Octree pointcloud class More...
#include <pcl/octree/octree_pointcloud.h>
Inheritance diagram for pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >:
Collaboration diagram for pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >:
Public Member Functions | |
| 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... | |
| IndicesConstPtr const | 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... | |
| void | deleteTree () |
| Delete the octree structure and its leaf nodes. 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... | |
| 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< OctreeT > &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) |
| ConstIterator | begin (uindex_t max_depth_arg=0u) const |
| ConstIterator | cbegin (uindex_t max_depth_arg=0u) const |
| const Iterator | end () |
| const ConstIterator | end () const |
| const ConstIterator | cend () const |
| LeafNodeDepthFirstIterator | leaf_depth_begin (uindex_t max_depth_arg=0u) |
| ConstLeafNodeDepthFirstIterator | leaf_depth_begin (uindex_t max_depth_arg=0u) const |
| const LeafNodeDepthFirstIterator | leaf_depth_end () |
| const ConstLeafNodeDepthFirstIterator | leaf_depth_end () const |
| DepthFirstIterator | depth_begin (uindex_t max_depth_arg=0u) |
| ConstDepthFirstIterator | depth_begin (uindex_t max_depth_arg=0u) const |
| const DepthFirstIterator | depth_end () |
| const ConstDepthFirstIterator | depth_end () const |
| BreadthFirstIterator | breadth_begin (uindex_t max_depth_arg=0u) |
| ConstBreadthFirstIterator | breadth_begin (uindex_t max_depth_arg=0u) const |
| const BreadthFirstIterator | breadth_end () |
| const ConstBreadthFirstIterator | breadth_end () const |
| FixedDepthIterator | fixed_depth_begin (uindex_t fixed_depth_arg=0u) |
| ConstFixedDepthIterator | fixed_depth_begin (uindex_t fixed_depth_arg=0u) const |
| const FixedDepthIterator | fixed_depth_end () |
| const ConstFixedDepthIterator | fixed_depth_end () const |
| LeafNodeBreadthFirstIterator | leaf_breadth_begin (uindex_t max_depth_arg=0u) |
| ConstLeafNodeBreadthFirstIterator | leaf_breadth_begin (uindex_t max_depth_arg=0u) const |
| const LeafNodeBreadthFirstIterator | leaf_breadth_end () |
| const ConstLeafNodeBreadthFirstIterator | leaf_breadth_end () const |
| 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) const |
| 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) const |
| 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) const |
| 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... | |
Protected Member Functions | |
| 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... | |
| LeafContainerT * | 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 () const |
| Test if octree is able to dynamically change its depth. More... | |
Protected Attributes | |
| PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. More... | |
| IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| double | epsilon_ {0.0} |
| Epsilon precision (error bound) for nearest neighbors searches. More... | |
| double | resolution_ |
| Octree resolution. More... | |
| double | min_x_ {0.0} |
| double | max_x_ |
| double | min_y_ {0.0} |
| double | max_y_ |
| double | min_z_ {0.0} |
| double | max_z_ |
| bool | bounding_box_defined_ {false} |
| Flag indicating if octree has defined bounding box. More... | |
| std::size_t | max_objs_per_leaf_ {0} |
| 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::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
Octree pointcloud class
- Note
- Octree implementation for pointclouds. Only indices are stored by the octree leaf nodes (zero-copy).
- The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted
- according to the pointcloud dimension or it can be predefined.
- Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.
- Template Parameters
-
PointT type of point used in pointcloud LeafContainerT leaf node container BranchContainerT branch node container OctreeT octree implementation
Definition at line 72 of file octree_pointcloud.h.
Member Typedef Documentation
◆ AlignedPointTVector
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> > |
Definition at line 107 of file octree_pointcloud.h.
◆ AlignedPointXYZVector
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointXYZVector = std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ> > |
Definition at line 108 of file octree_pointcloud.h.
◆ Base
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Base = OctreeT |
Definition at line 74 of file octree_pointcloud.h.
◆ BranchNode
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BranchNode = typename OctreeT::BranchNode |
Definition at line 77 of file octree_pointcloud.h.
◆ ConstPtr
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstPtr = shared_ptr< const OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > |
Definition at line 103 of file octree_pointcloud.h.
◆ IndicesConstPtr
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesConstPtr = shared_ptr<const Indices> |
Definition at line 86 of file octree_pointcloud.h.
