octree_pointcloud_pointvector.h
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#pragma once
#include <pcl/octree/octree_pointcloud.h>
namespace pcl {
namespace octree {
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud point vector class
* \note This pointcloud octree class generate an octrees from a point cloud
* (zero-copy). Every leaf node contains a list of point indices of the dataset given by
* \a setInputCloud.
* \note The octree pointcloud is initialized with its voxel resolution. Its bounding
* box is automatically adjusted or can be predefined.
* \tparam PointT type of point used in pointcloud
* \ingroup octree
* \author Julius Kammerl (julius@kammerl.de)
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT,
typename LeafContainerT = OctreeContainerPointIndices,
typename BranchContainerT = OctreeContainerEmpty,
typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
class OctreePointCloudPointVector
: public OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> {
public:
// public typedefs for single/double buffering
using SingleBuffer =
OctreePointCloudPointVector<PointT,
LeafContainerT,
BranchContainerT,
OctreeBase<LeafContainerT, BranchContainerT>>;
// typedef OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT,
// Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;
/** \brief Constructor.
* \param resolution_arg: octree resolution at lowest octree level
* */
OctreePointCloudPointVector(const double resolution_arg)
: OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>(resolution_arg)
{}
/** \brief Empty class constructor. */
~OctreePointCloudPointVector() {}
};
} // namespace octree
} // namespace pcl
#define PCL_INSTANTIATE_OctreePointCloudPointVector(T) \
template class PCL_EXPORTS pcl::octree::OctreePointCloudPointVector<T>;
pcl::octree::OctreeBase
Octree class.
Definition: octree_base.h:62
pcl::octree::OctreePointCloud
Octree pointcloud class
Definition: octree_pointcloud.h:72
pcl::octree::OctreePointCloudPointVector
Octree pointcloud point vector class
Definition: octree_pointcloud_pointvector.h:63
pcl::octree::OctreePointCloudPointVector::~OctreePointCloudPointVector
~OctreePointCloudPointVector()
Empty class constructor.
Definition: octree_pointcloud_pointvector.h:83
pcl::octree::OctreePointCloudPointVector::OctreePointCloudPointVector
OctreePointCloudPointVector(const double resolution_arg)
Constructor.
Definition: octree_pointcloud_pointvector.h:78
pcl
Definition: convolution.h:46
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:675