142 lines
5.3 KiB
C++
142 lines
5.3 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2010-2011, Willow Garage, Inc.
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
* $Id: octree_pointcloud_voxelcentroid.hpp 6459 2012-07-18 07:50:37Z dpb $
|
|
*/
|
|
|
|
#ifndef PCL_OCTREE_VOXELCENTROID_HPP
|
|
#define PCL_OCTREE_VOXELCENTROID_HPP
|
|
|
|
/*
|
|
* OctreePointCloudVoxelcontroid is not precompiled, since it's used in other
|
|
* parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
|
|
* used, octree_pointcloud_voxelcentroid.h includes this file but octree_pointcloud.h
|
|
* would not include the implementation because it's precompiled. So we need to
|
|
* include it here "manually".
|
|
*/
|
|
#include <pcl/octree/impl/octree_pointcloud.hpp>
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT, typename LeafContainerT, typename BranchContainerT>
|
|
bool
|
|
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::
|
|
getVoxelCentroidAtPoint(const PointT& point_arg, PointT& voxel_centroid_arg) const
|
|
{
|
|
OctreeKey key;
|
|
LeafContainerT* leaf = NULL;
|
|
|
|
// generate key
|
|
genOctreeKeyforPoint(point_arg, key);
|
|
|
|
leaf = this->findLeaf(key);
|
|
if (leaf)
|
|
leaf->getCentroid(voxel_centroid_arg);
|
|
|
|
return (leaf != NULL);
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT, typename LeafContainerT, typename BranchContainerT>
|
|
pcl::uindex_t
|
|
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::
|
|
getVoxelCentroids(
|
|
typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
|
|
AlignedPointTVector& voxel_centroid_list_arg) const
|
|
{
|
|
OctreeKey new_key;
|
|
|
|
// reset output vector
|
|
voxel_centroid_list_arg.clear();
|
|
voxel_centroid_list_arg.reserve(this->leaf_count_);
|
|
|
|
getVoxelCentroidsRecursive(this->root_node_, new_key, voxel_centroid_list_arg);
|
|
|
|
// return size of centroid vector
|
|
return (voxel_centroid_list_arg.size());
|
|
}
|
|
|
|
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
template <typename PointT, typename LeafContainerT, typename BranchContainerT>
|
|
void
|
|
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::
|
|
getVoxelCentroidsRecursive(
|
|
const BranchNode* branch_arg,
|
|
OctreeKey& key_arg,
|
|
typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::
|
|
AlignedPointTVector& voxel_centroid_list_arg) const
|
|
{
|
|
// iterate over all children
|
|
for (unsigned char child_idx = 0; child_idx < 8; child_idx++) {
|
|
// if child exist
|
|
if (branch_arg->hasChild(child_idx)) {
|
|
// add current branch voxel to key
|
|
key_arg.pushBranch(child_idx);
|
|
|
|
OctreeNode* child_node = branch_arg->getChildPtr(child_idx);
|
|
|
|
switch (child_node->getNodeType()) {
|
|
case BRANCH_NODE: {
|
|
// recursively proceed with indexed child branch
|
|
getVoxelCentroidsRecursive(static_cast<const BranchNode*>(child_node),
|
|
key_arg,
|
|
voxel_centroid_list_arg);
|
|
break;
|
|
}
|
|
case LEAF_NODE: {
|
|
PointT new_centroid;
|
|
|
|
LeafNode* container = static_cast<LeafNode*>(child_node);
|
|
|
|
container->getContainer().getCentroid(new_centroid);
|
|
|
|
voxel_centroid_list_arg.push_back(new_centroid);
|
|
break;
|
|
}
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// pop current branch voxel from key
|
|
key_arg.popBranch();
|
|
}
|
|
}
|
|
}
|
|
|
|
#define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) \
|
|
template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>;
|
|
|
|
#endif
|