PCL - MLS代碼研讀(十)- performProcessing函數
前言
在PCL - MLS代碼研讀(九)- MLS入口 - process函數中,看到了process
函數實際上是performProcessing
函數的wrapper,真正做事的其實是performProcessing
函數。
performProcessing
對於輸入點雲中的所有點,都調用一次computeMLSPointNormal
函數,計算得到投影點坐標projected_points
,投影點法向量projected_points_normals
,並更新corresponding_input_indices
。最後再把計算結果新增到output
和normals_
裡面。
template <typename PointInT, typename PointOutT> void
pcl::MovingLeastSquares<PointInT, PointOutT>::performProcessing (PointCloudOut &output)
{
計算多項式係數的數量:
// Compute the number of coefficients
/*
1
x, y
x^2, x*y, y^2
x^3, x^2*y, x*y^2, y^3
it's a triangle with upper length = 1 and bottom length = n+1
*/
nr_coeff_ = (order_ + 1) * (order_ + 2) / 2;
例:二次多項式有 1 , x , y , x 2 , x y , y 2 1,x,y,x^2,xy,y^2 1,x,y,x2,xy,y2等6項, 6 = ( 2 + 1 ) ∗ ( 2 + 2 ) / 2 6 = (2+1)*(2+2)/2 6=(2+1)∗(2+2)/2。
開啟OPENMP才會運行,先略過。
#ifdef _OPENMP
// (Maximum) number of threads
const unsigned int threads = threads_ == 0 ? 1 : threads_;
// Create temporaries for each thread in order to avoid synchronization
typename PointCloudOut::CloudVectorType projected_points (threads);
typename NormalCloud::CloudVectorType projected_points_normals (threads);
std::vector<PointIndices> corresponding_input_indices (threads);
#endif
對於輸入點雲中的所有點,都做以下事情:
// For all points
#pragma omp parallel for \
default(none) \
shared(corresponding_input_indices, projected_points, projected_points_normals) \
schedule(dynamic,1000) \
num_threads(threads)
for (int cp = 0; cp < static_cast<int> (indices_->size ()); ++cp)
{
搜索最近鄰:
// Allocate enough space to hold the results of nearest neighbor searches
// \note resize is irrelevant for a radiusSearch ().
pcl::Indices nn_indices;
std::vector<float> nn_sqr_dists;
// Get the initial estimates of point positions and their neighborhoods
// cp: indices_的索引,(*indices_)[cp]:真正的索引
if (searchForNeighbors ((*indices_)[cp], nn_indices, nn_sqr_dists))
{
檢查鄰居數量:
// Check the number of nearest neighbors for normal estimation (and later for polynomial fit as well)
if (nn_indices.size () >= 3)
{
宣告用於儲存投影點本身及法向量的數據結構:
// This thread's ID (range 0 to threads-1)
#ifdef _OPENMP
const int tn = omp_get_thread_num ();
// Size of projected points before computeMLSPointNormal () adds points
std::size_t pp_size = projected_points[tn].size ();
#else
// 對於(*indices_)[cp]這個點的投影結果
PointCloudOut projected_points;
NormalCloud projected_points_normals;
#endif
indices_
是儲存要處理的點的索引的數據結構,注意(*indices_)[cp]
才是真正的索引:
// Get a plane approximating the local surface's tangent and project point onto it
const int index = (*indices_)[cp];
快取MLS的結果:
std::size_t mls_result_index = 0;
if (cache_mls_results_)
mls_result_index = index; // otherwise we give it a dummy location.
開啟OPENMP才會運行,先略過。
#ifdef _OPENMP
computeMLSPointNormal (index, nn_indices, projected_points[tn], projected_points_normals[tn], corresponding_input_indices[tn], mls_results_[mls_result_index]);
// Copy all information from the input cloud to the output points (not doing any interpolation)
for (std::size_t pp = pp_size; pp < projected_points[tn].size (); ++pp)
copyMissingFields ((*input_)[(*indices_)[cp]], projected_points[tn][pp]);
調用computeMLSPointNormal
函數,計算得到投影點坐標projected_points
,投影點法向量projected_points_normals
,並更新corresponding_input_indices
。
#else
// 對input_中的每個點,都對它周遭的點做投影,得到projected_points?
// 依據入參index,nn_indices來更新projected_points,projected_points_normals,corresponding_input_indices
computeMLSPointNormal (index, nn_indices, projected_points, projected_points_normals, *corresponding_input_indices_, mls_results_[mls_result_index]);
最後再把計算結果新增到output
和normals_
裡面。
// Append projected points to output
/**
* 如果upsample_method_是NONE,
* 那麼input_中的每一個點只會產生一個投影點
* 如果是SAMPLE_LOCAL_PLANE或RANDOM_UNIFORM_DENSITY,
* 那麼input_中的每一個點只會產生多個投影點
* 這裡再把生成的投影點加入output
* 如果是DISTINCT_CLOUD或VOXEL_GRID_DILATION,
* 則不會在這裡做上採樣,而是等到投影結束之後再做performUpsampling
**/
output.insert (output.end (), projected_points.begin (), projected_points.end ());
if (compute_normals_)
normals_->insert (normals_->end (), projected_points_normals.begin (), projected_points_normals.end ());
#endif
}
}
}
開啟OPENMP才會運行,先略過。
#ifdef _OPENMP
// Combine all threads' results into the output vectors
for (unsigned int tn = 0; tn < threads; ++tn)
{
output.insert (output.end (), projected_points[tn].begin (), projected_points[tn].end ());
corresponding_input_indices_->indices.insert (corresponding_input_indices_->indices.end (),
corresponding_input_indices[tn].indices.begin (), corresponding_input_indices[tn].indices.end ());
if (compute_normals_)
normals_->insert (normals_->end (), projected_points_normals[tn].begin (), projected_points_normals[tn].end ());
}
#endif
如果上採樣方式是DISTINCT_CLOUD
或VOXEL_GRID_DILATION
,則會調用performUpsampling
函數做上採樣。
// Perform the distinct-cloud or voxel-grid upsampling
/**
* 如果upsample_method_是DISTINCT_CLOUD或VOXEL_GRID_DILATION,
* 會到投影結束之後再做performUpsampling
**/
performUpsampling (output);
}