Point Cloud Library (PCL)  1.9.1-dev
octree_pointcloud_density.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Willow Garage, Inc. nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  * $Id$
37  */
38 
39 #pragma once
40 
41 #include <pcl/octree/octree_pointcloud.h>
42 
43 namespace pcl
44 {
45  namespace octree
46  {
47  /** \brief @b Octree pointcloud density leaf node class
48  * \note This class implements a leaf node that counts the amount of points which fall into its voxel space.
49  * \author Julius Kammerl (julius@kammerl.de)
50  */
52  {
53  public:
54  /** \brief Class initialization. */
55  OctreePointCloudDensityContainer () : point_counter_ (0)
56  {
57  }
58 
59  /** \brief Empty class deconstructor. */
61  {
62  }
63 
64  /** \brief deep copy function */
66  deepCopy () const
67  {
68  return (new OctreePointCloudDensityContainer (*this));
69  }
70 
71  /** \brief Equal comparison operator
72  * \param[in] other OctreePointCloudDensityContainer to compare with
73  */
74  bool operator==(const OctreeContainerBase& other) const override
75  {
76  const OctreePointCloudDensityContainer* otherContainer =
77  dynamic_cast<const OctreePointCloudDensityContainer*>(&other);
78 
79  return (this->point_counter_==otherContainer->point_counter_);
80  }
81 
82  /** \brief Read input data. Only an internal counter is increased.
83  */
84  void
86  {
87  point_counter_++;
88  }
89 
90  /** \brief Return point counter.
91  * \return Amount of points
92  */
93  unsigned int
95  {
96  return (point_counter_);
97  }
98 
99  /** \brief Reset leaf node. */
100  void
101  reset () override
102  {
103  point_counter_ = 0;
104  }
105 
106  private:
107  unsigned int point_counter_;
108 
109  };
110 
111  /** \brief @b Octree pointcloud density class
112  * \note This class generate an octrees from a point cloud (zero-copy). Only the amount of points that fall into the leaf node voxel are stored.
113  * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
114  * \note
115  * \note typename: PointT: type of point used in pointcloud
116  * \ingroup octree
117  * \author Julius Kammerl (julius@kammerl.de)
118  */
119  template<typename PointT, typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty >
120  class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
121  {
122  public:
123 
124  /** \brief OctreePointCloudDensity class constructor.
125  * \param resolution_arg: octree resolution at lowest octree level
126  * */
127  OctreePointCloudDensity (const double resolution_arg) :
128  OctreePointCloud<PointT, LeafContainerT, BranchContainerT> (resolution_arg)
129  {
130  }
131 
132  /** \brief Empty class deconstructor. */
133 
135  {
136  }
137 
138  /** \brief Get the amount of points within a leaf node voxel which is addressed by a point
139  * \param[in] point_arg: a point addressing a voxel
140  * \return amount of points that fall within leaf node voxel
141  */
142  unsigned int
143  getVoxelDensityAtPoint (const PointT& point_arg) const
144  {
145  unsigned int point_count = 0;
146 
147  OctreePointCloudDensityContainer* leaf = this->findLeafAtPoint (point_arg);
148 
149  if (leaf)
150  point_count = leaf->getPointCounter ();
151 
152  return (point_count);
153  }
154  };
155  }
156 }
157 
158 #define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;
~OctreePointCloudDensityContainer()
Empty class deconstructor.
Octree container class that can serve as a base to construct own leaf node container classes...
Octree pointcloud class
OctreePointCloudDensity(const double resolution_arg)
OctreePointCloudDensity class constructor.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
virtual OctreePointCloudDensityContainer * deepCopy() const
deep copy function
~OctreePointCloudDensity()
Empty class deconstructor.
unsigned int getVoxelDensityAtPoint(const PointT &point_arg) const
Get the amount of points within a leaf node voxel which is addressed by a point.
Octree pointcloud density leaf node class
bool operator==(const OctreeContainerBase &other) const override
Equal comparison operator.
unsigned int getPointCounter()
Return point counter.
A point structure representing Euclidean xyz coordinates, and the RGB color.