Octree pointcloud class More...
#include <octree_pointcloud.h>
Public Types | |
| typedef std::vector< PointT, Eigen::aligned_allocator < PointT > > | AlignedPointTVector |
| typedef std::vector< PointXYZ, Eigen::aligned_allocator < PointXYZ > > | AlignedPointXYZVector |
| typedef OctreeT | Base |
| typedef OctreeT::BranchNode | 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 boost::shared_ptr < const OctreePointCloud < PointT, LeafContainerT, BranchContainerT, OctreeT > > | ConstPtr |
| typedef OctreeDepthFirstIterator < OctreeT > | DepthFirstIterator |
| typedef boost::shared_ptr < const std::vector< int > > | IndicesConstPtr |
| typedef boost::shared_ptr < std::vector< int > > | IndicesPtr |
| typedef OctreeDepthFirstIterator < OctreeT > | Iterator |
| typedef OctreeT::LeafNode | LeafNode |
| typedef OctreeLeafNodeIterator < OctreeT > | LeafNodeIterator |
| typedef pcl::PointCloud< PointT > | PointCloud |
| typedef boost::shared_ptr < const PointCloud > | PointCloudConstPtr |
| typedef boost::shared_ptr < PointCloud > | PointCloudPtr |
| typedef boost::shared_ptr < OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > | Ptr |
| typedef OctreePointCloud < PointT, LeafContainerT, BranchContainerT, OctreeBase < LeafContainerT > > | SingleBuffer |
Public Member Functions | |
| void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree. Index will be also added to indices vector. | |
| void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. | |
| void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud. | |
| void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector. | |
| void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. | |
| void | defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. | |
| void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. | |
| void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree. | |
| void | deleteTree () |
| Delete the octree structure and its leaf nodes. | |
| void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point. | |
| void | deleteVoxelAtPoint (const int &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud. | |
| void | enableDynamicDepth (size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. | |
| int | getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2) |
| Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin. | |
| void | getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const |
| Get bounding box for octree. | |
| double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches. | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. | |
| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. | |
| int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. | |
| double | getResolution () const |
| Get octree voxel resolution. | |
| unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. | |
| void | getVoxelBounds (OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) |
| Generate bounds of the current voxel of an octree iterator. | |
| double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. | |
| double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth. | |
| double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. | |
| double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level. | |
| bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. | |
| bool | isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const |
| Check if voxel at given point coordinates exist. | |
| bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
| Check if voxel at given point from input cloud exist. | |
| OctreePointCloud (const double resolution_arg) | |
| Octree pointcloud constructor. | |
| void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches. | |
| void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set. | |
| void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution. | |
| virtual | ~OctreePointCloud () |
| Empty deconstructor. | |
Protected Member Functions | |
| virtual void | addPointIdx (const int point_idx_arg) |
| Add point at index from input pointcloud dataset to octree. | |
| void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. | |
| void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask) |
| Add point at index from input pointcloud dataset to octree. | |
| LeafContainerT * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. | |
| void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. | |
| virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. | |
| void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. | |
| void | genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. | |
| void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of an octree voxel using octree key and tree depth arguments. | |
| void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const |
| Generate a point at center of octree voxel at given tree level. | |
| void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. | |
| int | getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const |
| Recursively search the tree for all leaf nodes and return a vector of voxel centers. | |
| const PointT & | getPointByIndex (const unsigned int index_arg) const |
| Get point at index from input pointcloud dataset. | |
| bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. | |
Protected Attributes | |
| bool | bounding_box_defined_ |
| Flag indicating if octree has defined bounding box. | |
| double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches. | |
| IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. | |
| PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. | |
| std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch. | |
| double | max_x_ |
| double | max_y_ |
| double | max_z_ |
| double | min_x_ |
| double | min_y_ |
| double | min_z_ |
| double | resolution_ |
| Octree resolution. | |
Friends | |
| class | OctreeBreadthFirstIterator< OctreeT > |
| class | OctreeDepthFirstIterator< OctreeT > |
| class | OctreeIteratorBase< OctreeT > |
| class | OctreeLeafNodeIterator< OctreeT > |
Detailed Description
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
class pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
Octree pointcloud class
- Note:
- Octree implementation for pointclouds. Only indices are stored by the octree leaf nodes (zero-copy).
- The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted
- according to the pointcloud dimension or it can be predefined.
- Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.
