Point Cloud Library (PCL)
1.3.1
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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: octree_pointcloud_density.h 3017 2011-11-01 03:24:04Z rusu $ 00037 */ 00038 00039 #ifndef OCTREE_DENSITY_H 00040 #define OCTREE_DENSITY_H 00041 00042 #include "octree_pointcloud.h" 00043 00044 #include "octree_base.h" 00045 #include "octree2buf_base.h" 00046 00047 namespace pcl 00048 { 00049 namespace octree 00050 { 00051 00053 00057 00058 template<typename DataT> 00059 class OctreePointCloudDensityLeaf : public OctreeLeafAbstract<DataT> 00060 { 00061 public: 00063 OctreePointCloudDensityLeaf () 00064 { 00065 pointCounter_ = 0; 00066 } 00067 00069 ~OctreePointCloudDensityLeaf () 00070 { 00071 } 00072 00076 virtual void 00077 setData (const DataT& point_arg) 00078 { 00079 pointCounter_++; 00080 } 00081 00085 virtual void 00086 getData (const DataT*& data_arg) const 00087 { 00088 data_arg = 0; 00089 } 00090 00094 virtual void 00095 getData (std::vector<DataT>& dataVector_arg) const 00096 { 00097 } 00098 00102 unsigned int 00103 getPointCounter () 00104 { 00105 return pointCounter_; 00106 } 00107 00109 virtual void 00110 reset () 00111 { 00112 pointCounter_ = 0; 00113 } 00114 00115 private: 00116 unsigned int pointCounter_; 00117 00118 }; 00119 00121 00129 00130 template<typename PointT, typename LeafT = OctreePointCloudDensityLeaf<int> , typename OctreeT = OctreeBase<int, 00131 LeafT> > 00132 class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafT, OctreeT> 00133 { 00134 00135 public: 00136 // public typedefs for single/double buffering 00137 typedef OctreePointCloudDensity<PointT, LeafT, OctreeBase<int, LeafT> > SingleBuffer; 00138 typedef OctreePointCloudDensity<PointT, LeafT, Octree2BufBase<int, LeafT> > DoubleBuffer; 00139 00143 OctreePointCloudDensity (const double resolution_arg) : 00144 OctreePointCloud<PointT, LeafT, OctreeT> (resolution_arg) 00145 { 00146 } 00147 00149 virtual 00150 ~OctreePointCloudDensity () 00151 { 00152 } 00153 00158 unsigned int 00159 getVoxelDensityAtPoint (const PointT& point_arg) const 00160 { 00161 unsigned int pointCount = 0; 00162 00163 OctreePointCloudDensityLeaf<int>* leaf = this->findLeafAtPoint (point_arg); 00164 00165 if (leaf) 00166 { 00167 pointCount = leaf->getPointCounter (); 00168 } 00169 00170 return pointCount; 00171 } 00172 00173 }; 00174 } 00175 00176 } 00177 00178 #define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>; 00179 00180 #define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithDensityLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreePointCloudDensityLeaf<int> , pcl::octree::OctreeBase<int, pcl::octree::OctreePointCloudDensityLeaf<int> > >; 00181 #define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithDensityLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreePointCloudDensityLeaf<int> , pcl::octree::Octree2BufBase<int, pcl::octree::OctreePointCloudDensityLeaf<int> > >; 00182 00183 00184 #endif 00185