Point Cloud Library (PCL)  1.9.1-dev
voxel_structure.hpp
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38 
39 #ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_HPP_
40 #define PCL_RECOGNITION_VOXEL_STRUCTURE_HPP_
41 
42 template<class T, typename REAL> inline void
43 pcl::recognition::VoxelStructure<T,REAL>::build (const REAL bounds[6], int num_of_voxels[3])
44 {
45  this->clear();
46 
47  // Copy the bounds
48  bounds_[0] = bounds[0];
49  bounds_[1] = bounds[1];
50  bounds_[2] = bounds[2];
51  bounds_[3] = bounds[3];
52  bounds_[4] = bounds[4];
53  bounds_[5] = bounds[5];
54 
55  num_of_voxels_[0] = num_of_voxels[0];
56  num_of_voxels_[1] = num_of_voxels[1];
57  num_of_voxels_[2] = num_of_voxels[2];
58  num_of_voxels_xy_plane_ = num_of_voxels[0]*num_of_voxels[1];
59  total_num_of_voxels_ = num_of_voxels_xy_plane_*num_of_voxels[2];
60 
61  // Allocate memory for the voxels
62  voxels_ = new T[total_num_of_voxels_];
63 
64  // Compute the spacing between the voxels in x, y and z direction
65  spacing_[0] = (bounds[1]-bounds[0])/static_cast<REAL> (num_of_voxels[0]);
66  spacing_[1] = (bounds[3]-bounds[2])/static_cast<REAL> (num_of_voxels[1]);
67  spacing_[2] = (bounds[5]-bounds[4])/static_cast<REAL> (num_of_voxels[2]);
68 
69  // Compute the center of the voxel with integer coordinates (0, 0, 0)
70  min_center_[0] = bounds_[0] + static_cast<REAL> (0.5)*spacing_[0];
71  min_center_[1] = bounds_[2] + static_cast<REAL> (0.5)*spacing_[1];
72  min_center_[2] = bounds_[4] + static_cast<REAL> (0.5)*spacing_[2];
73 }
74 
75 //================================================================================================================================
76 
77 template<class T, typename REAL> inline T*
79 {
80  if ( p[0] < bounds_[0] || p[0] >= bounds_[1] || p[1] < bounds_[2] || p[1] >= bounds_[3] || p[2] < bounds_[4] || p[2] >= bounds_[5] )
81  return nullptr;
82 
83  int x = static_cast<int> ((p[0] - bounds_[0])/spacing_[0]);
84  int y = static_cast<int> ((p[1] - bounds_[2])/spacing_[1]);
85  int z = static_cast<int> ((p[2] - bounds_[4])/spacing_[2]);
86 
87  return &voxels_[z*num_of_voxels_xy_plane_ + y*num_of_voxels_[0] + x];
88 }
89 
90 //================================================================================================================================
91 
92 template<class T, typename REAL> inline T*
94 {
95  if ( x < 0 || x >= num_of_voxels_[0] ) return nullptr;
96  if ( y < 0 || y >= num_of_voxels_[1] ) return nullptr;
97  if ( z < 0 || z >= num_of_voxels_[2] ) return nullptr;
98 
99  return &voxels_[z*num_of_voxels_xy_plane_ + y*num_of_voxels_[0] + x];
100 }
101 
102 //================================================================================================================================
103 
104 template<class T, typename REAL> inline int
106 {
107  if ( p[0] < bounds_[0] || p[0] >= bounds_[1] || p[1] < bounds_[2] || p[1] >= bounds_[3] || p[2] < bounds_[4] || p[2] >= bounds_[5] )
108  return 0;
109 
110  const int x = static_cast<int> ((p[0] - bounds_[0])/spacing_[0]);
111  const int y = static_cast<int> ((p[1] - bounds_[2])/spacing_[1]);
112  const int z = static_cast<int> ((p[2] - bounds_[4])/spacing_[2]);
113 
114  const int x_m1 = x-1, x_p1 = x+1;
115  const int y_m1 = y-1, y_p1 = y+1;
116  const int z_m1 = z-1, z_p1 = z+1;
117 
118  T* voxel;
119  int num_neighs = 0;
120 
121  voxel = this->getVoxel (x_p1, y_p1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
122  voxel = this->getVoxel (x_p1, y_p1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
123  voxel = this->getVoxel (x_p1, y_p1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
124  voxel = this->getVoxel (x_p1, y , z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
125  voxel = this->getVoxel (x_p1, y , z ); if ( voxel ) neighs[num_neighs++] = voxel;
126  voxel = this->getVoxel (x_p1, y , z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
127  voxel = this->getVoxel (x_p1, y_m1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
128  voxel = this->getVoxel (x_p1, y_m1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
129  voxel = this->getVoxel (x_p1, y_m1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
130 
131  voxel = this->getVoxel (x , y_p1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
132  voxel = this->getVoxel (x , y_p1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
133  voxel = this->getVoxel (x , y_p1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
134  voxel = this->getVoxel (x , y , z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
135  voxel = this->getVoxel (x , y , z ); if ( voxel ) neighs[num_neighs++] = voxel;
136  voxel = this->getVoxel (x , y , z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
137  voxel = this->getVoxel (x , y_m1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
138  voxel = this->getVoxel (x , y_m1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
139  voxel = this->getVoxel (x , y_m1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
140 
141  voxel = this->getVoxel (x_m1, y_p1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
142  voxel = this->getVoxel (x_m1, y_p1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
143  voxel = this->getVoxel (x_m1, y_p1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
144  voxel = this->getVoxel (x_m1, y , z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
145  voxel = this->getVoxel (x_m1, y , z ); if ( voxel ) neighs[num_neighs++] = voxel;
146  voxel = this->getVoxel (x_m1, y , z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
147  voxel = this->getVoxel (x_m1, y_m1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
148  voxel = this->getVoxel (x_m1, y_m1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
149  voxel = this->getVoxel (x_m1, y_m1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
150 
151  return num_neighs;
152 }
153 
154 //================================================================================================================================
155 
156 #endif // PCL_RECOGNITION_VOXEL_STRUCTURE_HPP_
T * getVoxel(const REAL p[3])
Returns a pointer to the voxel which contains p or NULL if p is not inside the structure.
int getNeighbors(const REAL *p, T **neighs) const
Saves pointers to the voxels which are neighbors of the voxels which contains &#39;p&#39;.
void build(const REAL bounds[6], int num_of_voxels[3])
Call this method before using an instance of this class.