Octree double buffer class More...

#include <pcl/octree/octree2buf_base.h>

Inheritance diagram for pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >:

Collaboration diagram for pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >:

Public Types
using	OctreeT = Octree2BufBase< LeafContainerT, BranchContainerT >

using	BranchNode = BufferedBranchNode< 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	LeafNodeBreadthIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >

using	ConstLeafNodeBreadthIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT >

Public Member Functions
Iterator	begin (uindex_t max_depth_arg=0)

const Iterator	end ()

LeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0)

const LeafNodeDepthFirstIterator	leaf_depth_end ()

DepthFirstIterator	depth_begin (uindex_t maxDepth_arg=0)

const DepthFirstIterator	depth_end ()

BreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0)

const BreadthFirstIterator	breadth_end ()

LeafNodeBreadthIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u)

const LeafNodeBreadthIterator	leaf_breadth_end ()

	Octree2BufBase ()
	Empty constructor. More...

virtual	~Octree2BufBase ()
	Empty deconstructor. More...

	Octree2BufBase (const Octree2BufBase &source)
	Copy constructor. More...

Octree2BufBase &	operator= (const Octree2BufBase &source)
	Copy constructor. More...

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

void	setTreeDepth (uindex_t 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
	Check 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 branches in the octree. More...

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

void	deletePreviousBuffer ()
	Delete octree structure of previous buffer. More...

void	deleteCurrentBuffer ()
	Delete the octree structure in the current buffer. More...

void	switchBuffers ()
	Switch buffers and reset current octree structure. More...

void	serializeTree (std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false)
	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, bool do_XOR_encoding_arg=false)
	Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector. More...

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

void	serializeNewLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. More...

void	deserializeTree (std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false)
	Deserialize a binary octree description vector and create a corresponding octree structure. More...

void	deserializeTree (std::vector< char > &binary_tree_in_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg, bool do_XOR_decoding_arg=false)
	Deserialize a binary octree description and create a corresponding octree structure. More...

Protected Member Functions
OctreeNode *	getRootNode () const
	Retrieve root node. More...

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

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

bool	existLeaf (const OctreeKey &key_arg) const
	Check if leaf doesn't exist in the octree. More...

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

char	getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const
	Generate bit pattern reflecting the existence of child node pointers in specific buffer. More...

char	getBranchXORBitPattern (const BranchNode &branch_arg) const
	Generate XOR bit pattern reflecting differences between the two octree buffers. More...

bool	hasBranchChanges (const BranchNode &branch_arg) const
	Test if branch changed between previous and current buffer. More...

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

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

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

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

LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Fetch 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, bool branch_reset_arg=false)
	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 (BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false)
	Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content. More...

void	deserializeTreeRecursive (BranchNode branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_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, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false)
	Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization. More...

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

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

void	treeCleanUpRecursive (BranchNode *branch_arg)
	Recursively explore the octree and remove unused branch and leaf nodes. More...

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

void	printBinary (char data_arg)
	Prints binary representation of a byte - used for debugging. More...

Protected Attributes
std::size_t	leaf_count_ {0}
	Amount of leaf nodes More...

std::size_t	branch_count_ {1}
	Amount of branch nodes More...

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

uindex_t	depth_mask_ {0}
	Depth mask based on octree depth More...

OctreeKey	max_key_
	key range More...

unsigned char	buffer_selector_ {0}
	Currently active octree buffer More...

bool	tree_dirty_flag_ {false}
	flags indicating if unused branches and leafs might exist in previous buffer More...

uindex_t	octree_depth_ {0}
	Octree depth. More...

bool	dynamic_depth_enabled_ {false}
	Enable dynamic_depth. More...

Friends
class	OctreeIteratorBase< OctreeT >

class	OctreeDepthFirstIterator< OctreeT >

class	OctreeBreadthFirstIterator< OctreeT >

class	OctreeLeafNodeDepthFirstIterator< OctreeT >

class	OctreeLeafNodeBreadthFirstIterator< OctreeT >

Detailed Description

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >

Octree double buffer class

This octree implementation keeps two separate octree structures in memory which allows for differentially comparison of the octree structures (change detection, differential encoding).

