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)
105 this->addData (key, 0);
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>;
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr PointCloudPtr
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > SingleBuffer
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
Octree pointcloud occupancy class
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.
void setOccupiedVoxelAtPoint(const PointT &point_arg)
Set occupied voxel at point.
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr PointCloudConstPtr
virtual ~OctreePointCloudOccupancy()
Empty class constructor.
OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT > DoubleBuffer
OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::PointCloud PointCloud
A point structure representing Euclidean xyz coordinates, and the RGB color.
void setOccupiedVoxelsAtPointsFromCloud(PointCloudPtr cloud_arg)
Set occupied voxels at all points from point cloud.