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_occupancy.h 3017 2011-11-01 03:24:04Z rusu $ 00037 */ 00038 00039 #ifndef OCTREE_OCCUPANCY_H 00040 #define OCTREE_OCCUPANCY_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 00061 00062 template<typename PointT, typename LeafT = OctreeLeafEmpty<int> , typename OctreeT = OctreeBase<int, LeafT> > 00063 00064 class OctreePointCloudOccupancy : public OctreePointCloud<PointT, LeafT, OctreeT> 00065 00066 { 00067 00068 public: 00069 // public typedefs for single/double buffering 00070 typedef OctreePointCloudOccupancy<PointT, LeafT, OctreeBase<int, LeafT> > SingleBuffer; 00071 typedef OctreePointCloudOccupancy<PointT, LeafT, Octree2BufBase<int, LeafT> > DoubleBuffer; 00072 00073 // public point cloud typedefs 00074 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::PointCloud PointCloud; 00075 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudPtr PointCloudPtr; 00076 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudConstPtr PointCloudConstPtr; 00077 00078 typedef typename OctreePointCloud<PointT, LeafT, OctreeT>::OctreeKey OctreeKey; 00079 00083 OctreePointCloudOccupancy (const double resolution_arg) : 00084 OctreePointCloud<PointT, LeafT, OctreeT> (resolution_arg) 00085 { 00086 } 00087 00089 virtual 00090 ~OctreePointCloudOccupancy () 00091 { 00092 } 00093 00097 void setOccupiedVoxelAtPoint( const PointT& point_arg ) { 00098 OctreeKey key; 00099 00100 // make sure bounding box is big enough 00101 adoptBoundingBoxToPoint (point_arg); 00102 00103 // generate key 00104 genOctreeKeyforPoint (point_arg, key); 00105 00106 // add point to octree at key 00107 this->add (key, 0); 00108 } 00109 00113 void setOccupiedVoxelsAtPointsFromCloud( PointCloudPtr cloud_arg ) { 00114 size_t i; 00115 00116 for (i = 0; i < cloud_arg->points.size (); i++) 00117 { 00118 // check for NaNs 00119 if ((cloud_arg->points[i].x == cloud_arg->points[i].x) && 00120 (cloud_arg->points[i].y == cloud_arg->points[i].y) && 00121 (cloud_arg->points[i].z == cloud_arg->points[i].z)) { 00122 // set voxel at point 00123 this->setOccupiedVoxelAtPoint (cloud_arg->points[i]); 00124 } 00125 } 00126 } 00127 00128 }; 00129 } 00130 00131 } 00132 00133 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>; 00134 00135 #endif 00136