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Faster organized radius search #6160

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merged 1 commit into from
Oct 30, 2024
Merged

Faster organized radius search #6160

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2 changes: 1 addition & 1 deletion search/include/pcl/search/impl/organized.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ pcl::search::OrganizedNeighbor<PointT>::radiusSearch (const PointT
{
for (; idx < xEnd; ++idx)
{
if (!mask_[idx] || !isFinite ((*input_)[idx]))
if (!mask_[idx])
continue;

float dist_x = (*input_)[idx].x - query.x;
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15 changes: 11 additions & 4 deletions search/include/pcl/search/organized.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/common/point_tests.h> // for pcl::isFinite
#include <pcl/search/search.h>
#include <pcl/common/eigen.h>

Expand Down Expand Up @@ -138,10 +139,16 @@ namespace pcl
{
mask_.assign (input_->size (), 0);
for (const auto& idx : *indices_)
mask_[idx] = 1;
if (pcl::isFinite((*input_)[idx]))
mask_[idx] = 1;
}
else
mask_.assign (input_->size (), 1);
{
mask_.assign (input_->size (), 0);
for (std::size_t idx=0; idx<input_->size(); ++idx)
if (pcl::isFinite((*input_)[idx]))
mask_[idx] = 1;
}

return estimateProjectionMatrix () && isValid ();
}
Expand Down Expand Up @@ -216,7 +223,7 @@ namespace pcl
testPoint (const PointT& query, unsigned k, std::vector<Entry>& queue, index_t index) const
{
const PointT& point = input_->points [index];
if (mask_ [index] && std::isfinite (point.x))
if (mask_ [index])
{
//float squared_distance = (point.getVector3fMap () - query.getVector3fMap ()).squaredNorm ();
float dist_x = point.x - query.x;
Expand Down Expand Up @@ -278,7 +285,7 @@ namespace pcl
/** \brief using only a subsample of points to calculate the projection matrix. pyramid_level_ = use down sampled cloud given by pyramid_level_*/
const unsigned pyramid_level_;

/** \brief mask, indicating whether the point was in the indices list or not.*/
/** \brief mask, indicating whether the point was in the indices list or not, and whether it is finite.*/
std::vector<unsigned char> mask_;
public:
PCL_MAKE_ALIGNED_OPERATOR_NEW
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