Octree class. More...

#include <octree_base.h>

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

Public Types
typedef BranchContainerT	BranchContainer
typedef OctreeBranchNode < 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 OctreeBase < 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	deleteTree ()
	Delete the octree structure and its leaf nodes.
DepthFirstIterator	depth_begin (unsigned int max_depth_arg=0)
const DepthFirstIterator	depth_end ()
void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	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_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with LeafContainerT 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
	idx_x_arg 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 branch nodes 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 ()
	OctreeBase ()
	Empty constructor.
	OctreeBase (const OctreeBase &source)
	Copy constructor.
OctreeBase &	operator= (const OctreeBase &source)
	Copy operator.
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 LeafContainerT elements that are stored within the octree leaf nodes.
void	serializeTree (std::vector< char > &binary_tree_out_arg)
	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)
	Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT 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 max_depth_arg)
	Set the maximum depth of the octree.
virtual	~OctreeBase ()
	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)
	Create and add a new branch child to a branch class.
LeafContainerT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node.
LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create 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)
	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.
void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree.
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 during deserialization.
void	deserializeTreeRecursive (BranchNode branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_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)
	Recursive method for deserializing octree structure.
bool	existLeaf (const OctreeKey &key_arg) const
	Check for existance of a leaf node 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.
OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx.
OctreeNode *	getRootNode () const
	Retrieve root node.
double	Log2 (double n_arg)
	Helper function to calculate the binary logarithm.
bool	octreeCanResize ()
	Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.
void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree.
virtual void	serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
	Callback executed for every leaf node during serialization.
void	serializeTreeRecursive (const BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const
	Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.
void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch.
Protected Attributes
std::size_t	branch_count_
	Amount of branch nodes.
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.
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::OctreeBase< LeafContainerT, BranchContainerT >

Octree class.

Note:: The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).; All leaf nodes are addressed by integer indices.; Note: The tree depth equates to the bit length of the voxel indices.

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

Definition at line 63 of file octree/include/pcl/octree/octree_base.h.

Member Typedef Documentation

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

typedef BranchContainerT pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchContainer

Definition at line 73 of file octree/include/pcl/octree/octree_base.h.

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

typedef OctreeBranchNode<BranchContainerT> pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchNode

Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.

Definition at line 70 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 98 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 102 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 96 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 84 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 90 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 92 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 83 of file octree/include/pcl/octree/octree_base.h.

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

typedef LeafContainerT pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafContainer

Definition at line 74 of file octree/include/pcl/octree/octree_base.h.

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

typedef OctreeLeafNode<LeafContainerT> pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNode

Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.

Definition at line 71 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 86 of file octree/include/pcl/octree/octree_base.h.

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

typedef OctreeBase<LeafContainerT, BranchContainerT> pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::OctreeT

Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.

Definition at line 68 of file octree/include/pcl/octree/octree_base.h.

Constructor & Destructor Documentation

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::OctreeBase ( )

Empty constructor.

Definition at line 54 of file octree/include/pcl/octree/impl/octree_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::~OctreeBase ( ) [virtual]

Empty deconstructor.

Definition at line 67 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

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

Copy constructor.

Definition at line 115 of file octree/include/pcl/octree/octree_base.h.

Member Function Documentation

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

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

Definition at line 85 of file octree/include/pcl/octree/octree_base.h.

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

bool pcl::octree::OctreeBase< 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 325 of file octree/include/pcl/octree/octree_base.h.

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

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

Definition at line 103 of file octree/include/pcl/octree/octree_base.h.

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

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

Definition at line 104 of file octree/include/pcl/octree/octree_base.h.

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

BranchNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createBranchChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)		`[inline, protected]`

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

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 431 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreeBase< 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 124 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

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

Create a leaf node.

Parameters:

key_arg,: octree key addressing a leaf node.

Returns:: pointer to leaf node

Definition at line 263 of file octree/include/pcl/octree/octree_base.h.

