Point Cloud Library (PCL)  1.9.1-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 {
45  namespace octree
46  {
47 
48  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
49  /** \brief @b Octree pointcloud point vector class
50  * \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.
51  * \note The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
52  * \note
53  * \note typename: 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> >
62  class OctreePointCloudPointVector : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>
63  {
64 
65  public:
66  // public typedefs for single/double buffering
67  using SingleBuffer = OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT,
69  // typedef OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT,
70  // Octree2BufBase<int, LeafContainerT, BranchContainerT> > DoubleBuffer;
71 
72  /** \brief Constructor.
73  * \param resolution_arg: octree resolution at lowest octree level
74  * */
75  OctreePointCloudPointVector (const double resolution_arg) :
76  OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> (resolution_arg)
77  {
78  }
79 
80  /** \brief Empty class constructor. */
82  {
83  }
84 
85  };
86  }
87 }
88 
89 #define PCL_INSTANTIATE_OctreePointCloudPointVector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudPointVector<T>;
Octree pointcloud class
Octree class.
Definition: octree_base.h:61
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
A point structure representing Euclidean xyz coordinates, and the RGB color.
OctreePointCloudPointVector(const double resolution_arg)
Constructor.