Point Cloud Library (PCL)  1.14.1-dev
voxel_structure.h
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38 
39 #pragma once
40 
41 namespace pcl
42 {
43  namespace recognition
44  {
45  /** \brief This class is a box in R3 built of voxels ordered in a regular rectangular grid. Each voxel is of type T. */
46  template<class T, typename REAL = float>
48  {
49  public:
50  inline VoxelStructure (): voxels_(nullptr){}
51  inline virtual ~VoxelStructure (){ this->clear();}
52 
53  /** \brief Call this method before using an instance of this class. Parameter meaning is obvious. */
54  inline void
55  build (const REAL bounds[6], int num_of_voxels[3]);
56 
57  /** \brief Release the memory allocated for the voxels. */
58  inline void
59  clear (){ delete[] voxels_; voxels_ = nullptr;}
60 
61  /** \brief Returns a pointer to the voxel which contains p or NULL if p is not inside the structure. */
62  inline T*
63  getVoxel (const REAL p[3]);
64 
65  /** \brief Returns a pointer to the voxel with integer id (x,y,z) or NULL if (x,y,z) is out of bounds. */
66  inline T*
67  getVoxel (int x, int y, int z) const;
68 
69  /** \brief Returns the linear voxel array. */
70  const inline T*
71  getVoxels () const
72  {
73  return voxels_;
74  }
75 
76  /** \brief Returns the linear voxel array. */
77  inline T*
79  {
80  return voxels_;
81  }
82 
83  /** \brief Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its position in the voxel array.
84  *
85  * \param[in] linear_id the position of the voxel in the internal voxel array.
86  * \param[out] id3d an array of 3 integers for the integer coordinates of the voxel. */
87  inline void
88  compute3dId (int linear_id, int id3d[3]) const
89  {
90  // Compute the z axis id
91  id3d[2] = linear_id / num_of_voxels_xy_plane_;
92  int proj_xy = linear_id % num_of_voxels_xy_plane_;
93  // Compute the y axis id
94  id3d[1] = proj_xy / num_of_voxels_[0];
95  // Compute the x axis id
96  id3d[0] = proj_xy % num_of_voxels_[0];
97  }
98 
99  /** \brief Returns the number of voxels in x, y and z direction. */
100  inline const int*
102  {
103  return (num_of_voxels_);
104  }
105 
106  /** \brief Computes the center of the voxel with given integer coordinates.
107  *
108  * \param[in] id3 the integer coordinates along the x, y and z axis.
109  * \param[out] center */
110  inline void
111  computeVoxelCenter (const int id3[3], REAL center[3]) const
112  {
113  center[0] = min_center_[0] + static_cast<float> (id3[0])*spacing_[0];
114  center[1] = min_center_[1] + static_cast<float> (id3[1])*spacing_[1];
115  center[2] = min_center_[2] + static_cast<float> (id3[2])*spacing_[2];
116  }
117 
118  /** \brief Returns the total number of voxels. */
119  inline int
121  {
122  return (total_num_of_voxels_);
123  }
124 
125  /** \brief Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_x, max_x, min_y, max_y, min_z, max_z). */
126  inline const float*
127  getBounds() const
128  {
129  return (bounds_);
130  }
131 
132  /** \brief Copies the bounds of the voxel structure to 'b'. */
133  inline void
134  getBounds(REAL b[6]) const
135  {
136  b[0] = bounds_[0];
137  b[1] = bounds_[1];
138  b[2] = bounds_[2];
139  b[3] = bounds_[3];
140  b[4] = bounds_[4];
141  b[5] = bounds_[5];
142  }
143 
144  /** \brief Returns the voxel spacing in x, y and z direction. That's the same as the voxel size along each axis. */
145  const REAL*
147  {
148  return (spacing_);
149  }
150 
151  /** \brief Saves pointers to the voxels which are neighbors of the voxels which contains 'p'. The containing voxel is returned too.
152  * 'neighs' has to be an array of pointers with space for at least 27 pointers (27 = 3^3 which is the max number of neighbors). The */
153  inline int
154  getNeighbors (const REAL* p, T **neighs) const;
155 
156  protected:
159  REAL bounds_[6];
160  REAL spacing_[3]; // spacing between the voxel in x, y and z direction = voxel size in x, y and z direction
161  REAL min_center_[3]; // the center of the voxel with integer coordinates (0, 0, 0)
162  };
163  } // namespace recognition
164 } // namespace pcl
165 
166 #include <pcl/recognition/impl/ransac_based/voxel_structure.hpp>
This class is a box in R3 built of voxels ordered in a regular rectangular grid.
void build(const REAL bounds[6], int num_of_voxels[3])
Call this method before using an instance of this class.
const REAL * getVoxelSpacing() const
Returns the voxel spacing in x, y and z direction.
T * getVoxel(const REAL p[3])
Returns a pointer to the voxel which contains p or NULL if p is not inside the structure.
const float * getBounds() const
Returns the bounds of the voxel structure, which is pointer to the internal array of 6 doubles: (min_...
int getNumberOfVoxels() const
Returns the total number of voxels.
void compute3dId(int linear_id, int id3d[3]) const
Converts a linear id to a 3D id, i.e., computes the integer 3D coordinates of a voxel from its positi...
const int * getNumberOfVoxelsXYZ() const
Returns the number of voxels in x, y and z direction.
const T * getVoxels() const
Returns the linear voxel array.
void clear()
Release the memory allocated for the voxels.
int getNeighbors(const REAL *p, T **neighs) const
Saves pointers to the voxels which are neighbors of the voxels which contains 'p'.
T * getVoxels()
Returns the linear voxel array.
void computeVoxelCenter(const int id3[3], REAL center[3]) const
Computes the center of the voxel with given integer coordinates.
void getBounds(REAL b[6]) const
Copies the bounds of the voxel structure to 'b'.