◆ IndicesPtr
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesPtr = shared_ptr<Indices> |
Definition at line 85 of file octree_pointcloud.h.
◆ LeafNode
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNode = typename OctreeT::LeafNode |
Definition at line 76 of file octree_pointcloud.h.
◆ PointCloud
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 88 of file octree_pointcloud.h.
◆ PointCloudConstPtr
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 90 of file octree_pointcloud.h.
◆ PointCloudPtr
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 89 of file octree_pointcloud.h.
◆ Ptr
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Ptr = shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > |
Definition at line 101 of file octree_pointcloud.h.
◆ SingleBuffer
| using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer = OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT> > |
Definition at line 93 of file octree_pointcloud.h.
Constructor & Destructor Documentation
◆ OctreePointCloud()
| pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::OctreePointCloud | ( | const double | resolution_arg | ) |
Octree pointcloud constructor.
- Parameters
-
[in] resolution_arg octree resolution at lowest octree level
Definition at line 53 of file octree_pointcloud.hpp.
Member Function Documentation
◆ addPointFromCloud()
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointFromCloud | ( | uindex_t | point_idx_arg, |
| IndicesPtr | indices_arg | ||
| ) |
Add point at given index from input point cloud to octree.
Index will be also added to indices vector.
- Parameters
-
[in] point_idx_arg index of point to be added [in] indices_arg pointer to indices vector of the dataset (given by setInputCloud)
Definition at line 105 of file octree_pointcloud.hpp.
◆ addPointIdx()
|
protectedvirtual |
Add point at index from input pointcloud dataset to octree.
- Parameters
-
[in] point_idx_arg the index representing the point in the dataset given by setInputCloud to be added
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >.
Definition at line 635 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::getChildIdxWithDepthMask().
Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::addPointIdx().
◆ addPointsFromInputCloud()
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud |
Add points from input point cloud to octree.
Definition at line 76 of file octree_pointcloud.hpp.
Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::applyMorphologicalOperator(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeFeature(), pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
◆ addPointToCloud() [1/2]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointToCloud | ( | const PointT & | point_arg, |
| PointCloudPtr | cloud_arg | ||
| ) |
Add point simultaneously to octree and input point cloud.
- Parameters
-
[in] point_arg point to be added [in] cloud_arg pointer to input point cloud dataset (given by setInputCloud)
Definition at line 119 of file octree_pointcloud.hpp.
◆ addPointToCloud() [2/2]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointToCloud | ( | const PointT & | point_arg, |
| PointCloudPtr | cloud_arg, | ||
| IndicesPtr | indices_arg | ||
| ) |
Add point simultaneously to octree and input point cloud.
A corresponding index will be added to the indices vector.
- Parameters
-
[in] point_arg point to be added [in] cloud_arg pointer to input point cloud dataset (given by setInputCloud) [in] indices_arg pointer to indices vector of the dataset (given by setInputCloud)
Definition at line 135 of file octree_pointcloud.hpp.
◆ adoptBoundingBoxToPoint()
|
protected |
Grow the bounding box/octree until point fits.
- Parameters
-
[in] point_idx_arg point that should be within bounding box;
Definition at line 492 of file octree_pointcloud.hpp.
◆ defineBoundingBox() [1/4]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox |
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
Definition at line 330 of file octree_pointcloud.hpp.
Referenced by pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
◆ defineBoundingBox() [2/4]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox | ( | const double | cubeLen_arg | ) |
Define bounding box cube for octree.
- Note
- Lower bounding box corner is set to (0, 0, 0)
- Bounding box cannot be changed once the octree contains elements.
- Parameters
-
[in] cubeLen_arg side length of bounding box cube.
Definition at line 438 of file octree_pointcloud.hpp.
◆ defineBoundingBox() [3/4]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox | ( | const double | max_x_arg, |
| const double | max_y_arg, | ||
| const double | max_z_arg | ||
| ) |
Define bounding box for octree.
- Note
- Lower bounding box point is set to (0, 0, 0)
- Bounding box cannot be changed once the octree contains elements.
- Parameters
-
[in] max_x_arg X coordinate of upper bounding box corner [in] max_y_arg Y coordinate of upper bounding box corner [in] max_z_arg Z coordinate of upper bounding box corner
Definition at line 405 of file octree_pointcloud.hpp.
