octree_pointcloud_voxelcentroid.h

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#ifndef PCL_OCTREE_VOXELCENTROID_H
#define PCL_OCTREE_VOXELCENTROID_H

#include "octree_pointcloud.h"

#include <pcl/common/point_operators.h>
#include <pcl/point_types.h>
#include <pcl/register_point_struct.h>

namespace pcl
{
  namespace octree
  {
    template<typename PointT>
    class OctreePointCloudVoxelCentroidContainer : public OctreeContainerBase
    {
      public:
        OctreePointCloudVoxelCentroidContainer ()
        {
          this->reset();
        }

        virtual ~OctreePointCloudVoxelCentroidContainer ()
        {
        }

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

        virtual bool operator==(const OctreeContainerBase&) const
        {
          return ( false );
        }

        void 
        addPoint (const PointT& new_point)
        {
          using namespace pcl::common;

          ++point_counter_;

          point_sum_ += new_point;
        }

        void 
        getCentroid (PointT& centroid_arg) const
        {
          using namespace pcl::common;

          if (point_counter_)
          {
            centroid_arg = point_sum_;
            centroid_arg /= static_cast<float> (point_counter_);
          }
          else
          {
            centroid_arg *= 0.0f;
          }
        }

        virtual void 
        reset ()
        {
          using namespace pcl::common;

          point_counter_ = 0;
          point_sum_ *= 0.0f;
        }

      private:
        unsigned int point_counter_;
        PointT point_sum_;
    };

    template<typename PointT,
             typename LeafContainerT = OctreePointCloudVoxelCentroidContainer<PointT> ,
             typename BranchContainerT = OctreeContainerEmpty >
    class OctreePointCloudVoxelCentroid : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
    {
      public:
        typedef boost::shared_ptr<OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > Ptr;
        typedef boost::shared_ptr<const OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > ConstPtr;

        typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT> OctreeT;
        typedef typename OctreeT::LeafNode LeafNode;
        typedef typename OctreeT::BranchNode BranchNode;

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

        virtual
        ~OctreePointCloudVoxelCentroid ()
        {
        }

        virtual void 
        addPointIdx (const int pointIdx_arg)
        {
          OctreeKey key;

          assert (pointIdx_arg < static_cast<int> (this->input_->points.size ()));

          const PointT& point = this->input_->points[pointIdx_arg];

          // make sure bounding box is big enough
          this->adoptBoundingBoxToPoint (point);

          // generate key
          this->genOctreeKeyforPoint (point, key);

          // add point to octree at key
          LeafContainerT* container = this->createLeaf(key);
          container->addPoint (point);

        }

        bool
        getVoxelCentroidAtPoint (const PointT& point_arg, PointT& voxel_centroid_arg) const;

        inline bool
        getVoxelCentroidAtPoint (const int& point_idx_arg, PointT& voxel_centroid_arg) const
        {
          // get centroid at point
          return (this->getVoxelCentroidAtPoint (this->input_->points[point_idx_arg], voxel_centroid_arg));
        }

        size_t
        getVoxelCentroids (typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const;

        void
        getVoxelCentroidsRecursive (const BranchNode* branch_arg, 
                                    OctreeKey& key_arg, 
                                    typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const;

    };
  }
}

#include <pcl/octree/impl/octree_pointcloud_voxelcentroid.hpp>

#endif