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Octree pointcloud point vector class More...

#include <pcl/octree/octree_pointcloud_pointvector.h>

Public Types

using SingleBuffer = OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >
- Public Types inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
using Base = OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
using LeafNode = typename OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > ::LeafNode
using BranchNode = typename OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > ::BranchNode
using IndicesPtr = shared_ptr< Indices >
using IndicesConstPtr = shared_ptr< const Indices >
using PointCloud = pcl::PointCloud< PointT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using SingleBuffer = OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices > >
using Ptr = shared_ptr< OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > >
using ConstPtr = shared_ptr< const OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > >
using AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >
using AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >
- Public Types inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
using OctreeT = OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
using BranchNode = OctreeBranchNode< OctreeContainerEmpty >
using LeafNode = OctreeLeafNode< OctreeContainerPointIndices >
using BranchContainer = OctreeContainerEmpty
using LeafContainer = OctreeContainerPointIndices
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

OctreePointCloudPointVector (const double resolution_arg)
Constructor. More...
~OctreePointCloudPointVector ()
Empty class constructor. More...
- Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
OctreePointCloud (const double resolution_arg)
Octree pointcloud constructor. More...
void setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
Provide a pointer to the input data set. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
void setEpsilon (double eps)
Set the search epsilon precision (error bound) for nearest neighbors searches. More...
double getEpsilon () const
Get the search epsilon precision (error bound) for nearest neighbors searches. More...
void setResolution (double resolution_arg)
Set/change the octree voxel resolution. More...
double getResolution () const
Get octree voxel resolution. More...
uindex_t getTreeDepth () const
Get the maximum depth of the octree. More...
void addPointsFromInputCloud ()
Add points from input point cloud to octree. More...
void addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg)
Add point at given index from input point cloud to octree. More...
void addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
Add point simultaneously to octree and input point cloud. More...
void addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
Add point simultaneously to octree and input point cloud. More...
bool isVoxelOccupiedAtPoint (const PointT &point_arg) const
Check if voxel at given point exist. More...
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. More...
bool isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const
Check if voxel at given point from input cloud exist. More...
void deleteTree ()
Delete the octree structure and its leaf nodes. More...
uindex_t getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
Get a PointT vector of centers of all occupied voxels. More...
uindex_t 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. More...
void deleteVoxelAtPoint (const PointT &point_arg)
Delete leaf node / voxel at given point. More...
void deleteVoxelAtPoint (const index_t &point_idx_arg)
Delete leaf node / voxel at given point from input cloud. More...
void defineBoundingBox ()
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...
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. More...
void defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
Define bounding box for octree. More...
void defineBoundingBox (const double cubeLen_arg)
Define bounding box cube for octree. More...
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. More...
double getVoxelSquaredDiameter (uindex_t tree_depth_arg) const
Calculates the squared diameter of a voxel at given tree depth. More...
double getVoxelSquaredDiameter () const
Calculates the squared diameter of a voxel at leaf depth. More...
double getVoxelSquaredSideLen (uindex_t tree_depth_arg) const
Calculates the squared voxel cube side length at given tree depth. More...
double getVoxelSquaredSideLen () const
Calculates the squared voxel cube side length at leaf level. More...
void getVoxelBounds (const OctreeIteratorBase< OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
Generate bounds of the current voxel of an octree iterator. More...
void enableDynamicDepth (std::size_t maxObjsPerLeaf)
Enable dynamic octree structure. More...
- Public Member Functions inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
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...
OctreeBase (const OctreeBase &source)
Copy constructor. More...
virtual ~OctreeBase ()
Empty deconstructor. 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...
OctreeContainerPointIndices * 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...
OctreeContainerPointIndices * 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< OctreeContainerPointIndices * > &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< OctreeContainerPointIndices * > &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< OctreeContainerPointIndices * > &leaf_container_vector_arg)
Deserialize a binary octree description and create a corresponding octree structure. More...

Additional Inherited Members

- Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
virtual void addPointIdx (uindex_t point_idx_arg)
Add point at index from input pointcloud dataset to octree. More...
void expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, uindex_t depth_mask)
Add point at index from input pointcloud dataset to octree. More...
const PointT & getPointByIndex (uindex_t index_arg) const
Get point at index from input pointcloud dataset. More...
OctreeContainerPointIndices * findLeafAtPoint (const PointT &point_arg) const
Find octree leaf node at a given point. More...
void getKeyBitSize ()
Define octree key setting and octree depth based on defined bounding box. More...
void adoptBoundingBoxToPoint (const PointT &point_idx_arg)
Grow the bounding box/octree until point fits. More...
bool isPointWithinBoundingBox (const PointT &point_idx_arg) const
Checks if given point is within the bounding box of the octree. More...
void genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point. More...
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. More...
virtual bool genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const
Virtual method for generating octree key for a given point index. More...
void genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
Generate a point at center of leaf node voxel. More...
void genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const
Generate a point at center of octree voxel at given tree level. More...
void genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t 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. More...
uindex_t 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. More...
- Protected Member Functions inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
OctreeContainerPointIndices * createLeaf (const OctreeKey &key_arg)
Create a leaf node. More...
OctreeContainerPointIndices * 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, OctreeContainerPointIndices *&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< OctreeContainerPointIndices * > *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< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_end_arg)
Recursive method for deserializing octree structure. More...
virtual void serializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) const
Callback executed for every leaf node during serialization. More...
virtual void deserializeTreeCallback (OctreeContainerPointIndices &, 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 inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
PointCloudConstPtr input_
Pointer to input point cloud dataset. More...
IndicesConstPtr indices_
A pointer to the vector of point indices to use. More...
double epsilon_
Epsilon precision (error bound) for nearest neighbors searches. More...
double resolution_
Octree resolution. More...
double min_x_
double max_x_
double min_y_
double max_y_
double min_z_
double max_z_
bool bounding_box_defined_
Flag indicating if octree has defined bounding box. More...
std::size_t max_objs_per_leaf_
Amount of DataT objects per leafNode before expanding branch. More...
- Protected Attributes inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
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...

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
class pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >

Octree pointcloud point vector class

Note
This pointcloud octree class generate an octrees from a point cloud (zero-copy). Every leaf node contains a list of point indices of the dataset given by setInputCloud.
The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
Template Parameters
PointT type of point used in pointcloud
Author
Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 62 of file octree_pointcloud_pointvector.h.

Member Typedef Documentation

SingleBuffer

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
using pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer = OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT, BranchContainerT> >

Definition at line 71 of file octree_pointcloud_pointvector.h.

Constructor & Destructor Documentation

OctreePointCloudPointVector()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >::OctreePointCloudPointVector ( const double resolution_arg )
inline

Constructor.

Parameters
resolution_arg octree resolution at lowest octree level

Definition at line 78 of file octree_pointcloud_pointvector.h.

~OctreePointCloudPointVector()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >::~OctreePointCloudPointVector ( )
inline

Empty class constructor.

Definition at line 83 of file octree_pointcloud_pointvector.h.


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1octree_1_1_octree_point_cloud_point_vector.html