Octree double buffer class More...

#include <octree2buf_base.h>

Public Types
typedef BufferedBranchNode < BranchT >	BranchNode
typedef OctreeBreadthFirstIterator < DataT, OctreeT >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < DataT, OctreeT >	ConstBreadthFirstIterator
typedef const OctreeDepthFirstIterator < DataT, OctreeT >	ConstDepthFirstIterator
typedef const OctreeDepthFirstIterator < DataT, OctreeT >	ConstIterator
typedef const OctreeLeafNodeIterator< DataT, OctreeT >	ConstLeafNodeIterator
typedef OctreeDepthFirstIterator < DataT, OctreeT >	DepthFirstIterator
typedef OctreeDepthFirstIterator < DataT, OctreeT >	Iterator
typedef OctreeLeafNode< LeafT >	LeafNode
typedef OctreeLeafNodeIterator < DataT, OctreeT >	LeafNodeIterator
typedef Octree2BufBase< DataT, LeafT, BranchT >	OctreeT
Public Member Functions
void	addData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, const DataT &data_arg)
	Add a const DataT element to leaf node at (idxX, idxY, idxZ). If leaf node does not exist, it is added to the octree.
void	deleteCurrentBuffer ()
	Delete the octree structure in the current buffer.
void	deletePreviousBuffer ()
	Delete octree structure of previous buffer.
void	deleteTree (bool freeMemory_arg=false)
	Delete the octree structure and its leaf nodes.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, bool doXORDecoding_arg=false)
	Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..).
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg, bool doXORDecoding_arg=false)
	Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with DataT elements from the dataVector.
bool	existLeaf (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg) const
	Check for the existence of leaf node at (idxX, idxY, idxZ).
unsigned int	getBranchCount () const
	Return the amount of existing branches in the octree.
bool	getData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, DataT &data_arg) const
	Retrieve a DataT element from leaf node at (idxX, idxY, idxZ). It returns false if leaf node does not exist.
unsigned int	getLeafCount () const
	Return the amount of existing leafs in the octree.
unsigned int	getTreeDepth () const
	Get the maximum depth of the octree.
	Octree2BufBase ()
	Empty constructor.
	Octree2BufBase (const Octree2BufBase &source)
	Copy constructor.
Octree2BufBase &	operator= (const Octree2BufBase &source)
	Copy constructor.
void	removeLeaf (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg)
	Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).
void	serializeLeafs (std::vector< DataT > &dataVector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
void	serializeNewLeafs (std::vector< DataT > &dataVector_arg, const int minPointsPerLeaf_arg=0)
	Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, bool doXOREncoding_arg=false)
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &dataVector_arg, bool doXOREncoding_arg=false)
	Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector.
void	setMaxVoxelIndex (unsigned int maxVoxelIndex_arg)
	Set the maximum amount of voxels per dimension.
void	setTreeDepth (unsigned int depth_arg)
	Set the maximum depth of the octree.
void	switchBuffers ()
	Switch buffers and reset current octree structure.
virtual	~Octree2BufBase ()
	Empty deconstructor.
Protected Member Functions
void	addData (const OctreeKey &key_arg, const DataT &data_arg)
	Add DataT object to leaf node at octree key.
bool	branchHasChild (const BranchNode &branch_arg, unsigned char childIdx_arg) const
	Check if branch is pointing to a particular child node.
void	createBranchChild (BranchNode &branch_arg, unsigned char childIdx_arg, BranchNode *&newBranchChild_arg)
	Fetch and add a new branch child to a branch class in current buffer.
LeafT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node.
void	createLeafChild (BranchNode &branch_arg, unsigned char childIdx_arg, LeafNode *&newLeafChild_arg)
	Fetch and add a new leaf child to a branch class.
LeafT *	createLeafRecursive (const OctreeKey &key_arg, unsigned int depthMask_arg, BranchNode *branch_arg, bool branchReset_arg)
	Recursively search for a leaf node at octree key. If leaf node does not exist, it will be created.
void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree (both buffers)
void	deleteBranchChild (BranchNode &branch_arg, unsigned char bufferSelector_arg, unsigned char childIdx_arg)
