voxel_structure.h

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#ifndef PCL_RECOGNITION_VOXEL_STRUCTURE_H_
#define PCL_RECOGNITION_VOXEL_STRUCTURE_H_

#include <cstdlib>

namespace pcl
{
  namespace recognition
  {
    template<class T, typename REAL = float>
    class VoxelStructure
    {
    public:
      inline VoxelStructure (): voxels_(NULL){}
      inline virtual ~VoxelStructure (){ this->clear();}

      inline void
      build (const REAL bounds[6], int num_of_voxels[3]);

      inline void
      clear (){ if ( voxels_ ){ delete[] voxels_; voxels_ = NULL;}}

      inline T*
      getVoxel (const REAL p[3]);

      inline T*
      getVoxel (int x, int y, int z) const;

      const inline T*
      getVoxels () const
      {
        return voxels_;
      }

      inline T*
      getVoxels ()
      {
        return voxels_;
      }

      inline void
      compute3dId (int linear_id, int id3d[3]) const
      {
        // Compute the z axis id
        id3d[2] = linear_id / num_of_voxels_xy_plane_;
        int proj_xy = linear_id % num_of_voxels_xy_plane_;
        // Compute the y axis id
        id3d[1] = proj_xy / num_of_voxels_[0];
        // Compute the x axis id
        id3d[0] = proj_xy % num_of_voxels_[0];
      }

      inline const int*
      getNumberOfVoxelsXYZ() const
      {
        return (num_of_voxels_);
      }

      inline void
      computeVoxelCenter (const int id3[3], REAL center[3]) const
      {
        center[0] = min_center_[0] + static_cast<float> (id3[0])*spacing_[0];
        center[1] = min_center_[1] + static_cast<float> (id3[1])*spacing_[1];
        center[2] = min_center_[2] + static_cast<float> (id3[2])*spacing_[2];
      }

      inline int
      getNumberOfVoxels() const
      {
        return (total_num_of_voxels_);
      }

      inline const float*
      getBounds() const
      {
        return (bounds_);
      }

      inline void
      getBounds(REAL b[6]) const
      {
        b[0] = bounds_[0];
        b[1] = bounds_[1];
        b[2] = bounds_[2];
        b[3] = bounds_[3];
        b[4] = bounds_[4];
        b[5] = bounds_[5];
      }

      const REAL*
      getVoxelSpacing() const
      {
        return (spacing_);
      }

      inline int
      getNeighbors (const REAL* p, T **neighs) const;

    protected:
      T *voxels_;
      int num_of_voxels_[3], num_of_voxels_xy_plane_, total_num_of_voxels_;
      REAL bounds_[6];
      REAL spacing_[3]; // spacing betwen the voxel in x, y and z direction = voxel size in x, y and z direction
      REAL min_center_[3]; // the center of the voxel with integer coordinates (0, 0, 0)
    };
  } // namespace recognition
} // namespace pcl

#include <pcl/recognition/impl/ransac_based/voxel_structure.hpp>

#endif // PCL_RECOGNITION_VOXEL_STRUCTURE_H_