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

LeafNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)		`[inline, protected]`

Create 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 446 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

unsigned int pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive	(	const OctreeKey &	key_arg,
		unsigned int	depth_mask_arg,
		BranchNode *	branch_arg,
		LeafNode *&	return_leaf_arg,
		BranchNode *&	parent_of_leaf_arg
	)		`[protected]`

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

Parameters:

key_arg,:	reference to an octree key
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 node
parent_of_leaf_arg,:	return pointer to parent of leaf node

Returns:: depth mask at which leaf node was created

Definition at line 286 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

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

Delete branch and all its subchilds from octree.

Parameters:

branch_arg,: reference to octree branch class

Definition at line 417 of file octree/include/pcl/octree/octree_base.h.

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

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)		`[inline, protected]`

Delete child node and all its subchilds from octree.

Parameters:

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

Definition at line 381 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

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

Definition at line 386 of file octree/include/pcl/octree/impl/octree_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

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

Delete the octree structure and its leaf nodes.

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 166 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

DepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_begin ( unsigned int max_depth_arg = 0 ) [inline]

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.

Definition at line 97 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.

Definition at line 98 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree ( std::vector< char > & binary_tree_input_arg )

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

Parameters:

binary_tree_input_arg,: reference to input vector for reading binary tree structure.

Definition at line 231 of file octree/include/pcl/octree/impl/octree_base.hpp.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree	(	std::vector< char > &	binary_tree_input_arg,
		std::vector< LeafContainerT * > &	leaf_container_vector_arg
	)

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

Parameters:

binary_tree_input_arg,:	reference to input vector for reading binary tree structure.
leaf_container_vector_arg,:	pointer to container vector.

Definition at line 255 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

virtual void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback	(	LeafContainerT &	,
		const OctreeKey &
	)		`[inline, protected, virtual]`

Callback executed for every leaf node during deserialization.

Definition at line 541 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive	(	BranchNode *	branch_arg,
		unsigned int	depth_mask_arg,
		OctreeKey &	key_arg,
		typename std::vector< char >::const_iterator &	binary_tree_input_it_arg,
		typename std::vector< char >::const_iterator &	binary_tree_input_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
	)		`[protected]`

Recursive method for deserializing octree structure.

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_input_it_arg,:	iterator to binary input vector
binary_tree_input_it_end_arg,:	end iterator of binary input vector
leaf_container_vector_it_arg,:	iterator pointing to current LeafContainerT object to be added to a leaf node
leaf_container_vector_it_end_arg,:	iterator pointing to last object in LeafContainerT input vector.

Definition at line 505 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.

Definition at line 86 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::existLeaf	(	unsigned int	idx_x_arg,
		unsigned int	idx_y_arg,
		unsigned int	idx_z_arg
	)		const

idx_x_arg 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 138 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

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

Check for existance of a leaf node in the octree.

Parameters:

key_arg,: octree key addressing a leaf node.

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

Definition at line 293 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreeBase< 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 110 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

LeafContainerT* pcl::octree::OctreeBase< 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 node. If leaf node is not found, this pointer returns 0.

Definition at line 281 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::OctreeBase< 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 node class

Definition at line 347 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

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

Generate bit pattern reflecting the existence of child node pointers.

Parameters:

branch_arg,: reference to octree branch class

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

Definition at line 361 of file octree/include/pcl/octree/octree_base.h.

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

OctreeNode* pcl::octree::OctreeBase< 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 338 of file octree/include/pcl/octree/octree_base.h.

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

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

Return the amount of existing branch nodes in the octree.

Returns:: amount of branch nodes.

Definition at line 210 of file octree/include/pcl/octree/octree_base.h.

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

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

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 201 of file octree/include/pcl/octree/octree_base.h.

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

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

Retrieve root node.

Definition at line 314 of file octree/include/pcl/octree/octree_base.h.

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

unsigned int pcl::octree::OctreeBase< 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 >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 155 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.

Definition at line 91 of file octree/include/pcl/octree/octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.

Definition at line 92 of file octree/include/pcl/octree/octree_base.h.

