38 #ifndef PCL_FILTERS_IMPL_VOXEL_GRID_H_
39 #define PCL_FILTERS_IMPL_VOXEL_GRID_H_
43 #include <pcl/common/io.h>
44 #include <pcl/filters/voxel_grid.h>
45 #include <boost/sort/spreadsort/integer_sort.hpp>
48 template <
typename Po
intT>
void
50 const std::string &distance_field_name,
float min_distance,
float max_distance,
51 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt,
bool limit_negative)
53 Eigen::Array4f min_p, max_p;
54 min_p.setConstant (FLT_MAX);
55 max_p.setConstant (-FLT_MAX);
58 std::vector<pcl::PCLPointField> fields;
59 int distance_idx = pcl::getFieldIndex<PointT> (distance_field_name, fields);
65 for (
const auto& point: *cloud)
69 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
74 if ((distance_value < max_distance) && (distance_value > min_distance))
80 if ((distance_value > max_distance) || (distance_value < min_distance))
85 min_p = min_p.min (pt);
86 max_p = max_p.max (pt);
91 for (
const auto& point: *cloud)
95 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
100 if ((distance_value < max_distance) && (distance_value > min_distance))
106 if ((distance_value > max_distance) || (distance_value < min_distance))
115 min_p = min_p.min (pt);
116 max_p = max_p.max (pt);
124 template <
typename Po
intT>
void
126 const std::vector<int> &indices,
127 const std::string &distance_field_name,
float min_distance,
float max_distance,
128 Eigen::Vector4f &min_pt, Eigen::Vector4f &max_pt,
bool limit_negative)
130 Eigen::Array4f min_p, max_p;
131 min_p.setConstant (FLT_MAX);
132 max_p.setConstant (-FLT_MAX);
135 std::vector<pcl::PCLPointField> fields;
136 int distance_idx = pcl::getFieldIndex<PointT> (distance_field_name, fields);
138 float distance_value;
142 for (
const int &index : indices)
146 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
151 if ((distance_value < max_distance) && (distance_value > min_distance))
157 if ((distance_value > max_distance) || (distance_value < min_distance))
162 min_p = min_p.min (pt);
163 max_p = max_p.max (pt);
168 for (
const int &index : indices)
172 memcpy (&distance_value, pt_data + fields[distance_idx].offset,
sizeof (
float));
177 if ((distance_value < max_distance) && (distance_value > min_distance))
183 if ((distance_value > max_distance) || (distance_value < min_distance))
188 if (!std::isfinite ((*cloud)[index].x) ||
189 !std::isfinite ((*cloud)[index].y) ||
190 !std::isfinite ((*cloud)[index].z))
194 min_p = min_p.min (pt);
195 max_p = max_p.max (pt);
213 template <
typename Po
intT>
void
219 PCL_WARN (
"[pcl::%s::applyFilter] No input dataset given!\n", getClassName ().c_str ());
229 Eigen::Vector4f min_p, max_p;
231 if (!filter_field_name_.empty ())
232 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_);
234 getMinMax3D<PointT> (*input_, *indices_, min_p, max_p);
241 if ((dx*dy*dz) >
static_cast<std::int64_t>(std::numeric_limits<std::int32_t>::max()))
243 PCL_WARN(
"[pcl::%s::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.", getClassName().c_str());
249 min_b_[0] =
static_cast<int> (std::floor (min_p[0] * inverse_leaf_size_[0]));
250 max_b_[0] =
static_cast<int> (std::floor (max_p[0] * inverse_leaf_size_[0]));
251 min_b_[1] =
static_cast<int> (std::floor (min_p[1] * inverse_leaf_size_[1]));
252 max_b_[1] =
static_cast<int> (std::floor (max_p[1] * inverse_leaf_size_[1]));
253 min_b_[2] =
static_cast<int> (std::floor (min_p[2] * inverse_leaf_size_[2]));
254 max_b_[2] =
static_cast<int> (std::floor (max_p[2] * inverse_leaf_size_[2]));
257 div_b_ = max_b_ - min_b_ + Eigen::Vector4i::Ones ();
261 divb_mul_ = Eigen::Vector4i (1, div_b_[0], div_b_[0] * div_b_[1], 0);
264 std::vector<cloud_point_index_idx> index_vector;
265 index_vector.reserve (indices_->size ());
268 if (!filter_field_name_.empty ())
271 std::vector<pcl::PCLPointField> fields;
