Point Cloud Library (PCL)  1.3.1
octree_pointcloud_density.h
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00001 /*
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00036  * $Id: octree_pointcloud_density.h 3017 2011-11-01 03:24:04Z rusu $
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00038 
00039 #ifndef OCTREE_DENSITY_H
00040 #define OCTREE_DENSITY_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 
00057 
00058     template<typename DataT>
00059       class OctreePointCloudDensityLeaf : public OctreeLeafAbstract<DataT>
00060       {
00061       public:
00063         OctreePointCloudDensityLeaf ()
00064         {
00065           pointCounter_ = 0;
00066         }
00067 
00069         ~OctreePointCloudDensityLeaf ()
00070         {
00071         }
00072 
00076         virtual void
00077         setData (const DataT& point_arg)
00078         {
00079           pointCounter_++;
00080         }
00081 
00085         virtual void
00086         getData (const DataT*& data_arg) const
00087         {
00088           data_arg = 0;
00089         }
00090 
00094         virtual void
00095         getData (std::vector<DataT>& dataVector_arg) const
00096         {
00097         }
00098 
00102         unsigned int
00103         getPointCounter ()
00104         {
00105           return pointCounter_;
00106         }
00107 
00109         virtual void
00110         reset ()
00111         {
00112           pointCounter_ = 0;
00113         }
00114 
00115       private:
00116         unsigned int pointCounter_;
00117 
00118       };
00119 
00121 
00129 
00130     template<typename PointT, typename LeafT = OctreePointCloudDensityLeaf<int> , typename OctreeT = OctreeBase<int,
00131         LeafT> >
00132       class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafT, OctreeT>
00133       {
00134 
00135       public:
00136         // public typedefs for single/double buffering
00137         typedef OctreePointCloudDensity<PointT, LeafT, OctreeBase<int, LeafT> > SingleBuffer;
00138         typedef OctreePointCloudDensity<PointT, LeafT, Octree2BufBase<int, LeafT> > DoubleBuffer;
00139 
00143         OctreePointCloudDensity (const double resolution_arg) :
00144           OctreePointCloud<PointT, LeafT, OctreeT> (resolution_arg)
00145         {
00146         }
00147 
00149         virtual
00150         ~OctreePointCloudDensity ()
00151         {
00152         }
00153 
00158         unsigned int
00159         getVoxelDensityAtPoint (const PointT& point_arg) const
00160         {
00161           unsigned int pointCount = 0;
00162 
00163           OctreePointCloudDensityLeaf<int>* leaf = this->findLeafAtPoint (point_arg);
00164 
00165           if (leaf)
00166           {
00167             pointCount = leaf->getPointCounter ();
00168           }
00169 
00170           return pointCount;
00171         }
00172 
00173       };
00174   }
00175 
00176 }
00177 
00178 #define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;
00179 
00180 #define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithDensityLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreePointCloudDensityLeaf<int> , pcl::octree::OctreeBase<int, pcl::octree::OctreePointCloudDensityLeaf<int> > >;
00181 #define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithDensityLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreePointCloudDensityLeaf<int> , pcl::octree::Octree2BufBase<int, pcl::octree::OctreePointCloudDensityLeaf<int> > >;
00182 
00183 
00184 #endif
00185 
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