◆ defineBoundingBox() [4/4]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox | ( | const double | min_x_arg, |
| const double | min_y_arg, | ||
| const double | min_z_arg, | ||
| const double | max_x_arg, | ||
| const double | max_y_arg, | ||
| const double | max_z_arg | ||
| ) |
Define bounding box for octree.
- Note
- Bounding box cannot be changed once the octree contains elements.
- Parameters
-
[in] min_x_arg X coordinate of lower bounding box corner [in] min_y_arg Y coordinate of lower bounding box corner [in] min_z_arg Z coordinate of lower bounding box corner [in] max_x_arg X coordinate of upper bounding box corner [in] max_y_arg Y coordinate of upper bounding box corner [in] max_z_arg Z coordinate of upper bounding box corner
Definition at line 369 of file octree_pointcloud.hpp.
◆ deleteTree()
|
inline |
Delete the octree structure and its leaf nodes.
Definition at line 240 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::bounding_box_defined_, pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::deleteTree(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_z_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_.
◆ deleteVoxelAtPoint() [1/2]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteVoxelAtPoint | ( | const index_t & | point_idx_arg | ) |
Delete leaf node / voxel at given point from input cloud.
- Parameters
-
[in] point_idx_arg index of point addressing the voxel to be deleted.
Definition at line 234 of file octree_pointcloud.hpp.
◆ deleteVoxelAtPoint() [2/2]
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteVoxelAtPoint | ( | const PointT & | point_arg | ) |
Delete leaf node / voxel at given point.
- Parameters
-
[in] point_arg point addressing the voxel to be deleted.
Definition at line 213 of file octree_pointcloud.hpp.
◆ enableDynamicDepth()
|
inline |
Enable dynamic octree structure.
- Note
- Leaf nodes are kept as close to the root as possible and are only expanded if the number of DataT objects within a leaf node exceeds a fixed limit.
- Parameters
-
maxObjsPerLeaf maximum number of DataT objects per leaf
Definition at line 421 of file octree_pointcloud.h.
References pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::dynamic_depth_enabled_, pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::leaf_count_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_objs_per_leaf_.
◆ expandLeafNode()
|
protected |
Add point at index from input pointcloud dataset to octree.
- Parameters
-
[in] leaf_node to be expanded [in] parent_branch parent of leaf node to be expanded [in] child_idx child index of leaf node (in parent branch) [in] depth_mask of leaf node to be expanded
Definition at line 585 of file octree_pointcloud.hpp.
◆ findLeafAtPoint()
|
inlineprotected |
Find octree leaf node at a given point.
- Parameters
-
[in] point_arg query point
- Returns
- pointer to leaf node. If leaf node does not exist, pointer is 0.
Definition at line 466 of file octree_pointcloud.h.
References pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::findLeaf(), and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::genOctreeKeyforPoint().
◆ genLeafNodeCenterFromOctreeKey()
|
protected |
Generate a point at center of leaf node voxel.
- Parameters
-
[in] key_arg octree key addressing a leaf node. [out] point_arg write leaf node voxel center to this point reference
Definition at line 823 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
◆ genOctreeKeyForDataT()
|
protectedvirtual |
Virtual method for generating octree key for a given point index.
- Note
- This method enables to assign indices to leaf nodes during octree deserialization.
- Parameters
-
[in] data_arg index value representing a point in the dataset given by setInputCloud [out] key_arg write octree key to this reference
- Returns
- "true" - octree keys are assignable
Definition at line 806 of file octree_pointcloud.hpp.
◆ genOctreeKeyforPoint() [1/2]
|
protected |
Generate octree key for voxel at a given point.
- Parameters
-
[in] point_x_arg X coordinate of point addressing a voxel [in] point_y_arg Y coordinate of point addressing a voxel [in] point_z_arg Z coordinate of point addressing a voxel [out] key_arg write octree key to this reference
Definition at line 784 of file octree_pointcloud.hpp.
◆ genOctreeKeyforPoint() [2/2]
|
protected |
Generate octree key for voxel at a given point.
- Parameters
-
[in] point_arg the point addressing a voxel [out] key_arg write octree key to this reference
Definition at line 765 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::findLeafAtPoint().
◆ genVoxelBoundsFromOctreeKey()
|
protected |
Generate bounds of an octree voxel using octree key and tree depth arguments.
