pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT > Class Template Reference

Octree pointcloud class More...

#include <octree_pointcloud.h>

Inheritance diagram for pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >:

List of all members.

Public Types
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
typedef OctreeT	Base
typedef OctreeT::BranchNode	BranchNode
typedef OctreeBreadthFirstIterator < int, OctreeT >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < int, OctreeT >	ConstBreadthFirstIterator
typedef const OctreeDepthFirstIterator< int, OctreeT >	ConstDepthFirstIterator
typedef const OctreeDepthFirstIterator< int, OctreeT >	ConstIterator
typedef const OctreeLeafNodeIterator< int, OctreeT >	ConstLeafNodeIterator
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, OctreeT > >	ConstPtr
typedef OctreeDepthFirstIterator< int, OctreeT >	DepthFirstIterator
typedef OctreePointCloud < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef OctreeDepthFirstIterator< int, OctreeT >	Iterator
typedef OctreeT::LeafNode	LeafNode
typedef OctreeLeafNodeIterator < int, OctreeT >	LeafNodeIterator
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, OctreeT > >	Ptr
typedef OctreePointCloud < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer
Public Member Functions
void	addPointFromCloud (const int pointIdx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree. Index will be also added to indices vector.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
void	defineBoundingBox (const double minX_arg, const double minY_arg, const double minZ_arg, const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
void	deleteTree (bool freeMemory_arg=false)
	Delete the octree structure and its leaf nodes.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const int &pointIdx_arg)
	Delete leaf node / voxel at given point from input cloud.
int	getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2)
	Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.
void	getBoundingBox (double &minX_arg, double &minY_arg, double &minZ_arg, double &maxX_arg, double &maxY_arg, double &maxZ_arg) const
	Get bounding box for octree.
double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset.
int	getOccupiedVoxelCenters (AlignedPointTVector &voxelCenterList_arg) const
	Get a PointT vector of centers of all occupied voxels.
double	getResolution () const
	Get octree voxel resolution.
unsigned int	getTreeDepth () const
	Get the maximum depth of the octree.
void	getVoxelBounds (OctreeIteratorBase< int, OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
	Generate bounds of the current voxel of an octree iterator.
double	getVoxelSquaredDiameter (unsigned int treeDepth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (unsigned int treeDepth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
bool	isVoxelOccupiedAtPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg) const
	Check if voxel at given point coordinates exist.
bool	isVoxelOccupiedAtPoint (const int &pointIdx_arg) const
	Check if voxel at given point from input cloud exist.
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
virtual	~OctreePointCloud ()
	Empty deconstructor.
Protected Member Functions
void	addPointIdx (const int pointIdx_arg)
	Add point at index from input pointcloud dataset to octree.
void	adoptBoundingBoxToPoint (const PointT &pointIdx_arg)
	Grow the bounding box/octree until point fits.
LeafT *	findLeafAtPoint (const PointT &point_arg) const
	Find octree leaf node at a given point.
void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel.
virtual bool	genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index.
void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point.
void	genOctreeKeyforPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point.
void	genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int treeDepth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of an octree voxel using octree key and tree depth arguments.
void	genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int treeDepth_arg, PointT &point_arg) const
	Generate a point at center of octree voxel at given tree level.
void	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box.
int	getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxelCenterList_arg) const
	Recursively search the tree for all leaf nodes and return a vector of voxel centers.
const PointT &	getPointByIndex (const unsigned int index_arg) const
	Get point at index from input pointcloud dataset.
bool	isPointWithinBoundingBox (const PointT &pointIdx_arg) const
	Checks if given point is within the bounding box of the octree.
Protected Attributes
bool	boundingBoxDefined_
	Flag indicating if octree has defined bounding box.
double	epsilon_
	Epsilon precision (error bound) for nearest neighbors searches.
IndicesConstPtr	indices_
	A pointer to the vector of point indices to use.
PointCloudConstPtr	input_
	Pointer to input point cloud dataset.
double	maxX_
double	maxY_
double	maxZ_
double	minX_
double	minY_
double	minZ_
double	resolution_
	Octree resolution.
Friends
class	OctreeBreadthFirstIterator< int, OctreeT >
class	OctreeDepthFirstIterator< int, OctreeT >
class	OctreeIteratorBase< int, OctreeT >
class	OctreeLeafNodeIterator< int, OctreeT >

---

Detailed Description

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>
class pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >

Octree pointcloud class

Note:

Octree implementation for pointclouds. Only indices are stored by the octree leaf nodes (zero-copy).

The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted

according to the pointcloud dimension or it can be predefined.

Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.

typename: PointT: type of point used in pointcloud

typename: LeafT: leaf node container (

typename: BranchT: branch node container

typename: OctreeT: octree implementation ()

Author:

Julius Kammerl (julius@kammerl.de)

Definition at line 80 of file octree_pointcloud.h.

