Point Cloud Library (PCL) 1.15.1
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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 const std::size_t ii_size = static_cast<std::size_t>(width_ + 1) * static_cast<std::size_t>(height_ + 1);
63 first_order_integral_image_.resize (ii_size);
64 finite_values_integral_image_.resize (ii_size);
65 if (compute_second_order_integral_images_)
66 second_order_integral_image_.resize (ii_size);
67 }
68 computeIntegralImages (data, row_stride, element_stride);
69}
70
71
72template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType
73IntegralImage2D<DataType, Dimension>::getFirstOrderSum (
74 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
75{
76 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
77 const unsigned upper_right_idx = upper_left_idx + width;
78 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
79 const unsigned lower_right_idx = lower_left_idx + width;
80
81 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
82 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
83}
84
85
86template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType
87IntegralImage2D<DataType, Dimension>::getSecondOrderSum (
88 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
89{
90 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
91 const unsigned upper_right_idx = upper_left_idx + width;
92 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
93 const unsigned lower_right_idx = lower_left_idx + width;
94
95 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
96 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
97}
98
99
100template <typename DataType, unsigned Dimension> unsigned
101IntegralImage2D<DataType, Dimension>::getFiniteElementsCount (
102 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
103{
104 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
105 const unsigned upper_right_idx = upper_left_idx + width;
106 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
107 const unsigned lower_right_idx = lower_left_idx + width;
108
109 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
110 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
111}
112
113
114template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::ElementType
115IntegralImage2D<DataType, Dimension>::getFirstOrderSumSE (
116 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
117{
118 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
119 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
120 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
121 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
122
123 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
124 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
125}
126
127
128template <typename DataType, unsigned Dimension> typename pcl::IntegralImage2D<DataType, Dimension>::SecondOrderType
129IntegralImage2D<DataType, Dimension>::getSecondOrderSumSE (
130 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
131{
132 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
133 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
134 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
135 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
136
137 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
138 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
139}
140
141
142template <typename DataType, unsigned Dimension> unsigned
143IntegralImage2D<DataType, Dimension>::getFiniteElementsCountSE (
144 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
145{
146 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
147 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
148 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
149 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
150
151 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
152 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
153}
154
155
156template <typename DataType, unsigned Dimension> void
157IntegralImage2D<DataType, Dimension>::computeIntegralImages (
158 const DataType *data, unsigned row_stride, unsigned element_stride)
159{
160 ElementType* previous_row = first_order_integral_image_.data();
161 ElementType* current_row = previous_row + (width_ + 1);
162 for (unsigned int i = 0; i < (width_ + 1); ++i)
163 previous_row[i].setZero();
164
165 unsigned* count_previous_row = finite_values_integral_image_.data();
166 unsigned* count_current_row = count_previous_row + (width_ + 1);
167 std::fill_n(count_previous_row, width_ + 1, 0);
168
169 if (!compute_second_order_integral_images_)
170 {
171 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
172 previous_row = current_row, current_row += (width_ + 1),
173 count_previous_row = count_current_row, count_current_row += (width_ + 1))
174 {
175 current_row [0].setZero ();
176 count_current_row [0] = 0;
177 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
178 {
179 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
180 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
181 const auto* element = reinterpret_cast <const InputType*> (&data [valIdx]);
182 if (std::isfinite (element->sum ()))
183 {
184 current_row [colIdx + 1] += element->template cast<typename IntegralImageTypeTraits<DataType>::IntegralType>();
185 ++(count_current_row [colIdx + 1]);
186 }
187 }
188 }
189 }
190 else
191 {
192 SecondOrderType* so_previous_row = second_order_integral_image_.data();
193 SecondOrderType* so_current_row = so_previous_row + (width_ + 1);
194 for (unsigned int i = 0; i < (width_ + 1); ++i)
195 so_previous_row[i].setZero();
196
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 const std::size_t ii_size = static_cast<std::size_t>(width_ + 1) * static_cast<std::size_t>(height_ + 1);
234 first_order_integral_image_.resize (ii_size);
235 finite_values_integral_image_.resize (ii_size);
236 if (compute_second_order_integral_images_)
237 second_order_integral_image_.resize (ii_size);
238 }
239 computeIntegralImages (data, row_stride, element_stride);
240}
241
242
243template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType
244IntegralImage2D<DataType, 1>::getFirstOrderSum (
245 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
246{
247 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
248 const unsigned upper_right_idx = upper_left_idx + width;
249 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
250 const unsigned lower_right_idx = lower_left_idx + width;
251
252 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
253 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
254}
255
256
257template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType
258IntegralImage2D<DataType, 1>::getSecondOrderSum (
259 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
260{
261 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
262 const unsigned upper_right_idx = upper_left_idx + width;
263 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
264 const unsigned lower_right_idx = lower_left_idx + width;
265
266 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
