template <typename VoxelT, typename WeightT> bool
pcl::TSDFVolume<VoxelT, WeightT>::extractNeighborhood (const Eigen::Vector3i &voxel_coord, int neighborhood_size,
VoxelTVec &neighborhood) const
{
// point_index is at the center of a cube of scale_ x scale_ x scale_ voxels
int shift = (neighborhood_size - 1) / 2;
Eigen::Vector3i min_index = voxel_coord.array() - shift;
Eigen::Vector3i max_index = voxel_coord.array() + shift;
// check that index is within range
if (getLinearVoxelIndex(min_index) < 0 || getLinearVoxelIndex(max_index) >= (int)size())
{
pcl::console::print_info ("[extractNeighborhood] Skipping voxel with coord (%d, %d, %d).\n", voxel_coord(0), voxel_coord(1), voxel_coord(2));
return false;
}
static const int descriptor_size = neighborhood_size*neighborhood_size*neighborhood_size;
neighborhood.resize (descriptor_size);
const Eigen::RowVector3i offset_vector (1, neighborhood_size, neighborhood_size*neighborhood_size);
// loop over all voxels in 3D neighborhood
#pragma omp parallel for
for (int z = min_index(2); z <= max_index(2); ++z)
{
for (int y = min_index(1); y <= max_index(1); ++y)
{
for (int x = min_index(0); x <= max_index(0); ++x)
{
// linear voxel index in volume and index in descriptor vector
Eigen::Vector3i point (x,y,z);
int volume_idx = getLinearVoxelIndex (point);
int descr_idx = offset_vector * (point - min_index);
/* std::cout << "linear index " << volume_idx << std::endl;
std::cout << "weight " << weights_->at (volume_idx) << std::endl;
std::cout << "volume " << volume_->at (volume_idx) << std::endl;
std::cout << "descr " << neighborhood.rows() << "x" << neighborhood.cols() << ", val = " << neighborhood << std::endl;
std::cout << "descr index = " << descr_idx << std::endl;
*/
// get the TSDF value and store as descriptor entry
if (weights_->at (volume_idx) != 0)
neighborhood (descr_idx) = volume_->at (volume_idx);
else
neighborhood (descr_idx) = -1.0; // if never visited we assume inside of object (outside captured and thus filled with positive values)
}
}
}
return true;
}
template <typename VoxelT, typename WeightT> bool
pcl::TSDFVolume<VoxelT, WeightT>::addNeighborhood (const Eigen::Vector3i &voxel_coord, int neighborhood_size,
const VoxelTVec &neighborhood, WeightT voxel_weight)
{
// point_index is at the center of a cube of scale_ x scale_ x scale_ voxels
int shift = (neighborhood_size - 1) / 2;
Eigen::Vector3i min_index = voxel_coord.array() - shift;
Eigen::Vector3i max_index = voxel_coord.array() + shift;
// check that index is within range
if (getLinearVoxelIndex(min_index) < 0 || getLinearVoxelIndex(max_index) >= (int)size())
{
pcl::console::print_info ("[addNeighborhood] Skipping voxel with coord (%d, %d, %d).\n", voxel_coord(0), voxel_coord(1), voxel_coord(2));
return false;
}
// static const int descriptor_size = neighborhood_size*neighborhood_size*neighborhood_size;
const Eigen::RowVector3i offset_vector (1, neighborhood_size, neighborhood_size*neighborhood_size);
Eigen::Vector3i index = min_index;
// loop over all voxels in 3D neighborhood
#pragma omp parallel for
for (int z = min_index(2); z <= max_index(2); ++z)
{
for (int y = min_index(1); y <= max_index(1); ++y)
{
for (int x = min_index(0); x <= max_index(0); ++x)
{
// linear voxel index in volume and index in descriptor vector
Eigen::Vector3i point (x,y,z);
int volume_idx = getLinearVoxelIndex (point);
int descr_idx = offset_vector * (point - min_index);
// add the descriptor entry to the volume
VoxelT &voxel = volume_->at (volume_idx);
WeightT &weight = weights_->at (volume_idx);
// TODO check that this simple lock works correctly!!
#pragma omp atomic
voxel += neighborhood (descr_idx);
#pragma omp atomic
weight += voxel_weight;
}
}
}
return true;
}
MUintArray *
SpatialGrid::getVoxelContents(
const gridPoint3<int>& index
)
//
// Description:
//
// Returns list of triangles for given voxel. Allocates the array
// if it doesn't exist already
//
{
int linearIndex = getLinearVoxelIndex( index );
if( fVoxels[linearIndex] == NULL )
{
fVoxels[linearIndex] = new MUintArray;
}
return fVoxels[linearIndex];
}