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 222 of file octree2buf_base.h.

Member Typedef Documentation

◆ BranchContainer

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchContainer = BranchContainerT

Definition at line 237 of file octree2buf_base.h.

◆ BranchNode

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchNode = BufferedBranchNode<BranchContainerT>

Definition at line 234 of file octree2buf_base.h.

◆ BreadthFirstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BreadthFirstIterator = OctreeBreadthFirstIterator<OctreeT>

Definition at line 292 of file octree2buf_base.h.

◆ ConstBreadthFirstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstBreadthFirstIterator = const OctreeBreadthFirstIterator<OctreeT>

Definition at line 293 of file octree2buf_base.h.

◆ ConstDepthFirstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstDepthFirstIterator = const OctreeDepthFirstIterator<OctreeT>

Definition at line 279 of file octree2buf_base.h.

◆ ConstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstIterator = const OctreeDepthFirstIterator<OctreeT>

Definition at line 242 of file octree2buf_base.h.

◆ ConstLeafNodeBreadthIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeBreadthIterator = const OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 307 of file octree2buf_base.h.

◆ ConstLeafNodeDepthFirstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 263 of file octree2buf_base.h.

◆ ConstLeafNodeIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 259 of file octree2buf_base.h.

◆ DepthFirstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::DepthFirstIterator = OctreeDepthFirstIterator<OctreeT>

Definition at line 278 of file octree2buf_base.h.

◆ Iterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Iterator = OctreeDepthFirstIterator<OctreeT>

Definition at line 241 of file octree2buf_base.h.

◆ LeafContainer

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafContainer = LeafContainerT

Definition at line 238 of file octree2buf_base.h.

◆ LeafNode

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNode = OctreeLeafNode<LeafContainerT>

Definition at line 235 of file octree2buf_base.h.

◆ LeafNodeBreadthIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeBreadthIterator = OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 306 of file octree2buf_base.h.

◆ LeafNodeDepthFirstIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 262 of file octree2buf_base.h.

◆ LeafNodeIterator

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 258 of file octree2buf_base.h.

◆ OctreeT

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

using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::OctreeT = Octree2BufBase<LeafContainerT, BranchContainerT>

Definition at line 225 of file octree2buf_base.h.

Constructor & Destructor Documentation

◆ Octree2BufBase() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase

Empty constructor.

Definition at line 46 of file octree2buf_base.hpp.

◆ ~Octree2BufBase()

template<typename LeafContainerT , typename BranchContainerT >

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::~Octree2BufBase

virtual

Empty deconstructor.

Definition at line 52 of file octree2buf_base.hpp.

◆ Octree2BufBase() [2/2]

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

pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase ( const Octree2BufBase< LeafContainerT, BranchContainerT > & source )

inline

Copy constructor.

Definition at line 330 of file octree2buf_base.h.

Member Function Documentation

◆ begin()

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

Iterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::begin ( uindex_t max_depth_arg = 0 )

inline

Definition at line 244 of file octree2buf_base.h.

◆ branchHasChild()

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

bool pcl::octree::Octree2BufBase< 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 606 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ breadth_begin()

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

BreadthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::breadth_begin ( uindex_t max_depth_arg = 0 )

inline

Definition at line 295 of file octree2buf_base.h.

◆ breadth_end()

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

const BreadthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::breadth_end ( )

inline

Definition at line 300 of file octree2buf_base.h.

◆ createBranchChild()

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

BranchNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createBranchChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)

inlineprotected

Fetch and add a new branch child to a branch class in current buffer.

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 791 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ createLeaf() [1/2]

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

LeafContainerT* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf ( const OctreeKey & key_arg )

inlineprotected

Create a leaf node.

Note: If the leaf node at the given octree node does not exist, it will be created and added to the tree.

Parameters

key_arg octree key addressing a leaf node.

Returns: pointer to an existing or created leaf container.

Definition at line 559 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.

◆ createLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::Octree2BufBase< 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 123 of file octree2buf_base.hpp.

