octree_pointcloud_changedetector.h
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#pragma once
#include <boost/shared_ptr.hpp>
#include <pcl/octree/octree_pointcloud.h>
#include <pcl/octree/octree2buf_base.h>
namespace pcl
{
namespace octree
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud change detector class
* \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices
* \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
* \note
* \note typename: PointT: type of point used in pointcloud
* \ingroup octree
* \author Julius Kammerl (julius@kammerl.de)
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT,
typename LeafContainerT = OctreeContainerPointIndices,
typename BranchContainerT = OctreeContainerEmpty >
class OctreePointCloudChangeDetector : public OctreePointCloud<PointT,
LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT, BranchContainerT> >
{
public:
using Ptr = shared_ptr<OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
using ConstPtr = shared_ptr<const OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT>>;
/** \brief Constructor.
* \param resolution_arg: octree resolution at lowest octree level
* */
OctreePointCloudChangeDetector (const double resolution_arg) :
OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
Octree2BufBase<LeafContainerT, BranchContainerT> > (resolution_arg)
{
}
/** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
* \param indicesVector_arg: results are written to this vector of int indices
* \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to become serialized.
* \return number of point indices
*/
std::size_t getPointIndicesFromNewVoxels (std::vector<int> &indicesVector_arg,
const int minPointsPerLeaf_arg = 0)
{
std::vector<OctreeContainerPointIndices*> leaf_containers;
this->serializeNewLeafs (leaf_containers);
for (const auto &leaf_container : leaf_containers)
{
if (static_cast<int> (leaf_container->getSize ()) >= minPointsPerLeaf_arg)
leaf_container->getPointIndices(indicesVector_arg);
}
return (indicesVector_arg.size ());
}
};
}
}
#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::octree::OctreePointCloudChangeDetector::OctreePointCloudChangeDetector
OctreePointCloudChangeDetector(const double resolution_arg)
Constructor.
Definition: octree_pointcloud_changedetector.h:78
pcl::octree::OctreePointCloud
Octree pointcloud class
Definition: octree_pointcloud.h:72
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:623
pcl::octree::Octree2BufBase
Octree double buffer class
Definition: octree2buf_base.h:221
pcl::octree::OctreePointCloudChangeDetector::getPointIndicesFromNewVoxels
std::size_t getPointIndicesFromNewVoxels(std::vector< int > &indicesVector_arg, const int minPointsPerLeaf_arg=0)
Get a indices from all leaf nodes that did not exist in previous buffer.
Definition: octree_pointcloud_changedetector.h:89
pcl::octree::OctreePointCloud< PointInT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >::ConstPtr
shared_ptr< const OctreePointCloud< PointInT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > > ConstPtr
Definition: octree_pointcloud.h:99
pcl::octree::OctreePointCloud< PointInT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >::Ptr
shared_ptr< OctreePointCloud< PointInT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > > Ptr
Definition: octree_pointcloud.h:98
pcl::octree::OctreePointCloudChangeDetector
Octree pointcloud change detector class
Definition: octree_pointcloud_changedetector.h:65
pcl::octree::Octree2BufBase::serializeNewLeafs
void serializeNewLeafs(std::vector< LeafContainerT * > &leaf_container_vector_arg)
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buff...
Definition: octree2buf_base.hpp:304
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90