Point Cloud Library (PCL)  1.9.1-dev
octree_pointcloud_occupancy.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 
48  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
49  /** \brief @b Octree pointcloud occupancy class
50  * \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.
51  * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
52  * \note
53  * \note typename: PointT: type of point used in pointcloud
54  * \ingroup octree
55  * \author Julius Kammerl (julius@kammerl.de)
56  */
57  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
58  template<typename PointT,
59  typename LeafContainerT = OctreeContainerEmpty,
60  typename BranchContainerT = OctreeContainerEmpty >
61  class OctreePointCloudOccupancy : public OctreePointCloud<PointT, LeafContainerT,
62  BranchContainerT, OctreeBase<LeafContainerT, BranchContainerT> >
63 
64  {
65 
66  public:
67  // public typedefs for single/double buffering
70 
71  // public point cloud typedefs
75 
76  /** \brief Constructor.
77  * \param resolution_arg: octree resolution at lowest octree level
78  * */
79  OctreePointCloudOccupancy (const double resolution_arg) :
80  OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
81  OctreeBase<LeafContainerT, BranchContainerT> > (resolution_arg)
82  {
83  }
84 
85  /** \brief Empty class constructor. */
86  virtual
88  {
89  }
90 
91  /** \brief Set occupied voxel at point.
92  * \param point_arg: input point
93  * */
94  void setOccupiedVoxelAtPoint( const PointT& point_arg ) {
95  OctreeKey key;
96 
97  // make sure bounding box is big enough
98  this->adoptBoundingBoxToPoint (point_arg);
99 
100  // generate key
101  this->genOctreeKeyforPoint (point_arg, key);
102 
103  // add point to octree at key
104  this->createLeaf (key);
105  }
106 
107  /** \brief Set occupied voxels at all points from point cloud.
108  * \param cloud_arg: input point cloud
109  * */
110  void setOccupiedVoxelsAtPointsFromCloud( PointCloudPtr cloud_arg ) {
111  size_t i;
112 
113  for (i = 0; i < cloud_arg->points.size (); i++)
114  {
115  // check for NaNs
116  if (isFinite(cloud_arg->points[i])) {
117  // set voxel at point
118  this->setOccupiedVoxelAtPoint (cloud_arg->points[i]);
119  }
120  }
121  }
122 
123  };
124  }
125 
126 }
127 
128 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
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:53
Octree class.
Definition: octree_base.h:61
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
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:50
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > DoubleBuffer
A point structure representing Euclidean xyz coordinates, and the RGB color.