voxel_grid_occlusion_estimation.h

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 * Author : Christian Potthast
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#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_
#define PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_

#include <pcl/filters/voxel_grid.h>

namespace pcl
{
  template <typename PointT>
  class VoxelGridOcclusionEstimation: public VoxelGrid<PointT>
  {
    protected:
      using VoxelGrid<PointT>::min_b_;
      using VoxelGrid<PointT>::max_b_;
      using VoxelGrid<PointT>::div_b_;
      using VoxelGrid<PointT>::leaf_size_;
      using VoxelGrid<PointT>::inverse_leaf_size_;

      typedef typename Filter<PointT>::PointCloud PointCloud;
      typedef typename PointCloud::Ptr PointCloudPtr;
      typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    public:
      VoxelGridOcclusionEstimation ()
      {
        initialized_ = false;
        this->setSaveLeafLayout (true);
      }

      virtual ~VoxelGridOcclusionEstimation ()
      {
      }

      void
      initializeVoxelGrid ();

      int
      occlusionEstimation (int& out_state,
                           const Eigen::Vector3i& in_target_voxel);

      int
      occlusionEstimation (int& out_state,
                           std::vector<Eigen::Vector3i>& out_ray,
                           const Eigen::Vector3i& in_target_voxel);

      int
      occlusionEstimationAll (std::vector<Eigen::Vector3i>& occluded_voxels);

      inline PointCloud
      getFilteredPointCloud () { return filtered_cloud_; }

      
      inline Eigen::Vector3f
      getMinBoundCoordinates () { return (b_min_.head<3> ()); }

      inline Eigen::Vector3f
      getMaxBoundCoordinates () { return (b_max_.head<3> ()); }

      inline Eigen::Vector4f
      getCentroidCoordinate (const Eigen::Vector3i& ijk)
      {
        int i,j,k;
        i = ((b_min_[0] < 0) ? (abs (min_b_[0]) + ijk[0]) : (ijk[0] - min_b_[0]));
        j = ((b_min_[1] < 0) ? (abs (min_b_[1]) + ijk[1]) : (ijk[1] - min_b_[1]));
        k = ((b_min_[2] < 0) ? (abs (min_b_[2]) + ijk[2]) : (ijk[2] - min_b_[2]));

        Eigen::Vector4f xyz;
        xyz[0] = b_min_[0] + (leaf_size_[0] * 0.5f) + (static_cast<float> (i) * leaf_size_[0]);
        xyz[1] = b_min_[1] + (leaf_size_[1] * 0.5f) + (static_cast<float> (j) * leaf_size_[1]);
        xyz[2] = b_min_[2] + (leaf_size_[2] * 0.5f) + (static_cast<float> (k) * leaf_size_[2]);
        xyz[3] = 0;
        return xyz;
      }

      // inline void
      // setSensorOrigin (const Eigen::Vector4f origin) { sensor_origin_ = origin; }

      // inline void
      // setSensorOrientation (const Eigen::Quaternionf orientation) { sensor_orientation_ = orientation; }

    protected:

      float
      rayBoxIntersection (const Eigen::Vector4f& origin, 
                          const Eigen::Vector4f& direction);

      int
      rayTraversal (const Eigen::Vector3i& target_voxel,
                    const Eigen::Vector4f& origin, 
                    const Eigen::Vector4f& direction,
                    const float t_min);

      int
      rayTraversal (std::vector <Eigen::Vector3i>& out_ray,
                    const Eigen::Vector3i& target_voxel,
                    const Eigen::Vector4f& origin, 
                    const Eigen::Vector4f& direction,
                    const float t_min);

      inline float
      round (float d)
      {
        return static_cast<float> (floor (d + 0.5f));
      }

      // We use round here instead of floor due to some numerical issues.
      inline Eigen::Vector3i
      getGridCoordinatesRound (float x, float y, float z) 
      {
        return Eigen::Vector3i (static_cast<int> (round (x * inverse_leaf_size_[0])), 
                                static_cast<int> (round (y * inverse_leaf_size_[1])), 
                                static_cast<int> (round (z * inverse_leaf_size_[2])));
      }

      // initialization flag
      bool initialized_;

      Eigen::Vector4f sensor_origin_;
      Eigen::Quaternionf sensor_orientation_;

      // minimum and maximum bounding box coordinates
      Eigen::Vector4f b_min_, b_max_;

      // voxel grid filtered cloud
      PointCloud filtered_cloud_;
  };
}

#endif  //#ifndef PCL_FILTERS_VOXEL_GRID_OCCLUSION_ESTIMATION_H_