approximate_voxel_grid.h

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 * $Id: approximate_voxel_grid.h 3746 2011-12-31 22:19:47Z 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
{
  struct he 
  {
    int ix, iy, iz;
    int count;
    Eigen::VectorXf centroid;
  };

  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) = 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_++] = *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;

    public:
      ApproximateVoxelGrid () : downsample_all_data_ (true), histsize_ (512)
      {
        setLeafSize (1, 1, 1);
        filter_name_ = "ApproximateVoxelGrid";
        history_ = new he[histsize_];
      }

      virtual ~ApproximateVoxelGrid ()
      {
      }

      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 () { return leaf_size_; }

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

      inline bool 
      getDownsampleAllData () { 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_