39 #ifndef PCL_OCTREE_CHANGEDETECTOR_H
40 #define PCL_OCTREE_CHANGEDETECTOR_H
42 #include "octree_pointcloud.h"
60 typename LeafContainerT = OctreeContainerPointIndices,
61 typename BranchContainerT = OctreeContainerEmpty >
64 LeafContainerT, BranchContainerT, Octree2BufBase<LeafContainerT, BranchContainerT> >
75 Octree2BufBase<LeafContainerT, BranchContainerT> > (resolution_arg)
90 const int minPointsPerLeaf_arg = 0)
93 std::vector<OctreeContainerPointIndices*> leaf_containers;
96 std::vector<OctreeContainerPointIndices*>::iterator it;
97 std::vector<OctreeContainerPointIndices*>::const_iterator it_end = leaf_containers.end();
99 for (it=leaf_containers.begin(); it!=it_end; ++it)
101 if ((*it)->getSize()>=minPointsPerLeaf_arg)
102 (*it)->getPointIndices(indicesVector_arg);
105 return (indicesVector_arg.size ());
111 #define PCL_INSTANTIATE_OctreePointCloudChangeDetector(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudChangeDetector<T>;
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 pointcloud change detector class
OctreePointCloudChangeDetector(const double resolution_arg)
Constructor.
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...
A point structure representing Euclidean xyz coordinates, and the RGB color.
Octree double buffer class