Point Cloud Library (PCL)  1.12.1-dev
buffers.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2014-, Open Perception, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  */
37 
38 #ifndef PCL_IO_IMPL_BUFFERS_HPP
39 #define PCL_IO_IMPL_BUFFERS_HPP
40 
41 #include <iostream>
42 
43 #include <pcl/pcl_macros.h>
44 
45 
46 template <typename T>
48 {
49  static T invalid () { return 0; }
50  static bool is_invalid (T value) { return value == invalid (); };
51 };
52 
53 template <>
54 struct buffer_traits <float>
55 {
56  static float invalid () { return std::numeric_limits<float>::quiet_NaN (); };
57  static bool is_invalid (float value) { return std::isnan (value); };
58 };
59 
60 template <>
61 struct buffer_traits <double>
62 {
63  static double invalid () { return std::numeric_limits<double>::quiet_NaN (); };
64  static bool is_invalid (double value) { return std::isnan (value); };
65 };
66 
67 
68 namespace pcl
69 {
70 
71 namespace io
72 {
73 
74 template <typename T>
75 Buffer<T>::Buffer (std::size_t size)
76 : size_ (size)
77 {
78 }
79 
80 template <typename T>
82 = default;
83 
84 template <typename T>
86 : Buffer<T> (size)
87 , data_ (size, buffer_traits<T>::invalid ())
88 {
89 }
90 
91 template <typename T>
93 = default;
94 
95 template <typename T> T
96 SingleBuffer<T>::operator[] (std::size_t idx) const
97 {
98  assert (idx < size_);
99  return (data_[idx]);
100 }
101 
102 template <typename T> void
103 SingleBuffer<T>::push (std::vector<T>& data)
104 {
105  assert (data.size () == size_);
106  std::lock_guard<std::mutex> lock (data_mutex_);
107  data_.swap (data);
108  data.clear ();
109 }
110 
111 template <typename T>
113  unsigned char window_size)
114 : Buffer<T> (size)
115 , window_size_ (window_size)
116 , midpoint_ (window_size_ / 2)
117 , data_current_idx_ (window_size_ - 1)
118 {
119  assert (size_ > 0);
120  assert (window_size_ > 0);
121 
122  data_.resize (window_size_);
123  for (std::size_t i = 0; i < window_size_; ++i)
124  data_[i].resize (size_, buffer_traits<T>::invalid ());
125 
126  data_argsort_indices_.resize (size_);
127  for (std::size_t i = 0; i < size_; ++i)
128  {
129  data_argsort_indices_[i].resize (window_size_);
130  for (std::size_t j = 0; j < window_size_; ++j)
131  data_argsort_indices_[i][j] = j;
132  }
133 
134  data_invalid_count_.resize (size_, window_size_);
135 }
136 
137 template <typename T>
139 = default;
140 
141 template <typename T> T
142 MedianBuffer<T>::operator[] (std::size_t idx) const
143 {
144  assert (idx < size_);
145  int midpoint = (window_size_ - data_invalid_count_[idx]) / 2;
146  return (data_[data_argsort_indices_[idx][midpoint]][idx]);
147 }
148 
149 template <typename T> void
150 MedianBuffer<T>::push (std::vector<T>& data)
151 {
152  assert (data.size () == size_);
153  std::lock_guard<std::mutex> lock (data_mutex_);
154 
155  if (++data_current_idx_ >= window_size_)
156  data_current_idx_ = 0;
157 
158  // New data will replace the column with index data_current_idx_. Before
159  // overwriting it, we go through all the new-old value pairs and update
160  // data_argsort_indices_ to maintain sorted order.
