point_representation.h

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 * $Id: point_representation.h 3746 2011-12-31 22:19:47Z rusu $
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#ifndef PCL_POINT_REPRESENTATION_H_
#define PCL_POINT_REPRESENTATION_H_

#include <pcl/point_types.h>
#include <pcl/pcl_macros.h>
#include <pcl/for_each_type.h>

namespace pcl
{
  template <typename PointT> 
  class PointRepresentation
  {
    protected:
      int nr_dimensions_;
      std::vector<float> alpha_;
      bool trivial_;
      
    public:
      typedef boost::shared_ptr<PointRepresentation<PointT> > Ptr;
      typedef boost::shared_ptr<const PointRepresentation<PointT> > ConstPtr;

      PointRepresentation () : nr_dimensions_ (0), alpha_ (0), trivial_ (false) {}
      
      virtual void copyToFloatArray (const PointT &p, float *out) const = 0;

      inline bool isTrivial() const { return trivial_ && alpha_.empty (); }
      
      virtual bool 
      isValid (const PointT &p) const
      {
        bool is_valid = true;

        if (trivial_)
        {
          const float* temp = reinterpret_cast<const float*>(&p);

          for (int i = 0; i < nr_dimensions_; ++i)
          {
            if (!pcl_isfinite (temp[i]))
            {
              is_valid = false;
              break;
            }
          }
        }
        else
        {
          float *temp = new float[nr_dimensions_];
          copyToFloatArray (p, temp);

          for (int i = 0; i < nr_dimensions_; ++i)
          {
            if (!pcl_isfinite (temp[i]))
            {
              is_valid = false;
              break;
            }
          }
          delete [] temp;
        }
        return (is_valid);
      }
      
      template <typename OutputType> void
      vectorize (const PointT &p, OutputType &out) const
      {
        float *temp = new float[nr_dimensions_];
        copyToFloatArray (p, temp);
        if (alpha_.empty ())
        {
          for (int i = 0; i < nr_dimensions_; ++i)
            out[i] = temp[i];
        }
        else
        {
          for (int i = 0; i < nr_dimensions_; ++i)
            out[i] = temp[i] * alpha_[i];
        }
        delete [] temp;
      }
      
      void 
      setRescaleValues (const float *rescale_array)
      {
        alpha_.resize (nr_dimensions_);
        for (int i = 0; i < nr_dimensions_; ++i)
          alpha_[i] = rescale_array[i];
      }
      
      inline int getNumberOfDimensions () const { return (nr_dimensions_); }
  };


  template <typename PointDefault>
  class DefaultPointRepresentation : public PointRepresentation <PointDefault>
  {
    using PointRepresentation <PointDefault>::nr_dimensions_;
    using PointRepresentation <PointDefault>::trivial_;

    public:
      // Boost shared pointers
      typedef boost::shared_ptr<DefaultPointRepresentation<PointDefault> > Ptr;
      typedef boost::shared_ptr<const DefaultPointRepresentation<PointDefault> > ConstPtr;

      DefaultPointRepresentation ()
      {
        // If point type is unknown, assume it's a struct/array of floats, and compute the number of dimensions
        nr_dimensions_ = sizeof (PointDefault) / sizeof (float);
        // Limit the default representation to the first 3 elements
        if (nr_dimensions_ > 3) nr_dimensions_ = 3;

        trivial_ = true;
      }

      inline Ptr 
      makeShared () const 
      { 
        return (Ptr (new DefaultPointRepresentation<PointDefault> (*this)));
      }

      virtual void 
      copyToFloatArray (const PointDefault &p, float * out) const
      {
        // If point type is unknown, treat it as a struct/array of floats
        const float * ptr = (float *)&p;
        for (int i = 0; i < nr_dimensions_; ++i)
          out[i] = ptr[i];
      }
  };


  template <typename PointDefault>
  class DefaultFeatureRepresentation : public PointRepresentation <PointDefault>
  {
    protected:
      using PointRepresentation <PointDefault>::nr_dimensions_;

    private:
      struct IncrementFunctor
      {
        IncrementFunctor (int &n) : n_ (n)
        {
          n_ = 0;
        }
        
        template<typename Key> inline void operator () ()
        {
          n_ += pcl::traits::datatype<PointDefault, Key>::size;
        }
        
      private:
        int &n_;
      };

    struct NdCopyPointFunctor
    {
      typedef typename traits::POD<PointDefault>::type Pod;
      
      NdCopyPointFunctor (const PointDefault &p1, float * p2)
        : p1_ (reinterpret_cast<const Pod&>(p1)), p2_ (p2), f_idx_ (0) { }
      
      template<typename Key> inline void operator() ()
      {  
        typedef typename pcl::traits::datatype<PointDefault, Key>::type FieldT;
        const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
        Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
      }
      
      // Copy helper for scalar fields
      template <typename Key, typename FieldT, int NrDims>
      struct Helper
      {
        static void copyPoint (const Pod &p1, float * p2, int &f_idx) 
        {
          const uint8_t * data_ptr = reinterpret_cast<const uint8_t *> (&p1) + 
            pcl::traits::offset<PointDefault, Key>::value;
          p2[f_idx++] = *reinterpret_cast<const FieldT*> (data_ptr);
        }
      };
      // Copy helper for array fields
      template <typename Key, typename FieldT, int NrDims>
      struct Helper<Key, FieldT[NrDims], NrDims>
      {
        static void copyPoint (const Pod &p1, float * p2, int &f_idx)
        {
          const uint8_t * data_ptr = reinterpret_cast<const uint8_t *> (&p1) + 
            pcl::traits::offset<PointDefault, Key>::value;
          int nr_dims = NrDims;
          const FieldT * array = reinterpret_cast<const FieldT *> (data_ptr);
          for (int i = 0; i < nr_dims; ++i)
          {
            p2[f_idx++] = array[i];
          }
        }
      };
  
    private:
      const Pod &p1_;
      float * p2_;
      int f_idx_;
    };

    public:
      // Boost shared pointers
      typedef typename boost::shared_ptr<DefaultFeatureRepresentation<PointDefault> > Ptr;
      typedef typename boost::shared_ptr<const DefaultFeatureRepresentation<PointDefault> > ConstPtr;
      typedef typename pcl::traits::fieldList<PointDefault>::type FieldList;

