octree_pointcloud_adjacency_container.h
/*
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012, Jeremie Papon
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* Author : jpapon@gmail.com
* Email : jpapon@gmail.com
*/
#pragma once
namespace pcl
{
namespace octree
{
/** \brief @b Octree adjacency leaf container class- stores a list of pointers to neighbors, number of points added, and a DataT value
* \note This class implements a leaf node that stores pointers to neighboring leaves
* \note This class also has a virtual computeData function, which is called by octreePointCloudAdjacency::addPointsFromInputCloud.
* \note You should make explicit instantiations of it for your pointtype/datatype combo (if needed) see supervoxel_clustering.hpp for an example of this
*/
template<typename PointInT, typename DataT = PointInT>
class OctreePointCloudAdjacencyContainer : public OctreeContainerBase
{
template<typename T, typename U, typename V>
friend class OctreePointCloudAdjacency;
public:
using NeighborListT = std::list<OctreePointCloudAdjacencyContainer<PointInT, DataT> *>;
using const_iterator = typename NeighborListT::const_iterator;
//const iterators to neighbors
inline const_iterator cbegin () const { return (neighbors_.begin ()); }
inline const_iterator cend () const { return (neighbors_.end ()); }
//size of neighbors
inline std::size_t size () const { return neighbors_.size (); }
/** \brief Class initialization. */
OctreePointCloudAdjacencyContainer () :
OctreeContainerBase ()
{
this->reset();
}
/** \brief Empty class deconstructor. */
~OctreePointCloudAdjacencyContainer ()
{
}
/** \brief Returns the number of neighbors this leaf has
* \returns number of neighbors
*/
std::size_t
getNumNeighbors () const
{
return neighbors_.size ();
}
/** \brief Gets the number of points contributing to this leaf */
int
getPointCounter () const { return num_points_; }
/** \brief Returns a reference to the data member to access it without copying */
DataT&
getData () { return data_; }
/** \brief Sets the data member
* \param[in] data_arg New value for data
*/
void
setData (const DataT& data_arg) { data_ = data_arg;}
/** \brief virtual method to get size of container
* \return number of points added to leaf node container.
*/
std::size_t
getSize () const override
{
return num_points_;
}
protected:
//iterators to neighbors
using iterator = typename NeighborListT::iterator;
inline iterator begin () { return (neighbors_.begin ()); }
inline iterator end () { return (neighbors_.end ()); }
/** \brief deep copy function */
virtual OctreePointCloudAdjacencyContainer *
deepCopy () const
{
OctreePointCloudAdjacencyContainer *new_container = new OctreePointCloudAdjacencyContainer;
new_container->setNeighbors (this->neighbors_);
new_container->setPointCounter (this->num_points_);
return new_container;
}
/** \brief Add new point to container- this just counts points
* \note To actually store data in the leaves, need to specialize this
* for your point and data type as in supervoxel_clustering.hpp
*/
// param[in] new_point the new point to add
void
addPoint (const PointInT& /*new_point*/)
{
using namespace pcl::common;
++num_points_;
}
/** \brief Function for working on data added. Base implementation does nothing
* */
void
computeData ()
{
}
/** \brief Sets the number of points contributing to this leaf */
void
setPointCounter (int points_arg) { num_points_ = points_arg; }
/** \brief Clear the voxel centroid */
void
reset () override
{
neighbors_.clear ();
num_points_ = 0;
data_ = DataT ();
}
/** \brief Add new neighbor to voxel.
* \param[in] neighbor the new neighbor to add
*/
void
addNeighbor (OctreePointCloudAdjacencyContainer *neighbor)
{
neighbors_.push_back (neighbor);
}
/** \brief Remove neighbor from neighbor set.
* \param[in] neighbor the neighbor to remove
*/
void
removeNeighbor (OctreePointCloudAdjacencyContainer *neighbor)
{
for (iterator neighb_it = neighbors_.begin(); neighb_it != neighbors_.end(); ++neighb_it)
{
if ( *neighb_it == neighbor)
{
neighbors_.erase (neighb_it);
return;
}
}
}
/** \brief Sets the whole neighbor set
* \param[in] neighbor_arg the new set
*/
void
setNeighbors (const NeighborListT &neighbor_arg)
{
neighbors_ = neighbor_arg;
}
private:
int num_points_;
NeighborListT neighbors_;
DataT data_;
};
}
}
pcl::octree::OctreePointCloudAdjacencyContainer::cbegin
const_iterator cbegin() const
Definition: octree_pointcloud_adjacency_container.h:61
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::octree::OctreePointCloudAdjacencyContainer::getPointCounter
int getPointCounter() const
Gets the number of points contributing to this leaf.