◆ createLeafChild()

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

LeafNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)

inlineprotected

Fetch 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 807 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ createLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive	(	const OctreeKey &	key_arg,
		uindex_t	depth_mask_arg,
		BranchNode *	branch_arg,
		LeafNode *&	return_leaf_arg,
		BranchNode *&	parent_of_leaf_arg,
		bool	branch_reset_arg = `false`
	)

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 container
parent_of_leaf_arg	return pointer to parent of leaf node
branch_reset_arg	Reset pointer array of current branch

Returns: depth mask at which leaf node was created/found

Definition at line 360 of file octree2buf_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainer(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf().

◆ deleteBranch()

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

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch ( BranchNode & branch_arg )

inlineprotected

Delete branch and all its subchilds from octree (both buffers)

Parameters

branch_arg reference to octree branch class

Definition at line 765 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

◆ deleteBranchChild() [1/2]

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

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild	(	BranchNode &	branch_arg,
		unsigned char	buffer_selector_arg,
		unsigned char	child_idx_arg
	)

inlineprotected

Delete child node and all its subchilds from octree in specific buffer.

Parameters

branch_arg	reference to octree branch class
buffer_selector_arg	buffer selector
child_idx_arg	index to child node

Definition at line 719 of file octree2buf_base.h.

References pcl::octree::BRANCH_NODE, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

◆ deleteBranchChild() [2/2]

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

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild	(	BranchNode &	branch_arg,
		unsigned char	child_idx_arg
	)

inlineprotected

Delete child node and all its subchilds from octree in current buffer.

Parameters

branch_arg	reference to octree branch class
child_idx_arg	index to child node

Definition at line 756 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

◆ deleteCurrentBuffer()

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

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer ( )

inline

Delete the octree structure in the current buffer.

Definition at line 448 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().

◆ deleteLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::Octree2BufBase< 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.

Definition at line 507 of file octree2buf_base.hpp.

References pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::hasChild().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().

◆ deletePreviousBuffer()

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

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer ( )

inline

Delete octree structure of previous buffer.

Definition at line 441 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().

◆ deleteTree()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree

Delete the octree structure and its leaf nodes.

Definition at line 165 of file octree2buf_base.hpp.

◆ depth_begin()

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

DepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_begin ( uindex_t maxDepth_arg = 0 )

inline

Definition at line 281 of file octree2buf_base.h.

◆ depth_end()

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

const DepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_end ( )

inline

Definition at line 286 of file octree2buf_base.h.

◆ deserializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree	(	std::vector< char > &	binary_tree_in_arg,
		bool	do_XOR_decoding_arg = `false`
	)

Deserialize a binary octree description vector and create a corresponding octree structure.

Leaf nodes are initialized with getDataTByKey(..).

Parameters

binary_tree_in_arg	reference to input vector for reading binary tree structure.
do_XOR_decoding_arg	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 273 of file octree2buf_base.hpp.

◆ deserializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree	(	std::vector< char > &	binary_tree_in_arg,
		std::vector< LeafContainerT * > &	leaf_container_vector_arg,
		bool	do_XOR_decoding_arg = `false`
	)

Deserialize a binary octree description and create a corresponding octree structure.

Leaf nodes are initialized with DataT elements from the dataVector.

Parameters

binary_tree_in_arg	reference to inpvectoream for reading binary tree structure.
leaf_container_vector_arg	vector of pointers to all LeafContainerT objects in the octree
do_XOR_decoding_arg	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 302 of file octree2buf_base.hpp.

◆ deserializeTreeCallback()

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

virtual void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback	(	LeafContainerT &	,
		const OctreeKey &
	)

inlineprotectedvirtual

Callback executed for every leaf node data during deserialization.

Definition at line 931 of file octree2buf_base.h.

◆ deserializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive	(	BranchNode *	branch_arg,
		uindex_t	depth_mask_arg,
		OctreeKey &	key_arg,
		typename std::vector< char >::const_iterator &	binary_tree_in_it_arg,
		typename std::vector< char >::const_iterator &	binary_tree_in_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,
		bool	branch_reset_arg = `false`,
		bool	do_XOR_decoding_arg = `false`
	)

protected

Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.

