accumulators.hpp

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#ifndef PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP
#define PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP
 
#include <map>
 
#include <boost/mpl/filter_view.hpp>
#include <boost/fusion/include/mpl.hpp>
#include <boost/fusion/include/for_each.hpp>
#include <boost/fusion/include/as_vector.hpp>
#include <boost/fusion/include/filter_if.hpp>
 
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
 
namespace pcl
{
 
  namespace detail
  {
 
    /* Below are several helper accumulator structures that are used by the
     * `CentroidPoint` class. Each of them is capable of accumulating
     * information from a particular field(s) of a point. The points are
     * inserted via `add()` and extracted via `get()` functions. Note that the
     * accumulators are not templated on point type, so in principle it is
     * possible to insert and extract points of different types. It is the
     * responsibility of the user to make sure that points have corresponding
     * fields. */
 
    struct AccumulatorXYZ
    {
 
      // Requires that point type has x, y, and z fields
      using IsCompatible = pcl::traits::has_xyz<boost::mpl::_1>;
 
      // Storage
      Eigen::Vector3f xyz = Eigen::Vector3f::Zero ();
 
      template <typename PointT> void
      add (const PointT& t) { xyz += t.getVector3fMap (); }
 
      template <typename PointT> void
      get (PointT& t, std::size_t n) const { t.getVector3fMap () = xyz / n; }
 
      PCL_MAKE_ALIGNED_OPERATOR_NEW
 
    };
 
    struct AccumulatorNormal
    {
 
      // Requires that point type has normal_x, normal_y, and normal_z fields
      using IsCompatible = pcl::traits::has_normal<boost::mpl::_1>;
 
      // Storage
      Eigen::Vector4f normal = Eigen::Vector4f::Zero ();
 
      // Requires that the normal of the given point is normalized, otherwise it
      // does not make sense to sum it up with the accumulated value.
      template <typename PointT> void
      add (const PointT& t) { normal += t.getNormalVector4fMap (); }
 
      template <typename PointT> void
      get (PointT& t, std::size_t) const
      {
#if EIGEN_VERSION_AT_LEAST (3, 3, 0)
        t.getNormalVector4fMap () = normal.normalized ();
#else
        if (normal.squaredNorm() > 0)
          t.getNormalVector4fMap () = normal.normalized ();
        else
          t.getNormalVector4fMap () = Eigen::Vector4f::Zero ();
#endif
      }
 
      PCL_MAKE_ALIGNED_OPERATOR_NEW
 
    };
 
    struct AccumulatorCurvature
    {
 
      // Requires that point type has curvature field
      using IsCompatible = pcl::traits::has_curvature<boost::mpl::_1>;
 
      // Storage
      float curvature = 0;
 
      template <typename PointT> void
      add (const PointT& t) { curvature += t.curvature; }
 
      template <typename PointT> void
      get (PointT& t, std::size_t n) const { t.curvature = curvature / n; }
 
    };
 
    struct AccumulatorRGBA
    {
 
      // Requires that point type has rgb or rgba field
      using IsCompatible = pcl::traits::has_color<boost::mpl::_1>;
 
      // Storage
      float r = 0, g = 0, b = 0, a = 0;
 
      template <typename PointT> void
      add (const PointT& t)
      {
        r += static_cast<float> (t.r);
        g += static_cast<float> (t.g);
        b += static_cast<float> (t.b);
        a += static_cast<float> (t.a);
      }
 
      template <typename PointT> void
      get (PointT& t, std::size_t n) const
      {
        t.rgba = static_cast<std::uint32_t> (a / n) << 24 |
                 static_cast<std::uint32_t> (r / n) << 16 |
                 static_cast<std::uint32_t> (g / n) <<  8 |
                 static_cast<std::uint32_t> (b / n);
      }
 
    };
 
    struct AccumulatorIntensity
    {
 
      // Requires that point type has intensity field
      using IsCompatible = pcl::traits::has_intensity<boost::mpl::_1>;
 
      // Storage
      float intensity = 0;
 
      template <typename PointT> void
      add (const PointT& t) { intensity += t.intensity; }
 
      template <typename PointT> void
      get (PointT& t, std::size_t n) const { t.intensity = intensity / n; }
 
    };
 
    struct AccumulatorLabel
    {
 
      // Requires that point type has label field
      using IsCompatible = pcl::traits::has_label<boost::mpl::_1>;
 
      // Storage
      // A better performance may be achieved with a heap structure
      std::map<std::uint32_t, std::size_t> labels;
 
      template <typename PointT> void
      add (const PointT& t)
      {
        auto itr = labels.find (t.label);
        if (itr == labels.end ())
          labels.insert (std::make_pair (t.label, 1));
        else
          ++itr->second;
      }
 
      template <typename PointT> void
      get (PointT& t, std::size_t) const
      {
        std::size_t max = 0;
        for (const auto &label : labels)
          if (label.second > max)
          {
            max = label.second;
            t.label = label.first;
          }
      }
 
    };
 
    /* Meta-function that checks if an accumulator is compatible with given
     * point type(s). */
    template <typename Point1T, typename Point2T = Point1T>
    struct IsAccumulatorCompatible {
 
      template <typename AccumulatorT>
      struct apply : boost::mpl::and_<
                       boost::mpl::apply<typename AccumulatorT::IsCompatible, Point1T>,
                       boost::mpl::apply<typename AccumulatorT::IsCompatible, Point2T>
                     > {};
    };
 
    /* Meta-function that creates a Fusion vector of accumulator types that are
     * compatible with a given point type. */
    template <typename PointT>
    struct Accumulators
    {
      using type =
        typename boost::fusion::result_of::as_vector<
          typename boost::mpl::filter_view<
            boost::mpl::vector<
              AccumulatorXYZ
            , AccumulatorNormal
            , AccumulatorCurvature
            , AccumulatorRGBA
            , AccumulatorIntensity
            , AccumulatorLabel
            >
          , IsAccumulatorCompatible<PointT>
          >
        >::type;
    };
 
    /* Fusion function object to invoke point addition on every accumulator in
     * a fusion sequence. */
    template <typename PointT>
    struct AddPoint
    {
 
      const PointT& p;
 
      AddPoint (const PointT& point) : p (point) { }
 
      template <typename AccumulatorT> void
      operator () (AccumulatorT& accumulator) const
      {
        accumulator.add (p);
      }
 
    };
 
    /* Fusion function object to invoke get point on every accumulator in a
     * fusion sequence. */
    template <typename PointT>
    struct GetPoint
    {
 
      PointT& p;
      std::size_t n;
 
      GetPoint (PointT& point, std::size_t num) : p (point), n (num) { }
 
      template <typename AccumulatorT> void
      operator () (AccumulatorT& accumulator) const
      {
        accumulator.get (p, n);
      }
 
    };
 
  }
 
}
 
#endif /* PCL_COMMON_IMPL_DETAIL_ACCUMULATORS_HPP */