48 #include "orr_octree.h"
49 #include <pcl/pcl_exports.h>
73 z1 ()
const {
return z1_;}
76 z2 ()
const {
return z2_;}
91 : nodes_ (compare_nodes_z), x_ (x), y_ (y)
104 get_nodes (){
return nodes_;}
133 x =
static_cast<int> ((p[0] - bounds_[0])*inv_pixel_size_);
134 y =
static_cast<int> ((p[1] - bounds_[2])*inv_pixel_size_);
140 int x, y; this->getPixelCoordinates (p, x, y);
142 if ( x < 0 || x >= num_pixels_x_ )
return (
nullptr);
143 if ( y < 0 || y >= num_pixels_y_ )
return (
nullptr);
145 return (pixels_[x][y]);
151 int x, y; this->getPixelCoordinates (p, x, y);
153 if ( x < 0 || x >= num_pixels_x_ )
return (
nullptr);
154 if ( y < 0 || y >= num_pixels_y_ )
return (
nullptr);
156 return (pixels_[x][y]);
160 getOctreeNodes (
const float* p)
const
162 int x, y; this->getPixelCoordinates (p, x, y);
164 if ( x < 0 || x >= num_pixels_x_ )
return (
nullptr);
165 if ( y < 0 || y >= num_pixels_y_ )
return (
nullptr);
170 return (&sets_[x][y]->get_nodes ());
173 inline std::list<Pixel*>&
179 return pixels_[i][j];
198 num_x = num_pixels_x_;
199 num_y = num_pixels_y_;
203 float pixel_size_, inv_pixel_size_, bounds_[4], extent_x_, extent_y_;
That's a very specialized and simple octree class.
static bool compare_nodes_z(ORROctree::Node *node1, ORROctree::Node *node2)
void insert(ORROctree::Node *leaf)
std::list< Pixel * > & getFullPixels()
const Pixel * getPixel(int i, int j) const
const float * getBounds() const
void getPixelCoordinates(const float *p, int &x, int &y) const
void getNumberOfPixels(int &num_x, int &num_y) const
Get the width ('num_x') and height ('num_y') of the image.
std::list< Set * > full_sets_
virtual ~ORROctreeZProjection()
void build(const ORROctree &input, float eps_front, float eps_back)
const Pixel * getPixel(const float *p) const
std::list< Pixel * > full_pixels_
Pixel * getPixel(const float *p)
float getPixelSize() const