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

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT > Class Template Reference

**Octree** double buffer class
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`#include <octree2buf_base.h>`

Inheritance diagram for pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >:

## Public Types | |

typedef BranchContainerT | BranchContainer |

typedef BufferedBranchNode < BranchContainerT > | BranchNode |

typedef OctreeBreadthFirstIterator < OctreeT > | BreadthFirstIterator |

typedef const OctreeBreadthFirstIterator < OctreeT > | ConstBreadthFirstIterator |

typedef const OctreeDepthFirstIterator < OctreeT > | ConstDepthFirstIterator |

typedef const OctreeDepthFirstIterator < OctreeT > | ConstIterator |

typedef const OctreeLeafNodeIterator < OctreeT > | ConstLeafNodeIterator |

typedef OctreeDepthFirstIterator < OctreeT > | DepthFirstIterator |

typedef OctreeDepthFirstIterator < OctreeT > | Iterator |

typedef LeafContainerT | LeafContainer |

typedef OctreeLeafNode < LeafContainerT > | LeafNode |

typedef OctreeLeafNodeIterator < OctreeT > | LeafNodeIterator |

typedef Octree2BufBase < LeafContainerT, BranchContainerT > | OctreeT |

## Public Member Functions | |

Iterator | begin (unsigned int max_depth_arg=0) |

BreadthFirstIterator | breadth_begin (unsigned int max_depth_arg=0) |

const BreadthFirstIterator | breadth_end () |

LeafContainerT * | createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |

Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |

void | deleteCurrentBuffer () |

Delete the octree structure in the current buffer. | |

void | deletePreviousBuffer () |

Delete octree structure of previous buffer. | |

void | deleteTree () |

Delete the octree structure and its leaf nodes. | |

DepthFirstIterator | depth_begin (unsigned int maxDepth_arg=0) |

const DepthFirstIterator | depth_end () |

void | deserializeTree (std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false) |

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

void | deserializeTree (std::vector< char > &binary_tree_in_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg, bool do_XOR_decoding_arg=false) |

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

const Iterator | end () |

bool | existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const |

Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |

LeafContainerT * | findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |

Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |

std::size_t | getBranchCount () const |

Return the amount of existing branches in the octree. | |

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. | |

LeafNodeIterator | leaf_begin (unsigned int max_depth_arg=0) |

const LeafNodeIterator | leaf_end () |

Octree2BufBase () | |

Empty constructor. | |

Octree2BufBase (const Octree2BufBase &source) | |

Copy constructor. | |

Octree2BufBase & | operator= (const Octree2BufBase &source) |

Copy constructor. | |

void | removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |

Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |

void | serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg) |

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

void | serializeNewLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg) |

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

void | serializeTree (std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false) |

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

void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg, bool do_XOR_encoding_arg=false) |

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

void | setMaxVoxelIndex (unsigned int max_voxel_index_arg) |

Set the maximum amount of voxels per dimension. | |

void | setTreeDepth (unsigned int depth_arg) |

Set the maximum depth of the octree. | |

void | switchBuffers () |

Switch buffers and reset current octree structure. | |

virtual | ~Octree2BufBase () |

Empty deconstructor. | |

## Protected Member Functions | |

bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |

Check if branch is pointing to a particular child node. | |

BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |

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

LeafContainerT * | createLeaf (const OctreeKey &key_arg) |

Create a leaf node. | |

LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |

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

unsigned int | createLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false) |

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

void | deleteBranch (BranchNode &branch_arg) |

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

void | deleteBranchChild (BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg) |

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

void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |

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

bool | deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg) |

Recursively search and delete leaf node. | |

virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |

Callback executed for every leaf node data during deserialization. | |

void | deserializeTreeRecursive (BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false) |

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

bool | existLeaf (const OctreeKey &key_arg) const |

Check for leaf not existance in the octree. | |

LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |

Find leaf node. | |

void | findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const |

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

char | getBranchBitPattern (const BranchNode &branch_arg) const |

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

char | getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const |

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

OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |

Retrieve a child node pointer for child node at child_idx. | |

char | getBranchXORBitPattern (const BranchNode &branch_arg) const |

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

OctreeNode * | getRootNode () const |

Retrieve root node. | |

bool | hasBranchChanges (const BranchNode &branch_arg) const |

Test if branch changed between previous and current buffer. | |

double | Log2 (double n_arg) |

Helper function to calculate the binary logarithm. | |

bool | octreeCanResize () |

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

void | printBinary (char data_arg) |

Prints binary representation of a byte - used for debugging. | |

void | removeLeaf (const OctreeKey &key_arg) |

Remove leaf node from octree. | |

virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) |

Callback executed for every leaf node data during serialization. | |

void | serializeTreeRecursive (BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false) |

