Point Cloud Library (PCL) 1.14.0
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buffers.hpp
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37
38#ifndef PCL_IO_IMPL_BUFFERS_HPP
39#define PCL_IO_IMPL_BUFFERS_HPP
40
41#include <iostream>
42
43#include <pcl/pcl_macros.h>
44
45
46template <typename T>
48{
49 static T invalid () { return 0; }
50 static bool is_invalid (T value) { return value == invalid (); };
51};
52
53template <>
54struct buffer_traits <float>
55{
56 static float invalid () { return std::numeric_limits<float>::quiet_NaN (); };
57 static bool is_invalid (float value) { return std::isnan (value); };
58};
59
60template <>
61struct buffer_traits <double>
62{
63 static double invalid () { return std::numeric_limits<double>::quiet_NaN (); };
64 static bool is_invalid (double value) { return std::isnan (value); };
65};
66
67
68namespace pcl
69{
70
71namespace io
72{
73
74template <typename T>
75Buffer<T>::Buffer (std::size_t size)
76: size_ (size)
77{
78}
79
80template <typename T>
82= default;
83
84template <typename T>
86: Buffer<T> (size)
87, data_ (size, buffer_traits<T>::invalid ())
88{
89}
90
91template <typename T>
93= default;
94
95template <typename T> T
96SingleBuffer<T>::operator[] (std::size_t idx) const
97{
98 assert (idx < size_);
99 return (data_[idx]);
100}
101
102template <typename T> void
103SingleBuffer<T>::push (std::vector<T>& data)
104{
105 assert (data.size () == size_);
106 std::lock_guard<std::mutex> lock (data_mutex_);
107 data_.swap (data);
108 data.clear ();
109}
110
111template <typename T>
113 unsigned char window_size)
114: Buffer<T> (size)
115, window_size_ (window_size)
116, midpoint_ (window_size_ / 2)
117, data_current_idx_ (window_size_ - 1)
118{
119 assert (size_ > 0);
120 assert (window_size_ > 0);
121
122 data_.resize (window_size_);
123 for (std::size_t i = 0; i < window_size_; ++i)
124 data_[i].resize (size_, buffer_traits<T>::invalid ());
125
126 data_argsort_indices_.resize (size_);
127 for (std::size_t i = 0; i < size_; ++i)
128 {
129 data_argsort_indices_[i].resize (window_size_);
130 for (std::size_t j = 0; j < window_size_; ++j)
131 data_argsort_indices_[i][j] = j;
132 }
133
134 data_invalid_count_.resize (size_, window_size_);
135}
136
137template <typename T>
139= default;
140
141template <typename T> T
142MedianBuffer<T>::operator[] (std::size_t idx) const
143{
144 assert (idx < size_);
145 int midpoint = (window_size_ - data_invalid_count_[idx]) / 2;
146 return (data_[data_argsort_indices_[idx][midpoint]][idx]);
147}
148
149template <typename T> void
150MedianBuffer<T>::push (std::vector<T>& data)
151{
152 assert (data.size () == size_);
153 std::lock_guard<std::mutex> lock (data_mutex_);
154
155 if (++data_current_idx_ >= window_size_)
156 data_current_idx_ = 0;
157
158 // New data will replace the column with index data_current_idx_. Before
159 // overwriting it, we go through all the new-old value pairs and update
160 // data_argsort_indices_ to maintain sorted order.
161 for (std::size_t i = 0; i < size_; ++i)
162 {
163 const T& new_value = data[i];
164 const T& old_value = data_[data_current_idx_][i];
165 bool new_is_invalid = buffer_traits<T>::is_invalid (new_value);
166 bool old_is_invalid = buffer_traits<T>::is_invalid (old_value);
167 if (compare (new_value, old_value) == 0)
168 continue;
169 std::vector<unsigned char>& argsort_indices = data_argsort_indices_[i];
170 // Rewrite the argsort indices before or after the position where we insert
171 // depending on the relation between the old and new values
172 if (compare (new_value, old_value) == 1)
173 {
174 for (int j = 0; j < window_size_; ++j)
175 if (argsort_indices[j] == data_current_idx_)
176 {
177 int k = j + 1;
178 while (k < window_size_ && compare (new_value, data_[argsort_indices[k]][i]) == 1)
179 {
180 std::swap (argsort_indices[k - 1], argsort_indices[k]);
181 ++k;
182 }
183 break;
184 }
185 }
186 else
187 {
188 for (int j = window_size_ - 1; j >= 0; --j)
189 if (argsort_indices[j] == data_current_idx_)
190 {
191 int k = j - 1;
192 while (k >= 0 && compare (new_value, data_[argsort_indices[k]][i]) == -1)
193 {
194 std::swap (argsort_indices[k], argsort_indices[k + 1]);
195 --k;
196 }
197 break;
198 }
199 }
200
201 if (new_is_invalid && !old_is_invalid)
202 ++data_invalid_count_[i];