267 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
268}
269
270
271template <typename DataType> unsigned
272IntegralImage2D<DataType, 1>::getFiniteElementsCount (
273 unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
274{
275 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
276 const unsigned upper_right_idx = upper_left_idx + width;
277 const unsigned lower_left_idx = (start_y + height) * (width_ + 1) + start_x;
278 const unsigned lower_right_idx = lower_left_idx + width;
279
280 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
281 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
282}
283
284
285template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::ElementType
286IntegralImage2D<DataType, 1>::getFirstOrderSumSE (
287 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
288{
289 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
290 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
291 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
292 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
293
294 return (first_order_integral_image_[lower_right_idx] + first_order_integral_image_[upper_left_idx] -
295 first_order_integral_image_[upper_right_idx] - first_order_integral_image_[lower_left_idx] );
296}
297
298
299template <typename DataType> typename pcl::IntegralImage2D<DataType, 1>::SecondOrderType
300IntegralImage2D<DataType, 1>::getSecondOrderSumSE (
301 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
302{
303 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
304 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
305 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
306 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
307
308 return (second_order_integral_image_[lower_right_idx] + second_order_integral_image_[upper_left_idx] -
309 second_order_integral_image_[upper_right_idx] - second_order_integral_image_[lower_left_idx] );
310}
311
312
313template <typename DataType> unsigned
314IntegralImage2D<DataType, 1>::getFiniteElementsCountSE (
315 unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
316{
317 const unsigned upper_left_idx = start_y * (width_ + 1) + start_x;
318 const unsigned upper_right_idx = start_y * (width_ + 1) + end_x;
319 const unsigned lower_left_idx = end_y * (width_ + 1) + start_x;
320 const unsigned lower_right_idx = end_y * (width_ + 1) + end_x;
321
322 return (finite_values_integral_image_[lower_right_idx] + finite_values_integral_image_[upper_left_idx] -
323 finite_values_integral_image_[upper_right_idx] - finite_values_integral_image_[lower_left_idx] );
324}
325
326
327template <typename DataType> void
328IntegralImage2D<DataType, 1>::computeIntegralImages (
329 const DataType *data, unsigned row_stride, unsigned element_stride)
330{
331 ElementType* previous_row = first_order_integral_image_.data();
332 ElementType* current_row = previous_row + (width_ + 1);
333 std::fill_n(previous_row, width_ + 1, 0);
334
335 unsigned* count_previous_row = finite_values_integral_image_.data();
336 unsigned* count_current_row = count_previous_row + (width_ + 1);
337 std::fill_n(count_previous_row, width_ + 1, 0);
338
339 if (!compute_second_order_integral_images_)
340 {
341 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
342 previous_row = current_row, current_row += (width_ + 1),
343 count_previous_row = count_current_row, count_current_row += (width_ + 1))
344 {
345 current_row [0] = 0.0;
346 count_current_row [0] = 0;
347 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
348 {
349 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
350 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
351 if (std::isfinite (data [valIdx]))
352 {
353 current_row [colIdx + 1] += data [valIdx];
354 ++(count_current_row [colIdx + 1]);
355 }
356 }
357 }
358 }
359 else
360 {
361 SecondOrderType* so_previous_row = second_order_integral_image_.data();
362 SecondOrderType* so_current_row = so_previous_row + (width_ + 1);
363 std::fill_n(so_previous_row, width_ + 1, 0);
364
365 for (unsigned rowIdx = 0; rowIdx < height_; ++rowIdx, data += row_stride,
366 previous_row = current_row, current_row += (width_ + 1),
367 count_previous_row = count_current_row, count_current_row += (width_ + 1),
368 so_previous_row = so_current_row, so_current_row += (width_ + 1))
369 {
370 current_row [0] = 0.0;
371 so_current_row [0] = 0.0;
372 count_current_row [0] = 0;
373 for (unsigned colIdx = 0, valIdx = 0; colIdx < width_; ++colIdx, valIdx += element_stride)
374 {
375 current_row [colIdx + 1] = previous_row [colIdx + 1] + current_row [colIdx] - previous_row [colIdx];
376 so_current_row [colIdx + 1] = so_previous_row [colIdx + 1] + so_current_row [colIdx] - so_previous_row [colIdx];
377 count_current_row [colIdx + 1] = count_previous_row [colIdx + 1] + count_current_row [colIdx] - count_previous_row [colIdx];
378 if (std::isfinite (data[valIdx]))
379 {
380 current_row [colIdx + 1] += data[valIdx];
381 so_current_row [colIdx + 1] += data[valIdx] * data[valIdx];
382 ++(count_current_row [colIdx + 1]);
383 }
384 }
385 }
386 }
387}
388
389} // namespace pcl
390
391#endif // PCL_INTEGRAL_IMAGE2D_IMPL_H_
392
pcl::IntegralImage2D::setSecondOrderComputation
void setSecondOrderComputation(bool compute_second_order_integral_images)
sets the computation for second order integral images on or off.
Definition integral_image2D.hpp:49
pcl::IntegralImage2D::ElementType
Eigen::Matrix< typename IntegralImageTypeTraits< DataType >::IntegralType, Dimension, 1 > ElementType
Definition integral_image2D.h:115
pcl::IntegralImage2D::getFirstOrderSumSE
ElementType getFirstOrderSumSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
Compute the first order sum within a given rectangle.
Definition integral_image2D.hpp:115
pcl::IntegralImage2D::getFirstOrderSum
ElementType getFirstOrderSum(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
Compute the first order sum within a given rectangle.
Definition integral_image2D.hpp:73
pcl::IntegralImage2D::getFiniteElementsCount
unsigned getFiniteElementsCount(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
Compute the number of finite elements within a given rectangle.
Definition integral_image2D.hpp:101
pcl::IntegralImage2D::SecondOrderType
Eigen::Matrix< typename IntegralImageTypeTraits< DataType >::IntegralType, second_order_size, 1 > SecondOrderType
Definition integral_image2D.h:116
pcl::IntegralImage2D::setInput
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.
Definition integral_image2D.hpp:56
pcl::IntegralImage2D::getSecondOrderSumSE
SecondOrderType getSecondOrderSumSE(unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const
Compute the second order sum within a given rectangle.
Definition integral_image2D.hpp:129
pcl::IntegralImage2D::getSecondOrderSum
SecondOrderType getSecondOrderSum(unsigned start_x, unsigned start_y, unsigned width, unsigned height) const
Compute the second order sum within a given rectangle.
Definition integral_image2D.hpp:87
pcl::IntegralImage2D::getFiniteElementsCountSE
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.
Definition integral_image2D.hpp:143