octree_pointcloud_density.h

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 * $Id: octree_pointcloud_density.h 4702 2012-02-23 09:39:33Z gedikli $
 */

#ifndef OCTREE_DENSITY_H
#define OCTREE_DENSITY_H

#include "octree_pointcloud.h"

#include "octree_base.h"
#include "octree2buf_base.h"

namespace pcl
{
  namespace octree
  {



    template<typename DataT>
      class OctreePointCloudDensityLeaf : public OctreeLeafAbstract<DataT>
    {
    public:
      OctreePointCloudDensityLeaf ()
      {
        pointCounter_ = 0;
      }

      ~OctreePointCloudDensityLeaf ()
      {
      }

      virtual OctreeNode *
      deepCopy () const
      {
        return (OctreeNode*) new OctreePointCloudDensityLeaf (*this);
      }

      virtual void
      setData (const DataT& point_arg)
      {
        pointCounter_++;
      }

      virtual void
      getData (const DataT*& data_arg) const
      {
        data_arg = 0;
      }

      virtual void
      getData (std::vector<DataT>& dataVector_arg) const
      {
      }

      unsigned int
      getPointCounter ()
      {
        return pointCounter_;
      }

      virtual void
      reset ()
      {
        pointCounter_ = 0;
      }

    private:
      unsigned int pointCounter_;

    };



    template<typename PointT, typename LeafT = OctreePointCloudDensityLeaf<int> , typename OctreeT = OctreeBase<int,
      LeafT> >
      class OctreePointCloudDensity : public OctreePointCloud<PointT, LeafT, OctreeT>
      {

      public:
      // public typedefs for single/double buffering
      typedef OctreePointCloudDensity<PointT, LeafT, OctreeBase<int, LeafT> > SingleBuffer;
      typedef OctreePointCloudDensity<PointT, LeafT, Octree2BufBase<int, LeafT> > DoubleBuffer;

      OctreePointCloudDensity (const double resolution_arg) :
      OctreePointCloud<PointT, LeafT, OctreeT> (resolution_arg)
      {
      }

      virtual
      ~OctreePointCloudDensity ()
      {
      }

      unsigned int
      getVoxelDensityAtPoint (const PointT& point_arg) const
      {
        unsigned int pointCount = 0;

        OctreePointCloudDensityLeaf<int>* leaf = this->findLeafAtPoint (point_arg);

        if (leaf)
        {
          pointCount = leaf->getPointCounter ();
        }

        return pointCount;
      }

      };
  }

}

#define PCL_INSTANTIATE_OctreePointCloudDensity(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudDensity<T>;

#define PCL_INSTANTIATE_OctreePointCloudSingleBufferWithDensityLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreePointCloudDensityLeaf<int> , pcl::octree::OctreeBase<int, pcl::octree::OctreePointCloudDensityLeaf<int> > >;
#define PCL_INSTANTIATE_OctreePointCloudDoubleBufferWithDensityLeaf(T) template class PCL_EXPORTS pcl::octree::OctreePointCloud<T, pcl::octree::OctreePointCloudDensityLeaf<int> , pcl::octree::Octree2BufBase<int, pcl::octree::OctreePointCloudDensityLeaf<int> > >;


#endif