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octree_pointcloud_adjacency.h
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39 
40 #ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
41 #define PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
42 
43 #include <pcl/octree/boost.h>
44 #include <pcl/octree/octree_pointcloud.h>
45 #include <pcl/octree/octree_pointcloud_adjacency_container.h>
46 
47 #include <set>
48 #include <list>
49 
50 namespace pcl
51 {
52 
53  namespace octree
54  {
55  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
56  /** \brief @b Octree pointcloud voxel class which maintains adjacency information for its voxels.
57  *
58  * This pointcloud octree class generates an octree from a point cloud (zero-copy). The octree pointcloud is
59  * initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
60  *
61  * The OctreePointCloudAdjacencyContainer class can be used to store data in leaf nodes.
62  *
63  * An optional transform function can be provided which changes how the voxel grid is computed - this can be used to,
64  * for example, make voxel bins larger as they increase in distance from the origin (camera).
65  * \note See SupervoxelClustering for an example of how to provide a transform function.
66  *
67  * If used in academic work, please cite:
68  *
69  * - J. Papon, A. Abramov, M. Schoeler, F. Woergoetter
70  * Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds
71  * In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013
72  *
73  * \ingroup octree
74  * \author Jeremie Papon (jpapon@gmail.com) */
75  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
76  template <typename PointT,
77  typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>,
78  typename BranchContainerT = OctreeContainerEmpty>
79  class OctreePointCloudAdjacency : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
80  {
81 
82  public:
83 
85 
87  typedef boost::shared_ptr<OctreeAdjacencyT> Ptr;
88  typedef boost::shared_ptr<const OctreeAdjacencyT> ConstPtr;
89 
93 
95  typedef boost::shared_ptr<PointCloud> PointCloudPtr;
96  typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
97 
98  // BGL graph
99  typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> VoxelAdjacencyList;
100  typedef typename VoxelAdjacencyList::vertex_descriptor VoxelID;
101  typedef typename VoxelAdjacencyList::edge_descriptor EdgeID;
102 
103  // Leaf vector - pointers to all leaves
104  typedef std::vector<LeafContainerT*> LeafVectorT;
105 
106  // Fast leaf iterators that don't require traversing tree
107  typedef typename LeafVectorT::iterator iterator;
108  typedef typename LeafVectorT::const_iterator const_iterator;
109 
110  inline iterator begin () { return (leaf_vector_.begin ()); }
111  inline iterator end () { return (leaf_vector_.end ()); }
112  inline LeafContainerT* at (size_t idx) { return leaf_vector_.at (idx); }
113 
114  // Size of neighbors
115  inline size_t size () const { return leaf_vector_.size (); }
116 
117  /** \brief Constructor.
118  *
119  * \param[in] resolution_arg Octree resolution at lowest octree level (voxel size) */
120  OctreePointCloudAdjacency (const double resolution_arg);
121 
122  /** \brief Empty class destructor. */
124  {
125  }
126 
127  /** \brief Adds points from cloud to the octree.
128  *
129  * \note This overrides addPointsFromInputCloud() from the OctreePointCloud class. */
130  void
132 
133  /** \brief Gets the leaf container for a given point.
134  *
135  * \param[in] point_arg Point to search for
136  *
137  * \returns Pointer to the leaf container - null if no leaf container found. */
138  LeafContainerT*
139  getLeafContainerAtPoint (const PointT& point_arg) const;
140 
141  /** \brief Computes an adjacency graph of voxel relations.
142  *
143  * \warning This slows down rapidly as cloud size increases due to the number of edges.
144  *
145  * \param[out] voxel_adjacency_graph Boost Graph Library Adjacency graph of the voxel touching relationships.
146  * Vertices are PointT, edges represent touching, and edge lengths are the distance between the points. */
147  void
148  computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph);
149 
150  /** \brief Sets a point transform (and inverse) used to transform the space of the input cloud.
151  *
152  * This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for
153  * points further from the camera.
154  *
155  * \param[in] transform_func A boost:function pointer to the transform to be used. The transform must have one
156  * parameter (a point) which it modifies in place. */
157  void
158  setTransformFunction (boost::function<void (PointT &p)> transform_func)
159  {
160  transform_func_ = transform_func;
161  }
162 
163  /** \brief Tests whether input point is occluded from specified camera point by other voxels.
164  *
165  * \param[in] point_arg Point to test for
166  * \param[in] camera_pos Position of camera, defaults to origin
167  *
168  * \returns True if path to camera is blocked by a voxel, false otherwise. */
169  bool
170  testForOcclusion (const PointT& point_arg, const PointXYZ &camera_pos = PointXYZ (0, 0, 0));
171 
172  protected:
173 
174  /** \brief Add point at index from input pointcloud dataset to octree.
175  *
176  * \param[in] point_idx_arg The index representing the point in the dataset given by setInputCloud() to be added
177  *
178  * \note This virtual implementation allows the use of a transform function to compute keys. */
179  virtual void
180  addPointIdx (const int point_idx_arg);
181 
182  /** \brief Fills in the neighbors fields for new voxels.
183  *
184  * \param[in] key_arg Key of the voxel to check neighbors for
185  * \param[in] leaf_container Pointer to container of the leaf to check neighbors for */
186  void
187  computeNeighbors (OctreeKey &key_arg, LeafContainerT* leaf_container);
188 
189  /** \brief Generates octree key for specified point (uses transform if provided).
190  *
191  * \param[in] point_arg Point to generate key for
192  * \param[out] key_arg Resulting octree key */
193  void
194  genOctreeKeyforPoint (const PointT& point_arg, OctreeKey& key_arg) const;
195 
196  private:
197 
198  /** \brief Add point at given index from input point cloud to octree.
199  *
200  * Index will be also added to indices vector. This functionality is not enabled for adjacency octree. */
202 
203  /** \brief Add point simultaneously to octree and input point cloud.
204  *
205  * This functionality is not enabled for adjacency octree. */
207 
216 
217  /// Local leaf pointer vector used to make iterating through leaves fast.
218  LeafVectorT leaf_vector_;
219 
220  boost::function<void (PointT &p)> transform_func_;
221 
222  };
223 
224  }
225 
226 }
227 
228 // Note: Do not precompile this octree type because it is typically used with custom leaf containers.
229 #include <pcl/octree/impl/octree_pointcloud_adjacency.hpp>
230 
231 #endif // PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
232 
LeafContainerT * getLeafContainerAtPoint(const PointT &point_arg) const
Gets the leaf container for a given point.
Octree pointcloud class
virtual ~OctreePointCloudAdjacency()
Empty class destructor.
Octree class.
Definition: octree_base.h:62
OctreePointCloudAdjacency(const double resolution_arg)
Constructor.
void addPointToCloud(const PointT &point_arg, PointCloudPtr cloud_arg)
Add point simultaneously to octree and input point cloud.
Octree pointcloud voxel class which maintains adjacency information for its voxels.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
VoxelAdjacencyList::vertex_descriptor VoxelID
void setTransformFunction(boost::function< void(PointT &p)> transform_func)
Sets a point transform (and inverse) used to transform the space of the input cloud.
boost::shared_ptr< const PointCloud > PointCloudConstPtr
VoxelAdjacencyList::edge_descriptor EdgeID
PointCloudConstPtr input_
Pointer to input point cloud dataset.
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generates octree key for specified point (uses transform if provided).
virtual void addPointIdx(const int point_idx_arg)
Add point at index from input pointcloud dataset to octree.
void computeNeighbors(OctreeKey &key_arg, LeafContainerT *leaf_container)
Fills in the neighbors fields for new voxels.
A point structure representing Euclidean xyz coordinates.
OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT > OctreeAdjacencyT
OctreeBase< LeafContainerT, BranchContainerT > OctreeBaseT
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Octree key class
Definition: octree_key.h:51
boost::shared_ptr< PointCloud > PointCloudPtr
void addPointFromCloud(const int point_idx_arg, IndicesPtr indices_arg)
Add point at given index from input point cloud to octree.
bool testForOcclusion(const PointT &point_arg, const PointXYZ &camera_pos=PointXYZ(0, 0, 0))
Tests whether input point is occluded from specified camera point by other voxels.
boost::shared_ptr< OctreeAdjacencyT > Ptr
boost::shared_ptr< const OctreeAdjacencyT > ConstPtr
boost::adjacency_list< boost::setS, boost::setS, boost::undirectedS, PointT, float > VoxelAdjacencyList
OctreeT::BranchNode BranchNode
void computeVoxelAdjacencyGraph(VoxelAdjacencyList &voxel_adjacency_graph)
Computes an adjacency graph of voxel relations.
A point structure representing Euclidean xyz coordinates, and the RGB color.
OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBaseT > OctreePointCloudT
double resolution_
Octree resolution.
void addPointsFromInputCloud()
Adds points from cloud to the octree.