	Delete child node and all its subchilds from octree in specific buffer.
bool	deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depthMask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node.
virtual void	deserializeTreeCallback (LeafNode &, const OctreeKey &)
	Callback executed for every leaf node data during deserialization.
void	deserializeTreeRecursive (BranchNode branch_arg, unsigned int depthMask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binaryTreeIT_arg, typename std::vector< char >::const_iterator &binaryTreeIT_End_arg, typename std::vector< DataT >::const_iterator dataVectorIterator_arg, typename std::vector< DataT >::const_iterator *dataVectorEndIterator_arg, bool branchReset_arg=false, bool doXORDecoding_arg=false)
	Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.
bool	existLeaf (const OctreeKey &key_arg) const
	Check for leaf not existance in the octree.
LeafT *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node.
LeafT *	findLeafRecursive (const OctreeKey &key_arg, unsigned int depthMask_arg, BranchNode *branch_arg) const
	Recursively search for a given leaf node and return a pointer.
virtual bool	genDataTByOctreeKey (const OctreeKey &, DataT &) const
	Virtual method for initializing new leaf node during deserialization (in case no DataT information is provided)
virtual bool	genOctreeKeyForDataT (const DataT &, OctreeKey &) const
	Virtual method for generating an octree key for a given DataT object.
char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers for current buffer.
char	getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const
	Generate bit pattern reflecting the existence of child node pointers in specific buffer.
OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char childIdx_arg) const
	Retrieve a child node pointer for child node at childIdx.
char	getBranchXORBitPattern (const BranchNode &branch_arg) const
	Generate XOR bit pattern reflecting differences between the two octree buffers.
void	getDataFromOctreeNode (const OctreeNode *node_arg, DataT &data_arg)
	Get data from octree node.
void	getDataFromOctreeNode (const OctreeNode *node_arg, std::vector< DataT > &data_arg)
	Get data from octree node.
size_t	getDataSizeFromOctreeNode (const OctreeNode *node_arg)
	Get data size of octree node container.
OctreeNode *	getRootNode () const
	Retrieve root node.
bool	hasBranchChanges (const BranchNode &branch_arg) const
	Test if branch changed between previous and current buffer.
double	Log2 (double n_arg)
	Helper function to calculate the binary logarithm.
bool	octreeCanResize ()
	Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.
void	poolCleanUp ()
	Delete all branch and leaf nodes from octree node pools.
void	printBinary (char data_arg)
	Prints binary representation of a byte - used for debugging.
void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree.
virtual void	serializeTreeCallback (LeafNode &, const OctreeKey &)
	Callback executed for every leaf node data during serialization.
void	serializeTreeRecursive (BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binaryTreeOut_arg, typename std::vector< DataT > *dataVector_arg, bool doXOREncoding_arg=false, bool newLeafsFilter_arg=false, std::size_t minPointsPerLeaf_arg=0)
	Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content.
void	setBranchChildPtr (BranchNode &branch_arg, unsigned char childIdx_arg, OctreeNode *newChild_arg)
	Assign new child node to branch.
void	treeCleanUpRecursive (BranchNode *branch_arg)
	Recursively explore the octree and remove unused branch and leaf nodes.
Protected Attributes
std::size_t	branchCount_
	Amount of branch nodes.
OctreeNodePool< BranchNode >	branchNodePool_
	Pool of unused branch nodes.
unsigned char	bufferSelector_
	Currently active octree buffer.
unsigned int	depthMask_
	Depth mask based on octree depth.
std::size_t	leafCount_
	Amount of leaf nodes.
OctreeNodePool< LeafNode >	leafNodePool_
	Pool of unused branch nodes.
OctreeKey	maxKey_
	key range
std::size_t	objectCount_
	Amount of objects assigned to leaf nodes.
unsigned int	octreeDepth_
	Octree depth.
BranchNode *	rootNode_
	Pointer to root branch node of octree.
bool	treeDirtyFlag_
Friends
class	OctreeBreadthFirstIterator< DataT, OctreeT >
class	OctreeDepthFirstIterator< DataT, OctreeT >
class	OctreeIteratorBase< DataT, OctreeT >
class	OctreeLeafNodeIterator< DataT, OctreeT >

Detailed Description

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>
class pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >

Octree double buffer class

Note:: This octree implementation keeps two separate octree structures in memory. This enables to create octree structures at high rate due to an advanced memory management.; Furthermore, it allows for detecting and differentially compare the adjacent octree structures.; The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).; All leaf nodes are addressed by integer indices.; Note: The tree depth equates to the bit length of the voxel indices.

Author:: Julius Kammerl (julius@kammerl.de)

Definition at line 178 of file octree2buf_base.h.

Member Typedef Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef BufferedBranchNode<BranchT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::BranchNode

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >, and pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >.

Definition at line 191 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeBreadthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::BreadthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 203 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeBreadthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstBreadthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 204 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstDepthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 202 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 196 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeLeafNodeIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstLeafNodeIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 199 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::DepthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 201 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Iterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 195 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeLeafNode<LeafT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::LeafNode

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >, and pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >.

Definition at line 192 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeLeafNodeIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::LeafNodeIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 198 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef Octree2BufBase<DataT, LeafT, BranchT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::OctreeT

Definition at line 183 of file octree2buf_base.h.

Constructor & Destructor Documentation

template<typename DataT , typename LeafT , typename BranchT >

pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Octree2BufBase ( )

Empty constructor.

Definition at line 48 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::~Octree2BufBase ( ) [virtual]

Empty deconstructor.

Definition at line 65 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Octree2BufBase ( const Octree2BufBase< DataT, LeafT, BranchT > & source ) [inline]

Copy constructor.

Definition at line 214 of file octree2buf_base.h.

Member Function Documentation

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::addData	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg,
		const DataT &	data_arg
	)

Add a const DataT element to leaf node at (idxX, idxY, idxZ). If leaf node does not exist, it is added to the octree.

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.
data_arg,:	const reference to DataT object that is fed to the lead node.

Definition at line 108 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::addData	(	const OctreeKey &	key_arg,
		const DataT &	data_arg
	)		`[inline, protected]`

Add DataT object to leaf node at octree key.

Parameters:

key_arg,:	octree key addressing a leaf node.
data_arg,:	DataT object to be added.

Definition at line 427 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::branchHasChild	(	const BranchNode &	branch_arg,
		unsigned char	childIdx_arg
	)		const `[inline, protected]`

Check if branch is pointing to a particular child node.

Parameters:

branch_arg,:	reference to octree branch class
childIdx_arg,:	index to child node

Returns:: "true" if pointer to child node exists; "false" otherwise

Definition at line 502 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::createBranchChild	(	BranchNode &	branch_arg,
		unsigned char	childIdx_arg,
		BranchNode *&	newBranchChild_arg
	)		`[inline, protected]`

Fetch and add a new branch child to a branch class in current buffer.

Parameters:

branch_arg,:	reference to octree branch class
childIdx_arg,:	index to child node
newBranchChild_arg,:	write a pointer of new branch child to this reference

Definition at line 742 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

LeafT* pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::createLeaf ( const OctreeKey & key_arg ) [inline, protected]

Create a leaf node.

Note:: If the leaf node at the given octree node does not exist, it will be created and added to the tree.

Parameters:

key_arg,: octree key addressing a leaf node.

Returns:: pointer to an existing or created leaf node.

Definition at line 456 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::createLeafChild	(	BranchNode &	branch_arg,
		unsigned char	childIdx_arg,
		LeafNode *&	newLeafChild_arg
	)		`[inline, protected]`

Fetch and add a new leaf child to a branch class.

