Point Cloud Library (PCL)  1.8.1-dev
octree_pointcloud_occupancy.h
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38 
39 #ifndef PCL_OCTREE_OCCUPANCY_H
40 #define PCL_OCTREE_OCCUPANCY_H
41 
42 #include <pcl/octree/octree_pointcloud.h>
43 
44 namespace pcl
45 {
46  namespace octree
47  {
48 
49  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
50  /** \brief @b Octree pointcloud occupancy class
51  * \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). No information is stored at the lead nodes. It can be used of occupancy checks.
52  * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
53  * \note
54  * \note typename: PointT: type of point used in pointcloud
55  * \ingroup octree
56  * \author Julius Kammerl (julius@kammerl.de)
57  */
58  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59  template<typename PointT,
60  typename LeafContainerT = OctreeContainerEmpty,
61  typename BranchContainerT = OctreeContainerEmpty >
62  class OctreePointCloudOccupancy : public OctreePointCloud<PointT, LeafContainerT,
63  BranchContainerT, OctreeBase<LeafContainerT, BranchContainerT> >
64 
65  {
66 
67  public:
68  // public typedefs for single/double buffering
71 
72  // public point cloud typedefs
76 
77  /** \brief Constructor.
78  * \param resolution_arg: octree resolution at lowest octree level
79  * */
80  OctreePointCloudOccupancy (const double resolution_arg) :
81  OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
82  OctreeBase<LeafContainerT, BranchContainerT> > (resolution_arg)
83  {
84  }
85 
86  /** \brief Empty class constructor. */
87  virtual
89  {
90  }
91 
92  /** \brief Set occupied voxel at point.
93  * \param point_arg: input point
94  * */
95  void setOccupiedVoxelAtPoint( const PointT& point_arg ) {
96  OctreeKey key;
97 
98  // make sure bounding box is big enough
99  this->adoptBoundingBoxToPoint (point_arg);
100 
101  // generate key
102  this->genOctreeKeyforPoint (point_arg, key);
103 
104  // add point to octree at key
105  this->createLeaf (key);
106  }
107 
108  /** \brief Set occupied voxels at all points from point cloud.
109  * \param cloud_arg: input point cloud
110  * */
112  size_t i;
113 
114  for (i = 0; i < cloud_arg->points.size (); i++)
115  {
116  // check for NaNs
117  if (isFinite(cloud_arg->points[i])) {
118  // set voxel at point
119  this->setOccupiedVoxelAtPoint (cloud_arg->points[i]);
120  }
121  }
122  }
123 
124  };
125  }
126 
127 }
128 
129 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
130 
131 #endif
132 
LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
Octree pointcloud class
OctreePointCloudOccupancy(const double resolution_arg)
Constructor.
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:54
Octree class.
Definition: octree_base.h:62
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr PointCloudConstPtr
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloud PointCloud
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr PointCloudPtr
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > SingleBuffer
void setOccupiedVoxelAtPoint(const PointT &point_arg)
Set occupied voxel at point.
virtual ~OctreePointCloudOccupancy()
Empty class constructor.
void setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
Set occupied voxels at all points from point cloud.
Octree key class
Definition: octree_key.h:51
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > DoubleBuffer
A point structure representing Euclidean xyz coordinates, and the RGB color.