Program Listing for File point_representation.h¶
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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
{
/** \brief @b PointRepresentation provides a set of methods for converting a point structs/object into an
* n-dimensional vector.
* \note This is an abstract class. Subclasses must set nr_dimensions_ to the appropriate value in the constructor
* and provide an implementation of the pure virtual copyToFloatArray method.
* \author Michael Dixon
*/
template <typename PointT>
class PointRepresentation
{
protected:
/** \brief The number of dimensions in this point's vector (i.e. the "k" in "k-D") */
int nr_dimensions_;
/** \brief A vector containing the rescale factor to apply to each dimension. */
std::vector<float> alpha_;
/** \brief Indicates whether this point representation is trivial. It is trivial if and only if the following
* conditions hold:
* - the relevant data consists only of float values
* - the vectorize operation directly copies the first nr_dimensions_ elements of PointT to the out array
* - sizeof(PointT) is a multiple of sizeof(float)
* In short, a trivial point representation converts the input point to a float array that is the same as if
* the point was reinterpret_casted to a float array of length nr_dimensions_ . This value says that this
* representation can be trivial; it is only trivial if setRescaleValues() has not been set.
*/
bool trivial_;
public:
typedef boost::shared_ptr<PointRepresentation<PointT> > Ptr;
typedef boost::shared_ptr<const PointRepresentation<PointT> > ConstPtr;
/** \brief Empty constructor */
PointRepresentation () : nr_dimensions_ (0), alpha_ (0), trivial_ (false) {}
/** \brief Empty destructor */
virtual ~PointRepresentation () {}
/** \brief Copy point data from input point to a float array. This method must be overridden in all subclasses.
* \param[in] p The input point
* \param[out] out A pointer to a float array.
*/
virtual void copyToFloatArray (const PointT &p, float *out) const = 0;
/** \brief Returns whether this point representation is trivial. It is trivial if and only if the following
* conditions hold:
* - the relevant data consists only of float values
* - the vectorize operation directly copies the first nr_dimensions_ elements of PointT to the out array
* - sizeof(PointT) is a multiple of sizeof(float)
* In short, a trivial point representation converts the input point to a float array that is the same as if
* the point was reinterpret_casted to a float array of length nr_dimensions_ . */
inline bool isTrivial() const { return trivial_ && alpha_.empty (); }
/** \brief Verify that the input point is valid.
* \param p The point to validate
*/
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);
}
/** \brief Convert input point into a vector representation, rescaling by \a alpha.
* \param[in] p the input point
* \param[out] out The output vector. Can be of any type that implements the [] operator.
*/
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;
}
/** \brief Set the rescale values to use when vectorizing points
* \param[in] rescale_array The array/vector of rescale values. Can be of any type that implements the [] operator.
*/
void
setRescaleValues (const float *rescale_array)
{
alpha_.resize (nr_dimensions_);
for (int i = 0; i < nr_dimensions_; ++i)
alpha_[i] = rescale_array[i];
}
/** \brief Return the number of dimensions in the point's vector representation. */
inline int getNumberOfDimensions () const { return (nr_dimensions_); }
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b DefaultPointRepresentation extends PointRepresentation to define default behavior for common point types.
*/
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;
}
virtual ~DefaultPointRepresentation () {}
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 = reinterpret_cast<const float*> (&p);
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = ptr[i];
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b DefaulFeatureRepresentation extends PointRepresentation and is intended to be used when defining the
* default behavior for feature descriptor types (i.e., copy each element of each field into a float array).
*/
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 <GASDSignature512> : public DefaultFeatureRepresentation <GASDSignature512>
{};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation <GASDSignature984> : public DefaultFeatureRepresentation <GASDSignature984>
{};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation <GASDSignature7992> : public DefaultFeatureRepresentation <GASDSignature7992>
{};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation <Narf36> : public PointRepresentation <Narf36>
{
public:
DefaultPointRepresentation ()
{
nr_dimensions_ = 36;
trivial_=false;
}
virtual void
copyToFloatArray (const Narf36 &p, float * out) const
{
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = p.descriptor[i];
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation<NormalBasedSignature12> : public DefaultFeatureRepresentation <NormalBasedSignature12>
{};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation<ShapeContext1980> : public PointRepresentation<ShapeContext1980>
{
public:
DefaultPointRepresentation ()
{
nr_dimensions_ = 1980;
}
virtual void
copyToFloatArray (const ShapeContext1980 &p, float * out) const
{
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = p.descriptor[i];
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation<UniqueShapeContext1960> : public PointRepresentation<UniqueShapeContext1960>
{
public:
DefaultPointRepresentation ()
{
nr_dimensions_ = 1960;
}
virtual void
copyToFloatArray (const UniqueShapeContext1960 &p, float * out) const
{
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = p.descriptor[i];
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation<SHOT352> : public PointRepresentation<SHOT352>
{
public:
DefaultPointRepresentation ()
{
nr_dimensions_ = 352;
}
virtual void
copyToFloatArray (const SHOT352 &p, float * out) const
{
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = p.descriptor[i];
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <>
class DefaultPointRepresentation<SHOT1344> : public PointRepresentation<SHOT1344>
{
public:
DefaultPointRepresentation ()
{
nr_dimensions_ = 1344;
}
virtual void
copyToFloatArray (const SHOT1344 &p, float * out) const
{
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = p.descriptor[i];
}
};
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b CustomPointRepresentation extends PointRepresentation to allow for sub-part selection on the point.
*/
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;
/** \brief Constructor
* \param[in] max_dim the maximum number of dimensions to use
* \param[in] start_dim the starting dimension
*/
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_ = static_cast<int> (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));
}
/** \brief Copy the point data into a float array
* \param[in] p the input point
* \param[out] out the resultant output array
*/
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 = (reinterpret_cast<const float*> (&p)) + start_dim_;
for (int i = 0; i < nr_dimensions_; ++i)
out[i] = ptr[i];
}
protected:
/** \brief Use at most this many dimensions (i.e. the "k" in "k-D" is at most max_dim_) -- \note float fields are assumed */
int max_dim_;
/** \brief Use dimensions only starting with this one (i.e. the "k" in "k-D" is = dim - start_dim_) -- \note float fields are assumed */
int start_dim_;
};
}
#endif // #ifndef PCL_POINT_REPRESENTATION_H_