Point Cloud Library (PCL)  1.12.1-dev
octree_pointcloud_occupancy.h
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38 
39 #pragma once
40 
41 #include <pcl/octree/octree_pointcloud.h>
42 
43 namespace pcl {
44 namespace octree {
45 
46 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47 /** \brief @b Octree pointcloud occupancy class
48  * \tparam PointT type of point used in pointcloud
49  * This pointcloud octree class generate an octrees from a point cloud (zero-copy). No
50  * 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
52  * box is automatically adjusted or can be predefined.
53  * \ingroup octree
54  * \author Julius Kammerl (julius@kammerl.de)
55  */
56 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
57 template <typename PointT,
58  typename LeafContainerT = OctreeContainerEmpty,
59  typename BranchContainerT = OctreeContainerEmpty>
61 : public OctreePointCloud<PointT,
62  LeafContainerT,
63  BranchContainerT,
64  OctreeBase<LeafContainerT, BranchContainerT>>
65 
66 {
67 
68 public:
69  // public typedefs for single/double buffering
70  using SingleBuffer =
72  using DoubleBuffer =
74 
75  // public point cloud typedefs
76  using PointCloud =
79  LeafContainerT,
80  BranchContainerT>::PointCloudPtr;
84 
85  /** \brief Constructor.
86  * \param resolution_arg: octree resolution at lowest octree level
87  * */
88  OctreePointCloudOccupancy(const double resolution_arg)
90  LeafContainerT,
91  BranchContainerT,
92  OctreeBase<LeafContainerT, BranchContainerT>>(resolution_arg)
93  {}
94 
95  /** \brief Empty class constructor. */
96 
97  ~OctreePointCloudOccupancy() override = default;
98 
99  /** \brief Set occupied voxel at point.
100  * \param point_arg: input point
101  * */
102  void
103  setOccupiedVoxelAtPoint(const PointT& point_arg)
104  {
105  OctreeKey key;
106 
107  // make sure bounding box is big enough
108  this->adoptBoundingBoxToPoint(point_arg);
109 
110  // generate key
111  this->genOctreeKeyforPoint(point_arg, key);
112 
113  // add point to octree at key
114  this->createLeaf(key);
115  }
116 
117  /** \brief Set occupied voxels at all points from point cloud.
118  * \param cloud_arg: input point cloud
119  * */
120  void
122  {
123  for (const auto& point : *cloud_arg) {
124  // check for NaNs
125  if (isFinite(point)) {
126  // set voxel at point
127  this->setOccupiedVoxelAtPoint(point);
128  }
129  }
130  }
131 };
132 } // namespace octree
133 
134 } // namespace pcl
135 
136 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) \
137  template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
LeafContainerT * createLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
Octree key class
Definition: octree_key.h:54
Octree pointcloud class
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloud PointCloud
void setOccupiedVoxelAtPoint(const PointT &point_arg)
Set occupied voxel at point.
OctreePointCloudOccupancy(const double resolution_arg)
Constructor.
~OctreePointCloudOccupancy() override=default
Empty class constructor.
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr PointCloudConstPtr
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr PointCloudPtr
void setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
Set occupied voxels at all points from point cloud.
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:55
A point structure representing Euclidean xyz coordinates, and the RGB color.