        output.is_dense = false;
        continue;
      }
 
      // Obtain a coordinate system on the least-squares plane
      //v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
      //u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
      getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);
 
      // Estimate whether the point is lying on a boundary surface or not
      output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
    }
  }
}
 
#define PCL_INSTANTIATE_BoundaryEstimation(PointInT,PointNT,PointOutT) template class PCL_EXPORTS pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>;