OctreeReduction.hpp

Go to the documentation of this file.

#ifndef __OCTREE_REDUCTION__
#define __OCTREE_REDUCTION__

#include "lvr2/types/MatrixTypes.hpp"
#include "lvr2/io/PointBuffer.hpp"
#include "lvr2/io/Timestamp.hpp"

#include <vector>

namespace lvr2
{

class OctreeReduction
{
public:
    OctreeReduction(PointBufferPtr& pointBuffer, const double& voxelSize, const size_t& minPointsPerVoxel);
    OctreeReduction(Vector3f* points, const size_t& n, const double& voxelSize, const size_t& minPointsPerVoxel);

    PointBufferPtr getReducedPoints();
    void getReducedPoints(Vector3f& points, size_t& n);

    ~OctreeReduction() { delete[] m_flags;}

private:
    template<typename T>
    void createOctree(T* points, const int& n, bool* flagged, const T& min, const T& max, const int& level);

    template<typename T>
    size_t splitPoints(T* points, const size_t& n, const int axis, const double& splitValue);

    template<typename T>
    void createOctree(lvr2::PointBufferPtr& points, size_t s, size_t n, bool* flagged, const lvr2::Vector3<T>& min, const lvr2::Vector3<T>& max, const int& level);

    template<typename T>
    size_t splitPoints(lvr2::PointBufferPtr& points, size_t s, size_t n, const int axis, const double& splitValue);

    template<typename T>
    void swapAllChannelsOfType(lvr2::PointBufferPtr& points, const size_t& l, const size_t& r);

    template<typename T>
    void swapInChannel(lvr2::Channel<T>& ch, const size_t& l, const size_t& r);

    double  m_voxelSize;
    size_t  m_minPointsPerVoxel;
    size_t  m_numPoints; 
    bool*   m_flags;

    PointBufferPtr  m_pointBuffer;
    Vector3f        m_points;
};

} // namespace lvr2

#include "lvr2/registration/OctreeReduction.tcc"

#endif