Definition: octree_pointcloud_adjacency_container.h:89
pcl::octree::OctreePointCloudAdjacencyContainer::deepCopy
virtual OctreePointCloudAdjacencyContainer * deepCopy() const
deep copy function
Definition: octree_pointcloud_adjacency_container.h:117
pcl::common
Definition: generate.h:49
pcl::octree::OctreePointCloudAdjacencyContainer::setData
void setData(const DataT &data_arg)
Sets the data member.
Definition: octree_pointcloud_adjacency_container.h:99
pcl::octree::OctreePointCloudAdjacencyContainer::const_iterator
typename NeighborListT::const_iterator const_iterator
Definition: octree_pointcloud_adjacency_container.h:59
pcl::octree::OctreePointCloudAdjacencyContainer::begin
iterator begin()
Definition: octree_pointcloud_adjacency_container.h:112
pcl::octree::OctreePointCloudAdjacencyContainer::NeighborListT
std::list< OctreePointCloudAdjacencyContainer< PointInT, DataT > * > NeighborListT
Definition: octree_pointcloud_adjacency_container.h:58
pcl::octree::OctreePointCloudAdjacencyContainer::reset
void reset() override
Clear the voxel centroid.
Definition: octree_pointcloud_adjacency_container.h:150
pcl::octree::OctreePointCloudAdjacencyContainer::getNumNeighbors
std::size_t getNumNeighbors() const
Returns the number of neighbors this leaf has.
Definition: octree_pointcloud_adjacency_container.h:82
pcl::octree::OctreePointCloudAdjacencyContainer::addNeighbor
void addNeighbor(OctreePointCloudAdjacencyContainer *neighbor)
Add new neighbor to voxel.
Definition: octree_pointcloud_adjacency_container.h:161
pcl::octree::OctreePointCloudAdjacencyContainer::end
iterator end()
Definition: octree_pointcloud_adjacency_container.h:113
pcl::octree::OctreePointCloudAdjacencyContainer::~OctreePointCloudAdjacencyContainer
~OctreePointCloudAdjacencyContainer()
Empty class deconstructor.
Definition: octree_pointcloud_adjacency_container.h:74
pcl::octree::OctreePointCloudAdjacencyContainer
Octree adjacency leaf container class- stores a list of pointers to neighbors, number of points added...
Definition: octree_pointcloud_adjacency_container.h:53
pcl::octree::OctreePointCloudAdjacencyContainer::setNeighbors
void setNeighbors(const NeighborListT &neighbor_arg)
Sets the whole neighbor set.
Definition: octree_pointcloud_adjacency_container.h:186
pcl::octree::OctreePointCloudAdjacencyContainer::iterator
typename NeighborListT::iterator iterator
Definition: octree_pointcloud_adjacency_container.h:111
pcl::octree::OctreePointCloudAdjacency
Octree pointcloud voxel class which maintains adjacency information for its voxels.
Definition: octree_pointcloud_adjacency.h:78
pcl::octree::OctreePointCloudAdjacencyContainer::cend
const_iterator cend() const
Definition: octree_pointcloud_adjacency_container.h:62
pcl::octree::OctreePointCloudAdjacencyContainer::getData
DataT & getData()
Returns a reference to the data member to access it without copying.
Definition: octree_pointcloud_adjacency_container.h:93
pcl::octree::OctreePointCloudAdjacencyContainer::size
std::size_t size() const
Definition: octree_pointcloud_adjacency_container.h:64
pcl::octree::OctreePointCloudAdjacencyContainer::OctreePointCloudAdjacencyContainer
OctreePointCloudAdjacencyContainer()
Class initialization.
Definition: octree_pointcloud_adjacency_container.h:67
pcl::octree::OctreePointCloudAdjacencyContainer::setPointCounter
void setPointCounter(int points_arg)
Sets the number of points contributing to this leaf.
Definition: octree_pointcloud_adjacency_container.h:146
pcl::octree::OctreePointCloudAdjacencyContainer::addPoint
void addPoint(const PointInT &)
Add new point to container- this just counts points.
Definition: octree_pointcloud_adjacency_container.h:131
pcl::octree::OctreePointCloudAdjacencyContainer::removeNeighbor
void removeNeighbor(OctreePointCloudAdjacencyContainer *neighbor)
Remove neighbor from neighbor set.
Definition: octree_pointcloud_adjacency_container.h:170
pcl::octree::OctreePointCloudAdjacencyContainer::getSize
std::size_t getSize() const override
virtual method to get size of container
Definition: octree_pointcloud_adjacency_container.h:105
pcl::octree::OctreePointCloudAdjacencyContainer::computeData
void computeData()
Function for working on data added.
Definition: octree_pointcloud_adjacency_container.h:140
pcl::octree::OctreeContainerBase
Octree container class that can serve as a base to construct own leaf node container classes.
Definition: octree_container.h:54