Point Cloud Library (PCL)  1.12.1-dev
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 
45 namespace pcl {
46 namespace 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 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
59 template <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 
71 public:
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< LeafContainerT * > &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.