octree_pointcloud_adjacency_container.h
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* Author : jpapon@gmail.com
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#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_CONTAINER_H_
#define PCL_OCTREE_POINTCLOUD_ADJACENCY_CONTAINER_H_
namespace pcl
{
namespace octree
{
/** \brief @b Octree adjacency leaf container class- stores set 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
{
public:
typedef std::set<OctreePointCloudAdjacencyContainer*> NeighborSetT;
//iterators to neighbors
typedef typename NeighborSetT::iterator iterator;
typedef typename NeighborSetT::const_iterator const_iterator;
inline iterator begin () { return (neighbors_.begin ()); }
inline iterator end () { return (neighbors_.end ()); }
inline const_iterator begin () const { return (neighbors_.begin ()); }
inline const_iterator end () const { return (neighbors_.end ()); }
//size of neighbors
inline size_t size () const { return neighbors_.size (); }
//insert for neighbors
inline std::pair<iterator, bool> insert (OctreePointCloudAdjacencyContainer* neighbor) { return neighbors_.insert (neighbor); }
/** \brief Class initialization. */
OctreePointCloudAdjacencyContainer () :
OctreeContainerBase ()
{
this->reset();
}
/** \brief Empty class deconstructor. */
virtual ~OctreePointCloudAdjacencyContainer ()
{
}
/** \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 Gets the number of points contributing to this leaf */
int
getPointCounter () const { return num_points_; }
/** \brief Sets the number of points contributing to this leaf */
void
setPointCounter (int points_arg) { num_points_ = points_arg; }
/** \brief Clear the voxel centroid */
virtual void
reset ()
{
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_.insert (neighbor);
}
/** \brief Remove neighbor from neighbor set.
* \param[in] neighbor the neighbor to remove
*/
void
removeNeighbor (OctreePointCloudAdjacencyContainer *neighbor)
{
neighbors_.erase (neighbor);
}
/** \brief Returns the number of neighbors this leaf has
* \returns number of neighbors
*/
size_t
getNumNeighbors () const
{
return neighbors_.size ();
}
/** \brief Sets the whole neighbor set
* \param[in] neighbor_arg the new set
*/
void
setNeighbors (const NeighborSetT &neighbor_arg)
{
neighbors_ = neighbor_arg;
}
/** \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.
*/
virtual size_t
getSize () const
{
return num_points_;
}
private:
int num_points_;
NeighborSetT neighbors_;
DataT data_;
};
}
}
#endif
pcl::octree::OctreePointCloudAdjacencyContainer::begin
iterator begin()
Definition: octree_pointcloud_adjacency_container.h:61
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::OctreePointCloudAdjacencyContainer::const_iterator
NeighborSetT::const_iterator const_iterator
Definition: octree_pointcloud_adjacency_container.h:60
pcl::octree::OctreePointCloudAdjacencyContainer::reset
virtual void reset()
Clear the voxel centroid.
Definition: octree_pointcloud_adjacency_container.h:121
pcl::common
Definition: generate.h:50
pcl::octree::OctreePointCloudAdjacencyContainer
Octree adjacency leaf container class- stores set of pointers to neighbors, number of points added...
Definition: octree_pointcloud_adjacency_container.h:54
pcl
Definition: cloud_iterator.h:46
pcl::octree::OctreePointCloudAdjacencyContainer::setData
void setData(const DataT &data_arg)
Sets the data member.
Definition: octree_pointcloud_adjacency_container.h:173
pcl::octree::OctreePointCloudAdjacencyContainer::~OctreePointCloudAdjacencyContainer
virtual ~OctreePointCloudAdjacencyContainer()
Empty class deconstructor.
Definition: octree_pointcloud_adjacency_container.h:78
pcl::octree::OctreePointCloudAdjacencyContainer::begin
const_iterator begin() const
Definition: octree_pointcloud_adjacency_container.h:63
pcl::octree::OctreePointCloudAdjacencyContainer::deepCopy
virtual OctreePointCloudAdjacencyContainer * deepCopy() const
deep copy function
Definition: octree_pointcloud_adjacency_container.h:84
pcl::octree::OctreePointCloudAdjacencyContainer::end
iterator end()
Definition: octree_pointcloud_adjacency_container.h:62
pcl::octree::OctreePointCloudAdjacencyContainer::getSize
virtual size_t getSize() const
virtual method to get size of container
Definition: octree_pointcloud_adjacency_container.h:179
pcl::octree::OctreePointCloudAdjacencyContainer::insert
std::pair< iterator, bool > insert(OctreePointCloudAdjacencyContainer *neighbor)
Definition: octree_pointcloud_adjacency_container.h:68
pcl::octree::OctreePointCloudAdjacencyContainer::end
const_iterator end() const
Definition: octree_pointcloud_adjacency_container.h:64
pcl::octree::OctreePointCloudAdjacencyContainer::getPointCounter
int getPointCounter() const
Gets the number of points contributing to this leaf.
Definition: octree_pointcloud_adjacency_container.h:113
pcl::octree::OctreePointCloudAdjacencyContainer::OctreePointCloudAdjacencyContainer
OctreePointCloudAdjacencyContainer()
Class initialization.
Definition: octree_pointcloud_adjacency_container.h:71
pcl::octree::OctreePointCloudAdjacencyContainer::iterator
NeighborSetT::iterator iterator
Definition: octree_pointcloud_adjacency_container.h:59
pcl::octree::OctreePointCloudAdjacencyContainer::getData
DataT & getData()
Returns a reference to the data member to access it without copying.
Definition: octree_pointcloud_adjacency_container.h:167
pcl::octree::OctreePointCloudAdjacencyContainer::setNeighbors
void setNeighbors(const NeighborSetT &neighbor_arg)
Sets the whole neighbor set.
Definition: octree_pointcloud_adjacency_container.h:160
pcl::octree::OctreePointCloudAdjacencyContainer::addNeighbor
void addNeighbor(OctreePointCloudAdjacencyContainer *neighbor)
Add new neighbor to voxel.
Definition: octree_pointcloud_adjacency_container.h:132
pcl::octree::OctreePointCloudAdjacencyContainer::setPointCounter
void setPointCounter(int points_arg)
Sets the number of points contributing to this leaf.
Definition: octree_pointcloud_adjacency_container.h:117
pcl::octree::OctreePointCloudAdjacencyContainer::addPoint
void addPoint(const PointInT &)
Add new point to container- this just counts points.
Definition: octree_pointcloud_adjacency_container.h:98
pcl::octree::OctreePointCloudAdjacencyContainer::getNumNeighbors
size_t getNumNeighbors() const
Returns the number of neighbors this leaf has.
Definition: octree_pointcloud_adjacency_container.h:151
pcl::octree::OctreePointCloudAdjacencyContainer::computeData
void computeData()
Function for working on data added.
Definition: octree_pointcloud_adjacency_container.h:107
pcl::octree::OctreePointCloudAdjacencyContainer::size
size_t size() const
Definition: octree_pointcloud_adjacency_container.h:66
pcl::octree::OctreePointCloudAdjacencyContainer::removeNeighbor
void removeNeighbor(OctreePointCloudAdjacencyContainer *neighbor)
Remove neighbor from neighbor set.
Definition: octree_pointcloud_adjacency_container.h:141
pcl::octree::OctreePointCloudAdjacencyContainer::NeighborSetT
std::set< OctreePointCloudAdjacencyContainer * > NeighborSetT
Definition: octree_pointcloud_adjacency_container.h:57