Point Cloud Library (PCL) 1.13.1
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integral_image2D.hpp
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37 * $Id: feature.h 2784 2011-10-15 22:05:38Z aichim $
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39
40
41#ifndef PCL_INTEGRAL_IMAGE2D_IMPL_H_
42#define PCL_INTEGRAL_IMAGE2D_IMPL_H_
43
44
45namespace pcl
46{
47
48template <typename DataType, unsigned Dimension> void
49IntegralImage2D<DataType, Dimension>::setSecondOrderComputation (bool compute_second_order_integral_images)
50{
51 compute_second_order_integral_images_ = compute_second_order_integral_images;
52}
53
54
55template <typename DataType, unsigned Dimension> void
56IntegralImage2D<DataType, Dimension>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride)
57{
58 if ((width + 1) * (height + 1) > first_order_integral_image_.size () )
59 {
60 width_ = width;
61 height_ = height;
62 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) );
63 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) );
64 if (compute_second_order_integral_images_)
65 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) );
66 }
67 computeIntegralImages (data, row_stride, element_stride);
68}
69
70
71template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType
73 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
74{
75 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
76 const unsigned upper_right_idx = upper_left_idx + width;
77 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
78 const unsigned lower_right_idx = lower_left_idx + width;
79
80 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
81 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
82}
83
84
85template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType
87 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
88{
89 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
90 const unsigned upper_right_idx = upper_left_idx + width;
91 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
92 const unsigned lower_right_idx = lower_left_idx + width;
93
94 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
95 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
96}
97
98
99template <typename DataType, unsigned Dimension> unsigned
101 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
102{
103 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
104 const unsigned upper_right_idx = upper_left_idx + width;
105 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
106 const unsigned lower_right_idx = lower_left_idx + width;
107
108 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
109 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
110}
111
112
113template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType
115 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
116{
117 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
118 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
119 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
120 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
121
122 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
123 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
124}
125
126
127template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType
129 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
130{
131 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
132 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
133 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
134 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
135
136 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
137 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
139
140
141template <typename DataType, unsigned Dimension> unsigned
143 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
144{
145 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
146 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
147 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
148 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
149
150 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
151 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
152}
153
154
155template <typename DataType, unsigned Dimension> void
157 const DataType *data, unsigned row_stride, unsigned element_stride)
159 ElementType* previous_row = first_order_integral_image_.data();
160 ElementType* current_row = previous_row + (width_ + 1);
161 for (unsigned int i = 0; i < (width_ + 1); ++i)
162 previous_row[i].setZero();
163
164 unsigned* count_previous_row = finite_values_integral_image_.data();
165 unsigned* count_current_row = count_previous_row + (width_ + 1);
166 std::fill_n(count_previous_row, width_ + 1, 0);
168 if (!compute_second_order_integral_images_)
169 {
170 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
171 previous_row = current_row, current_row += (width_ + 1),
172 count_previous_row = count_current_row, count_current_row += (width_ + 1))
173 {
174 current_row [0].setZero ();
175 count_current_row [0] = 0;
176 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
177 {
178 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
179 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
180 const auto* element = reinterpret_cast <const InputType*> (&data [valIdx]);
181 if (std::isfinite (element->sum ()))
182 {
183 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>();
184 ++(count_current_row [colIdx + 1]);
186 }
187 }
188 }
189 else
190 {
191 SecondOrderType* so_previous_row = second_order_integral_image_.data();
192 SecondOrderType* so_current_row = so_previous_row + (width_ + 1);
193 for (unsigned int i = 0; i < (width_ + 1); ++i)
194 so_previous_row[i].setZero();
195
196 SecondOrderType so_element;
197 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
198 previous_row = current_row, current_row += (width_ + 1),
199 count_previous_row = count_current_row, count_current_row += (width_ + 1),
200 so_previous_row = so_current_row, so_current_row += (width_ + 1))
201 {
202 current_row [0].setZero ();
203 so_current_row [0].setZero ();
204 count_current_row [0] = 0;
205 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
206 {
207 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
208 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx];
209 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
210
211 const auto* element = reinterpret_cast <const InputType*> (&data [valIdx]);
212 if (std::isfinite (element->sum ()))
213 {
214 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>();
215 ++(count_current_row [colIdx + 1]);
216 for (unsigned myIdx = 0, elIdx = 0; myIdx < Dimension; ++myIdx)
217 for (unsigned mxIdx = myIdx; mxIdx < Dimension; ++mxIdx, ++elIdx)
218 so_current_row [colIdx + 1][elIdx] += (*element)[myIdx] * (*element)[mxIdx];
219 }
220 }
221 }
222 }
223}
224
225
226template <typename DataType> void
227IntegralImage2D<DataType, 1>::setInput (const DataType * data, unsigned width,unsigned height, unsigned element_stride, unsigned row_stride)
228{
229 if ((width + 1) * (height + 1) > first_order_integral_image_.size () )
