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Octree class. More...

#include <pcl/octree/octree_base.h>

Public Types
using	OctreeT = OctreeBase< LeafContainerT, BranchContainerT >

using	BranchNode = OctreeBranchNode< BranchContainerT >

using	LeafNode = OctreeLeafNode< LeafContainerT >

using	BranchContainer = BranchContainerT

using	LeafContainer = LeafContainerT

using	Iterator = OctreeDepthFirstIterator< OctreeT >

using	ConstIterator = const OctreeDepthFirstIterator< OctreeT >

using	LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >

using	ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >

using	LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >

using	ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >

using	DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >

using	ConstDepthFirstIterator = const OctreeDepthFirstIterator< OctreeT >

using	BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >

using	ConstBreadthFirstIterator = const OctreeBreadthFirstIterator< OctreeT >

using	FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >

using	ConstFixedDepthIterator = const OctreeFixedDepthIterator< OctreeT >

using	LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >

using	ConstLeafNodeBreadthFirstIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT >

Public Member Functions
Iterator	begin (uindex_t max_depth_arg=0u)

const Iterator	end ()

LeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u)

const LeafNodeDepthFirstIterator	leaf_depth_end ()

DepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u)

const DepthFirstIterator	depth_end ()

BreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u)

const BreadthFirstIterator	breadth_end ()

FixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u)

const FixedDepthIterator	fixed_depth_end ()

LeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u)

const LeafNodeBreadthFirstIterator	leaf_breadth_end ()

	OctreeBase ()
	Empty constructor. More...

virtual	~OctreeBase ()
	Empty deconstructor. More...

	OctreeBase (const OctreeBase &source)
	Copy constructor. More...

OctreeBase &	operator= (const OctreeBase &source)
	Copy operator. More...

void	setMaxVoxelIndex (uindex_t max_voxel_index_arg)
	Set the maximum amount of voxels per dimension. More...

void	setTreeDepth (uindex_t max_depth_arg)
	Set the maximum depth of the octree. More...

uindex_t	getTreeDepth () const
	Get the maximum depth of the octree. More...

LeafContainerT *	createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

LeafContainerT *	findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

bool	existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

void	removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree. More...

std::size_t	getBranchCount () const
	Return the amount of existing branch nodes in the octree. More...

void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...

void	serializeTree (std::vector< char > &binary_tree_out_arg)
	Serialize octree into a binary output vector describing its branch node structure. More...

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. More...

void	serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More...

void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure. More...

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. More...

Protected Member Functions
LeafContainerT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node. More...

LeafContainerT *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node. More...

bool	existLeaf (const OctreeKey &key_arg) const
	Check for existence of a leaf node in the octree. More...

void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree. More...

OctreeNode *	getRootNode () const
	Retrieve root node. More...

bool	branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Check if branch is pointing to a particular child node. More...

OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx. More...

void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch. More...

char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers. More...

void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree. More...

void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree. More...

BranchNode *	createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new branch child to a branch class. More...

LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new leaf child to a branch class. More...

uindex_t	createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafNode &return_leaf_arg, BranchNode *&parent_of_leaf_arg)
	Create a leaf node at octree key. More...

void	findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafContainerT &result_arg) const
	Recursively search for a given leaf node and return a pointer. More...

bool	deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node. More...

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. More...

void	deserializeTreeRecursive (BranchNode branch_arg, uindex_t 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. More...

virtual void	serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
	Callback executed for every leaf node during serialization. More...

virtual void	deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
	Callback executed for every leaf node during deserialization. More...

bool	octreeCanResize ()
	Test if octree is able to dynamically change its depth. More...

Protected Attributes
std::size_t	leaf_count_
	Amount of leaf nodes More...

std::size_t	branch_count_
	Amount of branch nodes More...

BranchNode *	root_node_
	Pointer to root branch node of octree More...

uindex_t	depth_mask_
	Depth mask based on octree depth More...

uindex_t	octree_depth_
	Octree depth. More...

bool	dynamic_depth_enabled_
	Enable dynamic_depth. More...

OctreeKey	max_key_
	key range More...

Friends
class	OctreeIteratorBase< OctreeT >

class	OctreeDepthFirstIterator< OctreeT >

class	OctreeBreadthFirstIterator< OctreeT >

class	OctreeFixedDepthIterator< OctreeT >

class	OctreeLeafNodeDepthFirstIterator< OctreeT >

class	OctreeLeafNodeBreadthFirstIterator< OctreeT >

Detailed Description

template<typename LeafContainerT = index_t, 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.; The tree depth equates to the bit length of the voxel indices.

