00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #ifndef PCL18_BACKPORTS_CENTROID_H 00040 #define PCL18_BACKPORTS_CENTROID_H 00041 00042 #include <pcl/common/centroid.h> 00043 00044 #ifdef BACKPORT_PCL_CENTROID 00045 00046 // System has old PCL; backport CentroidPoint class from pcl-1.8 00047 00048 #include <vector> 00049 00050 #include <pcl/point_cloud.h> 00051 #include <pcl/point_traits.h> 00052 #include <pcl/PointIndices.h> 00053 #include <pcl/cloud_iterator.h> 00054 00055 #include <pcl18_backports/accumulators.h> 00056 00057 namespace pcl 00058 { 00120 template <typename PointT> 00121 class CentroidPoint 00122 { 00123 public: 00124 CentroidPoint() = default; 00125 00130 void add(const PointT& point) 00131 { 00132 // Invoke add point on each accumulator 00133 boost::fusion::for_each(accumulators_, detail::AddPoint<PointT>(point)); 00134 ++num_points_; 00135 } 00136 00146 template <typename PointOutT> 00147 void get(PointOutT& point) const 00148 { 00149 if (num_points_ != 0) 00150 { 00151 // Filter accumulators so that only those that are compatible with 00152 // both PointT and requested point type remain 00153 auto ca = boost::fusion::filter_if<detail::IsAccumulatorCompatible<PointT, PointOutT>>(accumulators_); 00154 // Invoke get point on each accumulator in filtered list 00155 boost::fusion::for_each(ca, detail::GetPoint<PointOutT>(point, num_points_)); 00156 } 00157 } 00158 00160 size_t getSize() const 00161 { 00162 return (num_points_); 00163 } 00164 00165 EIGEN_MAKE_ALIGNED_OPERATOR_NEW 00166 00167 private: 00168 size_t num_points_ = 0; 00169 typename pcl::detail::Accumulators<PointT>::type accumulators_; 00170 }; 00171 00172 } // namespace pcl 00173 00174 #endif // BACKPORT_PCL_CENTROID 00175 #endif // PCL18_BACKPORTS_CENTROID_H