octree_pointcloud_occupancy.h
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#pragma once
#include <pcl/octree/octree_pointcloud.h>
namespace pcl {
namespace octree {
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud occupancy class
* \tparam PointT type of point used in pointcloud
* This pointcloud octree class generate an octrees from a point cloud (zero-copy). No
* information is stored at the lead nodes. It can be used of occupancy checks.
* \note The octree pointcloud is initialized with its voxel resolution. Its bounding
* box is automatically adjusted or can be predefined.
* \ingroup octree
* \author Julius Kammerl (julius@kammerl.de)
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
typename LeafContainerT = OctreeContainerEmpty,
typename BranchContainerT = OctreeContainerEmpty>
class OctreePointCloudOccupancy
: public OctreePointCloud<PointT,
LeafContainerT,
BranchContainerT,
OctreeBase<LeafContainerT, BranchContainerT>>
{
public:
// public typedefs for single/double buffering
using SingleBuffer =
OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT>;
using DoubleBuffer =
OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT>;
// public point cloud typedefs
using PointCloud =
typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloud;
using PointCloudPtr = typename OctreePointCloud<PointT,
LeafContainerT,
BranchContainerT>::PointCloudPtr;
using PointCloudConstPtr =
typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
PointCloudConstPtr;
/** \brief Constructor.
* \param resolution_arg: octree resolution at lowest octree level
* */
OctreePointCloudOccupancy(const double resolution_arg)
: OctreePointCloud<PointT,
LeafContainerT,
BranchContainerT,
OctreeBase<LeafContainerT, BranchContainerT>>(resolution_arg)
{}
/** \brief Empty class constructor. */
~OctreePointCloudOccupancy() {}
/** \brief Set occupied voxel at point.
* \param point_arg: input point
* */
void
setOccupiedVoxelAtPoint(const PointT& point_arg)
{
OctreeKey key;
// make sure bounding box is big enough
this->adoptBoundingBoxToPoint(point_arg);
// generate key
this->genOctreeKeyforPoint(point_arg, key);
// add point to octree at key
this->createLeaf(key);
}
/** \brief Set occupied voxels at all points from point cloud.
* \param cloud_arg: input point cloud
* */
void
setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
{
for (const auto& point : *cloud_arg) {
// check for NaNs
if (isFinite(point)) {
// set voxel at point
this->setOccupiedVoxelAtPoint(point);
}
}
}
};
} // namespace octree
} // namespace pcl
#define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) \
template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
pcl::octree::OctreeBase
Octree class.
Definition: octree_base.h:62
pcl::octree::OctreeBase::createLeaf
LeafContainerT * createLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
Definition: octree_base.hpp:119
pcl::octree::OctreeKey
Octree key class
Definition: octree_key.h:52
pcl::octree::OctreePointCloud
Octree pointcloud class
Definition: octree_pointcloud.h:72
pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, OctreeContainerEmpty > >::adoptBoundingBoxToPoint
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
Definition: octree_pointcloud.hpp:512
pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, OctreeContainerEmpty > >::genOctreeKeyforPoint
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
Definition: octree_pointcloud.hpp:785
pcl::octree::OctreePointCloudOccupancy
Octree pointcloud occupancy class
Definition: octree_pointcloud_occupancy.h:66
pcl::octree::OctreePointCloudOccupancy::PointCloud
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloud PointCloud
Definition: octree_pointcloud_occupancy.h:77
pcl::octree::OctreePointCloudOccupancy::setOccupiedVoxelAtPoint
void setOccupiedVoxelAtPoint(const PointT &point_arg)
Set occupied voxel at point.
Definition: octree_pointcloud_occupancy.h:103
pcl::octree::OctreePointCloudOccupancy::OctreePointCloudOccupancy
OctreePointCloudOccupancy(const double resolution_arg)
Constructor.
Definition: octree_pointcloud_occupancy.h:88
pcl::octree::OctreePointCloudOccupancy::PointCloudConstPtr
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr PointCloudConstPtr
Definition: octree_pointcloud_occupancy.h:83
pcl::octree::OctreePointCloudOccupancy::~OctreePointCloudOccupancy
~OctreePointCloudOccupancy()
Empty class constructor.
Definition: octree_pointcloud_occupancy.h:97
pcl::octree::OctreePointCloudOccupancy::PointCloudPtr
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr PointCloudPtr
Definition: octree_pointcloud_occupancy.h:80
pcl::octree::OctreePointCloudOccupancy::setOccupiedVoxelsAtPointsFromCloud
void setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
Set occupied voxels at all points from point cloud.
Definition: octree_pointcloud_occupancy.h:121
pcl
Definition: convolution.h:46
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:675