major revision of octree-base classes

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@8774 a9d63959-f2ad-4865-b262-bf0e56cfafb6

doc/tutorials/Makefile

@@ -1,6 +1,215 @@
-.PHONY: html
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
 
-html:
-	-rm -rf html /tmp/doctrees
-	sphinx-build -b html -a -d /tmp/doctrees content html
+# Default target executed when no arguments are given to make.
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+
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+
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+CMAKE_BINARY_DIR = /opt/PCL/pcl/trunk
+
+#=============================================================================
+# Targets provided globally by CMake.
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+
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+test/fast: test
+.PHONY : test/fast
+
+# The main all target
+all: cmake_check_build_system
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+	cd /opt/PCL/pcl/trunk && $(MAKE) -f CMakeFiles/Makefile2 doc/tutorials/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /opt/PCL/pcl/trunk/CMakeFiles 0
+.PHONY : all
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+# The main clean target
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+	cd /opt/PCL/pcl/trunk && $(MAKE) -f CMakeFiles/Makefile2 doc/tutorials/clean
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+.PHONY : Tutorials/fast
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... Tutorials"
+	@echo "... edit_cache"
+	@echo "... install"
+	@echo "... install/local"
+	@echo "... install/strip"
+	@echo "... list_install_components"
+	@echo "... package"
+	@echo "... package_source"
+	@echo "... rebuild_cache"
+	@echo "... test"
+.PHONY : help
+
+
+
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+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	cd /opt/PCL/pcl/trunk && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
 

io/include/pcl/compression/impl/octree_pointcloud_compression.hpp

@@ -129,6 +129,7 @@ namespace pcl
           // p-frame encoding - XOR encoded tree structure
           this->serializeTree (binaryTreeDataVector_, true);
 
+
         // write frame header information to stream
         this->writeFrameHeader (compressedTreeDataOut_arg);
 
@@ -139,6 +140,9 @@ namespace pcl
         this->switchBuffers ();
         iFrame_ = false;
 
+        // reset object count
+        objectCount_ = 0;
+
         if (bShowStatistics)
         {
           float bytesPerXYZ = static_cast<float> (compressedPointDataLen_) / static_cast<float> (pointCount_);
@@ -470,10 +474,10 @@ namespace pcl
     //////////////////////////////////////////////////////////////////////////////////////////////
     template<typename PointT, typename LeafT, typename BranchT, typename OctreeT> void
     OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT>::serializeTreeCallback (
-        LeafNode &leaf_arg, const OctreeKey & key_arg)
+        LeafT &leaf_arg, const OctreeKey & key_arg)
     {
       // reference to point indices vector stored within octree leaf
-      const std::vector<int>& leafIdx = leaf_arg.getDataTVector ();
+      const std::vector<int>& leafIdx = leaf_arg.getPointIndicesVector();
 
       if (!doVoxelGridEnDecoding_)
       {
@@ -504,7 +508,7 @@ namespace pcl
 
     //////////////////////////////////////////////////////////////////////////////////////////////
     template<typename PointT, typename LeafT, typename BranchT, typename OctreeT> void
-    OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT>::deserializeTreeCallback (LeafNode&,
+    OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeT>::deserializeTreeCallback (LeafT&,
         const OctreeKey& key_arg)
     {
       double lowerVoxelCorner[3];

io/include/pcl/compression/octree_pointcloud_compression.h

@@ -40,6 +40,7 @@
 
 #include <pcl/common/common.h>
 #include <pcl/common/io.h>
+#include <pcl/octree/octree2buf_base.h>
 #include <pcl/octree/octree_pointcloud.h>
 #include "entropy_range_coder.h"
 #include "color_coding.h"
@@ -67,9 +68,9 @@ namespace pcl
      *  \note typename: PointT: type of point used in pointcloud
      *  \author Julius Kammerl ([email protected])
      */
-    template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>,
-        typename BranchT = OctreeContainerEmpty<int>,
-        typename OctreeT = Octree2BufBase<int, LeafT, BranchT> >
+    template<typename PointT, typename LeafT = OctreeContainerPointIndices,
+        typename BranchT = OctreeContainerEmpty,
+        typename OctreeT = Octree2BufBase<LeafT, BranchT> >
     class OctreePointCloudCompression : public OctreePointCloud<PointT, LeafT,
         BranchT, OctreeT>
     {
@@ -82,8 +83,8 @@ namespace pcl
         typedef typename OctreeT::LeafNode LeafNode;
         typedef typename OctreeT::BranchNode BranchNode;
 
