PointCloudToVoxelGrid.cpp

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/* -------------------------------------------------------------------------
 * A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#include <mp2p_icp_filters/PointCloudToVoxelGrid.h>
 
// Used in the PIMP:
#include <tsl/robin_map.h>
 
using namespace mp2p_icp_filters;
 
struct PointCloudToVoxelGrid::Impl
{
    tsl::robin_map<indices_t, voxel_t, IndicesHash> pts_voxels;
};
 
PointCloudToVoxelGrid::PointCloudToVoxelGrid() : impl_(mrpt::make_impl<Impl>())
{
}
 
void PointCloudToVoxelGrid::setResolution(const float voxel_size)
{
    MRPT_START
 
    impl_->pts_voxels.clear();
    resolution_ = voxel_size;
 
    MRPT_END
}
 
void PointCloudToVoxelGrid::processPointCloud(const mrpt::maps::CPointsMap& p)
{
    using mrpt::max3;
    using std::abs;
 
    const auto& xs   = p.getPointsBufferRef_x();
    const auto& ys   = p.getPointsBufferRef_y();
    const auto& zs   = p.getPointsBufferRef_z();
    const auto  npts = xs.size();
 
    // Previous point:
    float x0, y0, z0;
    x0 = y0 = z0 = std::numeric_limits<float>::max();
 
    auto& pts_voxels = impl_->pts_voxels;
 
    pts_voxels.reserve(pts_voxels.size() + npts);
 
    for (std::size_t i = 0; i < npts; i++)
    {
        // Skip this point?
        if (params_.min_consecutive_distance != .0f &&
            max3(abs(x0 - xs[i]), abs(y0 - ys[i]), abs(z0 - zs[i])) <
                params_.min_consecutive_distance)
            continue;
 
        // Save for the next point:
        x0 = xs[i];
        y0 = ys[i];
        z0 = zs[i];
 
        const indices_t vxl_idx = {coord2idx(x0), coord2idx(y0), coord2idx(z0)};
 
        auto& cell = pts_voxels[vxl_idx];
        cell.indices.push_back(i);  // only if not out of grid range
    }
}
 
void PointCloudToVoxelGrid::clear()
{
    //
    impl_->pts_voxels.clear();
}
 
void PointCloudToVoxelGrid::visit_voxels(
    const std::function<void(const indices_t idx, const voxel_t& vxl)>&
        userCode) const
{
    for (const auto& [idx, vxl] : impl_->pts_voxels) userCode(idx, vxl);
}
 
size_t PointCloudToVoxelGrid::size() const { return impl_->pts_voxels.size(); }