Point Cloud Library (PCL)  1.12.1-dev
orr_octree_zprojection.h
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38 
39 /*
40  * orr_octree_zprojection.h
41  *
42  * Created on: Nov 17, 2012
43  * Author: papazov
44  */
45 
46 #pragma once
47 
48 #include "orr_octree.h"
49 #include <pcl/pcl_exports.h>
50 #include <set>
51 
52 namespace pcl
53 {
54  namespace recognition
55  {
57  {
58  public:
59  class Pixel
60  {
61  public:
62  Pixel (int id): id_ (id) {}
63 
64  inline void
65  set_z1 (float z1) { z1_ = z1;}
66 
67  inline void
68  set_z2 (float z2) { z2_ = z2;}
69 
70  float
71  z1 () const { return z1_;}
72 
73  float
74  z2 () const { return z2_;}
75 
76  int
77  getId () const { return id_;}
78 
79  protected:
80  float z1_, z2_;
81  int id_;
82  };
83 
84  public:
85  class Set
86  {
87  public:
88  Set (int x, int y)
89  : nodes_ (compare_nodes_z), x_ (x), y_ (y)
90  {}
91 
92  static inline bool
94  {
95  return node1->getData()->get3dIdZ() < node2->getData()->get3dIdZ();
96  }
97 
98  inline void
99  insert (ORROctree::Node* leaf) { nodes_.insert(leaf);}
100 
101  inline std::set<ORROctree::Node*, bool(*)(ORROctree::Node*,ORROctree::Node*)>&
102  get_nodes (){ return nodes_;}
103 
104  inline int
105  get_x () const { return x_;}
106 
107  inline int
108  get_y () const { return y_;}
109 
110  protected:
111  std::set<ORROctree::Node*, bool(*)(ORROctree::Node*,ORROctree::Node*)> nodes_;
112  int x_, y_;
113  };
114 
115  public:
117  : pixels_(nullptr),
118  sets_(nullptr)
119  {}
120  virtual ~ORROctreeZProjection (){ this->clear();}
121 
122  void
123  build (const ORROctree& input, float eps_front, float eps_back);
124 
125  void
126  clear ();
127 
128  inline void
129  getPixelCoordinates (const float* p, int& x, int& y) const
130  {
131  x = static_cast<int> ((p[0] - bounds_[0])*inv_pixel_size_);
132  y = static_cast<int> ((p[1] - bounds_[2])*inv_pixel_size_);
133  }
134 
135  inline const Pixel*
136  getPixel (const float* p) const
137  {
138  int x, y; this->getPixelCoordinates (p, x, y);
139 
140  if ( x < 0 || x >= num_pixels_x_ ) return (nullptr);
141  if ( y < 0 || y >= num_pixels_y_ ) return (nullptr);
142 
143  return (pixels_[x][y]);
144  }
145 
146  inline Pixel*
147  getPixel (const float* p)
148  {
149  int x, y; this->getPixelCoordinates (p, x, y);
150 
151  if ( x < 0 || x >= num_pixels_x_ ) return (nullptr);
152  if ( y < 0 || y >= num_pixels_y_ ) return (nullptr);
153 
154  return (pixels_[x][y]);
155  }
156 
157  inline const std::set<ORROctree::Node*, bool(*)(ORROctree::Node*,ORROctree::Node*)>*
158  getOctreeNodes (const float* p) const
159  {
160  int x, y; this->getPixelCoordinates (p, x, y);
161 
162  if ( x < 0 || x >= num_pixels_x_ ) return (nullptr);
163  if ( y < 0 || y >= num_pixels_y_ ) return (nullptr);
164 
165  if ( !sets_[x][y] )
166  return nullptr;
167 
168  return (&sets_[x][y]->get_nodes ());
169  }
170 
171  inline std::list<Pixel*>&
172  getFullPixels (){ return full_pixels_;}
173 
174  inline const Pixel*
175  getPixel (int i, int j) const
176  {
177  return pixels_[i][j];
178  }
179 
180  inline float
181  getPixelSize () const
182  {
183  return pixel_size_;
184  }
185 
186  inline const float*
187  getBounds () const
188  {
189  return bounds_;
190  }
191 
192  /** \brief Get the width ('num_x') and height ('num_y') of the image. */
193  inline void
194  getNumberOfPixels (int& num_x, int& num_y) const
195  {
196  num_x = num_pixels_x_;
197  num_y = num_pixels_y_;
198  }
199 
200  protected:
201  float pixel_size_, inv_pixel_size_, bounds_[4], extent_x_, extent_y_;
202  int num_pixels_x_, num_pixels_y_, num_pixels_;
204  Set ***sets_;
205  std::list<Set*> full_sets_;
206  std::list<Pixel*> full_pixels_;
207  };
208  } // namespace recognition
209 } // namespace pcl
That's a very specialized and simple octree class.
Definition: orr_octree.h:69
static bool compare_nodes_z(ORROctree::Node *node1, ORROctree::Node *node2)
const Pixel * getPixel(int i, int j) const
void getPixelCoordinates(const float *p, int &x, int &y) const
void getNumberOfPixels(int &num_x, int &num_y) const
Get the width ('num_x') and height ('num_y') of the image.
void build(const ORROctree &input, float eps_front, float eps_back)
const Pixel * getPixel(const float *p) const
#define PCL_EXPORTS
Definition: pcl_macros.h:323