272 int distance_idx = pcl::getFieldIndex<PointT> (filter_field_name_, fields);
273 if (distance_idx == -1)
274 PCL_WARN (
"[pcl::%s::applyFilter] Invalid filter field name. Index is %d.\n", getClassName ().c_str (), distance_idx);
279 for (std::vector<int>::const_iterator it = indices_->begin (); it != indices_->end (); ++it)
281 if (!input_->is_dense)
283 if (!std::isfinite ((*input_)[*it].x) ||
284 !std::isfinite ((*input_)[*it].y) ||
285 !std::isfinite ((*input_)[*it].z))
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_)[*it].x * inverse_leaf_size_[0]) -
static_cast<float> (min_b_[0]));
307 int ijk1 =
static_cast<int> (std::floor ((*input_)[*it].y * inverse_leaf_size_[1]) -
static_cast<float> (min_b_[1]));
308 int ijk2 =
static_cast<int> (std::floor ((*input_)[*it].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), *it);
321 for (std::vector<int>::const_iterator it = indices_->begin (); it != indices_->end (); ++it)
323 if (!input_->is_dense)
325 if (!std::isfinite ((*input_)[*it].x) ||
326 !std::isfinite ((*input_)[*it].y) ||
327 !std::isfinite ((*input_)[*it].z))
330 int ijk0 =
static_cast<int> (std::floor ((*input_)[*it].x * inverse_leaf_size_[0]) -
static_cast<float> (min_b_[0]));
331 int ijk1 =
static_cast<int> (std::floor ((*input_)[*it].y * inverse_leaf_size_[1]) -
static_cast<float> (min_b_[1]));
332 int ijk2 =
static_cast<int> (std::floor ((*input_)[*it].z * inverse_leaf_size_[2]) -
static_cast<float> (min_b_[2]));
335 int idx = ijk0 * divb_mul_[0] + ijk1 * divb_mul_[1] + ijk2 * divb_mul_[2];
336 index_vector.emplace_back(
static_cast<unsigned int> (idx), *it);
343 boost::sort::spreadsort::integer_sort(index_vector.begin(), index_vector.end(), rightshift_func);
347 unsigned int total = 0;
348 unsigned int index = 0;
352 std::vector<std::pair<unsigned int, unsigned int> > first_and_last_indices_vector;
354 first_and_last_indices_vector.reserve (index_vector.size ());
355 while (index < index_vector.size ())
357 unsigned int i = index + 1;
358 while (i < index_vector.size () && index_vector[i].idx == index_vector[index].idx)
360 if (i - index >= min_points_per_voxel_)
363 first_and_last_indices_vector.emplace_back(index, i);
369 output.
points.resize (total);
370 if (save_leaf_layout_)
375 std::uint32_t new_layout_size = div_b_[0]*div_b_[1]*div_b_[2];
377 std::uint32_t reinit_size = std::min (
static_cast<unsigned int> (new_layout_size),
static_cast<unsigned int> (leaf_layout_.size()));
380 leaf_layout_[i] = -1;
382 leaf_layout_.resize (new_layout_size, -1);
384 catch (std::bad_alloc&)
386 throw PCLException(
"VoxelGrid bin size is too low; impossible to allocate memory for layout",
387 "voxel_grid.hpp",
"applyFilter");
389 catch (std::length_error&)
391 throw PCLException(
"VoxelGrid bin size is too low; impossible to allocate memory for layout",
392 "voxel_grid.hpp",
"applyFilter");
397 for (
const auto &cp : first_and_last_indices_vector)
400 unsigned int first_index = cp.first;
401 unsigned int last_index = cp.second;
404 if (save_leaf_layout_)
405 leaf_layout_[index_vector[first_index].idx] = index;
408 if (!downsample_all_data_)
410 Eigen::Vector4f centroid (Eigen::Vector4f::Zero ());
412 for (
unsigned int li = first_index; li < last_index; ++li)
413 centroid += (*input_)[index_vector[li].cloud_point_index].getVector4fMap ();
415 centroid /=
static_cast<float> (last_index - first_index);
416 output[index].getVector4fMap () = centroid;
423 for (
unsigned int li = first_index; li < last_index; ++li)
424 centroid.
add ((*input_)[index_vector[li].cloud_point_index]);
426 centroid.
get (output[index]);
434 #define PCL_INSTANTIATE_VoxelGrid(T) template class PCL_EXPORTS pcl::VoxelGrid<T>;
435 #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);
437 #endif // PCL_FILTERS_IMPL_VOXEL_GRID_H_