39 #ifndef PCL_OCTREE_CHANGEDETECTOR_H 40 #define PCL_OCTREE_CHANGEDETECTOR_H 42 #include <pcl/octree/octree_pointcloud.h> 43 #include <pcl/octree/octree2buf_base.h> 61 typename LeafContainerT = OctreeContainerPointIndices,
62 typename BranchContainerT = OctreeContainerEmpty >
65 LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT, BranchContainerT> >
76 Octree2BufBase<LeafContainerT, BranchContainerT> > (resolution_arg)
91 const int minPointsPerLeaf_arg = 0)
94 std::vector<OctreeContainerPointIndices*> leaf_containers;
97 std::vector<OctreeContainerPointIndices*>::iterator it;
98 std::vector<OctreeContainerPointIndices*>::const_iterator it_end = leaf_containers.end();
100 for (it=leaf_containers.begin(); it!=it_end; ++it)
102 if (static_cast<int> ((*it)->getSize ()) >= minPointsPerLeaf_arg)
103 (*it)->getPointIndices(indicesVector_arg);
106 return (indicesVector_arg.size ());
112 #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
Octree pointcloud change detector 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...
std::size_t getPointIndicesFromNewVoxels(std::vector< int > &indicesVector_arg, const int minPointsPerLeaf_arg=0)
Get a indices from all leaf nodes that did not exist in previous buffer.
virtual ~OctreePointCloudChangeDetector()
Empty class constructor.
Octree double buffer class
A point structure representing Euclidean xyz coordinates, and the RGB color.
OctreePointCloudChangeDetector(const double resolution_arg)
Constructor.