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_in_it_arg	iterator of binary input data
binary_tree_in_it_end_arg
leaf_container_vector_it_arg	iterator pointing to leaf container pointers to be added to a leaf node
leaf_container_vector_it_end_arg	iterator pointing to leaf container pointers pointing to last object in input container.
branch_reset_arg	Reset pointer array of current branch
do_XOR_decoding_arg	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 644 of file octree2buf_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), pcl::octree::OctreeKey::pushBranch(), and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ end()

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

const Iterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::end ( )

inline

Definition at line 249 of file octree2buf_base.h.

◆ existLeaf() [1/2]

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

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf ( const OctreeKey & key_arg ) const

inlineprotected

Check if leaf doesn't exist in the octree.

Parameters

key_arg octree key addressing a leaf node.

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

Definition at line 577 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf().

◆ existLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf	(	uindex_t	idx_x_arg,
		uindex_t	idx_y_arg,
		uindex_t	idx_z_arg
	)		const

Check 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 137 of file octree2buf_base.hpp.

◆ findLeaf() [1/2]

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

LeafContainerT* pcl::octree::Octree2BufBase< 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 container. If leaf node is not found, this pointer returns 0.

Definition at line 545 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeafRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.

◆ findLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::Octree2BufBase< 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 109 of file octree2buf_base.hpp.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf().

◆ findLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< 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 container class

Definition at line 471 of file octree2buf_base.hpp.

References pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::hasChild().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf().

◆ getBranchBitPattern() [1/2]

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

char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern ( const BranchNode & branch_arg ) const

inlineprotected

Generate bit pattern reflecting the existence of child node pointers for current buffer.

Parameters

branch_arg reference to octree branch class

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

Definition at line 642 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ getBranchBitPattern() [2/2]

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

char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern	(	const BranchNode &	branch_arg,
		unsigned char	bufferSelector_arg
	)		const

inlineprotected

Generate bit pattern reflecting the existence of child node pointers in specific buffer.

Parameters

branch_arg	reference to octree branch class
bufferSelector_arg	buffer selector

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

Definition at line 663 of file octree2buf_base.h.

References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ getBranchChildPtr()

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

OctreeNode* pcl::octree::Octree2BufBase< 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 618 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ getBranchCount()

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

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchCount ( ) const

inline

Return the amount of existing branches in the octree.

Returns: amount of branch nodes.

Definition at line 429 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_.

◆ getBranchXORBitPattern()

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

char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern ( const BranchNode & branch_arg ) const

inlineprotected

Generate XOR bit pattern reflecting differences between the two octree buffers.

Parameters

branch_arg reference to octree branch class

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

Definition at line 684 of file octree2buf_base.h.

References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::hasBranchChanges().

◆ getLeafCount()

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

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getLeafCount ( ) const

inline

Return the amount of existing leafs in the octree.

Returns: amount of registered leaf nodes.

Definition at line 420 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_.

◆ getRootNode()

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

OctreeNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getRootNode ( ) const

inlineprotected

Retrieve root node.

Definition at line 534 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.

◆ getTreeDepth()

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

uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getTreeDepth ( ) const

inline

Get the maximum depth of the octree.

Returns: depth_arg: maximum depth of octree

Definition at line 374 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_.

◆ hasBranchChanges()

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

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::hasBranchChanges ( const BranchNode & branch_arg ) const

inlineprotected

Test if branch changed between previous and current buffer.

Parameters

branch_arg reference to octree branch class

Returns: "true", if child node information differs between current and previous octree buffer

Definition at line 708 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern().

◆ leaf_breadth_begin()

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

LeafNodeBreadthIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin ( uindex_t max_depth_arg = 0u )

inline

Definition at line 311 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_.

◆ leaf_breadth_end()

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

const LeafNodeBreadthIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_breadth_end ( )

inline

Definition at line 318 of file octree2buf_base.h.

◆ leaf_depth_begin()

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

LeafNodeDepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_depth_begin ( uindex_t max_depth_arg = 0 )

inline

Definition at line 266 of file octree2buf_base.h.

◆ leaf_depth_end()

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

const LeafNodeDepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_depth_end ( )

inline

Definition at line 272 of file octree2buf_base.h.

◆ octreeCanResize()

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

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octreeCanResize ( )

inlineprotected

Test if octree is able to dynamically change its depth.

This is required for adaptive bounding box adjustment.

Returns: "false" - not resizeable due to XOR serialization

Definition at line 949 of file octree2buf_base.h.

◆ operator=()

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

Octree2BufBase& pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator= ( const Octree2BufBase< LeafContainerT, BranchContainerT > & source )

inline

Copy constructor.

Definition at line 344 of file octree2buf_base.h.

◆ printBinary()

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

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::printBinary ( char data_arg )

inlineprotected

Prints binary representation of a byte - used for debugging.

Parameters

data_arg - byte to be printed to stdout

Definition at line 958 of file octree2buf_base.h.

◆ removeLeaf() [1/2]

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

void pcl::octree::Octree2BufBase< 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 586 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.

◆ removeLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< 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 151 of file octree2buf_base.hpp.

◆ serializeLeafs()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs ( std::vector< LeafContainerT * > & leaf_container_vector_arg )

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

Parameters

leaf_container_vector_arg vector of pointers to all LeafContainerT objects in the octree

Definition at line 253 of file octree2buf_base.hpp.

◆ serializeNewLeafs()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs ( std::vector< LeafContainerT * > & leaf_container_vector_arg )

Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.

Parameters

leaf_container_vector_arg vector of pointers to all LeafContainerT objects in the octree

Definition at line 341 of file octree2buf_base.hpp.

Referenced by pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::getPointIndicesFromNewVoxels().

◆ serializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree	(	std::vector< char > &	binary_tree_out_arg,
		bool	do_XOR_encoding_arg = `false`
	)

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.
do_XOR_encoding_arg	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 206 of file octree2buf_base.hpp.

◆ serializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree	(	std::vector< char > &	binary_tree_out_arg,
		std::vector< LeafContainerT * > &	leaf_container_vector_arg,
		bool	do_XOR_encoding_arg = `false`
	)

Serialize octree into a binary output vector describing its branch node structure and and push all DataT 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
do_XOR_encoding_arg	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 225 of file octree2buf_base.hpp.

◆ serializeTreeCallback()

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

virtual void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeCallback	(	LeafContainerT &	,
		const OctreeKey &
	)

inlineprotectedvirtual

Callback executed for every leaf node data during serialization.

Definition at line 925 of file octree2buf_base.h.

◆ serializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive	(	BranchNode *	branch_arg,
		OctreeKey &	key_arg,
		std::vector< char > *	binary_tree_out_arg,
		typename std::vector< LeafContainerT * > *	leaf_container_vector_arg,
		bool	do_XOR_encoding_arg = `false`,
		bool	new_leafs_filter_arg = `false`
	)

protected

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

Parameters

branch_arg	current branch node
key_arg	reference to an octree key
binary_tree_out_arg	binary output vector
leaf_container_vector_arg	vector to return pointers to all leaf container in the tree.
do_XOR_encoding_arg	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree
new_leafs_filter_arg	execute callback only for leaf nodes that did not exist in preceding buffer

Definition at line 559 of file octree2buf_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), and pcl::octree::OctreeKey::pushBranch().

◆ setBranchChildPtr()

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

void pcl::octree::Octree2BufBase< 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 629 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ setMaxVoxelIndex()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex ( uindex_t max_voxel_index_arg )

Set the maximum amount of voxels per dimension.

Parameters

max_voxel_index_arg maximum amount of voxels per dimension

Definition at line 62 of file octree2buf_base.hpp.

References pcl::octree::OctreeKey::maxDepth.

◆ setTreeDepth()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth ( uindex_t depth_arg )

Set the maximum depth of the octree.

Parameters

depth_arg maximum depth of octree

Definition at line 87 of file octree2buf_base.hpp.

◆ switchBuffers()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers

Switch buffers and reset current octree structure.

Definition at line 182 of file octree2buf_base.hpp.

◆ treeCleanUpRecursive()

template<typename LeafContainerT , typename BranchContainerT >

void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive ( BranchNode * branch_arg )

protected

Recursively explore the octree and remove unused branch and leaf nodes.

Parameters

branch_arg current branch node

Definition at line 792 of file octree2buf_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), and pcl::octree::LEAF_NODE.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer().

