Point Cloud Library (PCL)  1.12.1-dev
octree_pointcloud_voxelcentroid.hpp
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37  * $Id: octree_pointcloud_voxelcentroid.hpp 6459 2012-07-18 07:50:37Z dpb $
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39 
40 #ifndef PCL_OCTREE_VOXELCENTROID_HPP
41 #define PCL_OCTREE_VOXELCENTROID_HPP
42 
43 /*
44  * OctreePointCloudVoxelcontroid is not precompiled, since it's used in other
45  * parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT
46  * used, octree_pointcloud_voxelcentroid.h includes this file but octree_pointcloud.h
47  * would not include the implementation because it's precompiled. So we need to
48  * include it here "manually".
49  */
50 #include <pcl/octree/impl/octree_pointcloud.hpp>
51 
52 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
53 template <typename PointT, typename LeafContainerT, typename BranchContainerT>
54 bool
56  getVoxelCentroidAtPoint(const PointT& point_arg, PointT& voxel_centroid_arg) const
57 {
58  OctreeKey key;
59  LeafContainerT* leaf = NULL;
60 
61  // generate key
62  genOctreeKeyforPoint(point_arg, key);
63 
64  leaf = this->findLeaf(key);
65  if (leaf)
66  leaf->getCentroid(voxel_centroid_arg);
67 
68  return (leaf != NULL);
69 }
70 
71 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
72 template <typename PointT, typename LeafContainerT, typename BranchContainerT>
77  AlignedPointTVector& voxel_centroid_list_arg) const
78 {
79  OctreeKey new_key;
80 
81  // reset output vector
82  voxel_centroid_list_arg.clear();
83  voxel_centroid_list_arg.reserve(this->leaf_count_);
84 
85  getVoxelCentroidsRecursive(this->root_node_, new_key, voxel_centroid_list_arg);
86 
87  // return size of centroid vector
88  return (voxel_centroid_list_arg.size());
89 }
90 
91 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
92 template <typename PointT, typename LeafContainerT, typename BranchContainerT>
93 void
96  const BranchNode* branch_arg,
97  OctreeKey& key_arg,
99  AlignedPointTVector& voxel_centroid_list_arg) const
100 {
101  // iterate over all children
102  for (unsigned char child_idx = 0; child_idx < 8; child_idx++) {
103  // if child exist
104  if (branch_arg->hasChild(child_idx)) {
105  // add current branch voxel to key
106  key_arg.pushBranch(child_idx);
107 
108  OctreeNode* child_node = branch_arg->getChildPtr(child_idx);
109 
110  switch (child_node->getNodeType()) {
111  case BRANCH_NODE: {
112  // recursively proceed with indexed child branch
113  getVoxelCentroidsRecursive(static_cast<const BranchNode*>(child_node),
114  key_arg,
115  voxel_centroid_list_arg);
116  break;
117  }
118  case LEAF_NODE: {
119  PointT new_centroid;
120 
121  LeafNode* container = static_cast<LeafNode*>(child_node);
122 
123  container->getContainer().getCentroid(new_centroid);
124 
125  voxel_centroid_list_arg.push_back(new_centroid);
126  break;
127  }
128  default:
129  break;
130  }
131 
132  // pop current branch voxel from key
133  key_arg.popBranch();
134  }
135  }
136 }
137 
138 #define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) \
139  template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>;
140 
141 #endif
pcl::octree::OctreeKey::pushBranch
void pushBranch(unsigned char childIndex)
push a child node to the octree key
Definition: octree_key.h:112
pcl::octree::OctreePointCloudVoxelCentroid::BranchNode
typename OctreeT::BranchNode BranchNode
Definition: octree_pointcloud_voxelcentroid.h:142
pcl::octree::OctreeNode::getNodeType
virtual node_type_t getNodeType() const =0
Pure virtual method for receiving the type of octree node (branch or leaf)
pcl::octree::OctreePointCloud
Octree pointcloud class
Definition: octree_pointcloud.h:72
pcl::octree::OctreeKey::popBranch
void popBranch()
pop child node from octree key
Definition: octree_key.h:122
pcl::octree::OctreeKey
Octree key class
Definition: octree_key.h:54
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:678
pcl::octree::OctreeNode
Abstract octree node class
Definition: octree_nodes.h:58
pcl::octree::LEAF_NODE
@ LEAF_NODE
Definition: octree_nodes.h:51
pcl::octree::BRANCH_NODE
@ BRANCH_NODE
Definition: octree_nodes.h:51
pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroidsRecursive
void getVoxelCentroidsRecursive(const BranchNode *branch_arg, OctreeKey &key_arg, typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const
Recursively explore the octree and output a PointT vector of centroids for all occupied voxels.
Definition: octree_pointcloud_voxelcentroid.hpp:95
pcl::octree::OctreePointCloudVoxelCentroid::LeafNode
typename OctreeT::LeafNode LeafNode
Definition: octree_pointcloud_voxelcentroid.h:141
pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroidAtPoint
bool getVoxelCentroidAtPoint(const PointT &point_arg, PointT &voxel_centroid_arg) const
Get centroid for a single voxel addressed by a PointT point.
Definition: octree_pointcloud_voxelcentroid.hpp:56
pcl::octree::OctreePointCloudVoxelCentroid::getVoxelCentroids
uindex_t getVoxelCentroids(typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const
Get PointT vector of centroids for all occupied voxels.
Definition: octree_pointcloud_voxelcentroid.hpp:75
pcl::uindex_t
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120