114 lines
4.5 KiB
C++
114 lines
4.5 KiB
C++
/*
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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) 2010-2011, 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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*
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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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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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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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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*/
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#pragma once
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#include <pcl/octree/octree2buf_base.h>
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#include <pcl/octree/octree_pointcloud.h>
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#include <pcl/memory.h>
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namespace pcl {
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namespace octree {
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/** \brief @b Octree pointcloud change detector class
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* \note This pointcloud octree class generate an octrees from a point cloud
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* (zero-copy). It allows to detect new leaf nodes and serialize their point indices
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* \note The octree pointcloud is initialized with its voxel resolution. Its bounding
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* box is automatically adjusted or can be predefined.
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* \tparam PointT type of point used in pointcloud
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* \ingroup octree
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* \author Julius Kammerl (julius@kammerl.de)
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*/
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT,
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typename LeafContainerT = OctreeContainerPointIndices,
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typename BranchContainerT = OctreeContainerEmpty>
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class OctreePointCloudChangeDetector
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: public OctreePointCloud<PointT,
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LeafContainerT,
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BranchContainerT,
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Octree2BufBase<LeafContainerT, BranchContainerT>>
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{
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public:
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using Ptr = shared_ptr<
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OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
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using ConstPtr = shared_ptr<
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const OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
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/** \brief Constructor.
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* \param resolution_arg: octree resolution at lowest octree level
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* */
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OctreePointCloudChangeDetector(const double resolution_arg)
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: OctreePointCloud<PointT,
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LeafContainerT,
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BranchContainerT,
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Octree2BufBase<LeafContainerT, BranchContainerT>>(resolution_arg)
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{}
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/** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
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* \param indicesVector_arg: results are written to this vector of int indices
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* \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to
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* become serialized.
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* \return number of point indices
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*/
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std::size_t
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getPointIndicesFromNewVoxels(Indices& indicesVector_arg,
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const uindex_t minPointsPerLeaf_arg = 0)
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{
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std::vector<OctreeContainerPointIndices*> leaf_containers;
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this->serializeNewLeafs(leaf_containers);
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for (const auto& leaf_container : leaf_containers) {
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if (static_cast<uindex_t>(leaf_container->getSize()) >= minPointsPerLeaf_arg)
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leaf_container->getPointIndices(indicesVector_arg);
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}
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return (indicesVector_arg.size());
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}
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};
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} // namespace octree
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} // namespace pcl
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#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) \
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template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
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