octree_pointcloud_voxelcentroid.hpp

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 * $Id: octree_pointcloud_voxelcentroid.hpp 6459 2012-07-18 07:50:37Z dpb $
 */

#ifndef PCL_OCTREE_VOXELCENTROID_HPP
#define PCL_OCTREE_VOXELCENTROID_HPP

#include <pcl/octree/octree_pointcloud_voxelcentroid.h>

template<typename PointT, typename LeafContainerT, typename BranchContainerT> bool
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::getVoxelCentroidAtPoint (
    const PointT& point_arg, PointT& voxel_centroid_arg) const
{
  OctreeKey key;
  LeafNode* leaf = 0;

  // generate key
  genOctreeKeyforPoint (point_arg, key);

  leaf = this->findLeaf (key);

  if (leaf)
  {
    LeafContainerT* container = leaf;
    container->getCentroid (voxel_centroid_arg);
  }

  return (leaf != 0);
}

template<typename PointT, typename LeafContainerT, typename BranchContainerT> size_t
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::getVoxelCentroids (
    typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const
{
  OctreeKey new_key;

  // reset output vector
  voxel_centroid_list_arg.clear ();
  voxel_centroid_list_arg.reserve (this->leaf_count_);

  getVoxelCentroidsRecursive (this->root_node_, new_key, voxel_centroid_list_arg );

  // return size of centroid vector
  return (voxel_centroid_list_arg.size ());
}

template<typename PointT, typename LeafContainerT, typename BranchContainerT> void
pcl::octree::OctreePointCloudVoxelCentroid<PointT, LeafContainerT, BranchContainerT>::getVoxelCentroidsRecursive (
    const BranchNode* branch_arg, OctreeKey& key_arg,
    typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::AlignedPointTVector &voxel_centroid_list_arg) const
{
  // child iterator
  unsigned char child_idx;

  // iterate over all children
  for (child_idx = 0; child_idx < 8; child_idx++)
  {
    // if child exist
    if (branch_arg->hasChild (child_idx))
    {
      // add current branch voxel to key
      key_arg.pushBranch (child_idx);

      OctreeNode *child_node = branch_arg->getChildPtr (child_idx);

      switch (child_node->getNodeType ())
      {
        case BRANCH_NODE:
        {
          // recursively proceed with indexed child branch
          getVoxelCentroidsRecursive (static_cast<const BranchNode*> (child_node), key_arg, voxel_centroid_list_arg);
          break;
        }
        case LEAF_NODE:
        {
          PointT new_centroid;

          LeafNode* container = static_cast<LeafNode*> (child_node);

          container->getContainer().getCentroid (new_centroid);

          voxel_centroid_list_arg.push_back (new_centroid);
          break;
        }
        default:
          break;
       }

      // pop current branch voxel from key
      key_arg.popBranch ();
    }
  }
}


#define PCL_INSTANTIATE_OctreePointCloudVoxelCentroid(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudVoxelCentroid<T>;

#endif