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

double pcl::octree::OctreeBase< 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 555 of file octree/include/pcl/octree/octree_base.h.

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

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

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

Returns:: "true"

Definition at line 564 of file octree/include/pcl/octree/octree_base.h.

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

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

Copy operator.

Definition at line 128 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< 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 152 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

void pcl::octree::OctreeBase< 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 302 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT, typename BranchContainerT >

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

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

Parameters:

leaf_container_vector_arg,: pointers to LeafContainerT vector that receives a copy of all LeafContainerT objects in the octree.

Definition at line 216 of file octree/include/pcl/octree/impl/octree_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

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

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.

Definition at line 182 of file octree/include/pcl/octree/impl/octree_base.hpp.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTree	(	std::vector< char > &	binary_tree_out_arg,
		std::vector< LeafContainerT * > &	leaf_container_vector_arg
	)

Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT 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

Definition at line 197 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

virtual void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTreeCallback	(	LeafContainerT &	,
		const OctreeKey &
	)		const `[inline, protected, virtual]`

Callback executed for every leaf node during serialization.

Definition at line 533 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT, typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive	(	const BranchNode *	branch_arg,
		OctreeKey &	key_arg,
		std::vector< char > *	binary_tree_out_arg,
		typename std::vector< LeafContainerT * > *	leaf_container_vector_arg
	)		const `[protected]`

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

Parameters:

branch_arg,:	current branch node
key_arg,:	reference to an octree key
binary_tree_out_arg,:	binary output vector
leaf_container_vector_arg,:	writes LeafContainerT pointers to this LeafContainerT* vector.

Definition at line 443 of file octree/include/pcl/octree/impl/octree_base.hpp.

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

void pcl::octree::OctreeBase< 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 349 of file octree/include/pcl/octree/octree_base.h.

template<typename LeafContainerT , typename BranchContainerT >

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

Set the maximum amount of voxels per dimension.

Parameters:

[in] max_voxel_index_arg maximum amount of voxels per dimension

Definition at line 77 of file octree/include/pcl/octree/impl/octree_base.hpp.

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setTreeDepth ( unsigned int max_depth_arg )

Set the maximum depth of the octree.

Parameters:

max_depth_arg,: maximum depth of octree

Definition at line 93 of file octree/include/pcl/octree/impl/octree_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 >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 79 of file octree/include/pcl/octree/octree_base.h.

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

friend class OctreeDepthFirstIterator< OctreeT > [friend]

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 78 of file octree/include/pcl/octree/octree_base.h.

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

friend class OctreeIteratorBase< OctreeT > [friend]

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 77 of file octree/include/pcl/octree/octree_base.h.

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

friend class OctreeLeafNodeIterator< OctreeT > [friend]

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >, and pcl::octree::OctreePointCloud< pcl::PointXYZ, OctreePointCloudVoxelCentroidContainer< pcl::PointXYZ >, OctreeContainerEmpty >.

Definition at line 80 of file octree/include/pcl/octree/octree_base.h.

Member Data Documentation

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

std::size_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branch_count_ [protected]

Amount of branch nodes.

Definition at line 577 of file octree/include/pcl/octree/octree_base.h.

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

unsigned int pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_ [protected]

Depth mask based on octree depth.

Definition at line 583 of file octree/include/pcl/octree/octree_base.h.

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

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_ [protected]

Enable dynamic_depth.

Definition at line 589 of file octree/include/pcl/octree/octree_base.h.

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

std::size_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_ [protected]

Amount of leaf nodes.

Definition at line 574 of file octree/include/pcl/octree/octree_base.h.

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

OctreeKey pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::max_key_ [protected]

key range

Definition at line 592 of file octree/include/pcl/octree/octree_base.h.

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

unsigned int pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_ [protected]

Octree depth.

Definition at line 586 of file octree/include/pcl/octree/octree_base.h.

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

BranchNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_ [protected]

Pointer to root branch node of octree.

Definition at line 580 of file octree/include/pcl/octree/octree_base.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

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