Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id$ 00037 */ 00038 00039 #ifndef PCL_OCTREE_OCCUPANCY_H 00040 #define PCL_OCTREE_OCCUPANCY_H 00041 00042 #include "octree_pointcloud.h" 00043 00044 namespace pcl 00045 { 00046 namespace octree 00047 { 00048 00049 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00050 /** \brief @b Octree pointcloud occupancy class 00051 * \note 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. 00052 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined. 00053 * \note 00054 * \note typename: PointT: type of point used in pointcloud 00055 * \ingroup octree 00056 * \author Julius Kammerl (julius@kammerl.de) 00057 */ 00058 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00059 template<typename PointT, 00060 typename LeafContainerT = OctreeContainerEmpty, 00061 typename BranchContainerT = OctreeContainerEmpty > 00062 class OctreePointCloudOccupancy : public OctreePointCloud<PointT, LeafContainerT, 00063 BranchContainerT, OctreeBase<LeafContainerT, BranchContainerT> > 00064 00065 { 00066 00067 public: 00068 // public typedefs for single/double buffering 00069 typedef OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT> SingleBuffer; 00070 typedef OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT> DoubleBuffer; 00071 00072 // public point cloud typedefs 00073 typedef typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloud PointCloud; 00074 typedef typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloudPtr PointCloudPtr; 00075 typedef typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloudConstPtr PointCloudConstPtr; 00076 00077 /** \brief Constructor. 00078 * \param resolution_arg: octree resolution at lowest octree level 00079 * */ 00080 OctreePointCloudOccupancy (const double resolution_arg) : 00081 OctreePointCloud<PointT, LeafContainerT, BranchContainerT, 00082 OctreeBase<LeafContainerT, BranchContainerT> > (resolution_arg) 00083 { 00084 } 00085 00086 /** \brief Empty class constructor. */ 00087 virtual 00088 ~OctreePointCloudOccupancy () 00089 { 00090 } 00091 00092 /** \brief Set occupied voxel at point. 00093 * \param point_arg: input point 00094 * */ 00095 void setOccupiedVoxelAtPoint( const PointT& point_arg ) { 00096 OctreeKey key; 00097 00098 // make sure bounding box is big enough 00099 adoptBoundingBoxToPoint (point_arg); 00100 00101 // generate key 00102 genOctreeKeyforPoint (point_arg, key); 00103 00104 // add point to octree at key 00105 this->addData (key, 0); 00106 } 00107 00108 /** \brief Set occupied voxels at all points from point cloud. 00109 * \param cloud_arg: input point cloud 00110 * */ 00111 void setOccupiedVoxelsAtPointsFromCloud( PointCloudPtr cloud_arg ) { 00112 size_t i; 00113 00114 for (i = 0; i < cloud_arg->points.size (); i++) 00115 { 00116 // check for NaNs 00117 if (isFinite(cloud_arg->points[i])) { 00118 // set voxel at point 00119 this->setOccupiedVoxelAtPoint (cloud_arg->points[i]); 00120 } 00121 } 00122 } 00123 00124 }; 00125 } 00126 00127 } 00128 00129 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>; 00130 00131 #endif 00132