chunked_kdtree.h

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/*
 * Copyright (c) 2018, the mcl_3dl authors
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
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 *       notice, this list of conditions and the following disclaimer in the
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 *       contributors may be used to endorse or promote products derived from 
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef MCL_3DL_CHUNKED_KDTREE_H
#define MCL_3DL_CHUNKED_KDTREE_H
 
#include <cmath>
#include <memory>
#include <stdexcept>
#include <unordered_map>
#include <vector>
 
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>
 
namespace mcl_3dl
{
template <typename POINT_TYPE>
class ChunkedKdtree
{
public:
  using Ptr = std::shared_ptr<ChunkedKdtree>;
 
  class ChunkId
  {
  public:
    using Ptr = std::shared_ptr<ChunkId>;
 
    const int x_;
    const int y_;
    const int z_;
 
    constexpr bool operator==(const ChunkId& a) const
    {
      return x_ == a.x_ && y_ == a.y_ && z_ == a.z_;
    }
    constexpr bool operator!=(const ChunkId& a) const
    {
      return !operator==(a);
    }
    constexpr ChunkId operator+(const ChunkId& a) const
    {
      return ChunkId(x_ + a.x_, y_ + a.y_, z_ + a.z_);
    }
    size_t operator()(const ChunkId& id) const
    {
      return (id.x_) ^ (id.y_ << 11) ^ (id.z_ << 22);
    }
    ChunkId(const int x, const int y, const int z)
      : x_(x)
      , y_(y)
      , z_(z)
    {
    }
    ChunkId()
      : x_(0)
      , y_(0)
      , z_(0)
    {
    }
  };
 
  explicit ChunkedKdtree(
      const float chunk_length = 20.0,
      const float max_search_radius = 1.0,
      const bool keep_clouds = false)
    : pos_to_chunk_(1.0 / chunk_length)
    , chunk_length_(chunk_length)
    , max_search_radius_(max_search_radius)
    , set_epsilon_(false)
    , keep_clouds_(keep_clouds)
  {
    chunks_.clear();
  }
  void setEpsilon(const float epsilon)
  {
    epsilon_ = epsilon;
    set_epsilon_ = true;
    for (auto& chunk : chunks_)
    {
      chunk.second.kdtree_->setEpsilon(epsilon_);
    }
  }
  void setPointRepresentation(
      const typename pcl::PointRepresentation<POINT_TYPE>::ConstPtr point_rep)
  {
    point_rep_ = point_rep;
    for (auto& chunk : chunks_)
    {
      chunk.second.kdtree_->setPointRepresentation(point_rep_);
    }
  }
  const typename pcl::PointCloud<POINT_TYPE>::ConstPtr& getInputCloud() const
  {
    return input_cloud_;
  }
  void setInputCloud(
      const typename pcl::PointCloud<POINT_TYPE>::ConstPtr& cloud)
  {
    input_cloud_ = cloud;
    if (chunks_.size())
      chunks_.clear();
    ChunkOriginalIds ids;
    ChunkCloud clouds;
    size_t i = 0;
    for (auto& p : *cloud)
    {
      const auto chunk_id = getChunkId(p);
      clouds[chunk_id].push_back(p);
      ids[chunk_id].push_back(i);
 
      const float in_chunk_x = p.x - chunk_id.x_ * chunk_length_;
      int x_bound = 0;
      if (in_chunk_x < max_search_radius_)
        x_bound = -1;
      else if (in_chunk_x > chunk_length_ - max_search_radius_)
        x_bound = 1;
 
      const float in_chunk_y = p.y - chunk_id.y_ * chunk_length_;
      int y_bound = 0;
      if (in_chunk_y < max_search_radius_)
        y_bound = -1;
      else if (in_chunk_y > chunk_length_ - max_search_radius_)
        y_bound = 1;
 
      const float in_chunk_z = p.z - chunk_id.z_ * chunk_length_;
      int z_bound = 0;
      if (in_chunk_z < max_search_radius_)
        z_bound = -1;
      else if (in_chunk_z > chunk_length_ - max_search_radius_)
        z_bound = 1;
 
