example_outofcore_with_lod.cpp

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#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>

#include <pcl/outofcore/outofcore.h>
#include <pcl/outofcore/outofcore_impl.h>

#include <pcl/outofcore/boost.h>

#include<pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>

using namespace pcl::outofcore;

typedef OutofcoreOctreeBase<OutofcoreOctreeDiskContainer<pcl::PointXYZ>, pcl::PointXYZ> OctreeDisk;
typedef OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer<pcl::PointXY>, pcl::PointXYZ> OctreeDiskNode;

int main (int, char** argv)
{

  //Find all PCD files located in argv[1] directory

  int depth = 3;
  Eigen::Vector3d min (-10.0, -10.0, -10.0);
  Eigen::Vector3d max (10.0, 10.0, 10.0);
  boost::filesystem::path file_location ("tree/tree.oct_idx");
  
  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);

  octree->setSamplePercent (0.125);

  octree->buildLOD ();
  
  return (0);
}