Point Cloud Library (PCL)  1.14.1-dev
voxel_structure.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2012, 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  *
37  */
38 
39 
40 #ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_HPP_
41 #define PCL_RECOGNITION_VOXEL_STRUCTURE_HPP_
42 
43 
44 namespace pcl
45 {
46 
47 namespace recognition
48 {
49 
50 template<class T, typename REAL> inline void
51 VoxelStructure<T,REAL>::build (const REAL bounds[6], int num_of_voxels[3])
52 {
53  this->clear();
54 
55  // Copy the bounds
56  bounds_[0] = bounds[0];
57  bounds_[1] = bounds[1];
58  bounds_[2] = bounds[2];
59  bounds_[3] = bounds[3];
60  bounds_[4] = bounds[4];
61  bounds_[5] = bounds[5];
62 
63  num_of_voxels_[0] = num_of_voxels[0];
64  num_of_voxels_[1] = num_of_voxels[1];
65  num_of_voxels_[2] = num_of_voxels[2];
66  num_of_voxels_xy_plane_ = num_of_voxels[0]*num_of_voxels[1];
67  total_num_of_voxels_ = num_of_voxels_xy_plane_*num_of_voxels[2];
68 
69  // Allocate memory for the voxels
70  voxels_ = new T[total_num_of_voxels_];
71 
72  // Compute the spacing between the voxels in x, y and z direction
73  spacing_[0] = (bounds[1]-bounds[0])/static_cast<REAL> (num_of_voxels[0]);
74  spacing_[1] = (bounds[3]-bounds[2])/static_cast<REAL> (num_of_voxels[1]);
75  spacing_[2] = (bounds[5]-bounds[4])/static_cast<REAL> (num_of_voxels[2]);
76 
77  // Compute the center of the voxel with integer coordinates (0, 0, 0)
78  min_center_[0] = bounds_[0] + static_cast<REAL> (0.5)*spacing_[0];
79  min_center_[1] = bounds_[2] + static_cast<REAL> (0.5)*spacing_[1];
80  min_center_[2] = bounds_[4] + static_cast<REAL> (0.5)*spacing_[2];
81 }
82 
83 
84 template<class T, typename REAL> inline T*
85 VoxelStructure<T,REAL>::getVoxel (const REAL p[3])
86 {
87  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] )
88  return nullptr;
89 
90  int x = static_cast<int> ((p[0] - bounds_[0])/spacing_[0]);
91  int y = static_cast<int> ((p[1] - bounds_[2])/spacing_[1]);
92  int z = static_cast<int> ((p[2] - bounds_[4])/spacing_[2]);
93 
94  return &voxels_[z*num_of_voxels_xy_plane_ + y*num_of_voxels_[0] + x];
95 }
96 
97 
98 template<class T, typename REAL> inline T*
99 VoxelStructure<T,REAL>::getVoxel (int x, int y, int z) const
100 {
101  if ( x < 0 || x >= num_of_voxels_[0] ) return nullptr;
102  if ( y < 0 || y >= num_of_voxels_[1] ) return nullptr;
103  if ( z < 0 || z >= num_of_voxels_[2] ) return nullptr;
104 
105  return &voxels_[z*num_of_voxels_xy_plane_ + y*num_of_voxels_[0] + x];
106 }
107 
108 
109 template<class T, typename REAL> inline int
110 VoxelStructure<T,REAL>::getNeighbors (const REAL* p, T **neighs) const
111 {
112  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] )
113  return 0;
114 
115  const int x = static_cast<int> ((p[0] - bounds_[0])/spacing_[0]);
116  const int y = static_cast<int> ((p[1] - bounds_[2])/spacing_[1]);
117  const int z = static_cast<int> ((p[2] - bounds_[4])/spacing_[2]);
118 
119  const int x_m1 = x-1, x_p1 = x+1;
120  const int y_m1 = y-1, y_p1 = y+1;
121  const int z_m1 = z-1, z_p1 = z+1;
122 
123  T* voxel;
124  int num_neighs = 0;
125 
126  voxel = this->getVoxel (x_p1, y_p1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
127  voxel = this->getVoxel (x_p1, y_p1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
128  voxel = this->getVoxel (x_p1, y_p1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
129  voxel = this->getVoxel (x_p1, y , z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
130  voxel = this->getVoxel (x_p1, y , z ); if ( voxel ) neighs[num_neighs++] = voxel;
131  voxel = this->getVoxel (x_p1, y , z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
132  voxel = this->getVoxel (x_p1, y_m1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
133  voxel = this->getVoxel (x_p1, y_m1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
134  voxel = this->getVoxel (x_p1, y_m1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
135 
136  voxel = this->getVoxel (x , y_p1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
137  voxel = this->getVoxel (x , y_p1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
138  voxel = this->getVoxel (x , y_p1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
139  voxel = this->getVoxel (x , y , z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
140  voxel = this->getVoxel (x , y , z ); if ( voxel ) neighs[num_neighs++] = voxel;
141  voxel = this->getVoxel (x , y , z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
142  voxel = this->getVoxel (x , y_m1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
143  voxel = this->getVoxel (x , y_m1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
144  voxel = this->getVoxel (x , y_m1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
145 
146  voxel = this->getVoxel (x_m1, y_p1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
147  voxel = this->getVoxel (x_m1, y_p1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
148  voxel = this->getVoxel (x_m1, y_p1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
149  voxel = this->getVoxel (x_m1, y , z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
150  voxel = this->getVoxel (x_m1, y , z ); if ( voxel ) neighs[num_neighs++] = voxel;
151  voxel = this->getVoxel (x_m1, y , z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
152  voxel = this->getVoxel (x_m1, y_m1, z_p1); if ( voxel ) neighs[num_neighs++] = voxel;
153  voxel = this->getVoxel (x_m1, y_m1, z ); if ( voxel ) neighs[num_neighs++] = voxel;
154  voxel = this->getVoxel (x_m1, y_m1, z_m1); if ( voxel ) neighs[num_neighs++] = voxel;
155 
156  return num_neighs;
157 }
158 
159 } // namespace recognition
160 } // namespace pcl
161 
162 #endif // PCL_RECOGNITION_VOXEL_STRUCTURE_HPP_
163 
pcl::recognition::VoxelStructure::build
void build(const REAL bounds[6], int num_of_voxels[3])
Call this method before using an instance of this class.
Definition: voxel_structure.hpp:51
pcl::recognition::VoxelStructure::getVoxel
T * getVoxel(const REAL p[3])
Returns a pointer to the voxel which contains p or NULL if p is not inside the structure.
Definition: voxel_structure.hpp:85
pcl::recognition::VoxelStructure::getNeighbors
int getNeighbors(const REAL *p, T **neighs) const
Saves pointers to the voxels which are neighbors of the voxels which contains 'p'.
Definition: voxel_structure.hpp:110