Octree class. More...

#include <octree_base.h>

Public Types
typedef OctreeBranchNode< 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 OctreeBase< DataT, OctreeContainerDataTVector < DataT > , OctreeContainerEmpty< DataT > >	MultipleObjsLeafContainer
typedef OctreeBase< DataT, LeafT, BranchT >	OctreeT
typedef OctreeBase< DataT, OctreeContainerDataT< DataT > , OctreeContainerEmpty< DataT > >	SingleObjLeafContainer
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 created and added to the octree.
void	deleteTree (bool freeMemory_arg=true)
	Delete the octree structure and its leaf nodes.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg)
	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)
	Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with DataT elements from the dataVector.
void	enableDynamicDepth (size_t maxObjsPerLeaf)
	Enable dynamic octree structure.
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).
std::size_t	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.
std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree.
unsigned int	getTreeDepth () const
	Get the maximum depth of the octree.
	OctreeBase ()
	Empty constructor.
	OctreeBase (const OctreeBase &source)
	Copy constructor.
OctreeBase &	operator= (const OctreeBase &source)
	Copy operator.
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	serializeTree (std::vector< char > &binaryTreeOut_arg)
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &dataVector_arg)
	Serialize octree into a binary output vector describing its branch node structure 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.
virtual	~OctreeBase ()
	Empty deconstructor.
Protected Member Functions
void	addData (const OctreeKey &key_arg, const DataT &data_arg)
	Add DataT object to leaf node at octree key.
void	addDataToLeafRecursive (const OctreeKey &key_arg, unsigned int depthMask_arg, const DataT &data_arg, BranchNode *branch_arg)
	Create a leaf node at octree key. If leaf node does already exist, it is returned.
bool	branchHasChild (const BranchNode &branch_arg, unsigned char childIdx_arg) const
	Check if branch is pointing to a particular child node.
void	branchReset (BranchNode &branch_arg)
	Reset branch class.
void	createBranchChild (BranchNode &branch_arg, unsigned char childIdx_arg, BranchNode *&newBranchChild_arg)
	Create and add a new branch child to a branch class.
void	createLeafChild (BranchNode &branch_arg, unsigned char childIdx_arg, LeafNode *&newLeafChild_arg)
	Create and add a new leaf child to a branch class.
void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree.
void	deleteBranchChild (BranchNode &branch_arg, unsigned char childIdx_arg)
	Delete child node and all its subchilds from octree.
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 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)
	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 existance of a leaf node in the octree.
LeafNode *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node.
void	findLeafRecursive (const OctreeKey &key_arg, unsigned int depthMask_arg, BranchNode branch_arg, LeafNode &result_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.
OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char childIdx_arg) const
	Retrieve a child node pointer for child node at childIdx.
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.
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 nodes and leaf nodes from octree node pools.
void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree.
virtual void	serializeTreeCallback (const LeafNode &, const OctreeKey &) const
	Callback executed for every leaf node during serialization.
void	serializeTreeRecursive (const BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binaryTreeOut_arg, typename std::vector< DataT > *dataVector_arg) const
	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.
Protected Attributes
std::size_t	branchCount_
	Amount of branch nodes.
OctreeNodePool< BranchNode >	branchNodePool_
	Pool of unused branch nodes.
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	maxObjsPerLeaf_
	Amount of DataT objects per leafNode before expanding branch.
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.
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::OctreeBase< DataT, LeafT, BranchT >

Octree class.

Note:: 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 64 of file octree_base.h.

Member Typedef Documentation

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

typedef OctreeBranchNode<BranchT> pcl::octree::OctreeBase< DataT, LeafT, BranchT >::BranchNode

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 80 of file octree_base.h.

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

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

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

Definition at line 92 of file octree_base.h.

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

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

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

Definition at line 93 of file octree_base.h.

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

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

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

Definition at line 91 of file octree_base.h.

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

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

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

Definition at line 85 of file octree_base.h.

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

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

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

Definition at line 88 of file octree_base.h.

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

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

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

Definition at line 90 of file octree_base.h.

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

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

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

Definition at line 84 of file octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 81 of file octree_base.h.

