octree_pointcloud_singlepoint.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*/
#ifndef PCL_OCTREE_SINGLE_POINT_H
#define PCL_OCTREE_SINGLE_POINT_H
#include <pcl/octree/octree_pointcloud.h>
namespace pcl
{
namespace octree
{
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/** \brief @b Octree pointcloud single point class
* \note This pointcloud octree class generate an octrees from a point cloud (zero-copy). Every leaf node contains a single point index from 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.
* \note
* \note typename: PointT: type of point used in pointcloud
* \ingroup octree
* \author Julius Kammerl (julius@kammerl.de)
*/
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndex,
typename BranchContainerT = OctreeContainerEmpty,
typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT> >
class OctreePointCloudSinglePoint : public OctreePointCloud<PointT, LeafContainerT,
BranchContainerT, OctreeT>
{
public:
// public typedefs for single/double buffering
typedef OctreePointCloudSinglePoint<PointT, LeafContainerT, BranchContainerT,
OctreeBase<LeafContainerT, BranchContainerT> > SingleBuffer;
// typedef OctreePointCloudSinglePoint<PointT, LeafContainerT, BranchContainerT,
// Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;
/** \brief Constructor.
* \param resolution_arg: octree resolution at lowest octree level
* */
OctreePointCloudSinglePoint (const double resolution_arg) :
OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> (resolution_arg)
{
}
/** \brief Empty class constructor. */
virtual ~OctreePointCloudSinglePoint ()
{
}
};
}
}
#define PCL_INSTANTIATE_OctreePointCloudSinglePoint(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudSinglePoint<T>;
#endif
pcl::octree::OctreePointCloud
Octree pointcloud class
Definition: octree_pointcloud.h:73
pcl::octree::OctreeBase
Octree class.
Definition: octree_base.h:62
pcl
Definition: convolution.h:45
pcl::octree::OctreePointCloudSinglePoint::SingleBuffer
OctreePointCloudSinglePoint< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > SingleBuffer
Definition: octree_pointcloud_singlepoint.h:69
pcl::octree::OctreePointCloudSinglePoint::~OctreePointCloudSinglePoint
virtual ~OctreePointCloudSinglePoint()
Empty class constructor.
Definition: octree_pointcloud_singlepoint.h:82
pcl::octree::OctreePointCloudSinglePoint
Octree pointcloud single point class
Definition: octree_pointcloud_singlepoint.h:62
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:606
pcl::octree::OctreePointCloudSinglePoint::OctreePointCloudSinglePoint
OctreePointCloudSinglePoint(const double resolution_arg)
Constructor.
Definition: octree_pointcloud_singlepoint.h:76