Octree pointcloud voxel centroid class More...
#include <octree_pointcloud_voxelcentroid.h>
Public Types | |
| typedef OctreeT::BranchNode | BranchNode |
| typedef boost::shared_ptr < const OctreePointCloudVoxelCentroid < PointT, LeafContainerT > > | ConstPtr |
| typedef OctreeT::LeafNode | LeafNode |
| typedef OctreePointCloud < PointT, LeafContainerT, BranchContainerT > | OctreeT |
| typedef boost::shared_ptr < OctreePointCloudVoxelCentroid < PointT, LeafContainerT > > | Ptr |
Public Member Functions | |
| virtual void | addPointIdx (const int pointIdx_arg) |
| Add DataT object to leaf node at octree key. | |
| bool | getVoxelCentroidAtPoint (const PointT &point_arg, PointT &voxel_centroid_arg) const |
| Get centroid for a single voxel addressed by a PointT point. | |
| bool | getVoxelCentroidAtPoint (const int &point_idx_arg, PointT &voxel_centroid_arg) const |
| Get centroid for a single voxel addressed by a PointT point from input cloud. | |
| size_t | getVoxelCentroids (typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const |
| Get PointT vector of centroids for all occupied voxels. | |
| void | getVoxelCentroidsRecursive (const BranchNode *branch_arg, OctreeKey &key_arg, typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const |
| Recursively explore the octree and output a PointT vector of centroids for all occupied voxels. | |
| OctreePointCloudVoxelCentroid (const double resolution_arg) | |
| OctreePointCloudVoxelCentroids class constructor. | |
| virtual | ~OctreePointCloudVoxelCentroid () |
| Empty class deconstructor. | |
Detailed Description
template<typename PointT, typename LeafContainerT = OctreePointCloudVoxelCentroidContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >
Octree pointcloud voxel centroid class
- Note:
- This class generate an octrees from a point cloud (zero-copy). It provides a vector of centroids for all occupied voxels.
- The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
- typename: PointT: type of point used in pointcloud
Definition at line 146 of file octree_pointcloud_voxelcentroid.h.
Member Typedef Documentation
| typedef OctreeT::BranchNode pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::BranchNode |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 154 of file octree_pointcloud_voxelcentroid.h.
| typedef boost::shared_ptr<const OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::ConstPtr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 150 of file octree_pointcloud_voxelcentroid.h.
| typedef OctreeT::LeafNode pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::LeafNode |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 153 of file octree_pointcloud_voxelcentroid.h.
| typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT> pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::OctreeT |
Reimplemented from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >.
Definition at line 152 of file octree_pointcloud_voxelcentroid.h.
| typedef boost::shared_ptr<OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::Ptr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 149 of file octree_pointcloud_voxelcentroid.h.
Constructor & Destructor Documentation
| pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudVoxelCentroid | ( | const double | resolution_arg | ) | [inline] |
OctreePointCloudVoxelCentroids class constructor.
- Parameters:
-
[in] resolution_arg octree resolution at lowest octree level
Definition at line 159 of file octree_pointcloud_voxelcentroid.h.
| virtual pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudVoxelCentroid | ( | ) | [inline, virtual] |
Empty class deconstructor.
Definition at line 166 of file octree_pointcloud_voxelcentroid.h.
Member Function Documentation
| virtual void pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::addPointIdx | ( | const int | pointIdx_arg | ) | [inline, virtual] |
Add DataT object to leaf node at octree key.
- Parameters:
-
[in] key_arg octree key addressing a leaf node. [in] data_arg DataT object to be added.
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 175 of file octree_pointcloud_voxelcentroid.h.
| bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidAtPoint | ( | const PointT & | point_arg, |
| PointT & | voxel_centroid_arg | ||
| ) | const |
Get centroid for a single voxel addressed by a PointT point.
- Parameters:
-
[in] point_arg point addressing a voxel in octree [out] voxel_centroid_arg centroid is written to this PointT reference
- Returns:
- "true" if voxel is found; "false" otherwise
Definition at line 47 of file octree_pointcloud_voxelcentroid.hpp.
| bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidAtPoint | ( | const int & | point_idx_arg, |
| PointT & | voxel_centroid_arg | ||
| ) | const [inline] |
Get centroid for a single voxel addressed by a PointT point from input cloud.
- Parameters:
-
[in] point_idx_arg point index from input cloud addressing a voxel in octree [out] voxel_centroid_arg centroid is written to this PointT reference
- Returns:
- "true" if voxel is found; "false" otherwise
Definition at line 209 of file octree_pointcloud_voxelcentroid.h.
| size_t pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroids | ( | typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector & | voxel_centroid_list_arg | ) | const |
Get PointT vector of centroids for all occupied voxels.
- Parameters:
-
[out] voxel_centroid_list_arg results are written to this vector of PointT elements
- Returns:
- number of occupied voxels
Definition at line 69 of file octree_pointcloud_voxelcentroid.hpp.
| void pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidsRecursive | ( | const BranchNode * | branch_arg, |
| OctreeKey & | key_arg, | ||
| typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector & | voxel_centroid_list_arg | ||
| ) | const |
Recursively explore the octree and output a PointT vector of centroids for all occupied voxels.
- Parameters:
-
[in] branch_arg,: current branch node [in] key_arg,: current key [out] voxel_centroid_list_arg results are written to this vector of PointT elements
Definition at line 86 of file octree_pointcloud_voxelcentroid.hpp.
The documentation for this class was generated from the following files: