Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: octree_pointcloud_voxelcentroid.h 3017 2011-11-01 03:24:04Z rusu $ 00037 */ 00038 00039 #ifndef OCTREE_VOXELCENTROID_H 00040 #define OCTREE_VOXELCENTROID_H 00041 00042 #include "octree_pointcloud.h" 00043 00044 #include "octree_base.h" 00045 #include "octree2buf_base.h" 00046 00047 namespace pcl 00048 { 00049 namespace octree 00050 { 00051 00053 00061 00062 template<typename PointT, typename LeafT = OctreeLeafDataTVector<int> , typename OctreeT = OctreeBase<int, LeafT> > 00063 class OctreePointCloudVoxelCentroid : public OctreePointCloud<PointT, LeafT, OctreeT> 00064 { 00065 00066 public: 00067 // public typedefs for single/double buffering 00068 typedef OctreePointCloudVoxelCentroid<PointT, LeafT, OctreeBase<int, LeafT> > SingleBuffer; 00069 typedef OctreePointCloudVoxelCentroid<PointT, LeafT, Octree2BufBase<int, LeafT> > DoubleBuffer; 00070 00074 OctreePointCloudVoxelCentroid (const double resolution_arg) : 00075 OctreePointCloud<PointT, LeafT, OctreeT> (resolution_arg) 00076 { 00077 } 00078 00080 virtual 00081 ~OctreePointCloudVoxelCentroid () 00082 { 00083 } 00084 00089 unsigned int 00090 getVoxelCentroids (std::vector<PointT, Eigen::aligned_allocator<PointT> > &voxelCentroidList_arg) 00091 { 00092 00093 size_t i; 00094 unsigned int pointCounter; 00095 typename OctreePointCloud<PointT, LeafT, OctreeT>::OctreeKey keyC, keyP; 00096 PointT meanPoint; 00097 PointT idxPoint; 00098 00099 std::vector<int> indicesVector; 00100 00101 voxelCentroidList_arg.clear(); 00102 voxelCentroidList_arg.reserve(this->leafCount_); 00103 00104 // serialize leafs - this returns a list of point indices. Points indices from the same voxel are locates next to each other within this vector. 00105 this->serializeLeafs (indicesVector); 00106 00107 // initializing 00108 keyP.x = keyP.y = keyP.z = std::numeric_limits<unsigned int>::max (); 00109 meanPoint.x = meanPoint.y = meanPoint.z = 0.0; 00110 pointCounter = 0; 00111 00112 // iterate over all point indices 00113 for (i = 0; i < indicesVector.size (); i++) 00114 { 00115 idxPoint = this->input_->points[indicesVector[i]]; 00116 00117 // get octree key for point (key specifies octree voxel) 00118 this->genOctreeKeyforPoint (idxPoint, keyC); 00119 00120 if (keyC == keyP) 00121 { 00122 // key addresses same voxel - add point 00123 meanPoint.x += idxPoint.x; 00124 meanPoint.y += idxPoint.y; 00125 meanPoint.z += idxPoint.z; 00126 00127 pointCounter++; 00128 } 00129 else 00130 { 00131 // voxel key did change - calculate centroid and push it to result vector 00132 if (pointCounter > 0) 00133 { 00134 meanPoint.x /= (float)pointCounter; 00135 meanPoint.y /= (float)pointCounter; 00136 meanPoint.z /= (float)pointCounter; 00137 00138 voxelCentroidList_arg.push_back (meanPoint); 00139 } 00140 00141 // reset centroid to current input point 00142 meanPoint.x = idxPoint.x; 00143 meanPoint.y = idxPoint.y; 00144 meanPoint.z = idxPoint.z; 00145 pointCounter = 1; 00146 00147 keyP = keyC; 00148 } 00149 } 00150 00151 // push last centroid to result vector if necessary 00152 if (pointCounter > 0) 00153 { 00154 meanPoint.x /= (float)pointCounter; 00155 meanPoint.y /= (float)pointCounter; 00156 meanPoint.z /= (float)pointCounter; 00157 00158 voxelCentroidList_arg.push_back (meanPoint); 00159 } 00160 00161 // return size of centroid vector 00162 return voxelCentroidList_arg.size (); 00163 } 00164 00170 bool 00171 getVoxelCentroidAtPoint (const PointT& point_arg, PointT& voxelCentroid_arg) 00172 { 00173 00174 size_t i; 00175 unsigned int pointCounter; 00176 std::vector<int> indicesVector; 00177 PointT meanPoint; 00178 PointT idxPoint; 00179 00180 bool bResult; 00181 00182 // get all point indixes from voxel at point point_arg 00183 bResult = this->voxelSearch (point_arg, indicesVector); 00184 00185 if (bResult) 00186 { 00187 meanPoint.x = meanPoint.y = meanPoint.z = 0.0; 00188 pointCounter = 0; 00189 00190 // iterate over all point indices 00191 for (i = 0; i < indicesVector.size (); i++) 00192 { 00193 idxPoint = this->input_->points[indicesVector[i]]; 00194 00195 meanPoint.x += idxPoint.x; 00196 meanPoint.y += idxPoint.y; 00197 meanPoint.z += idxPoint.z; 00198 00199 pointCounter++; 00200 } 00201 00202 // calculate centroid 00203 voxelCentroid_arg.x = meanPoint.x / (float)pointCounter; 00204 voxelCentroid_arg.y = meanPoint.y / (float)pointCounter; 00205 voxelCentroid_arg.z = meanPoint.z / (float)pointCounter; 00206 } 00207 00208 return bResult; 00209 } 00210 00216 inline bool 00217 getVoxelCentroidAtPoint (const int& pointIdx_arg, PointT& voxelCentroid_arg) 00218 { 00219 00220 // retrieve point from input cloud 00221 const PointT& point = this->input_->points[pointIdx_arg]; 00222 00223 // get centroid at point 00224 return this->getVoxelCentroidAtPoint (point, voxelCentroid_arg); 00225 00226 } 00227 00228 }; 00229 00230 } 00231 00232 } 00233 00234 #define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>; 00235 00236 #endif 00237