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Hashmap.hpp
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Hashmap.hpp
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//
// Created by yyh on 22-8-18.
//
#ifndef DROST_PPF_HASHMAP_HPP
#define DROST_PPF_HASHMAP_HPP
#include <pcl/features/moment_of_inertia_estimation.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/passthrough.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/search/impl/search.hpp>
#include <unordered_map>
#include <utility>
#include <vector>
#include "Eigen/Core"
#include "pcl/console/print.h"
#include "pcl/point_cloud.h"
namespace PPF {
namespace Hash {
struct HashData {
pcl::PointNormal r;
pcl::PointNormal t;
double angle{};
int index;
Eigen::Affine3f T;
HashData(const pcl::PointNormal &r_, const pcl::PointNormal &t_,
const double &angle_, const int &index_)
: r(r_), t(t_), angle(angle_), index(index_){};
HashData() = default;
};
struct HashKey {
int k1;
int k2;
int k3;
int k4;
bool operator==(const HashKey &k) const {
return k1 == k.k1 && k2 == k.k2 && k3 == k.k3 && k4 == k.k4;
}
};
struct hash_cal {
size_t operator()(Hash::HashKey k) const {
return std::hash<int>()(k.k1) ^ (std::hash<int>()(k.k2) << 1) ^
(std::hash<int>()(k.k3) << 2) ^ (std::hash<int>()(k.k4) << 3) ^
(std::hash<int>()(k.k1) << 4) ^ (std::hash<int>()(k.k2) << 5) ^
(std::hash<int>()(k.k3) << 5) ^ (std::hash<int>()(k.k4) << 6);
// return std::hash<int>()(k.k1);
}
};
struct Trans_data {
Eigen::Affine3f T;
Trans_data() = default;
explicit Trans_data(const Eigen::Affine3f &T_) : T(T_){};
};
struct Trans_key {
pcl::PointNormal p;
bool operator==(const Trans_key &k) const {
return p.x == k.p.x && p.y == k.p.y && p.z == k.p.z;
}
explicit Trans_key(const pcl::PointNormal &p_) : p(p_){};
Trans_key() = default;
};
struct Tran_cal {
size_t operator()(Hash::Trans_key k) const {
return std::hash<int>()(k.p.x) ^ std::hash<int>()(k.p.y) << 1 ^
std::hash<int>()(k.p.z) << 2;
// return std::hash<int>()(k.k1);
}
};
template <class hash_key, class hash_data, class hash_cal_>
class HashMap_ {
public:
using Ptr = boost::shared_ptr<HashMap_<hash_key, hash_data, hash_cal_>>;
bool addInfo(hash_key &&key, hash_data &&data);
bool addInfo(hash_key &key, hash_data &data);
bool addInfo(std::pair<hash_key, hash_data> &&data);
bool addInfo(std::pair<hash_key, hash_data> &data);
decltype(auto) getData(hash_key & key) { return (this->map.find(key)); }
decltype(auto) getData(hash_key && key) { return (this->map.find(key)); }
decltype(auto) begin() { return this->map.begin(); }
decltype(auto) getSameKeyNum(hash_key &key) { return this->map.count(key); }
bool find(hash_key &key);
bool find(hash_key &&key);
bool empty() { return this->map.empty(); }
public:
using iterator = typename std::unordered_multimap<hash_key, hash_data,
hash_cal_>::iterator;
private:
std::unordered_multimap<hash_key, hash_data, hash_cal_> map;
};
template <class hash_key, class hash_data, class hash_cal_>
bool HashMap_<hash_key, hash_data, hash_cal_>::find(hash_key &key) {
if (map.find(key) != map.end()) {
return true;
} else {
return false;
}
}
template <class hash_key, class hash_data, class hash_cal_>
bool HashMap_<hash_key, hash_data, hash_cal_>::addInfo(
std::pair<hash_key, hash_data> &&data) {
try {
this->map.insert(data);
return true;
} catch (std::exception &e) {
std::cout << e.what() << std::endl;
return false;
}
}
template <class hash_key, class hash_data, class hash_cal_>
bool HashMap_<hash_key, hash_data, hash_cal_>::addInfo(
std::pair<hash_key, hash_data> &data) {
try {
this->map.insert(data);
return true;
} catch (std::exception &e) {
std::cout << e.what() << std::endl;
return false;
}
}
template <class hash_key, class hash_data, class hash_cal_>
bool HashMap_<hash_key, hash_data, hash_cal_>::addInfo(hash_key&& key,
hash_data&& data) {
try {
this->map.emplace(key, data);
return true;
} catch (std::exception &e) {
std::cout << e.what() << std::endl;
return false;
}
}
template <class hash_key, class hash_data, class hash_cal_>
bool HashMap_<hash_key, hash_data, hash_cal_>::addInfo(hash_key& key,
hash_data& data) {
try {
this->map.emplace(key, data);
return true;
} catch (std::exception &e) {
std::cout << e.what() << std::endl;
return false;
}
}
}; // namespace Hash
} // namespace PPF
#endif // DROST_PPF_HASHMAP_HPP