- typename: PointT: type of point used in pointcloud
- typename: LeafContainerT: leaf node container (
- typename: BranchContainerT: branch node container
- typename: OctreeT: octree implementation ()
Definition at line 77 of file octree_pointcloud.h.
Member Typedef Documentation
| typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointTVector |
Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 133 of file octree_pointcloud.h.
| typedef std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointXYZVector |
Definition at line 134 of file octree_pointcloud.h.
| typedef OctreeT pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Base |
Definition at line 86 of file octree_pointcloud.h.
| typedef OctreeT::BranchNode pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BranchNode |
Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 89 of file octree_pointcloud.h.
| typedef OctreeBreadthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BreadthFirstIterator |
Definition at line 104 of file octree_pointcloud.h.
| typedef const OctreeBreadthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstBreadthFirstIterator |
Definition at line 105 of file octree_pointcloud.h.
| typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstDepthFirstIterator |
Definition at line 101 of file octree_pointcloud.h.
| typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstIterator |
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.
Definition at line 93 of file octree_pointcloud.h.
| typedef const OctreeLeafNodeIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstLeafNodeIterator |
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.
Definition at line 97 of file octree_pointcloud.h.
| typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstPtr |
Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 130 of file octree_pointcloud.h.
| typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::DepthFirstIterator |
Definition at line 100 of file octree_pointcloud.h.
| typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesConstPtr |
Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 118 of file octree_pointcloud.h.
| typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesPtr |
Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 117 of file octree_pointcloud.h.
| typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Iterator |
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.
Definition at line 92 of file octree_pointcloud.h.
| typedef OctreeT::LeafNode pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNode |
Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 88 of file octree_pointcloud.h.
| typedef OctreeLeafNodeIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNodeIterator |
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.
Definition at line 96 of file octree_pointcloud.h.
| typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloud |
Reimplemented in pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 120 of file octree_pointcloud.h.
| typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudConstPtr |
Reimplemented in pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 122 of file octree_pointcloud.h.
| typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudPtr |
Reimplemented in pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 121 of file octree_pointcloud.h.
| typedef boost::shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Ptr |
Reimplemented in pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >.
Definition at line 129 of file octree_pointcloud.h.
| typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer |
Reimplemented in pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >, and pcl::octree::OctreePointCloudSinglePoint< PointT, LeafContainerT, BranchContainerT, OctreeT >.
Definition at line 125 of file octree_pointcloud.h.
Constructor & Destructor Documentation
| OctreePointCloud::OctreePointCloud | ( | const double | resolution_arg | ) |
Octree pointcloud constructor.
- Parameters:
-
[in] resolution_arg octree resolution at lowest octree level
Definition at line 51 of file octree_pointcloud.hpp.
| OctreePointCloud::~OctreePointCloud | ( | ) | [virtual] |
Empty deconstructor.
Definition at line 61 of file octree_pointcloud.hpp.
Member Function Documentation
| void OctreePointCloud::addPointFromCloud | ( | const int | point_idx_arg, |
| IndicesPtr | indices_arg | ||
| ) |
Add point at given index from input point cloud to octree. Index will be also added to indices vector.
- Parameters:
-
[in] point_idx_arg index of point to be added [in] indices_arg pointer to indices vector of the dataset (given by setInputCloud)
Definition at line 99 of file octree_pointcloud.hpp.
| void OctreePointCloud::addPointIdx | ( | const int | point_idx_arg | ) | [protected, virtual] |
Add point at index from input pointcloud dataset to octree.
- Parameters:
-
[in] point_idx_arg the index representing the point in the dataset given by setInputCloud to be added
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< pcl::PointXYZ >, and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >.
Definition at line 558 of file octree_pointcloud.hpp.
| void OctreePointCloud::addPointsFromInputCloud | ( | ) |
Add points from input point cloud to octree.
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.
Definition at line 67 of file octree_pointcloud.hpp.
| void OctreePointCloud::addPointToCloud | ( | const PointT & | point_arg, |
| PointCloudPtr | cloud_arg | ||
| ) |
Add point simultaneously to octree and input point cloud.
- Parameters:
-
[in] point_arg point to be added [in] cloud_arg pointer to input point cloud dataset (given by setInputCloud)
Definition at line 108 of file octree_pointcloud.hpp.
| void OctreePointCloud::addPointToCloud | ( | const PointT & | point_arg, |
| PointCloudPtr | cloud_arg, | ||
| IndicesPtr | indices_arg | ||
| ) |
Add point simultaneously to octree and input point cloud. A corresponding index will be added to the indices vector.
- Parameters:
-
[in] point_arg point to be added [in] cloud_arg pointer to input point cloud dataset (given by setInputCloud) [in] indices_arg pointer to indices vector of the dataset (given by setInputCloud)
Definition at line 119 of file octree_pointcloud.hpp.
| void OctreePointCloud::adoptBoundingBoxToPoint | ( | const PointT & | point_idx_arg | ) | [protected] |
Grow the bounding box/octree until point fits.
- Parameters:
-
[in] point_idx_arg point that should be within bounding box;
Definition at line 419 of file octree_pointcloud.hpp.
| void OctreePointCloud::defineBoundingBox | ( | ) |
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
Definition at line 267 of file octree_pointcloud.hpp.
| void OctreePointCloud::defineBoundingBox | ( | const double | min_x_arg, |
| const double | min_y_arg, | ||
| const double | min_z_arg, | ||
| const double | max_x_arg, | ||
| const double | max_y_arg, | ||
| const double | max_z_arg | ||
| ) |
Define bounding box for octree.
- Note:
- Bounding box cannot be changed once the octree contains elements.
- Parameters:
-
[in] min_x_arg X coordinate of lower bounding box corner [in] min_y_arg Y coordinate of lower bounding box corner [in] min_z_arg Z coordinate of lower bounding box corner [in] max_x_arg X coordinate of upper bounding box corner [in] max_y_arg Y coordinate of upper bounding box corner [in] max_z_arg Z coordinate of upper bounding box corner
Definition at line 296 of file octree_pointcloud.hpp.
| void OctreePointCloud::defineBoundingBox | ( | const double | max_x_arg, |
| const double | max_y_arg, | ||
| const double | max_z_arg | ||
| ) |
Define bounding box for octree.
- Note:
- Lower bounding box point is set to (0, 0, 0)
- Bounding box cannot be changed once the octree contains elements.
- Parameters:
-
[in] max_x_arg X coordinate of upper bounding box corner [in] max_y_arg Y coordinate of upper bounding box corner [in] max_z_arg Z coordinate of upper bounding box corner
Definition at line 335 of file octree_pointcloud.hpp.
| void OctreePointCloud::defineBoundingBox | ( | const double | cubeLen_arg | ) |
Define bounding box cube for octree.
- Note:
- Lower bounding box corner is set to (0, 0, 0)
- Bounding box cannot be changed once the octree contains elements.
- Parameters:
-
[in] cubeLen_arg side length of bounding box cube.
Definition at line 370 of file octree_pointcloud.hpp.
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteTree | ( | ) | [inline] |
Delete the octree structure and its leaf nodes.
Definition at line 241 of file octree_pointcloud.h.
| void OctreePointCloud::deleteVoxelAtPoint | ( | const PointT & | point_arg | ) |
Delete leaf node / voxel at given point.
- Parameters:
-
[in] point_arg point addressing the voxel to be deleted.
Definition at line 169 of file octree_pointcloud.hpp.
| void OctreePointCloud::deleteVoxelAtPoint | ( | const int & | point_idx_arg | ) |
Delete leaf node / voxel at given point from input cloud.
- Parameters:
-
[in] point_idx_arg index of point addressing the voxel to be deleted.
Definition at line 181 of file octree_pointcloud.hpp.
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::enableDynamicDepth | ( | size_t | maxObjsPerLeaf | ) | [inline] |
Enable dynamic octree structure.
- Note:
- Leaf nodes are kept as close to the root as possible and are only expanded if the number of DataT objects within a leaf node exceeds a fixed limit.
- Parameters:
-
maxObjsPerLeaf,: maximum number of DataT objects per leaf
Definition at line 400 of file octree_pointcloud.h.
| void OctreePointCloud::expandLeafNode | ( | LeafNode * | leaf_node, |
| BranchNode * | parent_branch, | ||
| unsigned char | child_idx, | ||
| unsigned int | depth_mask | ||
| ) | [protected] |
Add point at index from input pointcloud dataset to octree.
- Parameters:
-
[in] leaf_node to be expanded [in] parent_branch parent of leaf node to be expanded [in] child_idx child index of leaf node (in parent branch) [in] depth_mask of leaf node to be expanded
Definition at line 509 of file octree_pointcloud.hpp.
| LeafContainerT* pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::findLeafAtPoint | ( | const PointT & | point_arg | ) | const [inline, protected] |
Find octree leaf node at a given point.
- Parameters:
-
[in] point_arg query point
- Returns:
- pointer to leaf node. If leaf node does not exist, pointer is 0.
Definition at line 438 of file octree_pointcloud.h.
| void OctreePointCloud::genLeafNodeCenterFromOctreeKey | ( | const OctreeKey & | key_arg, |
| PointT & | point_arg | ||
| ) | const [protected] |
Generate a point at center of leaf node voxel.
- Parameters:
-
[in] key_arg octree key addressing a leaf node. [out] point_arg write leaf node voxel center to this point reference
Definition at line 709 of file octree_pointcloud.hpp.
| bool OctreePointCloud::genOctreeKeyForDataT | ( | const int & | data_arg, |
| OctreeKey & | key_arg | ||
| ) | const [protected, virtual] |
Virtual method for generating octree key for a given point index.
- Note:
- This method enables to assign indices to leaf nodes during octree deserialization.
- Parameters:
-
[in] data_arg index value representing a point in the dataset given by setInputCloud [out] key_arg write octree key to this reference
- Returns:
- "true" - octree keys are assignable
Definition at line 697 of file octree_pointcloud.hpp.
| void OctreePointCloud::genOctreeKeyforPoint | ( | const PointT & | point_arg, |
| OctreeKey & | key_arg | ||
| ) | const [protected] |
Generate octree key for voxel at a given point.
- Parameters:
-
[in] point_arg the point addressing a voxel [out] key_arg write octree key to this reference
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >.
Definition at line 670 of file octree_pointcloud.hpp.
| void OctreePointCloud::genOctreeKeyforPoint | ( | const double | point_x_arg, |
| const double | point_y_arg, | ||
| const double | point_z_arg, | ||
| OctreeKey & | key_arg | ||
| ) | const [protected] |
Generate octree key for voxel at a given point.
- Parameters:
-
[in] point_x_arg X coordinate of point addressing a voxel [in] point_y_arg Y coordinate of point addressing a voxel [in] point_z_arg Z coordinate of point addressing a voxel [out] key_arg write octree key to this reference
Definition at line 681 of file octree_pointcloud.hpp.
| void OctreePointCloud::genVoxelBoundsFromOctreeKey | ( | const OctreeKey & | key_arg, |
| unsigned int | tree_depth_arg, | ||
| Eigen::Vector3f & | min_pt, | ||
| Eigen::Vector3f & | max_pt | ||
| ) | const [protected] |
Generate bounds of an octree voxel using octree key and tree depth arguments.
- Parameters:
-
[in] key_arg octree key addressing an octree node. [in] tree_depth_arg octree depth of query voxel [out] min_pt lower bound of voxel [out] max_pt upper bound of voxel
Definition at line 732 of file octree_pointcloud.hpp.
| void OctreePointCloud::genVoxelCenterFromOctreeKey | ( | const OctreeKey & | key_arg, |
| unsigned int | tree_depth_arg, | ||
| PointT & | point_arg | ||
| ) | const [protected] |
Generate a point at center of octree voxel at given tree level.
- Parameters:
-
[in] key_arg octree key addressing an octree node. [in] tree_depth_arg octree depth of query voxel [out] point_arg write leaf node center point to this reference
Definition at line 719 of file octree_pointcloud.hpp.
| int OctreePointCloud::getApproxIntersectedVoxelCentersBySegment | ( | const Eigen::Vector3f & | origin, |
| const Eigen::Vector3f & | end, | ||
| AlignedPointTVector & | voxel_center_list, | ||
| float | precision = 0.2 |
||
| ) |
Get a PointT vector of centers of voxels intersected by a line segment. This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.
- Parameters:
-
[in] origin origin of the line segment [in] end end of the line segment [out] voxel_center_list results are written to this vector of PointT elements [in] precision determines the size of the steps: step_size = octree_resolution x precision
- Returns:
- number of intersected voxels
Definition at line 206 of file octree_pointcloud.hpp.
| void OctreePointCloud::getBoundingBox | ( | double & | min_x_arg, |
| double & | min_y_arg, | ||
| double & | min_z_arg, | ||
| double & | max_x_arg, | ||
| double & | max_y_arg, | ||
| double & | max_z_arg | ||
| ) | const |
Get bounding box for octree.
- Note:
- Bounding box cannot be changed once the octree contains elements.
