00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: octree_pointcloud_density.h 6119 2012-07-03 18:50:04Z aichim $ 00037 */ 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 { 00055 template<typename DataT> 00056 class OctreePointCloudDensityContainer 00057 { 00058 public: 00060 OctreePointCloudDensityContainer () : pointCounter_ (0) 00061 { 00062 } 00063 00065 virtual ~OctreePointCloudDensityContainer () 00066 { 00067 } 00068 00070 virtual OctreePointCloudDensityContainer * 00071 deepCopy () const 00072 { 00073 return (new OctreePointCloudDensityContainer (*this)); 00074 } 00075 00079 size_t 00080 getSize () const 00081 { 00082 return 0; 00083 } 00084 00087 void 00088 setData (const DataT&) 00089 { 00090 pointCounter_++; 00091 } 00092 00096 void 00097 getData (const DataT*& data_arg) const 00098 { 00099 data_arg = 0; 00100 } 00101 00104 void 00105 getData (std::vector<DataT>&) const 00106 { 00107 } 00108 00112 unsigned int 00113 getPointCounter () 00114 { 00115 return (pointCounter_); 00116 } 00117 00119 void 00120 reset () 00121 { 00122 pointCounter_ = 0; 00123 } 00124 00125 private: 00126 unsigned int pointCounter_; 00127 00128 }; 00129 00138 template<typename PointT, typename LeafT = OctreePointCloudDensityContainer<int> , typename BranchT = OctreeContainerEmpty<int> > 00139 class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafT, BranchT> 00140 { 00141 public: 00142 00146 OctreePointCloudDensity (const double resolution_arg) : 00147 OctreePointCloud<PointT, LeafT, BranchT> (resolution_arg) 00148 { 00149 } 00150 00152 virtual 00153 ~OctreePointCloudDensity () 00154 { 00155 } 00156 00161 unsigned int 00162 getVoxelDensityAtPoint (const PointT& point_arg) const 00163 { 00164 unsigned int pointCount = 0; 00165 00166 OctreePointCloudDensityContainer<int>* leaf = this->findLeafAtPoint (point_arg); 00167 00168 if (leaf) 00169 pointCount = leaf->getPointCounter (); 00170 00171 return (pointCount); 00172 } 00173 }; 00174 } 00175 } 00176 00177 #define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>; 00178 00179 #endif 00180