voxel_structure.h
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#ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_H_
#define PCL_RECOGNITION_VOXEL_STRUCTURE_H_
#include <cstdlib>
namespace pcl
{
namespace recognition
{
/** \brief This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of type T. */
template<class T, typename REAL = float>
class VoxelStructure
{
public:
inline VoxelStructure (): voxels_(NULL){}
inline virtual ~VoxelStructure (){ this->clear();}
/** \brief Call this method before using an instance of this class. Parameter meaning is obvious. */
inline void
build (const REAL bounds[6], int num_of_voxels[3]);
/** \brief Release the memory allocated for the voxels. */
inline void
clear (){ if ( voxels_ ){ delete[] voxels_; voxels_ = NULL;}}
/** \brief Returns a pointer to the voxel which contains p or NULL if p is not inside the structure. */
inline T*
getVoxel (const REAL p[3]);
/** \brief Returns a pointer to the voxel with integer id (x,y,z) or NULL if (x,y,z) is out of bounds. */
inline T*
getVoxel (int x, int y, int z) const;
/** \brief Returns the linear voxel array. */
const inline T*
getVoxels () const
{
return voxels_;
}
/** \brief Returns the linear voxel array. */
inline T*
getVoxels ()
{
return voxels_;
}
/** \brief Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its position in the voxel array.
*
* \param[in] linear_id the position of the voxel in the internal voxel array.
* \param[out] id3d an array of 3 integers for the integer coordinates of the voxel. */
inline void
compute3dId (int linear_id, int id3d[3]) const
{
// Compute the z axis id
id3d[2] = linear_id / num_of_voxels_xy_plane_;
int proj_xy = linear_id % num_of_voxels_xy_plane_;
// Compute the y axis id
id3d[1] = proj_xy / num_of_voxels_[0];
// Compute the x axis id
id3d[0] = proj_xy % num_of_voxels_[0];
}
/** \brief Returns the number of voxels in x, y and z direction. */
inline const int*
getNumberOfVoxelsXYZ() const
{
return (num_of_voxels_);
}
/** \brief Computes the center of the voxel with given integer coordinates.
*
* \param[in] id3 the integer coordinates along the x, y and z axis.
* \param[out] center */
inline void
computeVoxelCenter (const int id3[3], REAL center[3]) const
{
center[0] = min_center_[0] + static_cast<float> (id3[0])*spacing_[0];
center[1] = min_center_[1] + static_cast<float> (id3[1])*spacing_[1];
center[2] = min_center_[2] + static_cast<float> (id3[2])*spacing_[2];
}
/** \brief Returns the total number of voxels. */
inline int
getNumberOfVoxels() const
{
return (total_num_of_voxels_);
}
/** \brief Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_x, max_x, min_y, max_y, min_z, max_z). */
inline const float*
getBounds() const
{
return (bounds_);
}
/** \brief Copies the bounds of the voxel structure to 'b'. */
inline void
getBounds(REAL b[6]) const
{
b[0] = bounds_[0];
b[1] = bounds_[1];
b[2] = bounds_[2];
b[3] = bounds_[3];
b[4] = bounds_[4];
b[5] = bounds_[5];
}
/** \brief Returns the voxel spacing in x, y and z direction. That's the same as the voxel size along each axis. */
const REAL*
getVoxelSpacing() const
{
return (spacing_);
}
/** \brief Saves pointers to the voxels which are neighbors of the voxels which contains 'p'. The containing voxel is returned too.
* 'neighs' has to be an array of pointers with space for at least 27 pointers (27 = 3^3 which is the max number of neighbors). The */
inline int
getNeighbors (const REAL* p, T **neighs) const;
protected:
T *voxels_;
int num_of_voxels_[3], num_of_voxels_xy_plane_, total_num_of_voxels_;
REAL bounds_[6];
REAL spacing_[3]; // spacing betwen the voxel in x, y and z direction = voxel size in x, y and z direction
REAL min_center_[3]; // the center of the voxel with integer coordinates (0, 0, 0)
};
} // namespace recognition
} // namespace pcl
#include <pcl/recognition/impl/ransac_based/voxel_structure.hpp>
#endif // PCL_RECOGNITION_VOXEL_STRUCTURE_H_
pcl::recognition::VoxelStructure::spacing_
REAL spacing_[3]
Definition: voxel_structure.h:163
pcl::recognition::VoxelStructure::num_of_voxels_
int num_of_voxels_[3]
Definition: voxel_structure.h:161
pcl::recognition::VoxelStructure::getBounds
const float * getBounds() const
Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_...
Definition: voxel_structure.h:130
pcl
Definition: cloud_iterator.h:46
pcl::recognition::VoxelStructure::bounds_
REAL bounds_[6]
Definition: voxel_structure.h:162
pcl::recognition::VoxelStructure::~VoxelStructure
virtual ~VoxelStructure()
Definition: voxel_structure.h:54
pcl::recognition::VoxelStructure::getNumberOfVoxelsXYZ
const int * getNumberOfVoxelsXYZ() const
Returns the number of voxels in x, y and z direction.
Definition: voxel_structure.h:104
pcl::recognition::VoxelStructure::getVoxel
T * getVoxel(const REAL p[3])
Returns a pointer to the voxel which contains p or NULL if p is not inside the structure.
Definition: voxel_structure.hpp:78
pcl::recognition::VoxelStructure::VoxelStructure
VoxelStructure()
Definition: voxel_structure.h:53
pcl::recognition::VoxelStructure::getNumberOfVoxels
int getNumberOfVoxels() const
Returns the total number of voxels.
Definition: voxel_structure.h:123
pcl::recognition::VoxelStructure::compute3dId
void compute3dId(int linear_id, int id3d[3]) const
Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its positi...
Definition: voxel_structure.h:91
pcl::recognition::VoxelStructure::getNeighbors
int getNeighbors(const REAL *p, T **neighs) const
Saves pointers to the voxels which are neighbors of the voxels which contains &#39;p&#39;.
Definition: voxel_structure.hpp:105
pcl::recognition::VoxelStructure::min_center_
REAL min_center_[3]
Definition: voxel_structure.h:164
pcl::recognition::VoxelStructure::voxels_
T * voxels_
Definition: voxel_structure.h:160
pcl::recognition::VoxelStructure::total_num_of_voxels_
int total_num_of_voxels_
Definition: voxel_structure.h:161
pcl::recognition::VoxelStructure::build
void build(const REAL bounds[6], int num_of_voxels[3])
Call this method before using an instance of this class.
Definition: voxel_structure.hpp:43
pcl::recognition::VoxelStructure::getVoxelSpacing
const REAL * getVoxelSpacing() const
Returns the voxel spacing in x, y and z direction.
Definition: voxel_structure.h:149
pcl::recognition::VoxelStructure
This class is a box in R3 built of voxels ordered in a regular rectangular grid.
Definition: voxel_structure.h:50
pcl::recognition::VoxelStructure::getBounds
void getBounds(REAL b[6]) const
Copies the bounds of the voxel structure to &#39;b&#39;.
Definition: voxel_structure.h:137
pcl::recognition::VoxelStructure::num_of_voxels_xy_plane_
int num_of_voxels_xy_plane_
Definition: voxel_structure.h:161
pcl::recognition::VoxelStructure::computeVoxelCenter
void computeVoxelCenter(const int id3[3], REAL center[3]) const
Computes the center of the voxel with given integer coordinates.
Definition: voxel_structure.h:114
pcl::recognition::VoxelStructure::getVoxels
T * getVoxels()
Returns the linear voxel array.
Definition: voxel_structure.h:81
pcl::recognition::VoxelStructure::getVoxels
const T * getVoxels() const
Returns the linear voxel array.
Definition: voxel_structure.h:74
pcl::recognition::VoxelStructure::clear
void clear()
Release the memory allocated for the voxels.
Definition: voxel_structure.h:62