octree_pointcloud_occupancy.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $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