Author: Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 62 of file octree_base.h.

Member Typedef Documentation

BranchContainer

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchContainer = BranchContainerT

Definition at line 69 of file octree_base.h.

BranchNode

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchNode = OctreeBranchNode<BranchContainerT>

Definition at line 66 of file octree_base.h.

BreadthFirstIterator

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

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

Definition at line 166 of file octree_base.h.

ConstBreadthFirstIterator

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

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

Definition at line 167 of file octree_base.h.

ConstDepthFirstIterator

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

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

Definition at line 150 of file octree_base.h.

ConstFixedDepthIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstFixedDepthIterator = const OctreeFixedDepthIterator<OctreeT>

Definition at line 184 of file octree_base.h.

ConstIterator

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

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

Definition at line 109 of file octree_base.h.

ConstLeafNodeBreadthFirstIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstLeafNodeBreadthFirstIterator = const OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 201 of file octree_base.h.

ConstLeafNodeDepthFirstIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 133 of file octree_base.h.

ConstLeafNodeIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 128 of file octree_base.h.

DepthFirstIterator

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

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

Definition at line 149 of file octree_base.h.

FixedDepthIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::FixedDepthIterator = OctreeFixedDepthIterator<OctreeT>

Definition at line 183 of file octree_base.h.

Iterator

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

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

Definition at line 108 of file octree_base.h.

LeafContainer

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafContainer = LeafContainerT

Definition at line 70 of file octree_base.h.

LeafNode

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNode = OctreeLeafNode<LeafContainerT>

Definition at line 67 of file octree_base.h.

LeafNodeBreadthFirstIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 199 of file octree_base.h.

LeafNodeDepthFirstIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 131 of file octree_base.h.

LeafNodeIterator

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::LeafNodeIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 127 of file octree_base.h.

OctreeT

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

using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::OctreeT = OctreeBase<LeafContainerT, BranchContainerT>

Definition at line 64 of file octree_base.h.

Constructor & Destructor Documentation

OctreeBase() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

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

Empty constructor.

Definition at line 48 of file octree_base.hpp.

~OctreeBase()

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::~OctreeBase

virtual

Empty deconstructor.

Definition at line 59 of file octree_base.hpp.

OctreeBase() [2/2]

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

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

inline

Copy constructor.

Definition at line 223 of file octree_base.h.

Member Function Documentation

begin()

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

Iterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::begin ( uindex_t max_depth_arg = 0u )

inline

Definition at line 112 of file octree_base.h.

branchHasChild()

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

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branchHasChild	(	const BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)		const

inlineprotected

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 447 of file octree_base.h.

breadth_begin()

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

BreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_begin ( uindex_t max_depth_arg = 0u )

inline

Definition at line 170 of file octree_base.h.

breadth_end()

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

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

inline

Definition at line 177 of file octree_base.h.

createBranchChild()

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

BranchNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createBranchChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)

inlineprotected

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 545 of file octree_base.h.

createLeaf() [1/2]

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

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

inlineprotected

Create a leaf node.

Parameters

key_arg octree key addressing a leaf node.

Returns: pointer to leaf node

Definition at line 385 of file octree_base.h.

createLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	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 119 of file octree_base.hpp.

createLeafChild()

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

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

inlineprotected

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 559 of file octree_base.h.

createLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive	(	const OctreeKey &	key_arg,
		uindex_t	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 285 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::createLeaf().

deleteBranch()

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

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

inlineprotected

Delete branch and all its subchilds from octree.

Parameters

branch_arg reference to octree branch class

Definition at line 532 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::deleteBranchChild().

deleteBranchChild()

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

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)

inlineprotected

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 501 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::deleteBranch().

deleteLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive	(	const OctreeKey &	key_arg,
		uindex_t	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 383 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::removeLeaf().

deleteTree()

template<typename LeafContainerT , typename BranchContainerT >

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

Delete the octree structure and its leaf nodes.

Definition at line 161 of file octree_base.hpp.

depth_begin()

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

DepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_begin ( uindex_t max_depth_arg = 0u )

inline

Definition at line 153 of file octree_base.h.

depth_end()

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

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

inline

Definition at line 160 of file octree_base.h.

deserializeTree() [1/2]

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 228 of file octree_base.hpp.

deserializeTree() [2/2]

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 252 of file octree_base.hpp.

deserializeTreeCallback()

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

virtual void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback	(	LeafContainerT &	,
		const OctreeKey &
	)

inlineprotectedvirtual

Callback executed for every leaf node during deserialization.

Definition at line 667 of file octree_base.h.

deserializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive	(	BranchNode *	branch_arg,
		uindex_t	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 492 of file octree_base.hpp.

end()

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

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

inline

Definition at line 118 of file octree_base.h.

existLeaf() [1/2]

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

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

inlineprotected

Check for existence 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 415 of file octree_base.h.

existLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::existLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	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 133 of file octree_base.hpp.

findLeaf() [1/2]

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

LeafContainerT* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf ( const OctreeKey & key_arg ) const

inlineprotected

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 403 of file octree_base.h.

findLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	idx_z_arg
	)

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

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

Parameters

idx_x_arg	index of leaf node in the X axis.
idx_y_arg	index of leaf node in the Y axis.
idx_z_arg	index of leaf node in the Z axis.

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

Definition at line 105 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::existLeaf().

findLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeafRecursive	(	const OctreeKey &	key_arg,
		uindex_t	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 345 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::findLeaf().

fixed_depth_begin()

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

FixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_begin ( uindex_t fixed_depth_arg = 0u )

inline

Definition at line 187 of file octree_base.h.

fixed_depth_end()

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

const FixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_end ( )

inline

Definition at line 193 of file octree_base.h.

getBranchBitPattern()

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

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

inlineprotected

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 482 of file octree_base.h.

getBranchChildPtr()

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

OctreeNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getBranchChildPtr	(	const BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)		const

inlineprotected

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 459 of file octree_base.h.

getBranchCount()

template<typename LeafContainerT = index_t, 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 320 of file octree_base.h.

getLeafCount()

template<typename LeafContainerT = index_t, 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 311 of file octree_base.h.

getRootNode()

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

OctreeNode* pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getRootNode ( ) const

inlineprotected

Retrieve root node.

Definition at line 436 of file octree_base.h.

getTreeDepth()

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

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getTreeDepth ( ) const

inline

Get the maximum depth of the octree.

Returns: depth_arg: maximum depth of octree

Definition at line 264 of file octree_base.h.

leaf_breadth_begin()

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

LeafNodeBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin ( uindex_t max_depth_arg = 0u )

inline

Definition at line 204 of file octree_base.h.

leaf_breadth_end()

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

const LeafNodeBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_breadth_end ( )

inline

Definition at line 211 of file octree_base.h.

leaf_depth_begin()

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

LeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin ( uindex_t max_depth_arg = 0u )

inline

Definition at line 136 of file octree_base.h.

leaf_depth_end()

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

const LeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_end ( )

inline

Definition at line 143 of file octree_base.h.

octreeCanResize()

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

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

inlineprotected

Test if octree is able to dynamically change its depth.

This is required for adaptive bounding box adjustment.

Returns: "true"

Definition at line 679 of file octree_base.h.

operator=()

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

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

inline

Copy operator.

Definition at line 235 of file octree_base.h.

removeLeaf() [1/2]

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

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf ( const OctreeKey & key_arg )

inlineprotected

Remove leaf node from octree.

Parameters

key_arg octree key addressing a leaf node.

Definition at line 424 of file octree_base.h.

removeLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	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 147 of file octree_base.hpp.

serializeLeafs()

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 212 of file octree_base.hpp.

serializeTree() [1/2]

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 175 of file octree_base.hpp.

serializeTree() [2/2]

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 191 of file octree_base.hpp.

serializeTreeCallback()

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

virtual void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTreeCallback	(	LeafContainerT &	,
		const OctreeKey &
	)		const

inlineprotectedvirtual

Callback executed for every leaf node during serialization.

Definition at line 661 of file octree_base.h.

serializeTreeRecursive()

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 435 of file octree_base.hpp.

setBranchChildPtr()

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

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setBranchChildPtr	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg,
		OctreeNode *	new_child_arg
	)

inlineprotected

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 470 of file octree_base.h.

setMaxVoxelIndex()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex ( uindex_t 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 69 of file octree_base.hpp.

setTreeDepth()

template<typename LeafContainerT , typename BranchContainerT >

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

Set the maximum depth of the octree.

Parameters

max_depth_arg maximum depth of octree

Definition at line 88 of file octree_base.hpp.

Friends And Related Function Documentation

OctreeBreadthFirstIterator< OctreeT >

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

friend class OctreeBreadthFirstIterator< OctreeT >

friend

Definition at line 102 of file octree_base.h.

OctreeDepthFirstIterator< OctreeT >

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

friend class OctreeDepthFirstIterator< OctreeT >

friend

Definition at line 101 of file octree_base.h.

OctreeFixedDepthIterator< OctreeT >

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

friend class OctreeFixedDepthIterator< OctreeT >

friend

Definition at line 103 of file octree_base.h.

OctreeIteratorBase< OctreeT >

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

friend class OctreeIteratorBase< OctreeT >

friend

Definition at line 100 of file octree_base.h.

OctreeLeafNodeBreadthFirstIterator< OctreeT >

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

friend class OctreeLeafNodeBreadthFirstIterator< OctreeT >

friend

Definition at line 105 of file octree_base.h.

OctreeLeafNodeDepthFirstIterator< OctreeT >

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

friend class OctreeLeafNodeDepthFirstIterator< OctreeT >

friend

Definition at line 104 of file octree_base.h.

Member Data Documentation

branch_count_

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

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

protected

Amount of branch nodes

Definition at line 81 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::getBranchCount(), and pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::operator=().

depth_mask_

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

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_

protected

Depth mask based on octree depth

Definition at line 87 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::createLeaf(), pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::findLeaf(), pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::operator=(), and pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::removeLeaf().

dynamic_depth_enabled_

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

bool pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_

protected

Enable dynamic_depth.

Definition at line 93 of file octree_base.h.

leaf_count_

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

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

protected

Amount of leaf nodes

Definition at line 78 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::getLeafCount(), and pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::operator=().

max_key_

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

OctreeKey pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::max_key_

protected

key range

Definition at line 96 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::operator=(), and pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::removeLeaf().

octree_depth_

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

uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_

protected

Octree depth.

Definition at line 90 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::getTreeDepth(), and pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::operator=().

root_node_

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

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

protected

Pointer to root branch node of octree

Definition at line 84 of file octree_base.h.

Referenced by pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::createLeaf(), pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::findLeaf(), pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::getRootNode(), pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::operator=(), and pcl::octree::OctreeBase< OctreePointCloudVoxelCentroidContainer< PointT >, OctreeContainerEmpty >::removeLeaf().

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

pcl/octree/octree_base.h
pcl/octree/impl/octree_base.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1octree_1_1_octree_base.html

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

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

Member Typedef Documentation

BranchContainer

BranchNode

BreadthFirstIterator

ConstBreadthFirstIterator

ConstDepthFirstIterator

ConstFixedDepthIterator

ConstIterator

ConstLeafNodeBreadthFirstIterator

ConstLeafNodeDepthFirstIterator

ConstLeafNodeIterator

DepthFirstIterator

FixedDepthIterator

Iterator

LeafContainer

LeafNode

LeafNodeBreadthFirstIterator

LeafNodeDepthFirstIterator

LeafNodeIterator

OctreeT

Constructor & Destructor Documentation

OctreeBase() [1/2]

~OctreeBase()

OctreeBase() [2/2]

Member Function Documentation

begin()

branchHasChild()

breadth_begin()

breadth_end()

createBranchChild()

createLeaf() [1/2]

createLeaf() [2/2]

createLeafChild()

createLeafRecursive()

deleteBranch()

deleteBranchChild()

deleteLeafRecursive()

deleteTree()

depth_begin()

depth_end()

deserializeTree() [1/2]

deserializeTree() [2/2]

deserializeTreeCallback()

deserializeTreeRecursive()

end()

existLeaf() [1/2]

existLeaf() [2/2]

findLeaf() [1/2]

findLeaf() [2/2]

findLeafRecursive()

fixed_depth_begin()

fixed_depth_end()

getBranchBitPattern()

getBranchChildPtr()

getBranchCount()

getLeafCount()

getRootNode()

getTreeDepth()

leaf_breadth_begin()

leaf_breadth_end()

leaf_depth_begin()

leaf_depth_end()

octreeCanResize()

operator=()

removeLeaf() [1/2]

removeLeaf() [2/2]

serializeLeafs()

serializeTree() [1/2]

serializeTree() [2/2]

serializeTreeCallback()

serializeTreeRecursive()

setBranchChildPtr()

setMaxVoxelIndex()

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