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 child_idx_arg, OctreeNode *new_child_arg) |

Assign new child node to branch. | |

void | treeCleanUpRecursive (BranchNode *branch_arg) |

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

## Protected Attributes | |

std::size_t | branch_count_ |

Amount of branch nodes. | |

unsigned char | buffer_selector_ |

Currently active octree buffer. | |

unsigned int | depth_mask_ |

Depth mask based on octree depth. | |

bool | dynamic_depth_enabled_ |

Enable dynamic_depth. | |

std::size_t | leaf_count_ |

Amount of leaf nodes. | |

OctreeKey | max_key_ |

key range | |

unsigned int | octree_depth_ |

Octree depth. | |

BranchNode * | root_node_ |

Pointer to root branch node of octree. | |

bool | tree_dirty_flag_ |

## Friends | |

class | OctreeBreadthFirstIterator< OctreeT > |

class | OctreeDepthFirstIterator< OctreeT > |

class | OctreeIteratorBase< OctreeT > |

class | OctreeLeafNodeIterator< OctreeT > |

class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >

**Octree** double buffer class

**Note:**- This octree implementation keeps two separate octree structures in memory.
- This allows for differentially compare the octree structures (change detection, differential encoding).
- 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 227 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef BranchContainerT pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchContainer |

Definition at line 243 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef BufferedBranchNode<BranchContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchNode |

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >.

Definition at line 240 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef OctreeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BreadthFirstIterator |

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >.

Definition at line 262 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef const OctreeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstBreadthFirstIterator |

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZRGBA, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >.

Definition at line 266 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstDepthFirstIterator |

Definition at line 260 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstIterator |

Definition at line 248 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef const OctreeLeafNodeIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator |

Definition at line 254 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::DepthFirstIterator |

Definition at line 256 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Iterator |

Definition at line 247 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef LeafContainerT pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafContainer |

Definition at line 244 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef OctreeLeafNode<LeafContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNode |

Definition at line 241 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef OctreeLeafNodeIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeIterator |

Definition at line 250 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

typedef Octree2BufBase<LeafContainerT, BranchContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::OctreeT |

Definition at line 232 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase | ( | ) |

Empty constructor.

Definition at line 48 of file octree2buf_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::~Octree2BufBase | ( | ) | ` [virtual]` |

Empty deconstructor.

Definition at line 63 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase | ( | const Octree2BufBase< LeafContainerT, BranchContainerT > & | source | ) | ` [inline]` |

Copy constructor.

Definition at line 278 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

Iterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::begin | ( | unsigned int | max_depth_arg = `0` | ) | ` [inline]` |

Definition at line 249 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branchHasChild | ( | const BranchNode & | branch_arg, |

unsigned char | child_idx_arg |
||

) | const` [inline, protected]` |

Check if branch is pointing to a particular child node.

**Parameters:**-
branch_arg,: reference to octree branch class child_idx_arg,: index to child node

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

Definition at line 527 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

BreadthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::breadth_begin | ( | unsigned int | max_depth_arg = `0` | ) | ` [inline]` |

Definition at line 267 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

const BreadthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::breadth_end | ( | ) | ` [inline]` |

Definition at line 268 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

BranchNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createBranchChild | ( | BranchNode & | branch_arg, |

unsigned char | child_idx_arg |
||

) | ` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class child_idx_arg,: index to child node

**Returns:**- pointer of new branch child to this reference

Definition at line 714 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf | ( | unsigned int | idx_x_arg, |

unsigned int | idx_y_arg, |
||

unsigned int | idx_z_arg |
||

) |

Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

**Note:**- If leaf node already exist, this method returns the existing node

**Parameters:**-
idx_x_arg,: index of leaf node in the X axis. idx_y_arg,: index of leaf node in the Y axis. idx_z_arg,: index of leaf node in the Z axis.

**Returns:**- pointer to new leaf node container.

Definition at line 116 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

LeafContainerT* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf | ( | const OctreeKey & | key_arg | ) | ` [inline, protected]` |

Create a leaf node.

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

**Parameters:**-
key_arg,: octree key addressing a leaf node.

**Returns:**- pointer to an existing or created leaf container.

Definition at line 482 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

LeafNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafChild | ( | BranchNode & | branch_arg, |

unsigned char | child_idx_arg |
||

) | ` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class child_idx_arg,: index to child node

**Returns:**- pointer of new leaf child to this reference

Definition at line 731 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

unsigned int pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive | ( | const OctreeKey & | key_arg, |

unsigned int | depth_mask_arg, |
||

BranchNode * | branch_arg, |
||

LeafNode *& | return_leaf_arg, |
||

BranchNode *& | parent_of_leaf_arg, |
||

bool | branch_reset_arg = `false` |
||

) | ` [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 depth_mask_arg,: depth mask used for octree key analysis and for branch depth indicator branch_arg,: current branch node return_leaf_arg,: return pointer to leaf container parent_of_leaf_arg,: return pointer to parent of leaf node branch_reset_arg,: Reset pointer array of current branch

**Returns:**- depth mask at which leaf node was created/found

Definition at line 323 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch | ( | BranchNode & | branch_arg | ) | ` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class

Definition at line 684 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild | ( | BranchNode & | branch_arg, |

unsigned char | buffer_selector_arg, |
||

unsigned char | child_idx_arg |
||

) | ` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class buffer_selector_arg,: buffer selector child_idx_arg,: index to child node

Definition at line 637 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild | ( | BranchNode & | branch_arg, |

unsigned char | child_idx_arg |
||

) | ` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class child_idx_arg,: index to child node

Definition at line 676 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer | ( | ) | ` [inline]` |

Delete the octree structure in the current buffer.

Definition at line 392 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive | ( | const OctreeKey & | key_arg, |

unsigned int | depth_mask_arg, |
||

BranchNode * | branch_arg |
||

) | ` [protected]` |

Recursively search and delete leaf node.

**Parameters:**-
key_arg,: reference to an octree key depth_mask_arg,: depth mask used for octree key analysis and branch depth indicator branch_arg,: current branch node

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

Definition at line 474 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer | ( | ) | ` [inline]` |

Delete octree structure of previous buffer.

Definition at line 386 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree | ( | ) |

Delete the octree structure and its leaf nodes.

Definition at line 149 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

DepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_begin | ( | unsigned int | maxDepth_arg = `0` | ) | ` [inline]` |

Definition at line 261 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

const DepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_end | ( | ) | ` [inline]` |

Definition at line 262 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree | ( | std::vector< char > & | binary_tree_in_arg, |

bool | do_XOR_decoding_arg = `false` |
||

) |

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

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

Definition at line 247 of file octree2buf_base.hpp.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree | ( | std::vector< char > & | binary_tree_in_arg, |

std::vector< LeafContainerT * > & | leaf_container_vector_arg, |
||

bool | do_XOR_decoding_arg = `false` |
||

) |

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

**Parameters:**-
binary_tree_in_arg,: reference to inpvectoream for reading binary tree structure. leaf_container_vector_arg,: vector of pointers to all LeafContainerT objects in the octree do_XOR_decoding_arg,: select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 269 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

virtual void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback | ( | LeafContainerT & | , |

const OctreeKey & | |||

) | ` [inline, protected, virtual]` |

Callback executed for every leaf node data during deserialization.

Definition at line 839 of file octree2buf_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive | ( | BranchNode * | branch_arg, |

unsigned int | depth_mask_arg, |
||

OctreeKey & | key_arg, |
||

typename std::vector< char >::const_iterator & | binary_tree_in_it_arg, |
||

typename std::vector< char >::const_iterator & | binary_tree_in_it_end_arg, |
||

typename std::vector< LeafContainerT * >::const_iterator * | leaf_container_vector_it_arg, |
||

typename std::vector< LeafContainerT * >::const_iterator * | leaf_container_vector_it_end_arg, |
||

bool | branch_reset_arg = `false` , |
||

bool | do_XOR_decoding_arg = `false` |
||

) | ` [protected]` |

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

**Parameters:**-
branch_arg,: current branch node depth_mask_arg,: depth mask used for octree key analysis and branch depth indicator key_arg,: reference to an octree key binary_tree_in_it_arg iterator of binary input data leaf_container_vector__it_end_arg end iterator of binary input data leaf_container_vector_it_arg,: iterator pointing to leaf containter pointers to be added to a leaf node leaf_container_vector_it_end_arg,: iterator pointing to leaf containter pointers pointing to last object in input container. branch_reset_arg,: Reset pointer array of current branch do_XOR_decoding_arg,: select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 629 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

const Iterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::end | ( | ) | ` [inline]` |

Definition at line 250 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf | ( | unsigned int | idx_x_arg, |

unsigned int | idx_y_arg, |
||

unsigned int | idx_z_arg |
||

) | const |

Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

**Parameters:**-
idx_x_arg,: index of leaf node in the X axis. idx_y_arg,: index of leaf node in the Y axis. idx_z_arg,: index of leaf node in the Z axis.

