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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
00071 typedef OctreePointCloudOccupancy<PointT, LeafT, BranchT> SingleBuffer;
00072 typedef OctreePointCloudOccupancy<PointT, LeafT, BranchT> DoubleBuffer;
00073
00074
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
00101 adoptBoundingBoxToPoint (point_arg);
00102
00103
00104 genOctreeKeyforPoint (point_arg, key);
00105
00106
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
00119 if (isFinite(cloud_arg->points[i])) {
00120
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