203 else if (!new_is_invalid && old_is_invalid)
204 --data_invalid_count_[i];
205 }
206
207 // Finally overwrite the data
208 data_[data_current_idx_].swap (data);
209 data.clear ();
210}
211
212template <typename T> int
214{
215 bool a_is_invalid = buffer_traits<T>::is_invalid (a);
216 bool b_is_invalid = buffer_traits<T>::is_invalid (b);
217 if (a_is_invalid && b_is_invalid)
218 return 0;
219 if (a_is_invalid)
220 return 1;
221 if (b_is_invalid)
222 return -1;
223 if (a == b)
224 return 0;
225 return a > b ? 1 : -1;
226}
227
228template <typename T>
230 unsigned char window_size)
231: Buffer<T> (size)
232, window_size_ (window_size)
233, data_current_idx_ (window_size_ - 1)
234{
235 assert (size_ > 0);
236 assert (window_size_ > 0);
237
238 data_.resize (window_size_);
239 for (std::size_t i = 0; i < window_size_; ++i)
240 data_[i].resize (size_, buffer_traits<T>::invalid ());
241
242 data_sum_.resize (size_, 0);
243 data_invalid_count_.resize (size_, window_size_);
244}
245
246template <typename T>
248= default;
249
250template <typename T> T
251AverageBuffer<T>::operator[] (std::size_t idx) const
252{
253 assert (idx < size_);
254 if (data_invalid_count_[idx] == window_size_)
255 return (buffer_traits<T>::invalid ());
256 return (data_sum_[idx] / static_cast<T> (window_size_ - data_invalid_count_[idx]));
257}
258
259template <typename T> void
260AverageBuffer<T>::push (std::vector<T>& data)
261{
262 assert (data.size () == size_);
263 std::lock_guard<std::mutex> lock (data_mutex_);
264
265 if (++data_current_idx_ >= window_size_)
266 data_current_idx_ = 0;
267
268 // New data will replace the column with index data_current_idx_. Before
269 // overwriting it, we go through the old values and subtract them from the
270 // data_sum_
271 for (std::size_t i = 0; i < size_; ++i)
272 {
273 const float& new_value = data[i];
274 const float& old_value = data_[data_current_idx_][i];
275 bool new_is_invalid = buffer_traits<T>::is_invalid (new_value);
276 bool old_is_invalid = buffer_traits<T>::is_invalid (old_value);
277
278 if (!old_is_invalid)
279 data_sum_[i] -= old_value;
280 if (!new_is_invalid)
281 data_sum_[i] += new_value;
282
283 if (new_is_invalid && !old_is_invalid)
284 ++data_invalid_count_[i];
285 else if (!new_is_invalid && old_is_invalid)
286 --data_invalid_count_[i];
287 }
288
289 // Finally overwrite the data
290 data_[data_current_idx_].swap (data);
291 data.clear ();
292}
293
294} // namespace io
295} // namespace pcl
296
297#endif /* PCL_IO_IMPL_BUFFERS_HPP */
298
void push(std::vector< T > &data) override
Insert a new chunk of data into the buffer.
Definition buffers.hpp:260
AverageBuffer(std::size_t size, unsigned char window_size)
Construct a buffer of given size with given running window size.
Definition buffers.hpp:229
T operator[](std::size_t idx) const override
Access an element at a given index.
Definition buffers.hpp:251
An abstract base class for fixed-size data buffers.
Definition buffers.h:63
const std::size_t size_
Definition buffers.h:95
Buffer(std::size_t size)
Definition buffers.hpp:75
virtual ~Buffer()
A buffer that computes running window median of the data inserted.
Definition buffers.h:144
MedianBuffer(std::size_t size, unsigned char window_size)
Construct a buffer of given size with given running window size.
Definition buffers.hpp:112
void push(std::vector< T > &data) override
Insert a new chunk of data into the buffer.
Definition buffers.hpp:150
~MedianBuffer() override
T operator[](std::size_t idx) const override
Access an element at a given index.
Definition buffers.hpp:142
void push(std::vector< T > &data) override
Insert a new chunk of data into the buffer.
Definition buffers.hpp:103
T operator[](std::size_t idx) const override
Access an element at a given index.
Definition buffers.hpp:96
~SingleBuffer() override
SingleBuffer(std::size_t size)
Construct a buffer of given size.
Definition buffers.hpp:85
Defines all the PCL and non-PCL macros used.
static bool is_invalid(double value)
Definition buffers.hpp:64
static double invalid()
Definition buffers.hpp:63
static float invalid()
Definition buffers.hpp:56
static bool is_invalid(float value)
Definition buffers.hpp:57
static T invalid()
Definition buffers.hpp:49
static bool is_invalid(T value)
Definition buffers.hpp:50