Point Cloud Library (PCL)  1.10.1-dev
octree_pointcloud_pointvector.h
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38 
39 #pragma once
40 
41 #include <pcl/octree/octree_pointcloud.h>
42 
43 namespace pcl {
44 namespace octree {
45 
46 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
47 /** \brief @b Octree pointcloud point vector class
48  * \note This pointcloud octree class generate an octrees from a point cloud
49  * (zero-copy). Every leaf node contains a list of point indices of the dataset given by
50  * \a setInputCloud.
51  * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
52  * box is automatically adjusted or can be predefined.
53  * \tparam PointT type of point used in pointcloud
54  * \ingroup octree
55  * \author Julius Kammerl (julius@kammerl.de)
56  */
57 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
58 template <typename PointT,
59  typename LeafContainerT = OctreeContainerPointIndices,
60  typename BranchContainerT = OctreeContainerEmpty,
61  typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
63 : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> {
64 
65 public:
66  // public typedefs for single/double buffering
67  using SingleBuffer =
69  LeafContainerT,
70  BranchContainerT,
72  // typedef OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT,
73  // Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;
74 
75  /** \brief Constructor.
76  * \param resolution_arg: octree resolution at lowest octree level
77  * */
78  OctreePointCloudPointVector(const double resolution_arg)
79  : OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>(resolution_arg)
80  {}
81 
82  /** \brief Empty class constructor. */
84 };
85 } // namespace octree
86 } // namespace pcl
87 
88 #define PCL_INSTANTIATE_OctreePointCloudPointVector(T) \
89  template class PCL_EXPORTS pcl::octree::OctreePointCloudPointVector<T>;
Octree pointcloud class
Octree class.
Definition: octree_base.h:61
A point structure representing Euclidean xyz coordinates, and the RGB color.
OctreePointCloudPointVector(const double resolution_arg)
Constructor.