Loading...
Searching...
No Matches
octree_pointcloud_density.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*/
#pragma once
#include <pcl/octree/octree_pointcloud.h>
namespace pcl {
namespace octree {
/** \brief @b Octree pointcloud density leaf node class
* \note This class implements a leaf node that counts the amount of points which fall
* into its voxel space.
* \author Julius Kammerl (julius@kammerl.de)
*/
class OctreePointCloudDensityContainer : public OctreeContainerBase {
public:
/** \brief Class initialization. */
OctreePointCloudDensityContainer() = default;
/** \brief Empty class deconstructor. */
~OctreePointCloudDensityContainer() override = default;
/** \brief deep copy function */
virtual OctreePointCloudDensityContainer*
deepCopy() const
{
return (new OctreePointCloudDensityContainer(*this));
}
/** \brief Equal comparison operator
* \param[in] other OctreePointCloudDensityContainer to compare with
*/
bool
operator==(const OctreeContainerBase& other) const override
{
const auto* otherContainer =
dynamic_cast<const OctreePointCloudDensityContainer*>(&other);
return (this->point_counter_ == otherContainer->point_counter_);
}
/** \brief Read input data. Only an internal counter is increased.
*/
void
addPointIndex(index_t) override
{
point_counter_++;
}
/** \brief Return point counter.
* \return Amount of points
*/
uindex_t
getPointCounter()
{
return (point_counter_);
}
/** \brief Reset leaf node. */
void
reset() override
{
point_counter_ = 0;
}
private:
uindex_t point_counter_{0};
};
/** \brief @b Octree pointcloud density class
* \note This class generate an octrees from a point cloud (zero-copy). Only the amount
* of points that fall into the leaf node voxel are stored.
* \note The octree pointcloud is initialized with its voxel resolution. Its bounding
* box is automatically adjusted or can be predefined.
* \tparam PointT type of point used in pointcloud
* \ingroup octree
* \author Julius Kammerl (julius@kammerl.de)
*/
template <typename PointT,
typename LeafContainerT = OctreePointCloudDensityContainer,
typename BranchContainerT = OctreeContainerEmpty>
class OctreePointCloudDensity
: public OctreePointCloud<PointT, LeafContainerT, BranchContainerT> {
public:
/** \brief OctreePointCloudDensity class constructor.
* \param resolution_arg: octree resolution at lowest octree level
* */
OctreePointCloudDensity(const double resolution_arg)
: OctreePointCloud<PointT, LeafContainerT, BranchContainerT>(resolution_arg)
{}
/** \brief Empty class deconstructor. */
~OctreePointCloudDensity() override = default;
/** \brief Get the amount of points within a leaf node voxel which is addressed by a
* point
* \param[in] point_arg: a point addressing a voxel \return amount of points
* that fall within leaf node voxel
*/
uindex_t
getVoxelDensityAtPoint(const PointT& point_arg) const
{
uindex_t point_count = 0;
OctreePointCloudDensityContainer* leaf = this->findLeafAtPoint(point_arg);
if (leaf)
point_count = leaf->getPointCounter();
return (point_count);
}
};
} // namespace octree
} // namespace pcl
// needed since OctreePointCloud is not instantiated with template parameters used above
#include <pcl/octree/impl/octree_pointcloud.hpp>
#define PCL_INSTANTIATE_OctreePointCloudDensity(T) \
template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;
pcl::octree::OctreeContainerBase
Octree container class that can serve as a base to construct own leaf node container classes.
Definition octree_container.h:56
pcl::octree::OctreePointCloudDensityContainer
Octree pointcloud density leaf node class
Definition octree_pointcloud_density.h:50
pcl::octree::OctreePointCloudDensityContainer::getPointCounter
uindex_t getPointCounter()
Return point counter.
Definition octree_pointcloud_density.h:89
pcl::octree::OctreePointCloudDensityContainer::operator==
bool operator==(const OctreeContainerBase &other) const override
Equal comparison operator.
Definition octree_pointcloud_density.h:69
pcl::octree::OctreePointCloudDensityContainer::OctreePointCloudDensityContainer
OctreePointCloudDensityContainer()=default
Class initialization.
pcl::octree::OctreePointCloudDensityContainer::reset
void reset() override
Reset leaf node.
Definition octree_pointcloud_density.h:96
pcl::octree::OctreePointCloudDensityContainer::deepCopy
virtual OctreePointCloudDensityContainer * deepCopy() const
deep copy function
Definition octree_pointcloud_density.h:60
pcl::octree::OctreePointCloudDensityContainer::addPointIndex
void addPointIndex(index_t) override
Read input data.
Definition octree_pointcloud_density.h:80
pcl::octree::OctreePointCloudDensityContainer::~OctreePointCloudDensityContainer
~OctreePointCloudDensityContainer() override=default
Empty class deconstructor.
pcl::octree::OctreePointCloudDensity
Octree pointcloud density class
Definition octree_pointcloud_density.h:118
pcl::octree::OctreePointCloudDensity::~OctreePointCloudDensity
~OctreePointCloudDensity() override=default
Empty class deconstructor.
pcl::octree::OctreePointCloudDensity::OctreePointCloudDensity
OctreePointCloudDensity(const double resolution_arg)
OctreePointCloudDensity class constructor.
Definition octree_pointcloud_density.h:123
pcl::octree::OctreePointCloudDensity::getVoxelDensityAtPoint
uindex_t getVoxelDensityAtPoint(const PointT &point_arg) const
Get the amount of points within a leaf node voxel which is addressed by a point.
Definition octree_pointcloud_density.h:137
pcl::octree::OctreePointCloud
Octree pointcloud class
Definition octree_pointcloud.h:72
pcl::octree::OctreePointCloud::findLeafAtPoint
LeafContainerT * findLeafAtPoint(const PointT &point_arg) const
Find octree leaf node at a given point.
Definition octree_pointcloud.h:466
pcl
Definition convolution.h:46
pcl::uindex_t
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120
pcl::index_t
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:623