Passthrough.hpp

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 *
 * Passthrough.hpp -> Modification
 *
 *      Author: roberto
 *
 * This is a modified implementation of the method for online estimation of kinematic structures described in our paper
 * "Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors"
 * (Martín-Martín and Brock, 2014) and the extension to segment, reconstruct and track shapes introduced in our paper
 * "An Integrated Approach to Visual Perception of Articulated Objects" (Martín-Martín, Höfer and Brock, 2016)
 * This implementation can be used to reproduce the results of the paper and to be applied to new research.
 * The implementation allows also to be extended to perceive different information/models or to use additional sources of information.
 * A detail explanation of the method and the system can be found in our paper.
 *
 * If you are using this implementation in your research, please consider citing our work:
 *
@inproceedings{martinmartin_ip_iros_2014,
Title = {Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors},
Author = {Roberto {Mart\'in-Mart\'in} and Oliver Brock},
Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
Pages = {2494-2501},
Year = {2014},
Location = {Chicago, Illinois, USA},
Note = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf},
Url = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf},
Projectname = {Interactive Perception}
}

@inproceedings{martinmartin_hoefer_iros_2016,
Title = {An Integrated Approach to Visual Perception of Articulated Objects},
Author = {Roberto {Mart\'{i}n-Mart\'{i}n} and Sebastian H\"ofer and Oliver Brock},
Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
Pages = {5091 - 5097},
Year = {2016},
Doi = {10.1109/ICRA.2016.7487714},
Location = {Stockholm, Sweden},
Month = {05},
Note = {http://www.redaktion.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martin_hoefer_15_iros_sr_opt.pdf},
Url = {http://www.redaktion.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martin_hoefer_15_iros_sr_opt.pdf},
Url2 = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7487714},
Projectname = {Interactive Perception}
}
 * If you have questions or suggestions, contact us:
 * roberto.martinmartin@tu-berlin.de
 *
 * Enjoy!
 */

#ifndef SHAPE_RECONSTRUCTION_PCL_FILTERS_IMPL_PASSTHROUGH_HPP_
#define SHAPE_RECONSTRUCTION_PCL_FILTERS_IMPL_PASSTHROUGH_HPP_

#include <shape_reconstruction/Passthrough.h>
#include <pcl/common/io.h>
#include <vector>
#include <iterator>

using namespace pcl;

namespace shape_reconstruction{

template <typename PointT> void
shape_reconstruction::PassThrough<PointT>::applyFilter (PointCloud &output)
{
    std::vector<int> indices;
    if (keep_organized_)
    {
        bool temp = extract_removed_indices_;
        extract_removed_indices_ = true;
        applyFilterIndices (indices);
        extract_removed_indices_ = temp;

        output = *input_;
        for (int rii = 0; rii < static_cast<int> (removed_indices_->size ()); ++rii)  // rii = removed indices iterator
            output.points[(*removed_indices_)[rii]].x = output.points[(*removed_indices_)[rii]].y = output.points[(*removed_indices_)[rii]].z = user_filter_value_;
        if (!pcl_isfinite (user_filter_value_))
            output.is_dense = false;
    }
    else
    {
        output.is_dense = true;
        applyFilterIndices (indices);
        copyPointCloud (*input_, indices, output);
    }
}

template <typename PointT> void
shape_reconstruction::PassThrough<PointT>::applyFilterIndices (std::vector<int> &indices)
{
    // The arrays to be used
    indices.resize (indices_->size ());
    removed_indices_->resize (indices_->size ());
    int oii = 0, rii = 0;  // oii = output indices iterator, rii = removed indices iterator

    // Has a field name been specified?
    if (filter_field_name_.empty ())
    {
        // Only filter for non-finite entries then
        for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)  // iii = input indices iterator
        {
            // Non-finite entries are always passed to removed indices
            if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
                    !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
                    !pcl_isfinite (input_->points[(*indices_)[iii]].z))
            {
                if (extract_removed_indices_)
                    (*removed_indices_)[rii++] = (*indices_)[iii];
                continue;
            }
            indices[oii++] = (*indices_)[iii];
        }
    }
    else
    {
        // Attempt to get the field name's index
        std::vector<pcl::PCLPointField> fields;
        int distance_idx = pcl::getFieldIndex (*input_, filter_field_name_, fields);
        if (distance_idx == -1)
        {
            PCL_WARN ("[pcl::%s::applyFilter] Unable to find field name in point type.\n", getClassName ().c_str ());
            indices.clear ();
            removed_indices_->clear ();
            return;
        }

        if(labels_.size()==0)
        {


            // Filter for non-finite entries and the specified field limits
            for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)  // iii = input indices iterator
            {
                // Non-finite entries are always passed to removed indices
                if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
                        !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
                        !pcl_isfinite (input_->points[(*indices_)[iii]].z))
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Get the field's value
                const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&input_->points[(*indices_)[iii]]);
                float field_value = 0;
                memcpy (&field_value, pt_data + fields[distance_idx].offset, sizeof (float));

                // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data.
                if (!pcl_isfinite (field_value))
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Outside of the field limits are passed to removed indices
                if (!negative_ && (field_value < filter_limit_min_ || field_value > filter_limit_max_))
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Inside of the field limits are passed to removed indices if negative was set
                if (negative_ && field_value >= filter_limit_min_ && field_value <= filter_limit_max_)
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Otherwise it was a normal point for output (inlier)
                indices[oii++] = (*indices_)[iii];
            }

        }else{

            // Filter for non-finite entries and the specified field limits
            for (int iii = 0; iii < static_cast<int> (indices_->size ()); ++iii)  // iii = input indices iterator
            {
                // Non-finite entries are always passed to removed indices
                if (!pcl_isfinite (input_->points[(*indices_)[iii]].x) ||
                        !pcl_isfinite (input_->points[(*indices_)[iii]].y) ||
                        !pcl_isfinite (input_->points[(*indices_)[iii]].z))
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Get the field's value
                const uint8_t* pt_data = reinterpret_cast<const uint8_t*> (&input_->points[(*indices_)[iii]]);
                uint32_t field_value = 0;
                memcpy (&field_value, pt_data + fields[distance_idx].offset, sizeof (uint32_t));

                // Remove NAN/INF/-INF values. We expect passthrough to output clean valid data.
                if (!pcl_isfinite (field_value))
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                std::vector<unsigned int>::iterator find_result = std::find(std::begin(labels_), std::end(labels_), (unsigned int)field_value);

                // Outside of the field limits are passed to removed indices
                if (!negative_ &&  find_result == labels_.end())
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Inside of the field limits are passed to removed indices if negative was set
                if (negative_ && find_result != labels_.end())
                {
                    if (extract_removed_indices_)
                        (*removed_indices_)[rii++] = (*indices_)[iii];
                    continue;
                }

                // Otherwise it was a normal point for output (inlier)
                indices[oii++] = (*indices_)[iii];
            }
        }
    }

    // Resize the output arrays
    indices.resize (oii);
    removed_indices_->resize (rii);
}
}

#endif  // PCL_FILTERS_IMPL_PASSTHROUGH_HPP_