---

Member Typedef Documentation

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::AlignedPointTVector

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

Definition at line 132 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeT pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::Base

Definition at line 89 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeT::BranchNode pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::BranchNode

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >, pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >.

Definition at line 92 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeBreadthFirstIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::BreadthFirstIterator

Definition at line 103 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef const OctreeBreadthFirstIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::ConstBreadthFirstIterator

Definition at line 104 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef const OctreeDepthFirstIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::ConstDepthFirstIterator

Definition at line 102 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef const OctreeDepthFirstIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::ConstIterator

Definition at line 96 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef const OctreeLeafNodeIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::ConstLeafNodeIterator

Definition at line 99 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::ConstPtr

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

Definition at line 129 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeDepthFirstIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::DepthFirstIterator

Definition at line 101 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreePointCloud<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::DoubleBuffer

Reimplemented in pcl::octree::OctreePointCloudPointVector< PointT, LeafT, BranchT, OctreeT >, pcl::octree::OctreePointCloudSinglePoint< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, BranchT >.

Definition at line 125 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::IndicesConstPtr

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

Definition at line 117 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::IndicesPtr

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

Definition at line 116 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeDepthFirstIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::Iterator

Definition at line 95 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeT::LeafNode pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::LeafNode

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >, pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >.

Definition at line 91 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreeLeafNodeIterator<int, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::LeafNodeIterator

Definition at line 98 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloud

Reimplemented in pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 119 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr

Reimplemented in pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 121 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr

Reimplemented in pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::PointCloudCompression< pcl::PointXYZRGBA >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 120 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef boost::shared_ptr<OctreePointCloud<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::Ptr

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

Definition at line 128 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

typedef OctreePointCloud<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::SingleBuffer

Reimplemented in pcl::octree::OctreePointCloudPointVector< PointT, LeafT, BranchT, OctreeT >, pcl::octree::OctreePointCloudSinglePoint< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, BranchT >.

Definition at line 124 of file octree_pointcloud.h.

---

Constructor & Destructor Documentation

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::OctreePointCloud

(

const double

resolution_arg

)

Octree pointcloud constructor.

Parameters:

[in]

resolution_arg

octree resolution at lowest octree level

Definition at line 49 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::~OctreePointCloud

(

)

[virtual]

Empty deconstructor.

Definition at line 59 of file octree_pointcloud.hpp.

---

Member Function Documentation

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::addPointFromCloud	(	const int	pointIdx_arg,
		IndicesPtr	indices_arg
	)

Add point at given index from input point cloud to octree. Index will be also added to indices vector.

Parameters:

[in]	pointIdx_arg	index of point to be added
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 98 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::addPointIdx

(

const int

pointIdx_arg

)

[protected]

Add point at index from input pointcloud dataset to octree.

Parameters:

[in]

pointIdx_arg

the index representing the point in the dataset given by setInputCloud to be added

Definition at line 507 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::addPointsFromInputCloud

(

)

Add points from input point cloud to octree.

Definition at line 65 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg
	)

Add point simultaneously to octree and input point cloud.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)

Definition at line 107 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg
	)

Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 118 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::adoptBoundingBoxToPoint

(

const PointT &

pointIdx_arg

)

[protected]

Grow the bounding box/octree until point fits.

Parameters:

[in]

pointIdx_arg

point that should be within bounding box;

Definition at line 417 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::defineBoundingBox

(

)

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

Definition at line 266 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::defineBoundingBox	(	const double	minX_arg,
		const double	minY_arg,
		const double	minZ_arg,
		const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)

Define bounding box for octree.

Note:

Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 295 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::defineBoundingBox	(	const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)

Define bounding box for octree.

Note:

Lower bounding box point is set to (0, 0, 0)

Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 334 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::defineBoundingBox

(

const double

cubeLen_arg

)

Define bounding box cube for octree.

Note:

Lower bounding box corner is set to (0, 0, 0)

Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]

cubeLen_arg

side length of bounding box cube.

Definition at line 369 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree

(

bool

freeMemory_arg = false

)

[inline]

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 243 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteVoxelAtPoint

(

const PointT &

point_arg

)

Delete leaf node / voxel at given point.

Parameters:

[in]

point_arg

point addressing the voxel to be deleted.

Definition at line 168 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteVoxelAtPoint

(

const int &

pointIdx_arg

)

Delete leaf node / voxel at given point from input cloud.

Parameters:

[in]

pointIdx_arg

index of point addressing the voxel to be deleted.

Definition at line 180 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

LeafT * pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::findLeafAtPoint

(

const PointT &

point_arg

)

const [protected]

Find octree leaf node at a given point.

Parameters:

[in]

point_arg

query point

Returns:

pointer to leaf node. If leaf node does not exist, pointer is 0.

Definition at line 536 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::genLeafNodeCenterFromOctreeKey	(	const OctreeKey &	key_arg,
		PointT &	point_arg
	)		const [protected]

Generate a point at center of leaf node voxel.

Parameters:

[in]	key_arg	octree key addressing a leaf node.
[out]	point_arg	write leaf node voxel center to this point reference

Definition at line 646 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::genOctreeKeyForDataT	(	const int &	data_arg,
		OctreeKey &	key_arg
	)		const [protected, virtual]

Virtual method for generating octree key for a given point index.

Note:

This method enables to assign indices to leaf nodes during octree deserialization.

Parameters:

[in]	data_arg	index value representing a point in the dataset given by setInputCloud
[out]	key_arg	write octree key to this reference

Returns:

"true" - octree keys are assignable

Definition at line 634 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::genOctreeKeyforPoint	(	const PointT &	point_arg,
		OctreeKey &	key_arg
	)		const [protected]

Generate octree key for voxel at a given point.

Parameters:

[in]	point_arg	the point addressing a voxel
[out]	key_arg	write octree key to this reference

Definition at line 607 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::genOctreeKeyforPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg,
		OctreeKey &	key_arg
	)		const [protected]

Generate octree key for voxel at a given point.

Parameters:

[in]	pointX_arg	X coordinate of point addressing a voxel
[in]	pointY_arg	Y coordinate of point addressing a voxel
[in]	pointZ_arg	Z coordinate of point addressing a voxel
[out]	key_arg	write octree key to this reference

Definition at line 618 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::genVoxelBoundsFromOctreeKey	(	const OctreeKey &	key_arg,
		unsigned int	treeDepth_arg,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt
	)		const [protected]

Generate bounds of an octree voxel using octree key and tree depth arguments.

Parameters:

[in]	key_arg	octree key addressing an octree node.
[in]	treeDepth_arg	octree depth of query voxel
[out]	min_pt	lower bound of voxel
[out]	max_pt	upper bound of voxel

Definition at line 669 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::genVoxelCenterFromOctreeKey	(	const OctreeKey &	key_arg,
		unsigned int	treeDepth_arg,
		PointT &	point_arg
	)		const [protected]

Generate a point at center of octree voxel at given tree level.

Parameters:

[in]	key_arg	octree key addressing an octree node.
[in]	treeDepth_arg	octree depth of query voxel
[out]	point_arg	write leaf node center point to this reference

Definition at line 656 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getApproxIntersectedVoxelCentersBySegment	(	const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	end,
		AlignedPointTVector &	voxel_center_list,
		float	precision = 0.2
	)

Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.

Parameters:

[in]	origin	origin of the line segment
[in]	end	end of the line segment
[out]	voxel_center_list	results are written to this vector of PointT elements
[in]	precision	determines the size of the steps: step_size = octree_resolution x precision

Returns:

number of intersected voxels

Definition at line 205 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getBoundingBox	(	double &	minX_arg,
		double &	minY_arg,
		double &	minZ_arg,
		double &	maxX_arg,
		double &	maxY_arg,
		double &	maxZ_arg
	)		const

Get bounding box for octree.

Note:

Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 401 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getEpsilon

(

)

const [inline]

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 172 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getIndices

(

)

const [inline]

Get a pointer to the vector of indices used.

Returns:

pointer to vector of indices used.

Definition at line 150 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getInputCloud

(

)

const [inline]

Get a pointer to the input point cloud dataset.

Returns:

pointer to pointcloud input class.

Definition at line 158 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getKeyBitSize

(

)

[protected]

Define octree key setting and octree depth based on defined bounding box.

Definition at line 548 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getOccupiedVoxelCenters

(

AlignedPointTVector &

voxelCenterList_arg

)

const

Get a PointT vector of centers of all occupied voxels.

Parameters:

[out]

voxelCenterList_arg

results are written to this vector of PointT elements

Returns:

number of occupied voxels

Definition at line 191 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getOccupiedVoxelCentersRecursive	(	const BranchNode *	node_arg,
		const OctreeKey &	key_arg,
		AlignedPointTVector &	voxelCenterList_arg
	)		const [protected]

Recursively search the tree for all leaf nodes and return a vector of voxel centers.

Parameters:

[in]	node_arg	current octree node to be explored
[in]	key_arg	octree key addressing a leaf node.
[out]	voxelCenterList_arg	results are written to this vector of PointT elements

Returns:

number of voxels found

Definition at line 713 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

const PointT & pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getPointByIndex

(

const unsigned int

index_arg

)

const [protected]

Get point at index from input pointcloud dataset.