230 {
231 width_ = width;
232 height_ = height;
233 first_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) );
234 finite_values_integral_image_.resize ( (width_ + 1) * (height_ + 1) );
235 if (compute_second_order_integral_images_)
236 second_order_integral_image_.resize ( (width_ + 1) * (height_ + 1) );
237 }
238 computeIntegralImages (data, row_stride, element_stride);
239}
240
241
242template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType
244 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
245{
246 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
247 const unsigned upper_right_idx = upper_left_idx + width;
248 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
249 const unsigned lower_right_idx = lower_left_idx + width;
250
251 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
252 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
253}
254
255
256template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType
258 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
259{
260 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
261 const unsigned upper_right_idx = upper_left_idx + width;
262 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
263 const unsigned lower_right_idx = lower_left_idx + width;
264
265 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
266 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
267}
268
269
270template <typename DataType> unsigned
272 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
273{
274 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
275 const unsigned upper_right_idx = upper_left_idx + width;
276 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
277 const unsigned lower_right_idx = lower_left_idx + width;
278
279 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
280 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
281}
282
283
284template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType
286 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
287{
288 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
289 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
290 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
291 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
292
293 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
294 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
295}
296
297
298template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType
300 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
301{
302 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
303 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
304 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
305 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
306
307 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
308 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
309}
310
311
312template <typename DataType> unsigned
314 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
315{
316 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
317 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
318 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
319 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
320
321 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
322 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
323}
324
325
326template <typename DataType> void
328 const DataType *data, unsigned row_stride, unsigned element_stride)
329{
330 ElementType* previous_row = first_order_integral_image_.data();
331 ElementType* current_row = previous_row + (width_ + 1);
332 std::fill_n(previous_row, width_ + 1, 0);
333
334 unsigned* count_previous_row = finite_values_integral_image_.data();
335 unsigned* count_current_row = count_previous_row + (width_ + 1);
336 std::fill_n(count_previous_row, width_ + 1, 0);
337
338 if (!compute_second_order_integral_images_)
339 {
340 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
341 previous_row = current_row, current_row += (width_ + 1),
342 count_previous_row = count_current_row, count_current_row += (width_ + 1))
343 {
344 current_row [0] = 0.0;
345 count_current_row [0] = 0;
346 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
347 {
348 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
349 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
350 if (std::isfinite (data [valIdx]))
351 {
352 current_row [colIdx + 1] += data [valIdx];
353 ++(count_current_row [colIdx + 1]);
354 }
355 }
356 }
357 }
358 else
359 {
360 SecondOrderType* so_previous_row = second_order_integral_image_.data();
361 SecondOrderType* so_current_row = so_previous_row + (width_ + 1);
362 std::fill_n(so_previous_row, width_ + 1, 0);
363
364 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
365 previous_row = current_row, current_row += (width_ + 1),
366 count_previous_row = count_current_row, count_current_row += (width_ + 1),
367 so_previous_row = so_current_row, so_current_row += (width_ + 1))
368 {
369 current_row [0] = 0.0;
370 so_current_row [0] = 0.0;
371 count_current_row [0] = 0;
372 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
373 {
374 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
375 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx];
376 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
377 if (std::isfinite (data[valIdx]))
378 {
379 current_row [colIdx + 1] += data[valIdx];
380 so_current_row [colIdx + 1] += data[valIdx] * data[valIdx];
381 ++(count_current_row [colIdx + 1]);
382 }
383 }
384 }
385 }
386}
387
388} // namespace pcl
389
390#endif // PCL_INTEGRAL_IMAGE2D_IMPL_H_
391
Determines an integral image representation for a given organized data array.
void setSecondOrderComputation(bool compute_second_order_integral_images)
sets the computation for second order integral images on or off.
Eigen::Matrix< typename IntegralImageTypeTraits< DataType >::IntegralType, Dimension, 1 > ElementType
ElementType getFirstOrderSumSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
Compute the first order sum within a given rectangle.
ElementType getFirstOrderSum(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
Compute the first order sum within a given rectangle.
unsigned getFiniteElementsCount(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
Compute the number of finite elements within a given rectangle.
Eigen::Matrix< typename IntegralImageTypeTraits< DataType >::IntegralType, second_order_size, 1 > SecondOrderType
void setInput(const DataType *data, unsigned width, unsigned height, unsigned element_stride, unsigned row_stride)
Set the input data to compute the integral image for.
SecondOrderType getSecondOrderSumSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
Compute the second order sum within a given rectangle.
SecondOrderType getSecondOrderSum(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
Compute the second order sum within a given rectangle.
unsigned getFiniteElementsCountSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
Compute the number of finite elements within a given rectangle.