Friends And Related Function Documentation

◆ OctreeBreadthFirstIterator< OctreeT >

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

friend class OctreeBreadthFirstIterator< OctreeT >

friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeDepthFirstIterator< OctreeT >

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

friend class OctreeDepthFirstIterator< OctreeT >

friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeIteratorBase< OctreeT >

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

friend class OctreeIteratorBase< OctreeT >

friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeLeafNodeBreadthFirstIterator< OctreeT >

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

friend class OctreeLeafNodeBreadthFirstIterator< OctreeT >

friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeLeafNodeDepthFirstIterator< OctreeT >

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

friend class OctreeLeafNodeDepthFirstIterator< OctreeT >

friend

Definition at line 205 of file octree2buf_base.h.

Member Data Documentation

◆ branch_count_

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

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_ {1}

protected

Amount of branch nodes

Definition at line 978 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchCount(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().

◆ buffer_selector_

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

unsigned char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_ {0}

protected

Currently active octree buffer

Definition at line 990 of file octree2buf_base.h.

◆ depth_mask_

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

uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_ {0}

protected

Depth mask based on octree depth

Definition at line 984 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().

◆ dynamic_depth_enabled_

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

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_ {false}

protected

Enable dynamic_depth.

Note: Note that this parameter is ignored in octree2buf!

Definition at line 1001 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().

◆ leaf_count_

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

std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_ {0}

protected

Amount of leaf nodes

Definition at line 975 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getLeafCount(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().

◆ max_key_

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

OctreeKey pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_

protected

key range

Definition at line 987 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().

◆ octree_depth_

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

uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_ {0}

protected

Octree depth.

Definition at line 997 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getTreeDepth(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().

◆ root_node_

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

BranchNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_

protected

Pointer to root branch node of octree

Definition at line 981 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getRootNode(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().

◆ tree_dirty_flag_

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

bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_ {false}

protected

flags indicating if unused branches and leafs might exist in previous buffer

Definition at line 994 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().

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

pcl/octree/octree2buf_base.h
pcl/octree/impl/octree2buf_base.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty> class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >

Member Typedef Documentation

◆ BranchContainer

◆ BranchNode

◆ BreadthFirstIterator

◆ ConstBreadthFirstIterator

◆ ConstDepthFirstIterator

◆ ConstIterator

◆ ConstLeafNodeBreadthIterator

◆ ConstLeafNodeDepthFirstIterator

◆ ConstLeafNodeIterator

◆ DepthFirstIterator

◆ Iterator

◆ LeafContainer

◆ LeafNode

◆ LeafNodeBreadthIterator

◆ LeafNodeDepthFirstIterator

◆ LeafNodeIterator

◆ OctreeT

Constructor & Destructor Documentation

◆ Octree2BufBase() [1/2]

◆ ~Octree2BufBase()

◆ Octree2BufBase() [2/2]

Member Function Documentation

◆ begin()

◆ branchHasChild()

◆ breadth_begin()

◆ breadth_end()

◆ createBranchChild()

◆ createLeaf() [1/2]

◆ createLeaf() [2/2]

◆ createLeafChild()

◆ createLeafRecursive()

◆ deleteBranch()

◆ deleteBranchChild() [1/2]

◆ deleteBranchChild() [2/2]

◆ deleteCurrentBuffer()

◆ deleteLeafRecursive()

◆ deletePreviousBuffer()

◆ 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()

◆ getBranchBitPattern() [1/2]

◆ getBranchBitPattern() [2/2]

◆ getBranchChildPtr()

◆ getBranchCount()

◆ getBranchXORBitPattern()

◆ getLeafCount()

◆ getRootNode()

◆ getTreeDepth()

◆ hasBranchChanges()

◆ leaf_breadth_begin()

◆ leaf_breadth_end()

◆ leaf_depth_begin()

◆ leaf_depth_end()

◆ octreeCanResize()

◆ operator=()

◆ printBinary()

◆ removeLeaf() [1/2]

◆ removeLeaf() [2/2]

◆ serializeLeafs()

◆ serializeNewLeafs()

◆ serializeTree() [1/2]

◆ serializeTree() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >