octree_pointcloud_density.h

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#pragma once
 
#include <pcl/octree/octree_pointcloud.h>
 
namespace pcl {
namespace octree {
/** \brief @b Octree pointcloud density leaf node class
 * \note This class implements a leaf node that counts the amount of points which fall
 * into its voxel space.
 * \author Julius Kammerl (julius@kammerl.de)
 */
class OctreePointCloudDensityContainer : public OctreeContainerBase {
public:
  /** \brief Class initialization. */
  OctreePointCloudDensityContainer() = default;
 
  /** \brief Empty class deconstructor. */
  ~OctreePointCloudDensityContainer() override = default;
 
  /** \brief deep copy function */
  virtual OctreePointCloudDensityContainer*
  deepCopy() const
  {
    return (new OctreePointCloudDensityContainer(*this));
  }
 
  /** \brief Equal comparison operator
   * \param[in] other OctreePointCloudDensityContainer to compare with
   */
  bool
  operator==(const OctreeContainerBase& other) const override
  {
    const auto* otherContainer =
        dynamic_cast<const OctreePointCloudDensityContainer*>(&other);
 
    return (this->point_counter_ == otherContainer->point_counter_);
  }
 
  /** \brief Read input data. Only an internal counter is increased.
   */
  void
  addPointIndex(index_t) override
  {
    point_counter_++;
  }
 
  /** \brief Return point counter.
   * \return Amount of points
   */
  uindex_t
  getPointCounter()
  {
    return (point_counter_);
  }
 
  /** \brief Reset leaf node. */
  void
  reset() override
  {
    point_counter_ = 0;
  }
 
private:
  uindex_t point_counter_{0};
};
 
/** \brief @b Octree pointcloud density class
 * \note This class generate an octrees from a point cloud (zero-copy). Only the amount
 * of points that fall into the leaf node voxel are stored.
 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
 * box is automatically adjusted or can be predefined.
 * \tparam PointT type of point used in pointcloud
 * \ingroup octree
 * \author Julius Kammerl (julius@kammerl.de)
 */
template <typename PointT,
          typename LeafContainerT = OctreePointCloudDensityContainer,
          typename BranchContainerT = OctreeContainerEmpty>
class OctreePointCloudDensity
: public OctreePointCloud<PointT, LeafContainerT, BranchContainerT> {
public:
  /** \brief OctreePointCloudDensity class constructor.
   *  \param resolution_arg:  octree resolution at lowest octree level
   * */
  OctreePointCloudDensity(const double resolution_arg)
  : OctreePointCloud<PointT, LeafContainerT, BranchContainerT>(resolution_arg)
  {}
 
  /** \brief Empty class deconstructor. */
 
  ~OctreePointCloudDensity() override = default;
 
  /** \brief Get the amount of points within a leaf node voxel which is addressed by a
   * point
   * \param[in] point_arg: a point addressing a voxel \return amount of points
   * that fall within leaf node voxel
   */
  uindex_t
  getVoxelDensityAtPoint(const PointT& point_arg) const
  {
    uindex_t point_count = 0;
 
    OctreePointCloudDensityContainer* leaf = this->findLeafAtPoint(point_arg);
 
    if (leaf)
      point_count = leaf->getPointCounter();
 
    return (point_count);
  }
};
} // namespace octree
} // namespace pcl
 
// needed since OctreePointCloud is not instantiated with template parameters used above
#include <pcl/octree/impl/octree_pointcloud.hpp>
 
#define PCL_INSTANTIATE_OctreePointCloudDensity(T)                                     \
  template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;