38 #ifndef PCL_FILTERS_IMPL_VOXEL_GRID_H_
39 #define PCL_FILTERS_IMPL_VOXEL_GRID_H_
45 #include <pcl/common/io.h>
46 #include <pcl/filters/voxel_grid.h>
47 #include <boost/sort/spreadsort/integer_sort.hpp>
50 template <
typename Po
intT>
void
52 const std::string &distance_field_name,
float min_distance,
float max_distance,
53 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt,
bool limit_negative)
55 Eigen::Array4f min_p, max_p;
56 min_p.setConstant (std::numeric_limits<float>::max());
57 max_p.setConstant (std::numeric_limits<float>::lowest());
60 std::vector<pcl::PCLPointField> fields;
61 int distance_idx = pcl::getFieldIndex<PointT> (distance_field_name, fields);
67 for (
const auto& point: *cloud)
70 const std::uint8_t* pt_data =
reinterpret_cast<const std::uint8_t*
> (&point);
71 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
76 if ((distance_value < max_distance) && (distance_value > min_distance))
82 if ((distance_value > max_distance) || (distance_value < min_distance))
87 min_p = min_p.min (pt);
88 max_p = max_p.max (pt);
93 for (
const auto& point: *cloud)
96 const std::uint8_t* pt_data =
reinterpret_cast<const std::uint8_t*
> (&point);
97 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
102 if ((distance_value < max_distance) && (distance_value > min_distance))
108 if ((distance_value > max_distance) || (distance_value < min_distance))
117 min_p = min_p.min (pt);
118 max_p = max_p.max (pt);
126 template <
typename Po
intT>
void
129 const std::string &distance_field_name,
float min_distance,
float max_distance,
130 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt,
bool limit_negative)
132 Eigen::Array4f min_p, max_p;
133 min_p.setConstant (std::numeric_limits<float>::max());
134 max_p.setConstant (std::numeric_limits<float>::lowest());
137 std::vector<pcl::PCLPointField> fields;
138 int distance_idx = pcl::getFieldIndex<PointT> (distance_field_name, fields);
140 float distance_value;
144 for (
const auto &index : indices)
147 const std::uint8_t* pt_data =
reinterpret_cast<const std::uint8_t*
> (&(*cloud)[index]);
148 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
153 if ((distance_value < max_distance) && (distance_value > min_distance))
159 if ((distance_value > max_distance) || (distance_value < min_distance))
164 min_p = min_p.min (pt);
165 max_p = max_p.max (pt);
170 for (
const auto &index : indices)
173 const std::uint8_t* pt_data =
reinterpret_cast<const std::uint8_t*
> (&(*cloud)[index]);
174 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
179 if ((distance_value < max_distance) && (distance_value > min_distance))
185 if ((distance_value > max_distance) || (distance_value < min_distance))
190 if (!std::isfinite ((*cloud)[index].x) ||
191 !std::isfinite ((*cloud)[index].y) ||
192 !std::isfinite ((*cloud)[index].z))
196 min_p = min_p.min (pt);
197 max_p = max_p.max (pt);
215 template <
typename Po
intT>
void
221 PCL_WARN (
"[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
231 Eigen::Vector4f min_p, max_p;
233 if (!filter_field_name_.empty ())
234 getMinMax3D<PointT> (input_, *indices_, filter_field_name_,
static_cast<float> (filter_limit_min_),
static_cast<float> (filter_limit_max_), min_p, max_p, filter_limit_negative_);
236 getMinMax3D<PointT> (*input_, *indices_, min_p, max_p);
239 std::int64_t dx =
static_cast<std::int64_t
>((max_p[0] - min_p[0]) * inverse_leaf_size_[0])+1;
240 std::int64_t dy =
static_cast<std::int64_t
>((max_p[1] - min_p[1]) * inverse_leaf_size_[1])+1;
241 std::int64_t dz =
static_cast<std::int64_t
>((max_p[2] - min_p[2]) * inverse_leaf_size_[2])+1;
243 if ((dx*dy*dz) >
static_cast<std::int64_t
>(std::numeric_limits<std::int32_t>::max()))
245 PCL_WARN(
"[pcl::%s::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.\n", getClassName().c_str());
251 min_b_[0] =
static_cast<int> (std::floor (min_p[0] * inverse_leaf_size_[0]));
252 max_b_[0] =
static_cast<int> (std::floor (max_p[0] * inverse_leaf_size_[0]));
253 min_b_[1] =
static_cast<int> (std::floor (min_p[1] * inverse_leaf_size_[1]));
254 max_b_[1] =
static_cast<int> (std::floor (max_p[1] * inverse_leaf_size_[1]));
255 min_b_[2] =
static_cast<int> (std::floor (min_p[2] * inverse_leaf_size_[2]));
256 max_b_[2] =
static_cast<int> (std::floor (max_p[2] * inverse_leaf_size_[2]));
259 div_b_ = max_b_ - min_b_ + Eigen::Vector4i::Ones ();