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

Definition at line 127 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf | ( | const OctreeKey & | key_arg | ) | const` [inline, protected]` |

Check for leaf not existance in the octree.

**Parameters:**-
key_arg,: octree key addressing a leaf node.

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

Definition at line 498 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf | ( | unsigned int | idx_x_arg, |

unsigned int | idx_y_arg, |
||

unsigned int | idx_z_arg |
||

) |

Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

**Note:**- If leaf node already exist, this method returns the existing node

**Parameters:**-
idx_x_arg,: index of leaf node in the X axis. idx_y_arg,: index of leaf node in the Y axis. idx_z_arg,: index of leaf node in the Z axis.

**Returns:**- pointer to leaf node container if found, null pointer otherwise.

Definition at line 105 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

LeafContainerT* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf | ( | const OctreeKey & | key_arg | ) | const` [inline, protected]` |

Find leaf node.

**Parameters:**-
key_arg,: octree key addressing a leaf node.

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

Definition at line 469 of file octree2buf_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeafRecursive | ( | const OctreeKey & | key_arg, |

unsigned int | depth_mask_arg, |
||

BranchNode * | branch_arg, |
||

LeafContainerT *& | 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 depth_mask_arg,: depth mask used for octree key analysis and for branch depth indicator branch_arg,: current branch node result_arg,: pointer to leaf container class

Definition at line 439 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern | ( | const BranchNode & | branch_arg | ) | const` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class

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

Definition at line 560 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern | ( | const BranchNode & | branch_arg, |

unsigned char | bufferSelector_arg |
||

) | const` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class bufferSelector_arg,: buffer selector

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

Definition at line 581 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

OctreeNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchChildPtr | ( | const BranchNode & | branch_arg, |

unsigned char | child_idx_arg |
||

) | const` [inline, protected]` |

Retrieve a child node pointer for child node at child_idx.

**Parameters:**-
branch_arg,: reference to octree branch class child_idx_arg,: index to child node

**Returns:**- pointer to octree child node class

Definition at line 539 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchCount | ( | ) | const` [inline]` |

Return the amount of existing branches in the octree.

**Returns:**- amount of branch nodes.

Definition at line 375 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern | ( | const BranchNode & | branch_arg | ) | const` [inline, protected]` |

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

**Parameters:**-
branch_arg,: reference to octree branch class

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

Definition at line 602 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getLeafCount | ( | ) | const` [inline]` |

Return the amount of existing leafs in the octree.

**Returns:**- amount of registered leaf nodes.

Definition at line 367 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

OctreeNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getRootNode | ( | ) | const` [inline, protected]` |

Retrieve root node.

Definition at line 459 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

unsigned int pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getTreeDepth | ( | ) | const` [inline]` |

Get the maximum depth of the octree.

**Returns:**- depth_arg: maximum depth of octree

Definition at line 322 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::hasBranchChanges | ( | const BranchNode & | branch_arg | ) | const` [inline, protected]` |

Test if branch changed between previous and current buffer.

**Parameters:**-
branch_arg,: reference to octree branch class

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

Definition at line 627 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

LeafNodeIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_begin | ( | unsigned int | max_depth_arg = `0` | ) | ` [inline]` |

Definition at line 255 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

const LeafNodeIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_end | ( | ) | ` [inline]` |

Definition at line 256 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

double pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::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 858 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octreeCanResize | ( | ) | ` [inline, protected]` |

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

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

Definition at line 866 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

Octree2BufBase& pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator= | ( | const Octree2BufBase< LeafContainerT, BranchContainerT > & | source | ) | ` [inline]` |

Copy constructor.

Definition at line 293 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::printBinary | ( | char | data_arg | ) | ` [inline, protected]` |

Prints binary representation of a byte - used for debugging.

**Parameters:**-
data_arg - byte to be printed to stdout

Definition at line 874 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf | ( | unsigned int | idx_x_arg, |

unsigned int | idx_y_arg, |
||

unsigned int | idx_z_arg |
||

) |

Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

**Parameters:**-
idx_x_arg,: index of leaf node in the X axis. idx_y_arg,: index of leaf node in the Y axis. idx_z_arg,: index of leaf node in the Z axis.

