octree_pointcloud_density.h
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00038 
00039 #ifndef PCL_OCTREE_DENSITY_H
00040 #define PCL_OCTREE_DENSITY_H
00041 
00042 #include "octree_pointcloud.h"
00043 
00044 namespace pcl
00045 {
00046   namespace octree
00047   {
00052     class OctreePointCloudDensityContainer : public OctreeContainerBase
00053     {
00054       public:
00056         OctreePointCloudDensityContainer () : point_counter_ (0)
00057         {
00058         }
00059 
00061         virtual ~OctreePointCloudDensityContainer ()
00062         {
00063         }
00064 
00066         virtual OctreePointCloudDensityContainer *
00067         deepCopy () const
00068         {
00069           return (new OctreePointCloudDensityContainer (*this));
00070         }
00071 
00075         virtual bool operator==(const OctreeContainerBase& other) const
00076         {
00077           const OctreePointCloudDensityContainer* otherContainer =
00078               dynamic_cast<const OctreePointCloudDensityContainer*>(&other);
00079 
00080           return (this->point_counter_==otherContainer->point_counter_);
00081         }
00082 
00085         void
00086         addPointIndex (int)
00087         {
00088           point_counter_++;
00089         }
00090 
00094         unsigned int
00095         getPointCounter ()
00096         {
00097           return (point_counter_);
00098         }
00099 
00101         virtual void
00102         reset ()
00103         {
00104           point_counter_ = 0;
00105         }
00106 
00107       private:
00108         unsigned int point_counter_;
00109 
00110     };
00111 
00120     template<typename PointT, typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty >
00121     class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
00122     {
00123       public:
00124 
00128         OctreePointCloudDensity (const double resolution_arg) :
00129         OctreePointCloud<PointT, LeafContainerT, BranchContainerT> (resolution_arg)
00130         {
00131         }
00132 
00134         virtual
00135         ~OctreePointCloudDensity ()
00136         {
00137         }
00138 
00143         unsigned int
00144         getVoxelDensityAtPoint (const PointT& point_arg) const
00145         {
00146           unsigned int point_count = 0;
00147 
00148           OctreePointCloudDensityContainer* leaf = this->findLeafAtPoint (point_arg);
00149 
00150           if (leaf)
00151             point_count = leaf->getPointCounter ();
00152 
00153           return (point_count);
00154         }
00155     };
00156   }
00157 }
00158 
00159 #define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;
00160 
00161 #endif
00162 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:26:18