263 divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0);
266 std::vector<cloud_point_index_idx> index_vector;
267 index_vector.reserve (indices_->size ());
270 if (!filter_field_name_.empty ())
273 std::vector<pcl::PCLPointField> fields;
274 int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
275 if (distance_idx == -1)
276 PCL_WARN (
"[pcl::%s::applyFilter] Invalid filter field name. Index is %d.\n", getClassName ().c_str (), distance_idx);
281 for (
const auto& index : (*indices_))
283 if (!input_->is_dense)
289 const std::uint8_t* pt_data =
reinterpret_cast<const std::uint8_t*
> (&(*input_)[index]);
290 float distance_value = 0;
291 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
293 if (filter_limit_negative_)
296 if ((distance_value < filter_limit_max_) && (distance_value > filter_limit_min_))
302 if ((distance_value > filter_limit_max_) || (distance_value < filter_limit_min_))
306 int ijk0 =
static_cast<int> (std::floor ((*input_)[index].x * inverse_leaf_size_[0]) -
static_cast<float> (min_b_[0]));
307 int ijk1 =
static_cast<int> (std::floor ((*input_)[index].y * inverse_leaf_size_[1]) -
static_cast<float> (min_b_[1]));
308 int ijk2 =
static_cast<int> (std::floor ((*input_)[index].z * inverse_leaf_size_[2]) -
static_cast<float> (min_b_[2]));
311 int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
312 index_vector.emplace_back(
static_cast<unsigned int> (idx), index);
321 for (
const auto& index : (*indices_))
323 if (!input_->is_dense)
328 int ijk0 =
static_cast<int> (std::floor ((*input_)[index].x * inverse_leaf_size_[0]) -
static_cast<float> (min_b_[0]));
329 int ijk1 =
static_cast<int> (std::floor ((*input_)[index].y * inverse_leaf_size_[1]) -
static_cast<float> (min_b_[1]));
330 int ijk2 =
static_cast<int> (std::floor ((*input_)[index].z * inverse_leaf_size_[2]) -
static_cast<float> (min_b_[2]));
333 int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
334 index_vector.emplace_back(
static_cast<unsigned int> (idx), index);
341 boost::sort::spreadsort::integer_sort(index_vector.begin(), index_vector.end(), rightshift_func);
345 unsigned int total = 0;
346 unsigned int index = 0;
350 std::vector<std::pair<unsigned int, unsigned int> > first_and_last_indices_vector;
352 first_and_last_indices_vector.reserve (index_vector.size ());
353 while (index < index_vector.size ())
355 unsigned int i = index + 1;
356 while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx)
358 if (i - index >= min_points_per_voxel_)
361 first_and_last_indices_vector.emplace_back(index, i);
368 if (save_leaf_layout_)
373 std::uint32_t new_layout_size = div_b_[0]*div_b_[1]*div_b_[2];
375 std::uint32_t reinit_size = std::min (
static_cast<unsigned int> (new_layout_size),
static_cast<unsigned int> (leaf_layout_.size()));
376 for (std::uint32_t i = 0; i < reinit_size; i++)
378 leaf_layout_[i] = -1;
380 leaf_layout_.resize (new_layout_size, -1);
382 catch (std::bad_alloc&)
384 throw PCLException(
"VoxelGrid bin size is too low; impossible to allocate memory for layout",
385 "voxel_grid.hpp",
"applyFilter");
387 catch (std::length_error&)
389 throw PCLException(
"VoxelGrid bin size is too low; impossible to allocate memory for layout",
390 "voxel_grid.hpp",
"applyFilter");
395 for (
const auto &cp : first_and_last_indices_vector)
398 unsigned int first_index = cp.first;
399 unsigned int last_index = cp.second;
402 if (save_leaf_layout_)
403 leaf_layout_[index_vector[first_index].idx] = index;
406 if (!downsample_all_data_)
408 Eigen::Vector4f centroid (Eigen::Vector4f::Zero ());
410 for (
unsigned int li = first_index; li < last_index; ++li)
411 centroid += (*input_)[index_vector[li].cloud_point_index].getVector4fMap ();
413 centroid /=
static_cast<float> (last_index - first_index);
414 output[index].getVector4fMap () = centroid;
421 for (
unsigned int li = first_index; li < last_index; ++li)
422 centroid.
add ((*input_)[index_vector[li].cloud_point_index]);
424 centroid.
get (output[index]);
432 #define PCL_INSTANTIATE_VoxelGrid(T) template class PCL_EXPORTS pcl::VoxelGrid<T>;
433 #define PCL_INSTANTIATE_getMinMax3D(T) template PCL_EXPORTS void pcl::getMinMax3D<T> (const pcl::PointCloud<T>::ConstPtr &, const std::string &, float, float, Eigen::Vector4f &, Eigen::Vector4f &, bool);
435 #endif // PCL_FILTERS_IMPL_VOXEL_GRID_H_