octree_pointcloud_voxelcentroid.h

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#ifndef PCL_OCTREE_VOXELCENTROID_H
#define PCL_OCTREE_VOXELCENTROID_H

#include "octree_pointcloud.h"

#include <pcl/common/point_operators.h>
#include <pcl/point_types.h>
#include <pcl/register_point_struct.h>

namespace pcl
{
  namespace octree
  {
    /** \brief @b Octree pointcloud voxel centroid leaf node class
      * \note This class implements a leaf node that calculates the mean centroid of all points added this octree container.
      * \author Julius Kammerl (julius@kammerl.de)
      */
    template<typename PointT>
    class OctreePointCloudVoxelCentroidContainer : public OctreeContainerBase
    {
      public:
        /** \brief Class initialization. */
        OctreePointCloudVoxelCentroidContainer ()
        {
          this->reset();
        }

        /** \brief Empty class deconstructor. */
        virtual ~OctreePointCloudVoxelCentroidContainer ()
        {
        }

        /** \brief deep copy function */
        virtual OctreePointCloudVoxelCentroidContainer *
        deepCopy () const
        {
          return (new OctreePointCloudVoxelCentroidContainer (*this));
        }

        /** \brief Equal comparison operator - set to false
         */
         // param[in] OctreePointCloudVoxelCentroidContainer to compare with
        virtual bool operator==(const OctreeContainerBase&) const
        {
          return ( false );
        }

        /** \brief Add new point to voxel.
          * \param[in] new_point the new point to add  
          */
        void 
        addPoint (const PointT& new_point)
        {
          using namespace pcl::common;

          ++point_counter_;

          point_sum_ += new_point;
        }

        /** \brief Calculate centroid of voxel.
          * \param[out] centroid_arg the resultant centroid of the voxel 
          */
        void 
        getCentroid (PointT& centroid_arg) const
        {
          using namespace pcl::common;

          if (point_counter_)
          {
            centroid_arg = point_sum_;
            centroid_arg /= static_cast<float> (point_counter_);
          }
          else
          {
            centroid_arg *= 0.0f;
          }
        }

        /** \brief Reset leaf container. */
        virtual void 
        reset ()
        {
          using namespace pcl::common;

          point_counter_ = 0;
          point_sum_ *= 0.0f;
        }

      private:
        unsigned int point_counter_;
        PointT point_sum_;
    };

    /** \brief @b Octree pointcloud voxel centroid class
      * \note This class generate an octrees from a point cloud (zero-copy). It provides a vector of centroids for all occupied voxels.
      * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
      * \note
      * \note typename: PointT: type of point used in pointcloud
      *
      * \ingroup octree
      * \author Julius Kammerl (julius@kammerl.de)
      */
    template<typename PointT,
             typename LeafContainerT = OctreePointCloudVoxelCentroidContainer<PointT> ,
             typename BranchContainerT = OctreeContainerEmpty >
    class OctreePointCloudVoxelCentroid : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
    {
      public:
        typedef boost::shared_ptr<OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > Ptr;
        typedef boost::shared_ptr<const OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > ConstPtr;

        typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT> OctreeT;
        typedef typename OctreeT::LeafNode LeafNode;
        typedef typename OctreeT::BranchNode BranchNode;

        /** \brief OctreePointCloudVoxelCentroids class constructor.
          * \param[in] resolution_arg octree resolution at lowest octree level
          */
        OctreePointCloudVoxelCentroid (const double resolution_arg) :
          OctreePointCloud<PointT, LeafContainerT, BranchContainerT> (resolution_arg)
        {
        }

        /** \brief Empty class deconstructor. */
        virtual
        ~OctreePointCloudVoxelCentroid ()
        {
        }

        /** \brief Add DataT object to leaf node at octree key.
          * \param pointIdx_arg
          */
        virtual void 
        addPointIdx (const int pointIdx_arg)
        {
          OctreeKey key;

          assert (pointIdx_arg < static_cast<int> (this->input_->points.size ()));

          const PointT& point = this->input_->points[pointIdx_arg];

          // make sure bounding box is big enough
          this->adoptBoundingBoxToPoint (point);

          // generate key
          this->genOctreeKeyforPoint (point, key);

          // add point to octree at key
          LeafContainerT* container = this->createLeaf(key);
          container->addPoint (point);

        }

        /** \brief Get centroid for a single voxel addressed by a PointT point.
          * \param[in] point_arg point addressing a voxel in octree
          * \param[out] voxel_centroid_arg centroid is written to this PointT reference
          * \return "true" if voxel is found; "false" otherwise
          */
        bool
        getVoxelCentroidAtPoint (const PointT& point_arg, PointT& voxel_centroid_arg) const;

        /** \brief Get centroid for a single voxel addressed by a PointT point from input cloud.
          * \param[in] point_idx_arg point index from input cloud addressing a voxel in octree
          * \param[out] voxel_centroid_arg centroid is written to this PointT reference
          * \return "true" if voxel is found; "false" otherwise
          */
        inline bool
        getVoxelCentroidAtPoint (const int& point_idx_arg, PointT& voxel_centroid_arg) const
        {
          // get centroid at point
          return (this->getVoxelCentroidAtPoint (this->input_->points[point_idx_arg], voxel_centroid_arg));
        }

        /** \brief Get PointT vector of centroids for all occupied voxels.
          * \param[out] voxel_centroid_list_arg results are written to this vector of PointT elements
          * \return number of occupied voxels
          */
        size_t
        getVoxelCentroids (typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const;

        /** \brief Recursively explore the octree and output a PointT vector of centroids for all occupied voxels.
          * \param[in] branch_arg: current branch node
          * \param[in] key_arg: current key
          * \param[out] voxel_centroid_list_arg results are written to this vector of PointT elements
          */
        void
        getVoxelCentroidsRecursive (const BranchNode* branch_arg, 
                                    OctreeKey& key_arg, 
                                    typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const;

    };
  }
}

#include <pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp>

#endif