Parameters:

[in]

index_arg

index representing the point in the dataset given by setInputCloud

Returns:

PointT from input pointcloud dataset

Definition at line 527 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getResolution

(

)

const [inline]

Get octree voxel resolution.

Returns:

voxel resolution at lowest tree level

Definition at line 193 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

unsigned int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getTreeDepth

(

)

const [inline]

Get the maximum depth of the octree.

Returns:

depth_arg: maximum depth of octree

Definition at line 201 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelBounds	(	OctreeIteratorBase< int, OctreeT > &	iterator,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt
	)		[inline]

Generate bounds of the current voxel of an octree iterator.

Parameters:

[in]	iterator,:	octree iterator
[out]	min_pt	lower bound of voxel
[out]	max_pt	upper bound of voxel

Definition at line 393 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelSquaredDiameter

(

unsigned int

treeDepth_arg

)

const

Calculates the squared diameter of a voxel at given tree depth.

Parameters:

[in]

treeDepth_arg

depth/level in octree

Returns:

squared diameter

Definition at line 705 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelSquaredDiameter

(

)

const [inline]

Calculates the squared diameter of a voxel at leaf depth.

Returns:

squared diameter

Definition at line 368 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelSquaredSideLen

(

unsigned int

treeDepth_arg

)

const

Calculates the squared voxel cube side length at given tree depth.

Parameters:

[in]

treeDepth_arg

depth/level in octree

Returns:

squared voxel cube side length

Definition at line 690 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelSquaredSideLen

(

)

const [inline]

Calculates the squared voxel cube side length at leaf level.

Returns:

squared voxel cube side length

Definition at line 383 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox

(

const PointT &

pointIdx_arg

)

const [inline, protected]

Checks if given point is within the bounding box of the octree.

Parameters:

[in]

pointIdx_arg

point to be checked for bounding box violations

Returns:

"true" - no bound violation

Definition at line 440 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isVoxelOccupiedAtPoint

(

const PointT &

point_arg

)

const

Check if voxel at given point exist.

Parameters:

[in]

point_arg

point to be checked

Returns:

"true" if voxel exist; "false" otherwise

Definition at line 131 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isVoxelOccupiedAtPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg
	)		const

Check if voxel at given point coordinates exist.

Parameters:

[in]	pointX_arg	X coordinate of point to be checked
[in]	pointY_arg	Y coordinate of point to be checked
[in]	pointZ_arg	Z coordinate of point to be checked

Returns:

"true" if voxel exist; "false" otherwise

Definition at line 155 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isVoxelOccupiedAtPoint

(

const int &

pointIdx_arg

)

const

Check if voxel at given point from input cloud exist.

Parameters:

[in]

pointIdx_arg

point to be checked

Returns:

"true" if voxel exist; "false" otherwise

Definition at line 144 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setEpsilon

(

double

eps

)

[inline]

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters:

[in]

eps

precision (error bound) for nearest neighbors searches

Definition at line 166 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = IndicesConstPtr ()
	)		[inline]

Provide a pointer to the input data set.

Parameters:

[in]	cloud_arg	the const boost shared pointer to a PointCloud message
[in]	indices_arg	the point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 138 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setResolution

(

double

resolution_arg

)

[inline]

Set/change the octree voxel resolution.

Parameters:

[in]

resolution_arg

side length of voxels at lowest tree level

Definition at line 180 of file octree_pointcloud.h.

---

Friends And Related Function Documentation

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

friend class OctreeBreadthFirstIterator< int, OctreeT > [friend]

Definition at line 85 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

friend class OctreeDepthFirstIterator< int, OctreeT > [friend]

Definition at line 84 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

friend class OctreeIteratorBase< int, OctreeT > [friend]

Definition at line 83 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

friend class OctreeLeafNodeIterator< int, OctreeT > [friend]

Definition at line 86 of file octree_pointcloud.h.

---

Member Data Documentation

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::boundingBoxDefined_ [protected]

Flag indicating if octree has defined bounding box.

Definition at line 539 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::epsilon_ [protected]

Epsilon precision (error bound) for nearest neighbors searches.

Definition at line 523 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

IndicesConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::indices_ [protected]

A pointer to the vector of point indices to use.

Definition at line 520 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::input_ [protected]

Pointer to input point cloud dataset.

Definition at line 517 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::maxX_ [protected]

Definition at line 530 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::maxY_ [protected]

Definition at line 533 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::maxZ_ [protected]

Definition at line 536 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::minX_ [protected]

Definition at line 529 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::minY_ [protected]

Definition at line 532 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::minZ_ [protected]

Definition at line 535 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::resolution_ [protected]

Octree resolution.

Definition at line 526 of file octree_pointcloud.h.

---

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

• octree_pointcloud.h
• octree_pointcloud.hpp