Parameters:

branch_arg,:	reference to octree branch class
childIdx_arg,:	index to child node
newLeafChild_arg,:	writes a pointer of new leaf child to this reference

Definition at line 757 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

LeafT * pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::createLeafRecursive	(	const OctreeKey &	key_arg,
		unsigned int	depthMask_arg,
		BranchNode *	branch_arg,
		bool	branchReset_arg
	)		`[protected]`

Recursively search for a leaf node at octree key. If leaf node does not exist, it will be created.

Parameters:

key_arg,:	reference to an octree key
depthMask_arg,:	depth mask used for octree key analysis and for branch depth indicator
branch_arg,:	current branch node
branchReset_arg,:	Reset pointer array of current branch

Returns:: pointer to leaf node class

Definition at line 336 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteBranch ( BranchNode & branch_arg ) [inline, protected]

Delete branch and all its subchilds from octree (both buffers)

Parameters:

branch_arg,: reference to octree branch class

Definition at line 712 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteBranchChild	(	BranchNode &	branch_arg,
		unsigned char	bufferSelector_arg,
		unsigned char	childIdx_arg
	)		`[inline, protected]`

Delete child node and all its subchilds from octree in specific buffer.

Parameters:

branch_arg,:	reference to octree branch class
bufferSelector_arg,:	buffer selector
childIdx_arg,:	index to child node

Definition at line 672 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteCurrentBuffer ( ) [inline]

Delete the octree structure in the current buffer.

Definition at line 329 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteLeafRecursive	(	const OctreeKey &	key_arg,
		unsigned int	depthMask_arg,
		BranchNode *	branch_arg
	)		`[protected]`

Recursively search and delete leaf node.

Parameters:

key_arg,:	reference to an octree key
depthMask_arg,:	depth mask used for octree key analysis and branch depth indicator
branch_arg,:	current branch node

Returns:: "true" if branch does not contain any childs; "false" otherwise. This indicates if current branch can be deleted.

Definition at line 486 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deletePreviousBuffer ( ) [inline]

Delete octree structure of previous buffer.

Definition at line 323 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteTree ( bool freeMemory_arg = false )

Delete the octree structure and its leaf nodes.

Parameters:

freeMemory_arg,: if "true", allocated octree nodes are deleted, otherwise they are pushed to the octree node pool

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 163 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		bool	doXORDecoding_arg = `false`
	)

Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..).

Parameters:

binaryTreeIn_arg,:	reference to input vector for reading binary tree structure.
doXORDecoding_arg,:	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 266 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg,
		bool	doXORDecoding_arg = `false`
	)

Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with DataT elements from the dataVector.

Parameters:

binaryTreeIn_arg,:	reference to inpvectoream for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that provides DataT objects for initializing leaf nodes.
doXORDecoding_arg,:	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 289 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

virtual void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deserializeTreeCallback	(	LeafNode &	,
		const OctreeKey &
	)		`[inline, protected, virtual]`

Callback executed for every leaf node data during deserialization.

Definition at line 858 of file octree2buf_base.h.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deserializeTreeRecursive	(	BranchNode *	branch_arg,
		unsigned int	depthMask_arg,
		OctreeKey &	key_arg,
		typename std::vector< char >::const_iterator &	binaryTreeIT_arg,
		typename std::vector< char >::const_iterator &	binaryTreeIT_End_arg,
		typename std::vector< DataT >::const_iterator *	dataVectorIterator_arg,
		typename std::vector< DataT >::const_iterator *	dataVectorEndIterator_arg,
		bool	branchReset_arg = `false`,
		bool	doXORDecoding_arg = `false`
	)		`[protected]`

Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.

Parameters:

binaryTreeIn_arg,:	iterator to input vector
branch_arg,:	current branch node
depthMask_arg,:	depth mask used for octree key analysis and branch depth indicator
key_arg,:	reference to an octree key
dataVectorIterator_arg,:	iterator pointing to current DataT object to be added to a leaf node
dataVectorEndIterator_arg,:	iterator pointing to last object in DataT input vector.
branchReset_arg,:	Reset pointer array of current branch
doXORDecoding_arg,:	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 643 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::existLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)		const

Check for the existence of leaf node at (idxX, idxY, idxZ).

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.

Returns:: "true" if leaf node search is successful, otherwise it returns "false".

Definition at line 139 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::existLeaf ( const OctreeKey & key_arg ) const [inline, protected]

Check for leaf not existance in the octree.

Parameters:

key_arg,: octree key addressing a leaf node.

Returns:: "true" if leaf node is found; "false" otherwise

Definition at line 472 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

LeafT* pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::findLeaf ( const OctreeKey & key_arg ) const [inline, protected]

Find leaf node.

Parameters:

key_arg,: octree key addressing a leaf node.

Returns:: pointer to leaf node. If leaf node is not found, this pointer returns 0.

Definition at line 445 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

LeafT * pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::findLeafRecursive	(	const OctreeKey &	key_arg,
		unsigned int	depthMask_arg,
		BranchNode *	branch_arg
	)		const `[protected]`

Recursively search for a given leaf node and return a pointer.

Note:: If leaf node does not exist, a 0 pointer is returned.

Parameters:

key_arg,:	reference to an octree key
depthMask_arg,:	depth mask used for octree key analysis and for branch depth indicator
branch_arg,:	current branch node

Returns:: pointer to leaf node class. Returns 0 if leaf node is not found.

Definition at line 451 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

virtual bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::genDataTByOctreeKey	(	const OctreeKey &	,
		DataT &
	)		const `[inline, protected, virtual]`

Virtual method for initializing new leaf node during deserialization (in case no DataT information is provided)

Parameters:

[in]	key_arg	write generated octree key to this octree key reference
[in]	data_arg	generated DataT object

Returns:: "true" if DataT object could be generated; "false" otherwise

Definition at line 417 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

virtual bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::genOctreeKeyForDataT	(	const DataT &	,
		OctreeKey &
	)		const `[inline, protected, virtual]`

Virtual method for generating an octree key for a given DataT object.

Parameters:

[in]	data_arg	reference to DataT object
[in]	key_arg	write generated octree key to this octree key reference

Returns:: "true" if octree could be generated based on DataT object; "false" otherwise

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 406 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

char pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getBranchBitPattern ( const BranchNode & branch_arg ) const [inline, protected]

Generate bit pattern reflecting the existence of child node pointers for current buffer.

Parameters:

branch_arg,: reference to octree branch class

Returns:: a single byte with 8 bits of child node information

Definition at line 596 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

char pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getBranchBitPattern	(	const BranchNode &	branch_arg,
		unsigned char	bufferSelector_arg
	)		const `[inline, protected]`

Generate bit pattern reflecting the existence of child node pointers in specific buffer.

Parameters:

branch_arg,:	reference to octree branch class
bufferSelector_arg,:	buffer selector

Returns:: a single byte with 8 bits of child node information

Definition at line 617 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

OctreeNode* pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getBranchChildPtr	(	const BranchNode &	branch_arg,
		unsigned char	childIdx_arg
	)		const `[inline, protected]`

Retrieve a child node pointer for child node at childIdx.

Parameters:

branch_arg,:	reference to octree branch class
childIdx_arg,:	index to child node

Returns:: pointer to octree child node class

Definition at line 514 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getBranchCount ( ) const [inline]

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 311 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

char pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getBranchXORBitPattern ( const BranchNode & branch_arg ) const [inline, protected]

Generate XOR bit pattern reflecting differences between the two octree buffers.

Parameters:

branch_arg,: reference to octree branch class

Returns:: a single byte with 8 bits of child node XOR difference information

Definition at line 638 of file octree2buf_base.h.

template<typename DataT, typename LeafT , typename BranchT >

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getData	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg,
		DataT &	data_arg
	)		const

Retrieve a DataT element from leaf node at (idxX, idxY, idxZ). It returns false if leaf node does not exist.

