simple_octree.h

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/*
 * simple_octree.h
 *
 *  Created on: Mar 11, 2013
 *      Author: papazov
 */
 
#pragma once
 
#include <pcl/pcl_exports.h>
 
#include <set>
#include <vector>
 
namespace pcl
{
  namespace recognition
  {
    template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
    class PCL_EXPORTS SimpleOctree
    {
      public:
        class Node
        {
          public:
            Node ();
 
            virtual~ Node ();
 
            inline void
            setCenter (const Scalar *c);
 
            inline void
            setBounds (const Scalar *b);
 
            inline const Scalar*
            getCenter () const { return center_;}
 
            inline const Scalar*
            getBounds () const { return bounds_;}
 
            inline void
            getBounds (Scalar b[6]) const { std::copy(bounds_, bounds_ + 6, b); }
 
            inline Node*
            getChild (int id) { return &children_[id];}
 
            inline Node*
            getChildren () { return children_;}
 
            inline void
            setData (const NodeData& src){ *data_ = src;}
 
            inline NodeData&
            getData (){ return *data_;}
 
            inline const NodeData&
            getData () const { return *data_;}
 
            inline Node*
            getParent (){ return parent_;}
 
            inline float
            getRadius () const { return radius_;}
 
            inline bool
            hasData (){ return static_cast<bool> (data_);}
 
            inline bool
            hasChildren (){ return static_cast<bool> (children_);}
 
            inline const std::set<Node*>&
            getNeighbors () const { return (full_leaf_neighbors_);}
 
            inline void
            deleteChildren ();
 
            inline void
            deleteData ();
 
            friend class SimpleOctree;
 
          protected:
            void
            setData (NodeData* data){ delete data_; data_ = data;}
 
            inline bool
            createChildren ();
 
            /** \brief Make this and 'node' neighbors by inserting each node in the others node neighbor set. Nothing happens
              * of either of the nodes has no data. */
            inline void
            makeNeighbors (Node* node);
 
            inline void
            setParent (Node* parent){ parent_ = parent;}
 
            /** \brief Computes the "radius" of the node which is half the diagonal length. */
            inline void
            computeRadius ();
 
          protected:
            NodeData *data_;
            Scalar center_[3], bounds_[6];
            Node *parent_, *children_;
            Scalar radius_;
            std::set<Node*> full_leaf_neighbors_;
        };
 
      public:
        SimpleOctree ();
 
        virtual ~SimpleOctree ();
 
        void
        clear ();
 
        /** \brief Creates an empty octree with bounds at least as large as the ones provided as input and with leaf
          * size equal to 'voxel_size'. */
        void
        build (const Scalar* bounds, Scalar voxel_size, NodeDataCreator* node_data_creator);
 
        /** \brief Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within
          * the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. The method
          * returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and
          * method just returns a pointer to the leaf. Note that for a new created leaf, the method also creates its data
          * object. */
        inline Node*
        createLeaf (Scalar x, Scalar y, Scalar z);
 
        /** \brief Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. The method returns the full
          * leaf, i.e., the one having a data object, with id [i, j, k] or NULL is no such leaf exists. */
        inline Node*
        getFullLeaf (int i, int j, int k);
 
        /** \brief Returns a pointer to the full leaf, i.e., one having a data pbject, containing p = (x, y, z) or NULL if no such leaf exists. */
        inline Node*
        getFullLeaf (Scalar x, Scalar y, Scalar z);
 
        inline std::vector<Node*>&
        getFullLeaves () { return full_leaves_;}
 
        inline const std::vector<Node*>&
        getFullLeaves () const { return full_leaves_;}
 
        inline Node*
        getRoot (){ return root_;}
 
        inline const Scalar*
        getBounds () const { return (bounds_);}
 
        inline void
        getBounds (Scalar b[6]) const { std::copy(bounds_, bounds_ + 6, b); }
 
        inline Scalar
        getVoxelSize () const { return voxel_size_;}
 
      protected:
        inline void
        insertNeighbors (Node* node);
 
      protected:
        Scalar voxel_size_{0.0f}, bounds_[6]{};
        int tree_levels_{0};
        Node* root_{nullptr};
        std::vector<Node*> full_leaves_;
        NodeDataCreator* node_data_creator_{nullptr};
    };
  } // namespace recognition
} // namespace pcl
 
#include <pcl/recognition/impl/ransac_based/simple_octree.hpp>