Octree double buffer class More...

#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 >

Detailed Description

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

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

Definition at line 227 of file octree2buf_base.h.

Member Typedef Documentation

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

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 260 of file octree2buf_base.h.

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

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

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 248 of file octree2buf_base.h.

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

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

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 254 of file octree2buf_base.h.

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

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

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 256 of file octree2buf_base.h.

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

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

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 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

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 241 of file octree2buf_base.h.

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

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

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 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.

Constructor & Destructor Documentation

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.

Member Function Documentation

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.

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 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

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 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.

Friends And Related Function Documentation

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

friend class OctreeBreadthFirstIterator< OctreeT > [friend]

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 237 of file octree2buf_base.h.

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

friend class OctreeDepthFirstIterator< OctreeT > [friend]

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 236 of file octree2buf_base.h.

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

friend class OctreeIteratorBase< OctreeT > [friend]

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 235 of file octree2buf_base.h.

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

friend class OctreeLeafNodeIterator< OctreeT > [friend]

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 238 of file octree2buf_base.h.

Member Data Documentation

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:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty> class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >