Point Cloud Library (PCL)  1.8.1
octree_pointcloud_adjacency.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2012, Jeremie Papon
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of Willow Garage, Inc. nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  * Author : jpapon@gmail.com
37  * Email : jpapon@gmail.com
38  */
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  // Iterators are friends
103 
104  // Octree default iterators
107 
108  Iterator depth_begin (unsigned int max_depth_arg = 0) { return Iterator (this, max_depth_arg); }
109  const Iterator depth_end () { return Iterator (); }
110 
111  // Octree leaf node iterators
114 
115  LeafNodeIterator leaf_begin (unsigned int max_depth_arg = 0) { return LeafNodeIterator (this, max_depth_arg); }
117 
118  // BGL graph
119  typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> VoxelAdjacencyList;
120  typedef typename VoxelAdjacencyList::vertex_descriptor VoxelID;
121  typedef typename VoxelAdjacencyList::edge_descriptor EdgeID;
122 
123  // Leaf vector - pointers to all leaves
124  typedef std::vector<LeafContainerT*> LeafVectorT;
125 
126  // Fast leaf iterators that don't require traversing tree
127  typedef typename LeafVectorT::iterator iterator;
128  typedef typename LeafVectorT::const_iterator const_iterator;
129 
130  inline iterator begin () { return (leaf_vector_.begin ()); }
131  inline iterator end () { return (leaf_vector_.end ()); }
132  inline LeafContainerT* at (size_t idx) { return leaf_vector_.at (idx); }
133 
134  // Size of neighbors
135  inline size_t size () const { return leaf_vector_.size (); }
136 
137  /** \brief Constructor.
138  *
139  * \param[in] resolution_arg Octree resolution at lowest octree level (voxel size) */
140  OctreePointCloudAdjacency (const double resolution_arg);
141 
142  /** \brief Empty class destructor. */
144  {
145  }
146 
147  /** \brief Adds points from cloud to the octree.
148  *
149  * \note This overrides addPointsFromInputCloud() from the OctreePointCloud class. */
150  void
152 
153  /** \brief Gets the leaf container for a given point.
154  *
155  * \param[in] point_arg Point to search for
156  *
157  * \returns Pointer to the leaf container - null if no leaf container found. */
158  LeafContainerT*
159  getLeafContainerAtPoint (const PointT& point_arg) const;
160 
161  /** \brief Computes an adjacency graph of voxel relations.
162  *
163  * \warning This slows down rapidly as cloud size increases due to the number of edges.
164  *
165  * \param[out] voxel_adjacency_graph Boost Graph Library Adjacency graph of the voxel touching relationships.
166  * Vertices are PointT, edges represent touching, and edge lengths are the distance between the points. */
167  void
168  computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph);
169 
170  /** \brief Sets a point transform (and inverse) used to transform the space of the input cloud.
171  *
172  * This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for
173  * points further from the camera.
174  *
175  * \param[in] transform_func A boost:function pointer to the transform to be used. The transform must have one
176  * parameter (a point) which it modifies in place. */
177  void
178  setTransformFunction (boost::function<void (PointT &p)> transform_func)
179  {
180  transform_func_ = transform_func;
181  }
182 
183  /** \brief Tests whether input point is occluded from specified camera point by other voxels.
184  *
185  * \param[in] point_arg Point to test for
186  * \param[in] camera_pos Position of camera, defaults to origin
187  *
188  * \returns True if path to camera is blocked by a voxel, false otherwise. */
189  bool
190  testForOcclusion (const PointT& point_arg, const PointXYZ &camera_pos = PointXYZ (0, 0, 0));
191 
192  protected:
193 
194  /** \brief Add point at index from input pointcloud dataset to octree.
195  *
196  * \param[in] point_idx_arg The index representing the point in the dataset given by setInputCloud() to be added
197  *
198  * \note This virtual implementation allows the use of a transform function to compute keys. */
199  virtual void
200  addPointIdx (const int point_idx_arg);
201 
202  /** \brief Fills in the neighbors fields for new voxels.
203  *
204  * \param[in] key_arg Key of the voxel to check neighbors for
205  * \param[in] leaf_container Pointer to container of the leaf to check neighbors for */
206  void
207  computeNeighbors (OctreeKey &key_arg, LeafContainerT* leaf_container);
208 
209  /** \brief Generates octree key for specified point (uses transform if provided).
210  *
211  * \param[in] point_arg Point to generate key for
212  * \param[out] key_arg Resulting octree key */
213  void
214  genOctreeKeyforPoint (const PointT& point_arg, OctreeKey& key_arg) const;
215 
216  private:
217 
218  /** \brief Add point at given index from input point cloud to octree.
219  *
220  * Index will be also added to indices vector. This functionality is not enabled for adjacency octree. */
222 
223  /** \brief Add point simultaneously to octree and input point cloud.
224  *
225  * This functionality is not enabled for adjacency octree. */
227 
236 
237  /// Local leaf pointer vector used to make iterating through leaves fast.
238  LeafVectorT leaf_vector_;
239 
240  boost::function<void (PointT &p)> transform_func_;
241 
242  };
243 
244  }
245 
246 }
247 
248 // Note: Do not precompile this octree type because it is typically used with custom leaf containers.
249 #include <pcl/octree/impl/octree_pointcloud_adjacency.hpp>
250 
251 #endif // PCL_OCTREE_POINTCLOUD_ADJACENCY_H_
252 
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generates octree key for specified point (uses transform if provided).
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.
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
OctreeLeafNodeIterator< OctreeAdjacencyT > LeafNodeIterator
Octree leaf node iterator class.
Iterator depth_begin(unsigned int max_depth_arg=0)
VoxelAdjacencyList::edge_descriptor EdgeID
PointCloudConstPtr input_
Pointer to input point cloud dataset.
const OctreeLeafNodeIterator< OctreeAdjacencyT > ConstLeafNodeIterator
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.
LeafNodeIterator leaf_begin(unsigned int max_depth_arg=0)
OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT > OctreeAdjacencyT
LeafContainerT * getLeafContainerAtPoint(const PointT &point_arg) const
Gets the leaf container for a given point.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
OctreeBase< LeafContainerT, BranchContainerT > OctreeBaseT
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
Abstract octree iterator class
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
OctreeDepthFirstIterator< OctreeAdjacencyT > Iterator
double resolution_
Octree resolution.
void addPointsFromInputCloud()
Adds points from cloud to the octree.
const OctreeDepthFirstIterator< OctreeAdjacencyT > ConstIterator