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_CHANGEDETECTOR_H 00040 #define PCL_OCTREE_CHANGEDETECTOR_H 00041 00042 #include "octree_pointcloud.h" 00043 00044 namespace pcl 00045 { 00046 namespace octree 00047 { 00048 00049 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// 00050 /** \brief @b Octree pointcloud change detector class 00051 * \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices 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 = OctreeContainerPointIndices, 00061 typename BranchContainerT = OctreeContainerEmpty > 00062 00063 class OctreePointCloudChangeDetector : public OctreePointCloud<PointT, 00064 LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT, BranchContainerT> > 00065 00066 { 00067 00068 public: 00069 00070 /** \brief Constructor. 00071 * \param resolution_arg: octree resolution at lowest octree level 00072 * */ 00073 OctreePointCloudChangeDetector (const double resolution_arg) : 00074 OctreePointCloud<PointT, LeafContainerT, BranchContainerT, 00075 Octree2BufBase<LeafContainerT, BranchContainerT> > (resolution_arg) 00076 { 00077 } 00078 00079 /** \brief Empty class constructor. */ 00080 virtual ~OctreePointCloudChangeDetector () 00081 { 00082 } 00083 00084 /** \brief Get a indices from all leaf nodes that did not exist in previous buffer. 00085 * \param indicesVector_arg: results are written to this vector of int indices 00086 * \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to become serialized. 00087 * \return number of point indices 00088 */ 00089 std::size_t getPointIndicesFromNewVoxels (std::vector<int> &indicesVector_arg, 00090 const int minPointsPerLeaf_arg = 0) 00091 { 00092 00093 std::vector<OctreeContainerPointIndices*> leaf_containers; 00094 this->serializeNewLeafs (leaf_containers); 00095 00096 std::vector<OctreeContainerPointIndices*>::iterator it; 00097 std::vector<OctreeContainerPointIndices*>::const_iterator it_end = leaf_containers.end(); 00098 00099 for (it=leaf_containers.begin(); it!=it_end; ++it) 00100 { 00101 if ((*it)->getSize()>=minPointsPerLeaf_arg) 00102 (*it)->getPointIndices(indicesVector_arg); 00103 } 00104 00105 return (indicesVector_arg.size ()); 00106 } 00107 }; 00108 } 00109 } 00110 00111 #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>; 00112 00113 #endif 00114