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

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

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

Definition at line 87 of file octree_base.h.

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

typedef OctreeBase<DataT, OctreeContainerDataTVector<DataT>, OctreeContainerEmpty<DataT> > pcl::octree::OctreeBase< DataT, LeafT, BranchT >::MultipleObjsLeafContainer

Definition at line 70 of file octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 72 of file octree_base.h.

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

typedef OctreeBase<DataT, OctreeContainerDataT<DataT>, OctreeContainerEmpty<DataT> > pcl::octree::OctreeBase< DataT, LeafT, BranchT >::SingleObjLeafContainer

Definition at line 69 of file octree_base.h.

Constructor & Destructor Documentation

template<typename DataT , typename LeafT , typename BranchT >

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

Empty constructor.

Definition at line 57 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

Empty deconstructor.

Definition at line 73 of file octree_base.hpp.

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

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

Copy constructor.

Definition at line 104 of file octree_base.h.

Member Function Documentation

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 created and 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 to be added.

Definition at line 117 of file octree_base.hpp.

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

void pcl::octree::OctreeBase< 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 291 of file octree_base.h.

template<typename DataT, typename LeafT , typename BranchT >

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

Create a leaf node at octree key. If leaf node does already exist, it is returned.

Parameters:

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

Definition at line 300 of file octree_base.hpp.

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

bool pcl::octree::OctreeBase< 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 348 of file octree_base.h.

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

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

Reset branch class.

Parameters:

branch_arg,: reference to octree branch class

Definition at line 538 of file octree_base.h.

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

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

Create and add a new branch child to a branch class.

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 513 of file octree_base.h.

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

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

Create 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 527 of file octree_base.h.

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

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

Delete branch and all its subchilds from octree.

Parameters:

branch_arg,: reference to octree branch class

Definition at line 499 of file octree_base.h.

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

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

Delete child node and all its subchilds from octree.

Parameters:

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

Definition at line 462 of file octree_base.h.

template<typename DataT , typename LeafT , typename BranchT >

bool pcl::octree::OctreeBase< 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, too.

Definition at line 442 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

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, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > >.

Definition at line 173 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::deserializeTree ( std::vector< char > & binaryTreeIn_arg )

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.

Definition at line 249 of file octree_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg
	)

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 input vector for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that provides DataT objects for initializing leaf nodes.

Definition at line 271 of file octree_base.hpp.

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

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

Callback executed for every leaf node during deserialization.

Definition at line 627 of file octree_base.h.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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
	)		`[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.

Definition at line 558 of file octree_base.hpp.

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

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::enableDynamicDepth ( size_t maxObjsPerLeaf ) [inline]

Enable dynamic octree structure.

Note:: Leaf nodes are kept as close to the root as possible and are only expanded if the number of DataT objects within a leaf node exceeds a fixed limit.

Returns:: maxObjsPerLeaf: maximum number of DataT objects per leaf

Definition at line 157 of file octree_base.h.

template<typename DataT , typename LeafT , typename BranchT >

bool pcl::octree::OctreeBase< 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 149 of file octree_base.hpp.

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

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

Check for existance of a leaf node in the octree.

Parameters:

key_arg,: octree key addressing a leaf node.

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

Definition at line 313 of file octree_base.h.

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

LeafNode* pcl::octree::OctreeBase< 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 301 of file octree_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::findLeafRecursive	(	const OctreeKey &	key_arg,
		unsigned int	depthMask_arg,
		BranchNode *	branch_arg,
		LeafNode *&	result_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
result_arg,:	pointer to leaf node class

Definition at line 409 of file octree_base.hpp.

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

virtual bool pcl::octree::OctreeBase< 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 280 of file octree_base.h.

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

virtual bool pcl::octree::OctreeBase< 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, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > >.

Definition at line 268 of file octree_base.h.

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

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

Generate bit pattern reflecting the existence of child node pointers.

Parameters:

branch_arg,: reference to octree branch class

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

Definition at line 442 of file octree_base.h.

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

OctreeNode* pcl::octree::OctreeBase< 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 360 of file octree_base.h.

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

std::size_t pcl::octree::OctreeBase< DataT, LeafT, BranchT >::getBranchCount ( ) const [inline]

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 213 of file octree_base.h.

template<typename DataT, typename LeafT , typename BranchT >

bool pcl::octree::OctreeBase< 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 129 of file octree_base.hpp.

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

void pcl::octree::OctreeBase< 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,:	obtain single DataT object from octree node

Definition at line 381 of file octree_base.h.

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

void pcl::octree::OctreeBase< 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 401 of file octree_base.h.

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

size_t pcl::octree::OctreeBase< 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: returns number of DataT objects stored in node container

Definition at line 421 of file octree_base.h.

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

std::size_t pcl::octree::OctreeBase< DataT, LeafT, BranchT >::getLeafCount ( ) const [inline]

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 204 of file octree_base.h.

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

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

Retrieve root node.

Definition at line 337 of file octree_base.h.

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

unsigned int pcl::octree::OctreeBase< 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, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreeContainerDataTVector< int >, OctreeContainerEmpty< int > >.

Definition at line 147 of file octree_base.h.

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

double pcl::octree::OctreeBase< 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 641 of file octree_base.h.

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

bool pcl::octree::OctreeBase< 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:: "true"

Definition at line 650 of file octree_base.h.

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

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

Copy operator.

Definition at line 119 of file octree_base.h.

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

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

Delete all branch nodes and leaf nodes from octree node pools.

Definition at line 546 of file octree_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 161 of file octree_base.hpp.

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

void pcl::octree::OctreeBase< 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 325 of file octree_base.h.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 231 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::serializeTree ( std::vector< char > & binaryTreeOut_arg )

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

Parameters:

binaryTreeOut_arg,: reference to output vector for writing binary tree structure.

Definition at line 194 of file octree_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		std::vector< DataT > &	dataVector_arg
	)

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

Definition at line 211 of file octree_base.hpp.

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

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

Callback executed for every leaf node during serialization.

Definition at line 619 of file octree_base.h.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::serializeTreeRecursive	(	const BranchNode *	branch_arg,
		OctreeKey &	key_arg,
		std::vector< char > *	binaryTreeOut_arg,
		typename std::vector< DataT > *	dataVector_arg
	)		const `[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.

Definition at line 495 of file octree_base.hpp.

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

void pcl::octree::OctreeBase< 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 371 of file octree_base.h.

template<typename DataT , typename LeafT , typename BranchT >

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

Set the maximum amount of voxels per dimension.

Parameters:

[in] maxVoxelIndex_arg maximum amount of voxels per dimension

Definition at line 83 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 101 of file octree_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 77 of file octree_base.h.

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

friend class OctreeDepthFirstIterator< DataT, OctreeT > [friend]

Definition at line 76 of file octree_base.h.

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

friend class OctreeIteratorBase< DataT, OctreeT > [friend]

Definition at line 75 of file octree_base.h.

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

friend class OctreeLeafNodeIterator< DataT, OctreeT > [friend]

Definition at line 78 of file octree_base.h.

Member Data Documentation

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

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

Amount of branch nodes.

Definition at line 663 of file octree_base.h.

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

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

Pool of unused branch nodes.

Definition at line 686 of file octree_base.h.

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

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

Depth mask based on octree depth.

Definition at line 677 of file octree_base.h.

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

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

Amount of leaf nodes.

Definition at line 660 of file octree_base.h.

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

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

Pool of unused branch nodes.

Definition at line 689 of file octree_base.h.

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

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

key range

Definition at line 683 of file octree_base.h.

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

std::size_t pcl::octree::OctreeBase< DataT, LeafT, BranchT >::maxObjsPerLeaf_ [protected]

Amount of DataT objects per leafNode before expanding branch.

Note:: zero indicates a fixed/maximum depth octree structure

Definition at line 674 of file octree_base.h.

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

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

Amount of objects assigned to leaf nodes.

Definition at line 666 of file octree_base.h.

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

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

Octree depth.

Definition at line 680 of file octree_base.h.

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

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

Pointer to root branch node of octree.

Definition at line 669 of file octree_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::OctreeBase< 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::OctreeBase< DataT, LeafT, BranchT >