- Parameters:
-
[in] min_x_arg X coordinate of lower bounding box corner [in] min_y_arg Y coordinate of lower bounding box corner [in] min_z_arg Z coordinate of lower bounding box corner [in] max_x_arg X coordinate of upper bounding box corner [in] max_y_arg Y coordinate of upper bounding box corner [in] max_z_arg Z coordinate of upper bounding box corner
Definition at line 402 of file octree_pointcloud.hpp.
| double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getEpsilon | ( | ) | const [inline] |
Get the search epsilon precision (error bound) for nearest neighbors searches.
Definition at line 172 of file octree_pointcloud.h.
| IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getIndices | ( | ) | const [inline] |
Get a pointer to the vector of indices used.
- Returns:
- pointer to vector of indices used.
Definition at line 150 of file octree_pointcloud.h.
| PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getInputCloud | ( | ) | const [inline] |
Get a pointer to the input point cloud dataset.
- Returns:
- pointer to pointcloud input class.
Definition at line 158 of file octree_pointcloud.h.
| void OctreePointCloud::getKeyBitSize | ( | ) | [protected] |
Define octree key setting and octree depth based on defined bounding box.
Definition at line 611 of file octree_pointcloud.hpp.
| int OctreePointCloud::getOccupiedVoxelCenters | ( | AlignedPointTVector & | voxel_center_list_arg | ) | const |
Get a PointT vector of centers of all occupied voxels.
- Parameters:
-
[out] voxel_center_list_arg results are written to this vector of PointT elements
- Returns:
- number of occupied voxels
Definition at line 192 of file octree_pointcloud.hpp.
| int OctreePointCloud::getOccupiedVoxelCentersRecursive | ( | const BranchNode * | node_arg, |
| const OctreeKey & | key_arg, | ||
| AlignedPointTVector & | voxel_center_list_arg | ||
| ) | const [protected] |
Recursively search the tree for all leaf nodes and return a vector of voxel centers.
- Parameters:
-
[in] node_arg current octree node to be explored [in] key_arg octree key addressing a leaf node. [out] voxel_center_list_arg results are written to this vector of PointT elements
- Returns:
- number of voxels found
Definition at line 776 of file octree_pointcloud.hpp.
| const PointT & OctreePointCloud::getPointByIndex | ( | const unsigned int | index_arg | ) | const [protected] |
Get point at index from input pointcloud dataset.
- Parameters:
-
[in] index_arg index representing the point in the dataset given by setInputCloud
- Returns:
- PointT from input pointcloud dataset
Definition at line 602 of file octree_pointcloud.hpp.
| double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getResolution | ( | ) | const [inline] |
Get octree voxel resolution.
- Returns:
- voxel resolution at lowest tree level
Definition at line 193 of file octree_pointcloud.h.
| unsigned int pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getTreeDepth | ( | ) | const [inline] |
Get the maximum depth of the octree.
- Returns:
- depth_arg: maximum depth of octree
Definition at line 201 of file octree_pointcloud.h.
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelBounds | ( | OctreeIteratorBase< OctreeT > & | iterator, |
| Eigen::Vector3f & | min_pt, | ||
| Eigen::Vector3f & | max_pt | ||
| ) | [inline] |
Generate bounds of the current voxel of an octree iterator.
- Parameters:
-
[in] iterator,: octree iterator [out] min_pt lower bound of voxel [out] max_pt upper bound of voxel
Definition at line 389 of file octree_pointcloud.h.
| double OctreePointCloud::getVoxelSquaredDiameter | ( | unsigned int | tree_depth_arg | ) | const |
Calculates the squared diameter of a voxel at given tree depth.
- Parameters:
-
[in] tree_depth_arg depth/level in octree
- Returns:
- squared diameter
Definition at line 768 of file octree_pointcloud.hpp.
| double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredDiameter | ( | ) | const [inline] |
Calculates the squared diameter of a voxel at leaf depth.
- Returns:
- squared diameter
Definition at line 363 of file octree_pointcloud.h.
| double OctreePointCloud::getVoxelSquaredSideLen | ( | unsigned int | tree_depth_arg | ) | const |
Calculates the squared voxel cube side length at given tree depth.
- Parameters:
-
[in] tree_depth_arg depth/level in octree
- Returns:
- squared voxel cube side length
Definition at line 753 of file octree_pointcloud.hpp.
| double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredSideLen | ( | ) | const [inline] |
Calculates the squared voxel cube side length at leaf level.
