octree_pointcloud_density.h
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#ifndef PCL_OCTREE_DENSITY_H
#define PCL_OCTREE_DENSITY_H
#include "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 () : point_counter_ (0)
{
}
/** \brief Empty class deconstructor. */
virtual ~OctreePointCloudDensityContainer ()
{
}
/** \brief deep copy function */
virtual OctreePointCloudDensityContainer *
deepCopy () const
{
return (new OctreePointCloudDensityContainer (*this));
}
/** \brief Equal comparison operator
* \param[in] other OctreePointCloudDensityContainer to compare with
*/
virtual bool operator==(const OctreeContainerBase& other) const
{
const OctreePointCloudDensityContainer* 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 (int)
{
point_counter_++;
}
/** \brief Return point counter.
* \return Amount of points
*/
unsigned int
getPointCounter ()
{
return (point_counter_);
}
/** \brief Reset leaf node. */
virtual void
reset ()
{
point_counter_ = 0;
}
private:
unsigned int point_counter_;
};
/** \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.
* \note
* \note typename: 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. */
virtual
~OctreePointCloudDensity ()
{
}
/** \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
*/
unsigned int
getVoxelDensityAtPoint (const PointT& point_arg) const
{
unsigned int point_count = 0;
OctreePointCloudDensityContainer* leaf = this->findLeafAtPoint (point_arg);
if (leaf)
point_count = leaf->getPointCounter ();
return (point_count);
}
};
}
}
#define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;
#endif
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::OctreePointCloud
Octree pointcloud class
Definition: octree_pointcloud.h:77
pcl::octree::OctreePointCloudDensity
Octree pointcloud density class
Definition: octree_pointcloud_density.h:121
pcl::octree::OctreePointCloudDensity::~OctreePointCloudDensity
virtual ~OctreePointCloudDensity()
Empty class deconstructor.
Definition: octree_pointcloud_density.h:135
pcl::octree::OctreePointCloudDensity::OctreePointCloudDensity
OctreePointCloudDensity(const double resolution_arg)
OctreePointCloudDensity class constructor.
Definition: octree_pointcloud_density.h:128
pcl::octree::OctreePointCloudDensityContainer::OctreePointCloudDensityContainer
OctreePointCloudDensityContainer()
Class initialization.
Definition: octree_pointcloud_density.h:56
pcl
Definition: cloud_iterator.h:46
pcl::octree::OctreePointCloudDensityContainer::deepCopy
virtual OctreePointCloudDensityContainer * deepCopy() const
deep copy function
Definition: octree_pointcloud_density.h:67
pcl::octree::OctreePointCloudDensityContainer::reset
virtual void reset()
Reset leaf node.
Definition: octree_pointcloud_density.h:102
pcl::octree::OctreePointCloudDensity::getVoxelDensityAtPoint
unsigned int 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:144
pcl::octree::OctreePointCloudDensityContainer::addPointIndex
void addPointIndex(int)
Read input data.
Definition: octree_pointcloud_density.h:86
pcl::octree::OctreePointCloudDensityContainer
Octree pointcloud density leaf node class
Definition: octree_pointcloud_density.h:52
pcl::octree::OctreePointCloudDensityContainer::operator==
virtual bool operator==(const OctreeContainerBase &other) const
Equal comparison operator.
Definition: octree_pointcloud_density.h:75
pcl::octree::OctreePointCloudDensityContainer::~OctreePointCloudDensityContainer
virtual ~OctreePointCloudDensityContainer()
Empty class deconstructor.
Definition: octree_pointcloud_density.h:61
pcl::octree::OctreePointCloudDensityContainer::getPointCounter
unsigned int getPointCounter()
Return point counter.
Definition: octree_pointcloud_density.h:95
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:594