-        typedef OctreePointCloudCompression<PointT, LeafT, BranchT, Octree2BufBase<int, LeafT, BranchT> > RealTimeStreamCompression;
-        typedef OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> > SinglePointCloudCompressionLowMemory;
+        typedef OctreePointCloudCompression<PointT, LeafT, BranchT, Octree2BufBase<LeafT, BranchT> > RealTimeStreamCompression;
+        typedef OctreePointCloudCompression<PointT, LeafT, BranchT, OctreeBase<LeafT, BranchT> > SinglePointCloudCompressionLowMemory;
 
 
         /** \brief Constructor
@@ -118,7 +119,9 @@ namespace pcl
           doColorEncoding_ (doColorEncoding_arg), cloudWithColor_ (false), dataWithColor_ (false),
           pointColorOffset_ (0), bShowStatistics (showStatistics_arg), 
           compressedPointDataLen_ (), compressedColorDataLen_ (), selectedProfile_(compressionProfile_arg),
-          pointResolution_(pointResolution_arg), octreeResolution_(octreeResolution_arg), colorBitResolution_(colorBitResolution_arg)
+          pointResolution_(pointResolution_arg), octreeResolution_(octreeResolution_arg),
+          colorBitResolution_(colorBitResolution_arg),
+          objectCount_(0)
         {
           initialization();
         }
@@ -160,6 +163,16 @@ namespace pcl
 
         }
 
+        /** \brief Add point at index from input pointcloud dataset to octree
+         * \param[in] pointIdx_arg the index representing the point in the dataset given by \a setInputCloud to be added
+         */
+        virtual void
+        addPointIdx (const int pointIdx_arg)
+        {
+          ++objectCount_;
+          OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::addPointIdx(pointIdx_arg);
+        }
+
         /** \brief Provide a pointer to the output data set.
           * \param cloud_arg: the boost shared pointer to a PointCloud message
           */
@@ -232,14 +245,14 @@ namespace pcl
           * \param key_arg: octree key of new leaf node
          */
         virtual void
-        serializeTreeCallback (LeafNode &leaf_arg, const OctreeKey& key_arg);
+        serializeTreeCallback (LeafT &leaf_arg, const OctreeKey& key_arg);
 
         /** \brief Decode leaf nodes information during deserialization
           * \param leaf_arg: reference to new leaf node
          * \param key_arg: octree key of new leaf node
          */
         virtual void
-        deserializeTreeCallback (LeafNode&, const OctreeKey& key_arg);
+        deserializeTreeCallback (LeafT&, const OctreeKey& key_arg);
 
 
         /** \brief Pointer to output point cloud dataset. */
@@ -291,6 +304,8 @@ namespace pcl
         const double octreeResolution_;
         const unsigned char colorBitResolution_;
 
+        std::size_t objectCount_;
+
       };
 
     // define frame identifier

octree/CMakeLists.txt

@@ -9,16 +9,15 @@ PCL_SUBSYS_DEPEND(build ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
 PCL_ADD_DOC(${SUBSYS_NAME})
 
 if(build)
-    set(srcs src/octree_impl.cpp
+    set(srcs src/octree_inst.cpp
     )
 
     set(incs 
         include/pcl/${SUBSYS_NAME}/boost.h
         include/pcl/${SUBSYS_NAME}/octree_base.h 
         include/pcl/${SUBSYS_NAME}/octree_container.h
         include/pcl/${SUBSYS_NAME}/octree_impl.h 
-        include/pcl/${SUBSYS_NAME}/octree_nodes.h
-        include/pcl/${SUBSYS_NAME}/octree_node_pool.h
+        include/pcl/${SUBSYS_NAME}/octree_nodes.h 
         include/pcl/${SUBSYS_NAME}/octree_key.h 
         include/pcl/${SUBSYS_NAME}/octree_pointcloud_density.h
         include/pcl/${SUBSYS_NAME}/octree_pointcloud_occupancy.h