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.
data_arg,:	reference to DataT object that contains content of leaf node if search was successful.

Returns:: "true" if leaf node search is successful, otherwise it returns "false".

Definition at line 120 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getDataFromOctreeNode	(	const OctreeNode *	node_arg,
		DataT &	data_arg
	)		`[inline, protected]`

Get data from octree node.

Parameters:

node_arg,:	node in octree
data_arg,:	data from octree node

Definition at line 535 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getDataFromOctreeNode	(	const OctreeNode *	node_arg,
		std::vector< DataT > &	data_arg
	)		`[inline, protected]`

Get data from octree node.

Parameters:

node_arg,:	node in octree
data_arg,:	obtain vector of all DataT objects stored in octree node

Definition at line 555 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

size_t pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getDataSizeFromOctreeNode ( const OctreeNode * node_arg ) [inline, protected]

Get data size of octree node container.

Parameters:

node_arg,: node in octree

Returns:: data_arg: number of DataT objects stored in node container

Definition at line 575 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getLeafCount ( ) const [inline]

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 303 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

OctreeNode* pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getRootNode ( ) const [inline, protected]

Retrieve root node.

Definition at line 396 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getTreeDepth ( ) const [inline]

Get the maximum depth of the octree.

Returns:: depth_arg: maximum depth of octree

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int >, Octree2BufBase< int, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > > >.

Definition at line 255 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::hasBranchChanges ( const BranchNode & branch_arg ) const [inline, protected]

Test if branch changed between previous and current buffer.

Parameters:

branch_arg,: reference to octree branch class

Returns:: "true", if child node information differs between current and previous octree buffer

Definition at line 662 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

double pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Log2 ( double n_arg ) [inline, protected]

Helper function to calculate the binary logarithm.

Parameters:

n_arg,: some value

Returns:: binary logarithm (log2) of argument n_arg

Definition at line 877 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::octreeCanResize ( ) [inline, protected]

Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.

Returns:: "false" - not resizeable due to XOR serialization

Definition at line 885 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

Octree2BufBase& pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::operator= ( const Octree2BufBase< DataT, LeafT, BranchT > & source ) [inline]

Copy constructor.

Definition at line 226 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::poolCleanUp ( ) [inline, protected]

Delete all branch and leaf nodes from octree node pools.

Definition at line 767 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::printBinary ( char data_arg ) [inline, protected]

Prints binary representation of a byte - used for debugging.

Parameters:

data_arg - byte to be printed to stdout

Definition at line 893 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::removeLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)

Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.

Definition at line 151 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::removeLeaf ( const OctreeKey & key_arg ) [inline, protected]

Remove leaf node from octree.

Parameters:

key_arg,: octree key addressing a leaf node.

Definition at line 481 of file octree2buf_base.h.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeLeafs ( std::vector< DataT > & dataVector_arg )

Outputs a vector of all DataT elements that are stored within the octree leaf nodes.

Parameters:

dataVector_arg,: reference to DataT vector that receives a copy of all DataT objects in the octree.

Definition at line 249 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeNewLeafs	(	std::vector< DataT > &	dataVector_arg,
		const int	minPointsPerLeaf_arg = `0`
	)

Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.

Parameters:

dataVector_arg,:	reference to DataT vector that receives a copy of all DataT objects in the octree.
minPointsPerLeaf_arg,:	minimum amount of points required within leaf node to become serialized.

Definition at line 318 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		bool	doXOREncoding_arg = `false`
	)

Serialize octree into a binary output vector describing its branch node structure.

Parameters:

binaryTreeOut_arg,:	reference to output vector for writing binary tree structure.
doXOREncoding_arg,:	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 212 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		std::vector< DataT > &	dataVector_arg,
		bool	doXOREncoding_arg = `false`
	)

Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector.