- Returns:
- squared voxel cube side length
Definition at line 378 of file octree_pointcloud.h.
| bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isPointWithinBoundingBox | ( | const PointT & | point_idx_arg | ) | const [inline, protected] |
Checks if given point is within the bounding box of the octree.
- Parameters:
-
[in] point_idx_arg point to be checked for bounding box violations
- Returns:
- "true" - no bound violation
Definition at line 466 of file octree_pointcloud.h.
| bool OctreePointCloud::isVoxelOccupiedAtPoint | ( | const PointT & | point_arg | ) | const |
Check if voxel at given point exist.
- Parameters:
-
[in] point_arg point to be checked
- Returns:
- "true" if voxel exist; "false" otherwise
Definition at line 132 of file octree_pointcloud.hpp.
| bool OctreePointCloud::isVoxelOccupiedAtPoint | ( | const double | point_x_arg, |
| const double | point_y_arg, | ||
| const double | point_z_arg | ||
| ) | const |
Check if voxel at given point coordinates exist.
- Parameters:
-
[in] point_x_arg X coordinate of point to be checked [in] point_y_arg Y coordinate of point to be checked [in] point_z_arg Z coordinate of point to be checked
- Returns:
- "true" if voxel exist; "false" otherwise
Definition at line 156 of file octree_pointcloud.hpp.
| bool OctreePointCloud::isVoxelOccupiedAtPoint | ( | const int & | point_idx_arg | ) | const |
Check if voxel at given point from input cloud exist.
- Parameters:
-
[in] point_idx_arg point to be checked
- Returns:
- "true" if voxel exist; "false" otherwise
Definition at line 145 of file octree_pointcloud.hpp.
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setEpsilon | ( | double | eps | ) | [inline] |
Set the search epsilon precision (error bound) for nearest neighbors searches.
- Parameters:
-
[in] eps precision (error bound) for nearest neighbors searches
Definition at line 166 of file octree_pointcloud.h.
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud | ( | const PointCloudConstPtr & | cloud_arg, |
| const IndicesConstPtr & | indices_arg = IndicesConstPtr () |
||
| ) | [inline] |
Provide a pointer to the input data set.
- Parameters:
-
[in] cloud_arg the const boost shared pointer to a PointCloud message [in] indices_arg the point indices subset that is to be used from cloud - if 0 the whole point cloud is used
Definition at line 140 of file octree_pointcloud.h.
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setResolution | ( | double | resolution_arg | ) | [inline] |
Set/change the octree voxel resolution.
- Parameters:
-
[in] resolution_arg side length of voxels at lowest tree level
Definition at line 180 of file octree_pointcloud.h.
Friends And Related Function Documentation
friend class OctreeBreadthFirstIterator< OctreeT > [friend] |
Definition at line 82 of file octree_pointcloud.h.
friend class OctreeDepthFirstIterator< OctreeT > [friend] |
Definition at line 81 of file octree_pointcloud.h.
friend class OctreeIteratorBase< OctreeT > [friend] |
Definition at line 80 of file octree_pointcloud.h.
friend class OctreeLeafNodeIterator< OctreeT > [friend] |
Definition at line 83 of file octree_pointcloud.h.
Member Data Documentation
bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::bounding_box_defined_ [protected] |
Flag indicating if octree has defined bounding box.
Definition at line 565 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::epsilon_ [protected] |
Epsilon precision (error bound) for nearest neighbors searches.
Definition at line 549 of file octree_pointcloud.h.
IndicesConstPtr pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::indices_ [protected] |
A pointer to the vector of point indices to use.
Definition at line 546 of file octree_pointcloud.h.
PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::input_ [protected] |
Pointer to input point cloud dataset.
Definition at line 543 of file octree_pointcloud.h.
std::size_t pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_objs_per_leaf_ [protected] |
Amount of DataT objects per leafNode before expanding branch.
- Note:
- zero indicates a fixed/maximum depth octree structure
Definition at line 570 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_x_ [protected] |
Definition at line 556 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_y_ [protected] |
Definition at line 559 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_z_ [protected] |
Definition at line 562 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_ [protected] |
Definition at line 555 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_ [protected] |
Definition at line 558 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_ [protected] |
Definition at line 561 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_ [protected] |
Octree resolution.
Definition at line 552 of file octree_pointcloud.h.
The documentation for this class was generated from the following files: