octree_pointcloud_occupancy.h

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 * $Id: octree_pointcloud_occupancy.h 6119 2012-07-03 18:50:04Z aichim $
 */

#ifndef OCTREE_OCCUPANCY_H
#define OCTREE_OCCUPANCY_H

#include "octree_pointcloud.h"

#include "octree_base.h"
#include "octree2buf_base.h"

namespace pcl
{
  namespace octree
  {



    template<typename PointT, typename LeafT = OctreeContainerEmpty<int>,
        typename BranchT = OctreeContainerEmpty<int> >
    class OctreePointCloudOccupancy : public OctreePointCloud<PointT, LeafT,
        BranchT, OctreeBase<int, LeafT, BranchT> >

    {

      public:
        // public typedefs for single/double buffering
        typedef OctreePointCloudOccupancy<PointT, LeafT, BranchT> SingleBuffer;
        typedef OctreePointCloudOccupancy<PointT, LeafT, BranchT> DoubleBuffer;

        // public point cloud typedefs
        typedef typename OctreePointCloud<PointT, LeafT, BranchT>::PointCloud PointCloud;
        typedef typename OctreePointCloud<PointT, LeafT, BranchT>::PointCloudPtr PointCloudPtr;
        typedef typename OctreePointCloud<PointT, LeafT, BranchT>::PointCloudConstPtr PointCloudConstPtr;

        OctreePointCloudOccupancy (const double resolution_arg) :
            OctreePointCloud<PointT, LeafT, BranchT,
                OctreeBase<int, LeafT, BranchT> > (resolution_arg)
        {
        }

        virtual
        ~OctreePointCloudOccupancy ()
        {
        }

        void setOccupiedVoxelAtPoint( const PointT& point_arg ) {
          OctreeKey key;

            // make sure bounding box is big enough
            adoptBoundingBoxToPoint (point_arg);

            // generate key
            genOctreeKeyforPoint (point_arg, key);

            // add point to octree at key
            this->add (key, 0);
        }

        void setOccupiedVoxelsAtPointsFromCloud( PointCloudPtr cloud_arg ) {
            size_t i;

            for (i = 0; i < cloud_arg->points.size (); i++)
            {
              // check for NaNs
              if (isFinite(cloud_arg->points[i])) {
                // set voxel at point
                this->setOccupiedVoxelAtPoint (cloud_arg->points[i]);
              }
            }
        }

      };
  }

}

#define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;

#endif