90 lines
3.8 KiB
C
90 lines
3.8 KiB
C
|
/*
|
||
|
|
* 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.
|
||
|
|
*
|
||
|
|
* $Id$
|
||
|
|
*/
|
||
|
|
|
||
|
|
#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>;
|