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recognition
include
pcl
recognition
ransac_based
voxel_structure.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*/
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#ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_H_
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#define PCL_RECOGNITION_VOXEL_STRUCTURE_H_
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#include <cstdlib>
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namespace
pcl
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{
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namespace
recognition
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{
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/** \brief This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of type T. */
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template
<
class
T,
typename
REAL =
float
>
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class
VoxelStructure
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{
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public
:
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inline
VoxelStructure
():
voxels_
(NULL){}
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inline
virtual
~VoxelStructure
(){ this->
clear
();}
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/** \brief Call this method before using an instance of this class. Parameter meaning is obvious. */
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inline
void
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build
(
const
REAL bounds[6],
int
num_of_voxels[3]);
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/** \brief Release the memory allocated for the voxels. */
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inline
void
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clear
(){
if
(
voxels_
){
delete
[]
voxels_
;
voxels_
= NULL;}}
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/** \brief Returns a pointer to the voxel which contains p or NULL if p is not inside the structure. */
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inline
T*
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getVoxel
(
const
REAL p[3]);
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/** \brief Returns a pointer to the voxel with integer id (x,y,z) or NULL if (x,y,z) is out of bounds. */
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inline
T*
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getVoxel
(
int
x,
int
y,
int
z)
const
;
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/** \brief Returns the linear voxel array. */
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const
inline
T*
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getVoxels
()
const
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{
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return
voxels_
;
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}
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/** \brief Returns the linear voxel array. */
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inline
T*
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getVoxels
()
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{
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return
voxels_
;
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}
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/** \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.
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*
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* \param[in] linear_id the position of the voxel in the internal voxel array.
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* \param[out] id3d an array of 3 integers for the integer coordinates of the voxel. */
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inline
void
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compute3dId
(
int
linear_id,
int
id3d[3])
const
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{
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// Compute the z axis id
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id3d[2] = linear_id /
num_of_voxels_xy_plane_
;
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int
proj_xy = linear_id %
num_of_voxels_xy_plane_
;
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// Compute the y axis id
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id3d[1] = proj_xy /
num_of_voxels_
[0];
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// Compute the x axis id
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id3d[0] = proj_xy %
num_of_voxels_
[0];
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}
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/** \brief Returns the number of voxels in x, y and z direction. */
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inline
const
int
*
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getNumberOfVoxelsXYZ
()
const
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{
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return
(
num_of_voxels_
);
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}
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/** \brief Computes the center of the voxel with given integer coordinates.
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*
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* \param[in] id3 the integer coordinates along the x, y and z axis.
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* \param[out] center */
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inline
void
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computeVoxelCenter
(
const
int
id3[3], REAL center[3])
const
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{
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center[0] =
min_center_
[0] +
static_cast<
float
>
(id3[0])*
spacing_
[0];
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center[1] =
min_center_
[1] +
static_cast<
float
>
(id3[1])*
spacing_
[1];
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center[2] =
min_center_
[2] +
static_cast<
float
>
(id3[2])*
spacing_
[2];
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}
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/** \brief Returns the total number of voxels. */
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inline
int
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getNumberOfVoxels
()
const
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{
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return
(
total_num_of_voxels_
);
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}
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/** \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). */
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inline
const
float
*
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getBounds
()
const
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{
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return
(
bounds_
);
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}
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/** \brief Copies the bounds of the voxel structure to 'b'. */
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inline
void
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getBounds
(REAL b[6])
const
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{
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b[0] =
bounds_
[0];
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b[1] =
bounds_
[1];
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b[2] =
bounds_
[2];
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b[3] =
bounds_
[3];
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b[4] =
bounds_
[4];
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b[5] =
bounds_
[5];
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}
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/** \brief Returns the voxel spacing in x, y and z direction. That's the same as the voxel size along each axis. */
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const
REAL*
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getVoxelSpacing
()
const
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{
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return
(
spacing_
);
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}
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/** \brief Saves pointers to the voxels which are neighbors of the voxels which contains 'p'. The containing voxel is returned too.
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* '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 */
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inline
int
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getNeighbors
(
const
REAL* p, T **neighs)
const
;
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protected
:
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T *
voxels_
;
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int
num_of_voxels_
[3],
num_of_voxels_xy_plane_
,
total_num_of_voxels_
;
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REAL
bounds_
[6];
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REAL
spacing_
[3];
// spacing betwen the voxel in x, y and z direction = voxel size in x, y and z direction
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REAL
min_center_
[3];
// the center of the voxel with integer coordinates (0, 0, 0)
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};
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}
// namespace recognition
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}
// namespace pcl
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#include <pcl/recognition/impl/ransac_based/voxel_structure.hpp>
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#endif // PCL_RECOGNITION_VOXEL_STRUCTURE_H_