161  for (std::size_t i = 0; i < size_; ++i)
162  {
163  const T& new_value = data[i];
164  const T& old_value = data_[data_current_idx_][i];
165  bool new_is_invalid = buffer_traits<T>::is_invalid (new_value);
166  bool old_is_invalid = buffer_traits<T>::is_invalid (old_value);
167  if (compare (new_value, old_value) == 0)
168  continue;
169  std::vector<unsigned char>& argsort_indices = data_argsort_indices_[i];
170  // Rewrite the argsort indices before or after the position where we insert
171  // depending on the relation between the old and new values
172  if (compare (new_value, old_value) == 1)
173  {
174  for (int j = 0; j < window_size_; ++j)
175  if (argsort_indices[j] == data_current_idx_)
176  {
177  int k = j + 1;
178  while (k < window_size_ && compare (new_value, data_[argsort_indices[k]][i]) == 1)
179  {
180  std::swap (argsort_indices[k - 1], argsort_indices[k]);
181  ++k;
182  }
183  break;
184  }
185  }
186  else
187  {
188  for (int j = window_size_ - 1; j >= 0; --j)
189  if (argsort_indices[j] == data_current_idx_)
190  {
191  int k = j - 1;
192  while (k >= 0 && compare (new_value, data_[argsort_indices[k]][i]) == -1)
193  {
194  std::swap (argsort_indices[k], argsort_indices[k + 1]);
195  --k;
196  }
197  break;
198  }
199  }
200 
201  if (new_is_invalid && !old_is_invalid)
202  ++data_invalid_count_[i];
203  else if (!new_is_invalid && old_is_invalid)
204  --data_invalid_count_[i];
205  }
206 
207  // Finally overwrite the data
208  data_[data_current_idx_].swap (data);
209  data.clear ();
210 }
211 
212 template <typename T> int
213 MedianBuffer<T>::compare (T a, T b)
214 {
215  bool a_is_invalid = buffer_traits<T>::is_invalid (a);
216  bool b_is_invalid = buffer_traits<T>::is_invalid (b);
217  if (a_is_invalid && b_is_invalid)
218  return 0;
219  if (a_is_invalid)
220  return 1;
221  if (b_is_invalid)
222  return -1;
223  if (a == b)
224  return 0;
225  return a > b ? 1 : -1;
226 }
227 
228 template <typename T>
230  unsigned char window_size)
231 : Buffer<T> (size)
232 , window_size_ (window_size)
233 , data_current_idx_ (window_size_ - 1)
234 {
235  assert (size_ > 0);
236  assert (window_size_ > 0);
237 
238  data_.resize (window_size_);
239  for (std::size_t i = 0; i < window_size_; ++i)
240  data_[i].resize (size_, buffer_traits<T>::invalid ());
241 
242  data_sum_.resize (size_, 0);
243  data_invalid_count_.resize (size_, window_size_);
244 }
245 
246 template <typename T>
248 = default;
249 
250 template <typename T> T
251 AverageBuffer<T>::operator[] (std::size_t idx) const
252 {
253  assert (idx < size_);
254  if (data_invalid_count_[idx] == window_size_)
255  return (buffer_traits<T>::invalid ());
256  return (data_sum_[idx] / static_cast<T> (window_size_ - data_invalid_count_[idx]));
257 }
258 
259 template <typename T> void
260 AverageBuffer<T>::push (std::vector<T>& data)
261 {
262  assert (data.size () == size_);
263  std::lock_guard<std::mutex> lock (data_mutex_);
264 
265  if (++data_current_idx_ >= window_size_)
266  data_current_idx_ = 0;
267 
268  // New data will replace the column with index data_current_idx_. Before
269  // overwriting it, we go through the old values and subtract them from the
270  // data_sum_
271  for (std::size_t i = 0; i < size_; ++i)
272  {
273  const float& new_value = data[i];
274  const float& old_value = data_[data_current_idx_][i];
275  bool new_is_invalid = buffer_traits<T>::is_invalid (new_value);
276  bool old_is_invalid = buffer_traits<T>::is_invalid (old_value);
277 
278  if (!old_is_invalid)
279  data_sum_[i] -= old_value;
280  if (!new_is_invalid)
281  data_sum_[i] += new_value;
282 
283  if (new_is_invalid && !old_is_invalid)
284  ++data_invalid_count_[i];
285  else if (!new_is_invalid && old_is_invalid)
286  --data_invalid_count_[i];
287  }
288 
289  // Finally overwrite the data
290  data_[data_current_idx_].swap (data);
291  data.clear ();
292 }
293 
294 } // namespace io
295 } // namespace pcl
296 
297 #endif /* PCL_IO_IMPL_BUFFERS_HPP */
298 
void push(std::vector< T > &data) override
Insert a new chunk of data into the buffer.
Definition: buffers.hpp:260
AverageBuffer(std::size_t size, unsigned char window_size)
Construct a buffer of given size with given running window size.
Definition: buffers.hpp:229
T operator[](std::size_t idx) const override
Access an element at a given index.
Definition: buffers.hpp:251
An abstract base class for fixed-size data buffers.
Definition: buffers.h:63
const std::size_t size_
Definition: buffers.h:95
Buffer(std::size_t size)
Definition: buffers.hpp:75
virtual ~Buffer()
A buffer that computes running window median of the data inserted.
Definition: buffers.h:144
MedianBuffer(std::size_t size, unsigned char window_size)
Construct a buffer of given size with given running window size.
Definition: buffers.hpp:112
void push(std::vector< T > &data) override
Insert a new chunk of data into the buffer.
Definition: buffers.hpp:150
~MedianBuffer() override
T operator[](std::size_t idx) const override
Access an element at a given index.
Definition: buffers.hpp:142
void push(std::vector< T > &data) override
Insert a new chunk of data into the buffer.
Definition: buffers.hpp:103
T operator[](std::size_t idx) const override
Access an element at a given index.
Definition: buffers.hpp:96
~SingleBuffer() override
SingleBuffer(std::size_t size)
Construct a buffer of given size.
Definition: buffers.hpp:85
Defines all the PCL and non-PCL macros used.
static bool is_invalid(double value)
Definition: buffers.hpp:64
static double invalid()
Definition: buffers.hpp:63
static float invalid()
Definition: buffers.hpp:56
static bool is_invalid(float value)
Definition: buffers.hpp:57
static T invalid()
Definition: buffers.hpp:49
static bool is_invalid(T value)
Definition: buffers.hpp:50