167 lines
6.1 KiB
C++
167 lines
6.1 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) 2010-2012, 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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*
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*/
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#pragma once
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namespace pcl
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{
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namespace recognition
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{
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/** \brief This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of type T. */
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template<class T, typename REAL = float>
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class VoxelStructure
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{
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public:
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inline VoxelStructure (): voxels_(nullptr){}
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inline virtual ~VoxelStructure (){ this->clear();}
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/** \brief Call this method before using an instance of this class. Parameter meaning is obvious. */
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inline void
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build (const REAL bounds[6], int num_of_voxels[3]);
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/** \brief Release the memory allocated for the voxels. */
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inline void
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clear (){ delete[] voxels_; voxels_ = nullptr;}
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/** \brief Returns a pointer to the voxel which contains p or NULL if p is not inside the structure. */
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inline T*
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getVoxel (const REAL p[3]);
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/** \brief Returns a pointer to the voxel with integer id (x,y,z) or NULL if (x,y,z) is out of bounds. */
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inline T*
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getVoxel (int x, int y, int z) const;
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/** \brief Returns the linear voxel array. */
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const inline T*
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getVoxels () const
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{
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return voxels_;
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}
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/** \brief Returns the linear voxel array. */
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inline T*
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getVoxels ()
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{
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return voxels_;
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}
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/** \brief Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its position in the voxel array.
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*
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* \param[in] linear_id the position of the voxel in the internal voxel array.
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* \param[out] id3d an array of 3 integers for the integer coordinates of the voxel. */
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inline void
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compute3dId (int linear_id, int id3d[3]) const
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{
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// Compute the z axis id
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id3d[2] = linear_id / num_of_voxels_xy_plane_;
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int proj_xy = linear_id % num_of_voxels_xy_plane_;
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// Compute the y axis id
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id3d[1] = proj_xy / num_of_voxels_[0];
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// Compute the x axis id
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id3d[0] = proj_xy % num_of_voxels_[0];
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}
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/** \brief Returns the number of voxels in x, y and z direction. */
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inline const int*
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getNumberOfVoxelsXYZ() const
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{
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return (num_of_voxels_);
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}
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/** \brief Computes the center of the voxel with given integer coordinates.
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*
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* \param[in] id3 the integer coordinates along the x, y and z axis.
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* \param[out] center */
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inline void
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computeVoxelCenter (const int id3[3], REAL center[3]) const
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{
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center[0] = min_center_[0] + static_cast<float> (id3[0])*spacing_[0];
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center[1] = min_center_[1] + static_cast<float> (id3[1])*spacing_[1];
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center[2] = min_center_[2] + static_cast<float> (id3[2])*spacing_[2];
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}
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/** \brief Returns the total number of voxels. */
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inline int
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getNumberOfVoxels() const
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{
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return (total_num_of_voxels_);
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}
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/** \brief Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_x, max_x, min_y, max_y, min_z, max_z). */
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inline const float*
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getBounds() const
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{
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return (bounds_);
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}
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/** \brief Copies the bounds of the voxel structure to 'b'. */
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inline void
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getBounds(REAL b[6]) const
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{
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b[0] = bounds_[0];
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b[1] = bounds_[1];
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b[2] = bounds_[2];
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b[3] = bounds_[3];
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b[4] = bounds_[4];
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b[5] = bounds_[5];
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}
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/** \brief Returns the voxel spacing in x, y and z direction. That's the same as the voxel size along each axis. */
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const REAL*
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getVoxelSpacing() const
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{
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return (spacing_);
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}
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/** \brief Saves pointers to the voxels which are neighbors of the voxels which contains 'p'. The containing voxel is returned too.
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* 'neighs' has to be an array of pointers with space for at least 27 pointers (27 = 3^3 which is the max number of neighbors). The */
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inline int
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getNeighbors (const REAL* p, T **neighs) const;
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protected:
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T *voxels_;
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int num_of_voxels_[3], num_of_voxels_xy_plane_, total_num_of_voxels_;
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REAL bounds_[6];
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REAL spacing_[3]; // spacing between the voxel in x, y and z direction = voxel size in x, y and z direction
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REAL min_center_[3]; // the center of the voxel with integer coordinates (0, 0, 0)
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};
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} // namespace recognition
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} // namespace pcl
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#include <pcl/recognition/impl/ransac_based/voxel_structure.hpp>
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