Point Cloud Library (PCL) 1.12.0
octree_pointcloud_changedetector.h
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38
39#pragma once
40
41#include <pcl/octree/octree2buf_base.h>
42#include <pcl/octree/octree_pointcloud.h>
43#include <pcl/memory.h>
44
45namespace pcl {
46namespace octree {
47
48//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
49/** \brief @b Octree pointcloud change detector class
50 * \note This pointcloud octree class generate an octrees from a point cloud
51 * (zero-copy). It allows to detect new leaf nodes and serialize their point indices
52 * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
53 * box is automatically adjusted or can be predefined.
54 * \tparam PointT type of point used in pointcloud
55 * \ingroup octree
56 * \author Julius Kammerl (julius@kammerl.de)
57 */
58//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59template <typename PointT,
60 typename LeafContainerT = OctreeContainerPointIndices,
61 typename BranchContainerT = OctreeContainerEmpty>
62
64: public OctreePointCloud<PointT,
65 LeafContainerT,
66 BranchContainerT,
67 Octree2BufBase<LeafContainerT, BranchContainerT>>
68
69{
70
71public:
72 using Ptr = shared_ptr<
74 using ConstPtr = shared_ptr<
76
77 /** \brief Constructor.
78 * \param resolution_arg: octree resolution at lowest octree level
79 * */
80 OctreePointCloudChangeDetector(const double resolution_arg)
82 LeafContainerT,
83 BranchContainerT,
84 Octree2BufBase<LeafContainerT, BranchContainerT>>(resolution_arg)
85 {}
86
87 /** \brief Get a indices from all leaf nodes that did not exist in previous buffer.
88 * \param indicesVector_arg: results are written to this vector of int indices
89 * \param minPointsPerLeaf_arg: minimum amount of points required within leaf node to
90 * become serialized.
91 * \return number of point indices
92 */
93 std::size_t
95 const uindex_t minPointsPerLeaf_arg = 0)
96 {
97
98 std::vector<OctreeContainerPointIndices*> leaf_containers;
99 this->serializeNewLeafs(leaf_containers);
100
101 for (const auto& leaf_container : leaf_containers) {
102 if (static_cast<uindex_t>(leaf_container->getSize()) >= minPointsPerLeaf_arg)
103 leaf_container->getPointIndices(indicesVector_arg);
104 }
105
106 return (indicesVector_arg.size());
107 }
108};
109} // namespace octree
110} // namespace pcl
111
112#define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) \
113 template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
Octree double buffer class
void serializeNewLeafs(std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg)
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buff...
shared_ptr< const OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > > ConstPtr
shared_ptr< OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > > Ptr
OctreePointCloudChangeDetector(const double resolution_arg)
Constructor.
std::size_t getPointIndicesFromNewVoxels(Indices &indicesVector_arg, const uindex_t minPointsPerLeaf_arg=0)
Get a indices from all leaf nodes that did not exist in previous buffer.
Octree pointcloud class
Defines functions, macros and traits for allocating and using memory.
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.