      if (x_bound && y_bound && z_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, y_bound, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (x_bound && y_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, y_bound, 0));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (y_bound && z_bound)
      {
        const ChunkId id(chunk_id + ChunkId(0, y_bound, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (z_bound && x_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, 0, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (x_bound)
      {
        const ChunkId id(chunk_id + ChunkId(x_bound, 0, 0));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (y_bound)
      {
        const ChunkId id(chunk_id + ChunkId(0, y_bound, 0));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      if (z_bound)
      {
        const ChunkId id(chunk_id + ChunkId(0, 0, z_bound));
        clouds[id].push_back(p);
        ids[id].push_back(i);
      }
      ++i;
    }
    for (auto& cloud : clouds)
    {
      if (point_rep_)
        chunks_[cloud.first].kdtree_->setPointRepresentation(point_rep_);
      if (set_epsilon_)
        chunks_[cloud.first].kdtree_->setEpsilon(epsilon_);
      auto cloud_ptr = cloud.second.makeShared();
      chunks_[cloud.first].kdtree_->setInputCloud(cloud_ptr);
      if (keep_clouds_)
        chunks_[cloud.first].cloud_ = cloud_ptr;
      chunks_[cloud.first].original_ids_ = ids[cloud.first];
    }
  }
  int radiusSearch(
      const POINT_TYPE& p,
      const float& radius,
      std::vector<int>& id,
      std::vector<float>& dist_sq,
      const size_t& num)
  {
    if (radius > chunk_length_)
      throw std::runtime_error("ChunkedKdtree: radius must be <chunk_length");
 
    const auto chunk_id = getChunkId(p);
    if (chunks_.find(chunk_id) == chunks_.end())
      return false;
 
    const auto ret = chunks_[chunk_id].kdtree_->radiusSearch(p, radius, id, dist_sq, num);
 
    for (auto& i : id)
      i = chunks_[chunk_id].original_ids_[i];
 
    return ret;
  }
  typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr getChunkKdtree(const POINT_TYPE& p)
  {
    return getChunkKdtree(getChunkId(p));
  }
  typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr getChunkKdtree(const ChunkId& c)
  {
    if (chunks_.find(c) == chunks_.end())
      return typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr();
    return chunks_[c].kdtree_;
  }
  typename pcl::PointCloud<POINT_TYPE>::Ptr getChunkCloud(const POINT_TYPE& p)
  {
    return getChunkCloud(getChunkId(p));
  }
  typename pcl::PointCloud<POINT_TYPE>::Ptr getChunkCloud(const ChunkId& c)
  {
    if (!keep_clouds_ || chunks_.find(c) == chunks_.end())
      return typename pcl::PointCloud<POINT_TYPE>::Ptr();
    return chunks_[c].cloud_;
  }
  ChunkId getChunkId(const POINT_TYPE& p) const
  {
    return ChunkId(static_cast<int>(std::floor(p.x * pos_to_chunk_)),
                   static_cast<int>(std::floor(p.y * pos_to_chunk_)),
                   static_cast<int>(std::floor(p.z * pos_to_chunk_)));
  }
 
protected:
  class Chunk
  {
  public:
    typename pcl::KdTreeFLANN<POINT_TYPE>::Ptr kdtree_;
    std::vector<size_t> original_ids_;
    typename pcl::PointCloud<POINT_TYPE>::Ptr cloud_;
 
    Chunk()
      : kdtree_(new pcl::KdTreeFLANN<POINT_TYPE>)
      , cloud_(new pcl::PointCloud<POINT_TYPE>)
    {
    }
  };
 
  const float pos_to_chunk_;
  const float chunk_length_;
  const float max_search_radius_;
  bool set_epsilon_;
  bool keep_clouds_;
  float epsilon_;
  typename pcl::PointRepresentation<POINT_TYPE>::ConstPtr point_rep_;
 
  using ChunkMap = std::unordered_map<ChunkId, Chunk, ChunkId>;
  using ChunkCloud = std::unordered_map<ChunkId, typename pcl::PointCloud<POINT_TYPE>, ChunkId>;
  using ChunkOriginalIds = std::unordered_map<ChunkId, std::vector<size_t>, ChunkId>;
  ChunkMap chunks_;
  typename pcl::PointCloud<POINT_TYPE>::ConstPtr input_cloud_;
};
}  // namespace mcl_3dl
 
#endif  // MCL_3DL_CHUNKED_KDTREE_H