Parameters:

binaryTreeOut_arg,:	reference to output vector for writing binary tree structure.
dataVector_arg,:	reference of DataT vector that receives a copy of all DataT objects in the octree
doXOREncoding_arg,:	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 229 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

virtual void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeTreeCallback	(	LeafNode &	,
		const OctreeKey &
	)		`[inline, protected, virtual]`

Callback executed for every leaf node data during serialization.

Definition at line 851 of file octree2buf_base.h.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeTreeRecursive	(	BranchNode *	branch_arg,
		OctreeKey &	key_arg,
		std::vector< char > *	binaryTreeOut_arg,
		typename std::vector< DataT > *	dataVector_arg,
		bool	doXOREncoding_arg = `false`,
		bool	newLeafsFilter_arg = `false`,
		std::size_t	minPointsPerLeaf_arg = `0`
	)		`[protected]`

Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content.

Parameters:

binaryTreeOut_arg,:	binary output vector
branch_arg,:	current branch node
key_arg,:	reference to an octree key
dataVector_arg,:	writes DataT content to this DataT vector.
doXOREncoding_arg,:	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree
newLeafsFilter_arg,:	execute callback only for leaf nodes that did not exist in preceding buffer
minPointsPerLeaf_arg,:	execute callback only for leafs with more than N objects.

Definition at line 541 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::setBranchChildPtr	(	BranchNode &	branch_arg,
		unsigned char	childIdx_arg,
		OctreeNode *	newChild_arg
	)		`[inline, protected]`

Assign new child node to branch.

Parameters:

branch_arg,:	reference to octree branch class
childIdx_arg,:	index to child node
newChild_arg,:	pointer to new child node

Definition at line 525 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::setMaxVoxelIndex ( unsigned int maxVoxelIndex_arg )

Set the maximum amount of voxels per dimension.

Parameters:

maxVoxelIndex_arg,: maximum amount of voxels per dimension

Definition at line 75 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::setTreeDepth ( unsigned int depth_arg )

Set the maximum depth of the octree.

Parameters:

depth_arg,: maximum depth of octree

Definition at line 92 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::switchBuffers ( )

Switch buffers and reset current octree structure.

Definition at line 185 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::treeCleanUpRecursive ( BranchNode * branch_arg ) [protected]

Recursively explore the octree and remove unused branch and leaf nodes.

Parameters:

branch_arg,: current branch node

Definition at line 819 of file octree2buf_base.hpp.

Friends And Related Function Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeBreadthFirstIterator< DataT, OctreeT > [friend]

Definition at line 188 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeDepthFirstIterator< DataT, OctreeT > [friend]

Definition at line 187 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeIteratorBase< DataT, OctreeT > [friend]

Definition at line 186 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeLeafNodeIterator< DataT, OctreeT > [friend]

Definition at line 189 of file octree2buf_base.h.

Member Data Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

std::size_t pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::branchCount_ [protected]

Amount of branch nodes.

Definition at line 914 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

OctreeNodePool<BranchNode> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::branchNodePool_ [protected]

Pool of unused branch nodes.

Definition at line 929 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned char pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::bufferSelector_ [protected]

Currently active octree buffer.

Definition at line 935 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::depthMask_ [protected]

Depth mask based on octree depth.

Definition at line 923 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

std::size_t pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::leafCount_ [protected]

Amount of leaf nodes.

Definition at line 911 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

OctreeNodePool<LeafNode> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::leafNodePool_ [protected]

Pool of unused branch nodes.

Definition at line 932 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

OctreeKey pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::maxKey_ [protected]

key range

Definition at line 926 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

std::size_t pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::objectCount_ [protected]

Amount of objects assigned to leaf nodes.

Definition at line 917 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::octreeDepth_ [protected]

Octree depth.

Definition at line 941 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

BranchNode* pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::rootNode_ [protected]

Pointer to root branch node of octree.

Definition at line 920 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::treeDirtyFlag_ [protected]

Definition at line 938 of file octree2buf_base.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>> class pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>
class pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >