39 #ifndef PCL_OCTREE_OCCUPANCY_H
40 #define PCL_OCTREE_OCCUPANCY_H
42 #include "octree_pointcloud.h"
60 typename LeafContainerT = OctreeContainerEmpty,
61 typename BranchContainerT = OctreeContainerEmpty >
63 BranchContainerT, OctreeBase<LeafContainerT, BranchContainerT> >
82 OctreeBase<LeafContainerT, BranchContainerT> > (resolution_arg)
114 for (i = 0; i < cloud_arg->points.size (); i++)
117 if (
isFinite(cloud_arg->points[i])) {
129 #define PCL_INSTANTIATE_OctreePointCloudOccupancy(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudOccupancy<T>;
LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
OctreePointCloudOccupancy(const double resolution_arg)
Constructor.
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested.
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr PointCloudConstPtr
Octree pointcloud occupancy class
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloud PointCloud
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr PointCloudPtr
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > SingleBuffer
void setOccupiedVoxelAtPoint(const PointT &point_arg)
Set occupied voxel at point.
virtual ~OctreePointCloudOccupancy()
Empty class constructor.
void setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
Set occupied voxels at all points from point cloud.
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > DoubleBuffer
A point structure representing Euclidean xyz coordinates, and the RGB color.