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Reduced space usage for Moving Least Squares #785

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Jul 31, 2014
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Reduced space usage for Moving Least Squares #785

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26 changes: 21 additions & 5 deletions surface/include/pcl/surface/impl/mls.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,18 +117,23 @@ pcl::MovingLeastSquares<PointInT, PointOutT>::process (PointCloudOut &output)
boost::uniform_real<float> uniform_distrib (-tmp, tmp);
rng_uniform_distribution_.reset (new boost::variate_generator<boost::mt19937&, boost::uniform_real<float> > (rng_alg_, uniform_distrib));

mls_results_.resize (1); // Need to have a reference to a single dummy result.

break;
}
case (VOXEL_GRID_DILATION):
case (DISTINCT_CLOUD):
{
break;
mls_results_.resize (input_->size ());
break;
}
default:
break;
{
mls_results_.resize (1); // Need to have a reference to a single dummy result.
break;
}
}

mls_results_.resize (input_->size ());
// Perform the actual surface reconstruction
performProcessing (output);

Expand Down Expand Up @@ -467,6 +472,8 @@ pcl::MovingLeastSquares<PointInT, PointOutT>::performProcessing (PointCloudOut &
// \note resize is irrelevant for a radiusSearch ().
std::vector<int> nn_indices;
std::vector<float> nn_sqr_dists;

size_t mls_result_index = 0;

// For all points
for (size_t cp = 0; cp < indices_->size (); ++cp)
Expand All @@ -486,7 +493,11 @@ pcl::MovingLeastSquares<PointInT, PointOutT>::performProcessing (PointCloudOut &
NormalCloud projected_points_normals;
// Get a plane approximating the local surface's tangent and project point onto it
int index = (*indices_)[cp];
computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points, projected_points_normals, *corresponding_input_indices_, mls_results_[index]);

if (upsample_method_ == VOXEL_GRID_DILATION || upsample_method_ == DISTINCT_CLOUD)
mls_result_index = index; // otherwise we give it a dummy location.

computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points, projected_points_normals, *corresponding_input_indices_, mls_results_[mls_result_index]);


// Copy all information from the input cloud to the output points (not doing any interpolation)
Expand Down Expand Up @@ -544,7 +555,12 @@ pcl::MovingLeastSquaresOMP<PointInT, PointOutT>::performProcessing (PointCloudOu

// Get a plane approximating the local surface's tangent and project point onto it
int index = (*indices_)[cp];
this->computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points[tn], projected_points_normals[tn], corresponding_input_indices[tn], this->mls_results_[index]);
size_t mls_result_index = 0;

if (upsample_method_ == VOXEL_GRID_DILATION || upsample_method_ == DISTINCT_CLOUD)
mls_result_index = index; // otherwise we give it a dummy location.

this->computeMLSPointNormal (index, nn_indices, nn_sqr_dists, projected_points[tn], projected_points_normals[tn], corresponding_input_indices[tn], this->mls_results_[mls_result_index]);

// Copy all information from the input cloud to the output points (not doing any interpolation)
for (size_t pp = pp_size; pp < projected_points[tn].size (); ++pp)
Expand Down