Definition at line 138 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf | ( | const OctreeKey & | key_arg | ) | ` [inline, protected]` |

Remove leaf node from octree.

**Parameters:**-
key_arg,: octree key addressing a leaf node.

Definition at line 506 of file octree2buf_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs | ( | std::vector< LeafContainerT * > & | leaf_container_vector_arg | ) |

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

**Parameters:**-
leaf_container_vector_arg,: vector of pointers to all LeafContainerT objects in the octree

Definition at line 230 of file octree2buf_base.hpp.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs | ( | std::vector< LeafContainerT * > & | leaf_container_vector_arg | ) |

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

**Parameters:**-
leaf_container_vector_arg,: vector of pointers to all LeafContainerT objects in the octree

Definition at line 306 of file octree2buf_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree | ( | std::vector< char > & | binary_tree_out_arg, |

bool | do_XOR_encoding_arg = `false` |
||

) |

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

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

Definition at line 192 of file octree2buf_base.hpp.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree | ( | std::vector< char > & | binary_tree_out_arg, |

std::vector< LeafContainerT * > & | leaf_container_vector_arg, |
||

bool | do_XOR_encoding_arg = `false` |
||

) |

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

**Parameters:**-
binary_tree_out_arg,: reference to output vector for writing binary tree structure. leaf_container_vector_arg,: pointer to all LeafContainerT objects in the octree do_XOR_encoding_arg,: select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 209 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

virtual void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeCallback | ( | LeafContainerT & | , |

const OctreeKey & | |||

) | ` [inline, protected, virtual]` |

Callback executed for every leaf node data during serialization.

Definition at line 832 of file octree2buf_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive | ( | BranchNode * | branch_arg, |

OctreeKey & | key_arg, |
||

std::vector< char > * | binary_tree_out_arg, |
||

typename std::vector< LeafContainerT * > * | leaf_container_vector_arg, |
||

bool | do_XOR_encoding_arg = `false` , |
||

bool | new_leafs_filter_arg = `false` |
||

) | ` [protected]` |

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

**Parameters:**-
branch_arg,: current branch node key_arg,: reference to an octree key binary_tree_out_arg,: binary output vector leaf_container_vector_arg,: vector to return pointers to all leaf container in the tree. do_XOR_encoding_arg,: select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree new_leafs_filter_arg,: execute callback only for leaf nodes that did not exist in preceding buffer

Definition at line 530 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setBranchChildPtr | ( | BranchNode & | branch_arg, |

unsigned char | child_idx_arg, |
||

OctreeNode * | new_child_arg |
||

) | ` [inline, protected]` |

Assign new child node to branch.

**Parameters:**-
branch_arg,: reference to octree branch class child_idx_arg,: index to child node new_child_arg,: pointer to new child node

Definition at line 551 of file octree2buf_base.h.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex | ( | unsigned int | max_voxel_index_arg | ) |

Set the maximum amount of voxels per dimension.

**Parameters:**-
max_voxel_index_arg,: maximum amount of voxels per dimension

Definition at line 72 of file octree2buf_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth | ( | unsigned int | depth_arg | ) |

Set the maximum depth of the octree.

**Parameters:**-
depth_arg,: maximum depth of octree

Definition at line 89 of file octree2buf_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers | ( | ) |

Switch buffers and reset current octree structure.

Definition at line 166 of file octree2buf_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive | ( | BranchNode * | branch_arg | ) | ` [protected]` |

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

**Parameters:**-
branch_arg,: current branch node

Definition at line 790 of file octree2buf_base.hpp.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

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

Definition at line 237 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

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

Definition at line 236 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

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

Definition at line 235 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

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

Definition at line 238 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_` [protected]` |

Amount of branch nodes.

Definition at line 895 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

unsigned char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_` [protected]` |

Currently active octree buffer.

Definition at line 907 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

unsigned int pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_` [protected]` |

Depth mask based on octree depth.

Definition at line 901 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_` [protected]` |

Enable dynamic_depth.

**Note:**- Note that this parameter is ignored in octree2buf!

Definition at line 917 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_` [protected]` |

Amount of leaf nodes.

Definition at line 892 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

OctreeKey pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_` [protected]` |

key range

Definition at line 904 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

unsigned int pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_` [protected]` |

Octree depth.

Definition at line 913 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

BranchNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_` [protected]` |

Pointer to root branch node of octree.

Definition at line 898 of file octree2buf_base.h.

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_` [protected]` |

Definition at line 910 of file octree2buf_base.h.

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