octree_pointcloud.h

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#ifndef PCL_OCTREE_POINTCLOUD_H
#define PCL_OCTREE_POINTCLOUD_H

#include "octree_base.h"
//#include "octree2buf_base.h"

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <queue>
#include <vector>
#include <algorithm>
#include <iostream>

namespace pcl
{
  namespace octree
  {



    template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices,
        typename BranchContainerT = OctreeContainerEmpty,
        typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT> >

    class OctreePointCloud : public OctreeT
    {
        // iterators are friends
        friend class OctreeIteratorBase<OctreeT> ;
        friend class OctreeDepthFirstIterator<OctreeT> ;
        friend class OctreeBreadthFirstIterator<OctreeT> ;
        friend class OctreeLeafNodeIterator<OctreeT> ;

      public:
        typedef OctreeT Base;

        typedef typename OctreeT::LeafNode LeafNode;
        typedef typename OctreeT::BranchNode BranchNode;

        // Octree default iterators
        typedef OctreeDepthFirstIterator<OctreeT> Iterator;
        typedef const OctreeDepthFirstIterator<OctreeT> ConstIterator;

        // Octree leaf node iterators
        typedef OctreeLeafNodeIterator<OctreeT> LeafNodeIterator;
        typedef const OctreeLeafNodeIterator<OctreeT> ConstLeafNodeIterator;

        // Octree depth-first iterators
        typedef OctreeDepthFirstIterator<OctreeT> DepthFirstIterator;
        typedef const OctreeDepthFirstIterator<OctreeT> ConstDepthFirstIterator;

        // Octree breadth-first iterators
        typedef OctreeBreadthFirstIterator<OctreeT> BreadthFirstIterator;
        typedef const OctreeBreadthFirstIterator<OctreeT> ConstBreadthFirstIterator;

        OctreePointCloud (const double resolution_arg);

        virtual
        ~OctreePointCloud ();

        // public typedefs
        typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
        typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;

        typedef pcl::PointCloud<PointT> PointCloud;
        typedef boost::shared_ptr<PointCloud> PointCloudPtr;
        typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

        // public typedefs for single/double buffering
        typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT> > SingleBuffer;
       // typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT> > DoubleBuffer;

        // Boost shared pointers
        typedef boost::shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > Ptr;
        typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > ConstPtr;

        // Eigen aligned allocator
        typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > AlignedPointTVector;
        typedef std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ> > AlignedPointXYZVector;

        inline void setInputCloud (const PointCloudConstPtr &cloud_arg,
            const IndicesConstPtr &indices_arg = IndicesConstPtr ())
        {
          input_ = cloud_arg;
          indices_ = indices_arg;
        }

        inline IndicesConstPtr const getIndices () const
        {
          return (indices_);
        }

        inline PointCloudConstPtr getInputCloud () const
        {
          return (input_);
        }

        inline void setEpsilon (double eps)
        {
          epsilon_ = eps;
        }

        inline double getEpsilon () const
        {
          return (epsilon_);
        }

        inline void setResolution (double resolution_arg)
        {
          // octree needs to be empty to change its resolution
          assert( this->leaf_count_ == 0);

          resolution_ = resolution_arg;

          getKeyBitSize ();
        }

        inline double getResolution () const
        {
          return (resolution_);
        }

        inline unsigned int getTreeDepth () const
        {
          return this->octree_depth_;
        }

        void
        addPointsFromInputCloud ();

        void
        addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg);

        void
        addPointToCloud (const PointT& point_arg, PointCloudPtr cloud_arg);

        void
        addPointToCloud (const PointT& point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg);

        bool
        isVoxelOccupiedAtPoint (const PointT& point_arg) const;

        void deleteTree ()
        {
          // reset bounding box
          min_x_ = min_y_ = max_y_ = min_z_ = max_z_ = 0;
          this->bounding_box_defined_ = false;

          OctreeT::deleteTree ();
        }

        bool
        isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const;

        bool
        isVoxelOccupiedAtPoint (const int& point_idx_arg) const;

        int
        getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const;

        int
        getApproxIntersectedVoxelCentersBySegment (
            const Eigen::Vector3f& origin, const Eigen::Vector3f& end,
            AlignedPointTVector &voxel_center_list, float precision = 0.2);

        void
        deleteVoxelAtPoint (const PointT& point_arg);

        void
        deleteVoxelAtPoint (const int& point_idx_arg);

        // Bounding box methods

        void
        defineBoundingBox ();

        void
        defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg,
                           const double max_x_arg, const double max_y_arg, const double max_z_arg);

        void
        defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg);

        void
        defineBoundingBox (const double cubeLen_arg);

        void
        getBoundingBox (double& min_x_arg, double& min_y_arg, double& min_z_arg,
                        double& max_x_arg, double& max_y_arg, double& max_z_arg) const;

        double
        getVoxelSquaredDiameter (unsigned int tree_depth_arg) const;

        inline double
        getVoxelSquaredDiameter () const
        {
          return getVoxelSquaredDiameter (this->octree_depth_);
        }

        double
        getVoxelSquaredSideLen (unsigned int tree_depth_arg) const;

        inline double getVoxelSquaredSideLen () const
        {
          return getVoxelSquaredSideLen (this->octree_depth_);
        }

        inline void
        getVoxelBounds (OctreeIteratorBase<OctreeT>& iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
        {
          this->genVoxelBoundsFromOctreeKey (iterator.getCurrentOctreeKey (),
              iterator.getCurrentOctreeDepth (), min_pt, max_pt);
        }

        inline void
        enableDynamicDepth ( size_t maxObjsPerLeaf )
        {
          assert(this->leaf_count_==0);
          max_objs_per_leaf_ = maxObjsPerLeaf;

          this->dynamic_depth_enabled_ = static_cast<bool> (max_objs_per_leaf_>0);
        }


      protected:

        virtual void
        addPointIdx (const int point_idx_arg);

        void
        expandLeafNode (LeafNode* leaf_node, BranchNode* parent_branch, unsigned char child_idx, unsigned int depth_mask);

        const PointT&
        getPointByIndex (const unsigned int index_arg) const;

        LeafContainerT*
        findLeafAtPoint (const PointT& point_arg) const
        {
          OctreeKey key;

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

          return (this->findLeaf (key));
        }

        // Protected octree methods based on octree keys

        void
        getKeyBitSize ();

        void
        adoptBoundingBoxToPoint (const PointT& point_idx_arg);

        inline bool isPointWithinBoundingBox (const PointT& point_idx_arg) const
        {
          return (! ( (point_idx_arg.x < min_x_) || (point_idx_arg.y < min_y_)
                   || (point_idx_arg.z < min_z_) || (point_idx_arg.x >= max_x_)
                   || (point_idx_arg.y >= max_y_) || (point_idx_arg.z >= max_z_)));
        }

        void
        genOctreeKeyforPoint (const PointT & point_arg,
            OctreeKey &key_arg) const;

        void
        genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg,
                              OctreeKey & key_arg) const;

        virtual bool
        genOctreeKeyForDataT (const int& data_arg, OctreeKey & key_arg) const;

        void
        genLeafNodeCenterFromOctreeKey (const OctreeKey & key_arg,
            PointT& point_arg) const;

        void
        genVoxelCenterFromOctreeKey (const OctreeKey & key_arg,
            unsigned int tree_depth_arg, PointT& point_arg) const;

        void
        genVoxelBoundsFromOctreeKey (const OctreeKey & key_arg,
            unsigned int tree_depth_arg, Eigen::Vector3f &min_pt,
            Eigen::Vector3f &max_pt) const;

        int
        getOccupiedVoxelCentersRecursive (const BranchNode* node_arg,
            const OctreeKey& key_arg,
            AlignedPointTVector &voxel_center_list_arg) const;

        // Globals

        PointCloudConstPtr input_;

        IndicesConstPtr indices_;

        double epsilon_;

        double resolution_;

        // Octree bounding box coordinates
        double min_x_;
        double max_x_;

        double min_y_;
        double max_y_;

        double min_z_;
        double max_z_;

        bool bounding_box_defined_;

        std::size_t max_objs_per_leaf_;
    };

  }
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/octree/impl/octree_pointcloud.hpp>
#endif

#endif