Public Types |
Public Member Functions |
Protected Member Functions |
Protected Attributes |
Friends

pcl::octree::OctreeBase< DataT, LeafT, BranchT > Class Template Reference

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 > |

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.

Definition at line 64 of file octree_base.h.

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.

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.

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

Definition at line 85 of file octree_base.h.

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

Definition at line 88 of file octree_base.h.

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

Definition at line 90 of file octree_base.h.

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

Definition at line 84 of file octree_base.h.

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.

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

Definition at line 87 of file octree_base.h.

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

Definition at line 70 of file octree_base.h.

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.

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

Definition at line 69 of file octree_base.h.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

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.

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.

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

Definition at line 268 of file octree_base.h.

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.

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.

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.

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.

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.

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.

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.

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

Retrieve root node.

Definition at line 337 of file octree_base.h.

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

Definition at line 147 of file octree_base.h.

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.

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.

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.

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.

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.

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.

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.

friend class OctreeBreadthFirstIterator< DataT, OctreeT >` [friend]` |

Definition at line 77 of file octree_base.h.

friend class OctreeDepthFirstIterator< DataT, OctreeT >` [friend]` |

Definition at line 76 of file octree_base.h.

friend class OctreeIteratorBase< DataT, OctreeT >` [friend]` |

Definition at line 75 of file octree_base.h.

friend class OctreeLeafNodeIterator< DataT, OctreeT >` [friend]` |

Definition at line 78 of file octree_base.h.

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

Amount of branch nodes.

Definition at line 663 of file octree_base.h.

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

Pool of unused branch nodes.

Definition at line 686 of file octree_base.h.

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.

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

Amount of leaf nodes.

Definition at line 660 of file octree_base.h.

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

Pool of unused branch nodes.

Definition at line 689 of file octree_base.h.

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

key range

Definition at line 683 of file octree_base.h.

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.

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.

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

Octree depth.

Definition at line 680 of file octree_base.h.

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: