approximate_voxel_grid.h

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 * $Id: approximate_voxel_grid.h 5026 2012-03-12 02:51:44Z rusu $
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#ifndef PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_
#define PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_

#include <pcl/filters/filter.h>
#include <boost/mpl/size.hpp>

namespace pcl
{
  template <typename PointT>
  struct xNdCopyEigenPointFunctor
  {
    typedef typename traits::POD<PointT>::type Pod;
    
    xNdCopyEigenPointFunctor (const Eigen::VectorXf &p1, PointT &p2)
      : p1_ (p1),
        p2_ (reinterpret_cast<Pod&>(p2)),
        f_idx_ (0) { }

    template<typename Key> inline void operator() ()
    {
      //boost::fusion::at_key<Key> (p2_) = p1_[f_idx_++];
      typedef typename pcl::traits::datatype<PointT, Key>::type T;
      uint8_t* data_ptr = reinterpret_cast<uint8_t*>(&p2_) + pcl::traits::offset<PointT, Key>::value;
      *reinterpret_cast<T*>(data_ptr) = static_cast<T> (p1_[f_idx_++]);
    }

    private:
      const Eigen::VectorXf &p1_;
      Pod &p2_;
      int f_idx_;
  };

  template <typename PointT>
  struct xNdCopyPointEigenFunctor
  {
    typedef typename traits::POD<PointT>::type Pod;
    
    xNdCopyPointEigenFunctor (const PointT &p1, Eigen::VectorXf &p2)
      : p1_ (reinterpret_cast<const Pod&>(p1)), p2_ (p2), f_idx_ (0) { }

    template<typename Key> inline void operator() ()
    {
      //p2_[f_idx_++] = boost::fusion::at_key<Key> (p1_);
      typedef typename pcl::traits::datatype<PointT, Key>::type T;
      const uint8_t* data_ptr = reinterpret_cast<const uint8_t*>(&p1_) + pcl::traits::offset<PointT, Key>::value;
      p2_[f_idx_++] = static_cast<float> (*reinterpret_cast<const T*>(data_ptr));
    }

    private:
      const Pod &p1_;
      Eigen::VectorXf &p2_;
      int f_idx_;
  };

  template <typename PointT>
  class ApproximateVoxelGrid: public Filter<PointT>
  {
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    private:
      struct he
      {
        he () : ix (), iy (), iz (), count (0), centroid () {}
        int ix, iy, iz;
        int count;
        Eigen::VectorXf centroid;
      };

    public:
      ApproximateVoxelGrid () : 
        pcl::Filter<PointT> (),
        leaf_size_ (Eigen::Vector3f::Ones ()),
        inverse_leaf_size_ (Eigen::Array3f::Ones ()),
        downsample_all_data_ (true), histsize_ (512),
        history_ (new he[histsize_])
      {
        filter_name_ = "ApproximateVoxelGrid";
      }

      ApproximateVoxelGrid (const ApproximateVoxelGrid &src) : 
        pcl::Filter<PointT> (),
        leaf_size_ (src.leaf_size_),
        inverse_leaf_size_ (src.inverse_leaf_size_),
        downsample_all_data_ (src.downsample_all_data_), 
        histsize_ (src.histsize_),
        history_ ()
      {
        history_ = new he[histsize_];
        for (size_t i = 0; i < histsize_; i++)
          history_[i] = src.history_[i];
      }

      inline ApproximateVoxelGrid& 
      operator = (const ApproximateVoxelGrid &src)
      {
        leaf_size_ = src.leaf_size_;
        inverse_leaf_size_ = src.inverse_leaf_size_;
        downsample_all_data_ = src.downsample_all_data_;
        histsize_ = src.histsize_;
        history_ = new he[histsize_];
        for (size_t i = 0; i < histsize_; i++)
          history_[i] = src.history_[i];
        return (*this);
      }

      inline void 
      setLeafSize (const Eigen::Vector3f &leaf_size) 
      { 
        leaf_size_ = leaf_size; 
        inverse_leaf_size_ = Eigen::Array3f::Ones () / leaf_size_.array ();
      }

      inline void
      setLeafSize (float lx, float ly, float lz)
      {
        setLeafSize (Eigen::Vector3f (lx, ly, lz));
      }

      inline Eigen::Vector3f 
      getLeafSize () const { return (leaf_size_); }

      inline void 
      setDownsampleAllData (bool downsample) { downsample_all_data_ = downsample; }

      inline bool 
      getDownsampleAllData () const { return (downsample_all_data_); }

    protected:
      Eigen::Vector3f leaf_size_;

      Eigen::Array3f inverse_leaf_size_;

      bool downsample_all_data_;

      size_t histsize_;

      struct he* history_;

      typedef typename pcl::traits::fieldList<PointT>::type FieldList;

      void 
      applyFilter (PointCloud &output);

      void 
      flush(PointCloud &output, size_t op, he *hhe, int rgba_index, int centroid_size);
  };
}

#endif  //#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_