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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*/
#include <pcl/io/pcd_io.h>
#include <pcl/outofcore/outofcore.h>
#include <pcl/outofcore/outofcore_impl.h>
using namespace pcl::outofcore;
using OctreeDisk = OutofcoreOctreeBase<OutofcoreOctreeDiskContainer<pcl::PointXYZ>, pcl::PointXYZ>;
using OctreeDiskNode = OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer<pcl::PointXY>, pcl::PointXYZ>;
int main (int, char** argv)
{
// pcl::console::setVerbosityLevel (pcl::console::L_VERBOSE);
int depth = 3;
Eigen::Vector3d min (-10.0, -10.0, -10.0);
Eigen::Vector3d max (10.0, 10.0, 10.0);
//specify the destination of the tree
boost::filesystem::path file_location ("tree/tree.oct_idx");
//create the tree with bounding box that will encompass the region of points in the PCD files
OctreeDisk* octree;
octree = new OctreeDisk (depth, min, max, file_location, "ECEF");
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
pcl::io::loadPCDFile (argv[1], *cloud);
octree->addPointCloud (cloud, false);
pcl::io::loadPCDFile (argv[2], *cloud);
octree->addPointCloud (cloud, false);
octree->buildLOD ();
//iterate over the octree, depth first
OutofcoreDepthFirstIterator<pcl::PointXYZ, pcl::outofcore::OutofcoreOctreeDiskContainer<pcl::PointXYZ> > it (*octree);
OctreeDisk::Iterator myit (*octree);
while ( *myit !=nullptr )
{
octree->printBoundingBox (**myit);
myit++;
}
return (0);
}
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