- Parameters
-
[in] key_arg octree key addressing an octree node. [in] tree_depth_arg octree depth of query voxel [out] min_pt lower bound of voxel [out] max_pt upper bound of voxel
Definition at line 870 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelBounds().
◆ genVoxelCenterFromOctreeKey()
|
protected |
Generate a point at center of octree voxel at given tree level.
- Parameters
-
[in] key_arg octree key addressing an octree node. [in] tree_depth_arg octree depth of query voxel [out] point_arg write leaf node center point to this reference
Definition at line 841 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
◆ getApproxIntersectedVoxelCentersBySegment()
| pcl::uindex_t pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getApproxIntersectedVoxelCentersBySegment | ( | const Eigen::Vector3f & | origin, |
| const Eigen::Vector3f & | end, | ||
| AlignedPointTVector & | voxel_center_list, | ||
| float | precision = 0.2 |
||
| ) |
Get a PointT vector of centers of voxels intersected by a line segment.
This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.
- Parameters
-
[in] origin origin of the line segment [in] end end of the line segment [out] voxel_center_list results are written to this vector of PointT elements [in] precision determines the size of the steps: step_size = octree_resolution x precision
- Returns
- number of intersected voxels
Definition at line 267 of file octree_pointcloud.hpp.
Referenced by pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeFeature().
◆ getBoundingBox()
| void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getBoundingBox | ( | double & | min_x_arg, |
| double & | min_y_arg, | ||
| double & | min_z_arg, | ||
| double & | max_x_arg, | ||
| double & | max_y_arg, | ||
| double & | max_z_arg | ||
| ) | const |
Get bounding box for octree.
- Note
- Bounding box cannot be changed once the octree contains elements.
- Parameters
-
[in] min_x_arg X coordinate of lower bounding box corner [in] min_y_arg Y coordinate of lower bounding box corner [in] min_z_arg Z coordinate of lower bounding box corner [in] max_x_arg X coordinate of upper bounding box corner [in] max_y_arg Y coordinate of upper bounding box corner [in] max_z_arg Z coordinate of upper bounding box corner
Definition at line 469 of file octree_pointcloud.hpp.
◆ getEpsilon()
|
inline |
Get the search epsilon precision (error bound) for nearest neighbors searches.
Definition at line 155 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::epsilon_.
◆ getIndices()
|
inline |
Get a pointer to the vector of indices used.
- Returns
- pointer to vector of indices used.
Definition at line 128 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::indices_.
◆ getInputCloud()
|
inline |
Get a pointer to the input point cloud dataset.
- Returns
- pointer to pointcloud input class.
Definition at line 137 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::input_.
◆ getKeyBitSize()
|
protected |
Define octree key setting and octree depth based on defined bounding box.
Definition at line 697 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::maxDepth.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setResolution().
◆ getOccupiedVoxelCenters()
| pcl::uindex_t pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getOccupiedVoxelCenters | ( | AlignedPointTVector & | voxel_center_list_arg | ) | const |
Get a PointT vector of centers of all occupied voxels.
- Parameters
-
[out] voxel_center_list_arg results are written to this vector of PointT elements
- Returns
- number of occupied voxels
Definition at line 250 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
Referenced by pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeFeature().
◆ getOccupiedVoxelCentersRecursive()
|
protected |
Recursively search the tree for all leaf nodes and return a vector of voxel centers.
- Parameters
-
[in] node_arg current octree node to be explored [in] key_arg octree key addressing a leaf node. [out] voxel_center_list_arg results are written to this vector of PointT elements
- Returns
- number of voxels found
Definition at line 934 of file octree_pointcloud.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::OctreeNode::getNodeType(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
◆ getPointByIndex()
|
protected |
Get point at index from input pointcloud dataset.
- Parameters
-
[in] index_arg index representing the point in the dataset given by setInputCloud
- Returns
- PointT from input pointcloud dataset
Definition at line 683 of file octree_pointcloud.hpp.
◆ getResolution()
|
inline |
Get octree voxel resolution.
- Returns
- voxel resolution at lowest tree level
Definition at line 182 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_.
◆ getTreeDepth()
|
inline |
Get the maximum depth of the octree.
- Returns
- depth_arg: maximum depth of octree
Definition at line 191 of file octree_pointcloud.h.
References pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::octree_depth_.
◆ getVoxelBounds()
|
inline |
Generate bounds of the current voxel of an octree iterator.
