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ApproximateProgressiveMorphologicalFilter: check for finite-ness #5756

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merged 2 commits into from
Jul 7, 2023
Merged

ApproximateProgressiveMorphologicalFilter: check for finite-ness #5756

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b0235e5
ApproximateProgressiveMorphologicalFilter: check for finite-ness
mvieth Jul 2, 2023
19c8c08
Add additional tests, and only test finite-ness if cloud is not dense
mvieth Jul 7, 2023
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50 changes: 38 additions & 12 deletions segmentation/include/pcl/segmentation/impl/approximate_progressive_morphological_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@

#include <pcl/common/common.h>
#include <pcl/common/io.h>
#include <pcl/common/point_tests.h> // for isFinite
#include <pcl/filters/morphological_filter.h>
#include <pcl/segmentation/approximate_progressive_morphological_filter.h>
#include <pcl/point_cloud.h>
Expand Down Expand Up @@ -122,26 +123,51 @@ pcl::ApproximateProgressiveMorphologicalFilter<PointT>::extract (Indices& ground
Eigen::MatrixXf Zf (rows, cols);
Zf.setConstant (std::numeric_limits<float>::quiet_NaN ());

if (input_->is_dense) {
#pragma omp parallel for \
default(none) \
shared(A, global_min) \
num_threads(threads_)
for (int i = 0; i < static_cast<int>(input_->size ()); ++i)
{
// ...then test for lower points within the cell
PointT p = (*input_)[i];
int row = std::floor((p.y - global_min.y ()) / cell_size_);
int col = std::floor((p.x - global_min.x ()) / cell_size_);

if (p.z < A (row, col) || std::isnan (A (row, col)))
{
A (row, col) = p.z;
for (int i = 0; i < static_cast<int>(input_->size ()); ++i) {
// ...then test for lower points within the cell
const PointT& p = (*input_)[i];
int row = std::floor((p.y - global_min.y ()) / cell_size_);
int col = std::floor((p.x - global_min.x ()) / cell_size_);

if (p.z < A (row, col) || std::isnan (A (row, col)))
A (row, col) = p.z;
}
}
else {
#pragma omp parallel for \
default(none) \
shared(A, global_min) \
num_threads(threads_)
for (int i = 0; i < static_cast<int>(input_->size ()); ++i) {
// ...then test for lower points within the cell
const PointT& p = (*input_)[i];
if (!pcl::isFinite(p))
continue;
int row = std::floor((p.y - global_min.y ()) / cell_size_);
int col = std::floor((p.x - global_min.x ()) / cell_size_);

if (p.z < A (row, col) || std::isnan (A (row, col)))
A (row, col) = p.z;
}
}

// Ground indices are initially limited to those points in the input cloud we
// wish to process
ground = *indices_;
if (input_->is_dense) {
ground = *indices_;
}
else {
ground.clear();
ground.reserve(indices_->size());
for (const auto& index: *indices_)
if (pcl::isFinite((*input_)[index]))
ground.push_back(index);
}

// Progressively filter ground returns using morphological open
for (std::size_t i = 0; i < window_sizes.size (); ++i)
Expand Down Expand Up @@ -229,7 +255,7 @@ pcl::ApproximateProgressiveMorphologicalFilter<PointT>::extract (Indices& ground
Indices pt_indices;
for (std::size_t p_idx = 0; p_idx < ground.size (); ++p_idx)
{
PointT p = (*cloud)[p_idx];
const PointT& p = (*cloud)[p_idx];
int erow = static_cast<int> (std::floor ((p.y - global_min.y ()) / cell_size_));
int ecol = static_cast<int> (std::floor ((p.x - global_min.x ()) / cell_size_));

Expand Down