octree_pointcloud_occupancy.h
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00001 /*
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00036  * $Id: octree_pointcloud_occupancy.h 6119 2012-07-03 18:50:04Z aichim $
00037  */
00038 
00039 #ifndef OCTREE_OCCUPANCY_H
00040 #define OCTREE_OCCUPANCY_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   {
00051 
00053 
00061 
00062     template<typename PointT, typename LeafT = OctreeContainerEmpty<int>,
00063         typename BranchT = OctreeContainerEmpty<int> >
00064     class OctreePointCloudOccupancy : public OctreePointCloud<PointT, LeafT,
00065         BranchT, OctreeBase<int, LeafT, BranchT> >
00066 
00067     {
00068 
00069       public:
00070         // public typedefs for single/double buffering
00071         typedef OctreePointCloudOccupancy<PointT, LeafT, BranchT> SingleBuffer;
00072         typedef OctreePointCloudOccupancy<PointT, LeafT, BranchT> DoubleBuffer;
00073 
00074         // public point cloud typedefs
00075         typedef typename OctreePointCloud<PointT, LeafT, BranchT>::PointCloud PointCloud;
00076         typedef typename OctreePointCloud<PointT, LeafT, BranchT>::PointCloudPtr PointCloudPtr;
00077         typedef typename OctreePointCloud<PointT, LeafT, BranchT>::PointCloudConstPtr PointCloudConstPtr;
00078 
00082         OctreePointCloudOccupancy (const double resolution_arg) :
00083             OctreePointCloud<PointT, LeafT, BranchT,
00084                 OctreeBase<int, LeafT, BranchT> > (resolution_arg)
00085         {
00086         }
00087 
00089         virtual
00090         ~OctreePointCloudOccupancy ()
00091         {
00092         }
00093 
00097         void setOccupiedVoxelAtPoint( const PointT& point_arg ) {
00098                 OctreeKey key;
00099 
00100             // make sure bounding box is big enough
00101             adoptBoundingBoxToPoint (point_arg);
00102 
00103             // generate key
00104             genOctreeKeyforPoint (point_arg, key);
00105 
00106             // add point to octree at key
00107             this->add (key, 0);
00108         }
00109 
00113         void setOccupiedVoxelsAtPointsFromCloud( PointCloudPtr cloud_arg ) {
00114             size_t i;
00115 
00116             for (i = 0; i < cloud_arg->points.size (); i++)
00117             {
00118               // check for NaNs
00119               if (isFinite(cloud_arg->points[i])) {
00120                 // set voxel at point
00121                 this->setOccupiedVoxelAtPoint (cloud_arg->points[i]);
00122               }
00123             }
00124         }
00125 
00126       };
00127   }
00128 
00129 }
00130 
00131 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
00132 
00133 #endif
00134 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:57