      DefaultFeatureRepresentation ()
      {      
        nr_dimensions_ = 0; // zero-out the nr_dimensions_ before it gets incremented
        pcl::for_each_type <FieldList> (IncrementFunctor (nr_dimensions_));
      }

      inline Ptr 
      makeShared () const 
      { 
        return (Ptr (new DefaultFeatureRepresentation<PointDefault> (*this)));
      }

      virtual void 
      copyToFloatArray (const PointDefault &p, float * out) const
      {
        pcl::for_each_type <FieldList> (NdCopyPointFunctor (p, out));
      }
  };

  template <>
  class DefaultPointRepresentation <PointXYZ> : public  PointRepresentation <PointXYZ>
  {
    public:
      DefaultPointRepresentation ()
      {
        nr_dimensions_ = 3;
        trivial_ = true;
      }

      virtual void 
      copyToFloatArray (const PointXYZ &p, float * out) const
      {
        out[0] = p.x;
        out[1] = p.y;
        out[2] = p.z;
      }
  };

  template <>
  class DefaultPointRepresentation <PointXYZI> : public  PointRepresentation <PointXYZI>
  {
    public:
      DefaultPointRepresentation ()
      {
        nr_dimensions_ = 3;
        trivial_ = true;
      }

      virtual void 
      copyToFloatArray (const PointXYZI &p, float * out) const
      {
        out[0] = p.x;
        out[1] = p.y;
        out[2] = p.z;
        // By default, p.intensity is not part of the PointXYZI vectorization
      }
  };

  template <>
  class DefaultPointRepresentation <PointNormal> : public  PointRepresentation <PointNormal>
  {
    public:
      DefaultPointRepresentation ()
      {
        nr_dimensions_ = 3;
        trivial_ = true;
      }

      virtual void 
      copyToFloatArray (const PointNormal &p, float * out) const
      {
        out[0] = p.x;
        out[1] = p.y;
        out[2] = p.z;
      }
  };

  template <>
  class DefaultPointRepresentation <PFHSignature125> : public DefaultFeatureRepresentation <PFHSignature125>
  {};

  template <>
  class DefaultPointRepresentation <PFHRGBSignature250> : public DefaultFeatureRepresentation <PFHRGBSignature250>
  {};

  template <>
  class DefaultPointRepresentation <PPFSignature> : public DefaultFeatureRepresentation <PPFSignature>
  {
    public:
      DefaultPointRepresentation ()
      {
        nr_dimensions_ = 4;
        trivial_ = true;
      }

      virtual void
      copyToFloatArray (const PPFSignature &p, float * out) const
      {
        out[0] = p.f1;
        out[1] = p.f2;
        out[2] = p.f3;
        out[3] = p.f4;
      }
  };

  template <>
  class DefaultPointRepresentation <FPFHSignature33> : public DefaultFeatureRepresentation <FPFHSignature33>
  {};

  template <>
  class DefaultPointRepresentation <VFHSignature308> : public DefaultFeatureRepresentation <VFHSignature308>
  {};

  template <>
  class DefaultPointRepresentation <NormalBasedSignature12> : 
    public DefaultFeatureRepresentation <NormalBasedSignature12>
  {};

  template <>
  class DefaultPointRepresentation<SHOT> : public PointRepresentation<SHOT>
  {
    public:
      DefaultPointRepresentation ()
      {
        nr_dimensions_ = 352;
      }

      virtual void
      copyToFloatArray (const SHOT &p, float * out) const
      {
        for (int i = 0; i < nr_dimensions_; ++i)
          out[i] = p.descriptor[i];
      }
  };



  template <typename PointDefault>
  class CustomPointRepresentation : public PointRepresentation <PointDefault>
  {
    using PointRepresentation <PointDefault>::nr_dimensions_;

    public:
      // Boost shared pointers
      typedef boost::shared_ptr<CustomPointRepresentation<PointDefault> > Ptr;
      typedef boost::shared_ptr<const CustomPointRepresentation<PointDefault> > ConstPtr;

      CustomPointRepresentation (const int max_dim = 3, const int start_dim = 0) 
        : max_dim_(max_dim), start_dim_(start_dim)
      {
        // If point type is unknown, assume it's a struct/array of floats, and compute the number of dimensions
        nr_dimensions_ = sizeof (PointDefault) / sizeof (float) - start_dim_;
        // Limit the default representation to the first 3 elements
        if (nr_dimensions_ > max_dim_) 
          nr_dimensions_ = max_dim_;
      }

      inline Ptr 
      makeShared () const 
      { 
        return Ptr (new CustomPointRepresentation<PointDefault> (*this)); 
      }

      virtual void
      copyToFloatArray (const PointDefault &p, float *out) const
      {
        // If point type is unknown, treat it as a struct/array of floats
        const float *ptr = ((float*)&p) + start_dim_;
        for (int i = 0; i < nr_dimensions_; ++i)
          out[i] = ptr[i];
      }

    protected:
      int max_dim_;
      int start_dim_;
  };
}

#endif // #ifndef PCL_POINT_REPRESENTATION_H_