Point Cloud Library (PCL)  1.12.1-dev
octree_pointcloud_singlepoint.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 /** \brief @b Octree pointcloud single point class
47  * \note This pointcloud octree class generate an octrees from a point cloud
48  * (zero-copy). Every leaf node contains a single point index from the dataset given by
49  * \a setInputCloud.
50  * \note The octree pointcloud is initialized with its voxel resolution. Its bounding
51  * box is automatically adjusted or can be predefined.
52  * \tparam PointT type of point used in pointcloud
53  * \ingroup octree
54  * \author Julius Kammerl (julius@kammerl.de)
55  */
56 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
57 template <typename PointT,
58  typename LeafContainerT = OctreeContainerPointIndex,
59  typename BranchContainerT = OctreeContainerEmpty,
60  typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
61 
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 OctreePointCloudSinglePoint<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  OctreePointCloudSinglePoint(const double resolution_arg)
79  : OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>(resolution_arg)
80  {}
81 
82  /** \brief Empty class constructor. */
83  ~OctreePointCloudSinglePoint() override = default;
84 };
85 
86 } // namespace octree
87 } // namespace pcl
88 
89 // needed since OctreePointCloud is not instantiated with template parameters used above
90 #include <pcl/octree/impl/octree_pointcloud.hpp>
91 
92 #define PCL_INSTANTIATE_OctreePointCloudSinglePoint(T) \
93  template class PCL_EXPORTS pcl::octree::OctreePointCloudSinglePoint<T>;
Octree pointcloud class
OctreePointCloudSinglePoint(const double resolution_arg)
Constructor.
~OctreePointCloudSinglePoint() override=default
Empty class constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.