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 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id: octree_pointcloud_voxelcentroid.hpp 6459 2012-07-18 07:50:37Z dpb $ 00038 */ 00039 00040 #ifndef PCL_OCTREE_VOXELCENTROID_HPP 00041 #define PCL_OCTREE_VOXELCENTROID_HPP 00042 00043 #include <pcl/octree/octree_pointcloud_voxelcentroid.h> 00044 00045 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00046 template<typename PointT, typename LeafContainerT, typename BranchContainerT> bool 00047 pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::getVoxelCentroidAtPoint ( 00048 const PointT& point_arg, PointT& voxel_centroid_arg) const 00049 { 00050 OctreeKey key; 00051 LeafNode* leaf = 0; 00052 00053 // generate key 00054 genOctreeKeyforPoint (point_arg, key); 00055 00056 leaf = this->findLeaf (key); 00057 00058 if (leaf) 00059 { 00060 LeafContainerT* container = leaf; 00061 container->getCentroid (voxel_centroid_arg); 00062 } 00063 00064 return (leaf != 0); 00065 } 00066 00067 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00068 template<typename PointT, typename LeafContainerT, typename BranchContainerT> size_t 00069 pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::getVoxelCentroids ( 00070 typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const 00071 { 00072 OctreeKey new_key; 00073 00074 // reset output vector 00075 voxel_centroid_list_arg.clear (); 00076 voxel_centroid_list_arg.reserve (this->leaf_count_); 00077 00078 getVoxelCentroidsRecursive (this->root_node_, new_key, voxel_centroid_list_arg ); 00079 00080 // return size of centroid vector 00081 return (voxel_centroid_list_arg.size ()); 00082 } 00083 00084 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00085 template<typename PointT, typename LeafContainerT, typename BranchContainerT> void 00086 pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::getVoxelCentroidsRecursive ( 00087 const BranchNode* branch_arg, OctreeKey& key_arg, 00088 typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const 00089 { 00090 // child iterator 00091 unsigned char child_idx; 00092 00093 // iterate over all children 00094 for (child_idx = 0; child_idx < 8; child_idx++) 00095 { 00096 // if child exist 00097 if (branch_arg->hasChild (child_idx)) 00098 { 00099 // add current branch voxel to key 00100 key_arg.pushBranch (child_idx); 00101 00102 OctreeNode *child_node = branch_arg->getChildPtr (child_idx); 00103 00104 switch (child_node->getNodeType ()) 00105 { 00106 case BRANCH_NODE: 00107 { 00108 // recursively proceed with indexed child branch 00109 getVoxelCentroidsRecursive (static_cast<const BranchNode*> (child_node), key_arg, voxel_centroid_list_arg); 00110 break; 00111 } 00112 case LEAF_NODE: 00113 { 00114 PointT new_centroid; 00115 00116 LeafNode* container = static_cast<LeafNode*> (child_node); 00117 00118 container->getContainer().getCentroid (new_centroid); 00119 00120 voxel_centroid_list_arg.push_back (new_centroid); 00121 break; 00122 } 00123 default: 00124 break; 00125 } 00126 00127 // pop current branch voxel from key 00128 key_arg.popBranch (); 00129 } 00130 } 00131 } 00132 00133 00134 #define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>; 00135 00136 #endif 00137