fast_bilateral.hpp

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#ifndef PCL_FILTERS_IMPL_FAST_BILATERAL_HPP_
#define PCL_FILTERS_IMPL_FAST_BILATERAL_HPP_
 
#include <pcl/common/io.h>
 
 
namespace pcl
{
 
template <typename PointT> void
FastBilateralFilter<PointT>::applyFilter (PointCloud &output)
{
  if (!input_->isOrganized ())
  {
    PCL_ERROR ("[pcl::FastBilateralFilter] Input cloud needs to be organized.\n");
    return;
  }
 
  copyPointCloud (*input_, output);
  float base_max = -std::numeric_limits<float>::max (),
        base_min = std::numeric_limits<float>::max ();
  bool found_finite = false;
  for (const auto& pt: output)
  {
    if (std::isfinite(pt.z))
    {
      base_max = std::max<float>(pt.z, base_max);
      base_min = std::min<float>(pt.z, base_min);
      found_finite = true;
    }
  }
  if (!found_finite)
  {
    PCL_WARN ("[pcl::FastBilateralFilter] Given an empty cloud. Doing nothing.\n");
    return;
  }
 
  for (auto& pt: output)
  {
    if (!std::isfinite(pt.z))
    {
      pt.z = base_max;
    }
  }
 
  const float base_delta = base_max - base_min;
 
  const std::size_t padding_xy = 2;
  const std::size_t padding_z  = 2;
 
  const std::size_t small_width  = static_cast<std::size_t> (static_cast<float> (input_->width  - 1) / sigma_s_) + 1 + 2 * padding_xy;
  const std::size_t small_height = static_cast<std::size_t> (static_cast<float> (input_->height - 1) / sigma_s_) + 1 + 2 * padding_xy;
  const std::size_t small_depth  = static_cast<std::size_t> (base_delta / sigma_r_)   + 1 + 2 * padding_z;
 
 
  Array3D data (small_width, small_height, small_depth);
  for (std::size_t x = 0; x < input_->width; ++x)
  {
    const std::size_t small_x = static_cast<std::size_t> (static_cast<float> (x) / sigma_s_ + 0.5f) + padding_xy;
    for (std::size_t y = 0; y < input_->height; ++y)
    {
      const float z = output (x,y).z - base_min;
 
      const std::size_t small_y = static_cast<std::size_t> (static_cast<float> (y) / sigma_s_ + 0.5f) + padding_xy;
      const std::size_t small_z = static_cast<std::size_t> (static_cast<float> (z) / sigma_r_ + 0.5f) + padding_z;
 
      Eigen::Vector2f& d = data (small_x, small_y, small_z);
      d[0] += output (x,y).z;
      d[1] += 1.0f;
    }
  }
 
 
  std::vector<long int> offset (3);
  offset[0] = &(data (1,0,0)) - &(data (0,0,0));
  offset[1] = &(data (0,1,0)) - &(data (0,0,0));
  offset[2] = &(data (0,0,1)) - &(data (0,0,0));
 
  Array3D buffer (small_width, small_height, small_depth);
 
  for (std::size_t dim = 0; dim < 3; ++dim)
  {
    const long int off = offset[dim];
    for (std::size_t n_iter = 0; n_iter < 2; ++n_iter)
    {
      std::swap (buffer, data);
      for(std::size_t x = 1; x < small_width - 1; ++x)
        for(std::size_t y = 1; y < small_height - 1; ++y)
        {
          Eigen::Vector2f* d_ptr = &(data (x,y,1));
          Eigen::Vector2f* b_ptr = &(buffer (x,y,1));
 
          for(std::size_t z = 1; z < small_depth - 1; ++z, ++d_ptr, ++b_ptr)
            *d_ptr = (*(b_ptr - off) + *(b_ptr + off) + 2.0 * (*b_ptr)) / 4.0;
        }
    }
  }
 
  if (early_division_)
  {
    for (auto d = data.begin (); d != data.end (); ++d)
      *d /= ((*d)[0] != 0) ? (*d)[1] : 1;
 
    for (std::size_t x = 0; x < input_->width; x++)
      for (std::size_t y = 0; y < input_->height; y++)
      {
        const float z = output (x,y).z - base_min;
        const Eigen::Vector2f D = data.trilinear_interpolation (static_cast<float> (x) / sigma_s_ + padding_xy,
                                                                static_cast<float> (y) / sigma_s_ + padding_xy,
                                                                z / sigma_r_ + padding_z);
        output(x,y).z = D[0];
      }
  }
  else
  {
    for (std::size_t x = 0; x < input_->width; ++x)
      for (std::size_t y = 0; y < input_->height; ++y)
      {
        const float z = output (x,y).z - base_min;
        const Eigen::Vector2f D = data.trilinear_interpolation (static_cast<float> (x) / sigma_s_ + padding_xy,
                                                                static_cast<float> (y) / sigma_s_ + padding_xy,
                                                                z / sigma_r_ + padding_z);
        output (x,y).z = D[0] / D[1];
      }
  }
}
 
 
template <typename PointT> std::size_t
FastBilateralFilter<PointT>::Array3D::clamp (const std::size_t min_value,
                                             const std::size_t max_value,
                                             const std::size_t x)
{
  if (x >= min_value && x <= max_value)
  {
    return x;
  }
  if (x < min_value)
  {
    return (min_value);
  }
  return (max_value);
}
 
 
template <typename PointT> Eigen::Vector2f
FastBilateralFilter<PointT>::Array3D::trilinear_interpolation (const float x,
                                                               const float y,
                                                               const float z)
{
  const std::size_t x_index  = clamp (0, x_dim_ - 1, static_cast<std::size_t> (x));
  const std::size_t xx_index = clamp (0, x_dim_ - 1, x_index + 1);
 
  const std::size_t y_index  = clamp (0, y_dim_ - 1, static_cast<std::size_t> (y));
  const std::size_t yy_index = clamp (0, y_dim_ - 1, y_index + 1);
 
  const std::size_t z_index  = clamp (0, z_dim_ - 1, static_cast<std::size_t> (z));
  const std::size_t zz_index = clamp (0, z_dim_ - 1, z_index + 1);
 
  const float x_alpha = x - static_cast<float> (x_index);
  const float y_alpha = y - static_cast<float> (y_index);
  const float z_alpha = z - static_cast<float> (z_index);
 
  return
      (1.0f-x_alpha) * (1.0f-y_alpha) * (1.0f-z_alpha) * (*this)(x_index, y_index, z_index) +
      x_alpha        * (1.0f-y_alpha) * (1.0f-z_alpha) * (*this)(xx_index, y_index, z_index) +
      (1.0f-x_alpha) * y_alpha        * (1.0f-z_alpha) * (*this)(x_index, yy_index, z_index) +
      x_alpha        * y_alpha        * (1.0f-z_alpha) * (*this)(xx_index, yy_index, z_index) +
      (1.0f-x_alpha) * (1.0f-y_alpha) * z_alpha        * (*this)(x_index, y_index, zz_index) +
      x_alpha        * (1.0f-y_alpha) * z_alpha        * (*this)(xx_index, y_index, zz_index) +
      (1.0f-x_alpha) * y_alpha        * z_alpha        * (*this)(x_index, yy_index, zz_index) +
      x_alpha        * y_alpha        * z_alpha        * (*this)(xx_index, yy_index, zz_index);
}
 
} // namespace pcl
 
#endif /* PCL_FILTERS_IMPL_FAST_BILATERAL_HPP_ */