octree_pointcloud_density.h

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#ifndef PCL_OCTREE_DENSITY_H
#define PCL_OCTREE_DENSITY_H

#include "octree_pointcloud.h"

namespace pcl
{
  namespace octree
  {
    class OctreePointCloudDensityContainer : public OctreeContainerBase
    {
      public:
        OctreePointCloudDensityContainer () : point_counter_ (0)
        {
        }

        virtual ~OctreePointCloudDensityContainer ()
        {
        }

        virtual OctreePointCloudDensityContainer *
        deepCopy () const
        {
          return (new OctreePointCloudDensityContainer (*this));
        }

        virtual bool operator==(const OctreeContainerBase& other) const
        {
          const OctreePointCloudDensityContainer* otherContainer =
              dynamic_cast<const OctreePointCloudDensityContainer*>(&other);

          return (this->point_counter_==otherContainer->point_counter_);
        }

        void
        addPointIndex (int)
        {
          point_counter_++;
        }

        unsigned int
        getPointCounter ()
        {
          return (point_counter_);
        }

        virtual void
        reset ()
        {
          point_counter_ = 0;
        }

      private:
        unsigned int point_counter_;

    };

    template<typename PointT, typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty >
    class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
    {
      public:

        OctreePointCloudDensity (const double resolution_arg) :
        OctreePointCloud<PointT, LeafContainerT, BranchContainerT> (resolution_arg)
        {
        }

        virtual
        ~OctreePointCloudDensity ()
        {
        }

        unsigned int
        getVoxelDensityAtPoint (const PointT& point_arg) const
        {
          unsigned int point_count = 0;

          OctreePointCloudDensityContainer* leaf = this->findLeafAtPoint (point_arg);

          if (leaf)
            point_count = leaf->getPointCounter ();

          return (point_count);
        }
    };
  }
}

#define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;

#endif