- Parameters
-
[in] iterator octree iterator [out] min_pt lower bound of voxel [out] max_pt upper bound of voxel
Definition at line 405 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::genVoxelBoundsFromOctreeKey(), pcl::octree::OctreeIteratorBase< OctreeT >::getCurrentOctreeDepth(), and pcl::octree::OctreeIteratorBase< OctreeT >::getCurrentOctreeKey().
◆ getVoxelSquaredDiameter() [1/2]
|
inline |
Calculates the squared diameter of a voxel at leaf depth.
- Returns
- squared diameter
Definition at line 378 of file octree_pointcloud.h.
References pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::octree_depth_.
◆ getVoxelSquaredDiameter() [2/2]
| double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredDiameter | ( | uindex_t | tree_depth_arg | ) | const |
Calculates the squared diameter of a voxel at given tree depth.
- Parameters
-
[in] tree_depth_arg depth/level in octree
- Returns
- squared diameter
Definition at line 921 of file octree_pointcloud.hpp.
◆ getVoxelSquaredSideLen() [1/2]
|
inline |
Calculates the squared voxel cube side length at leaf level.
- Returns
- squared voxel cube side length
Definition at line 394 of file octree_pointcloud.h.
References pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::octree_depth_.
◆ getVoxelSquaredSideLen() [2/2]
| double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredSideLen | ( | uindex_t | tree_depth_arg | ) | const |
Calculates the squared voxel cube side length at given tree depth.
- Parameters
-
[in] tree_depth_arg depth/level in octree
- Returns
- squared voxel cube side length
Definition at line 900 of file octree_pointcloud.hpp.
◆ isPointWithinBoundingBox()
|
inlineprotected |
Checks if given point is within the bounding box of the octree.
- Parameters
-
[in] point_idx_arg point to be checked for bounding box violations
- Returns
- "true" - no bound violation
Definition at line 496 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_z_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_.
◆ isVoxelOccupiedAtPoint() [1/3]
| bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isVoxelOccupiedAtPoint | ( | const double | point_x_arg, |
| const double | point_y_arg, | ||
| const double | point_z_arg | ||
| ) | const |
Check if voxel at given point coordinates exist.
- Parameters
-
[in] point_x_arg X coordinate of point to be checked [in] point_y_arg Y coordinate of point to be checked [in] point_z_arg Z coordinate of point to be checked
- Returns
- "true" if voxel exist; "false" otherwise
Definition at line 192 of file octree_pointcloud.hpp.
◆ isVoxelOccupiedAtPoint() [2/3]
| bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isVoxelOccupiedAtPoint | ( | const index_t & | point_idx_arg | ) | const |
Check if voxel at given point from input cloud exist.
- Parameters
-
[in] point_idx_arg point to be checked
- Returns
- "true" if voxel exist; "false" otherwise
Definition at line 176 of file octree_pointcloud.hpp.
◆ isVoxelOccupiedAtPoint() [3/3]
| bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isVoxelOccupiedAtPoint | ( | const PointT & | point_arg | ) | const |
Check if voxel at given point exist.
- Parameters
-
[in] point_arg point to be checked
- Returns
- "true" if voxel exist; "false" otherwise
Definition at line 154 of file octree_pointcloud.hpp.
◆ setEpsilon()
|
inline |
Set the search epsilon precision (error bound) for nearest neighbors searches.
- Parameters
-
[in] eps precision (error bound) for nearest neighbors searches
Definition at line 147 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::epsilon_.
◆ setInputCloud()
|
inline |
Provide a pointer to the input data set.
- Parameters
-
[in] cloud_arg the const boost shared pointer to a PointCloud message [in] indices_arg the point indices subset that is to be used from cloud - if 0 the whole point cloud is used
Definition at line 117 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::indices_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::input_.
Referenced by pcl::applyMorphologicalOperator(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeFeature(), pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
◆ setResolution()
|
inline |
Set/change the octree voxel resolution.
- Parameters
-
[in] resolution_arg side length of voxels at lowest tree level
Definition at line 164 of file octree_pointcloud.h.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getKeyBitSize(), pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >::leaf_count_, and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_.
Member Data Documentation
◆ bounding_box_defined_
|
protected |
Flag indicating if octree has defined bounding box.
Definition at line 602 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteTree().
◆ epsilon_
|
protected |
Epsilon precision (error bound) for nearest neighbors searches.
Definition at line 586 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getEpsilon(), and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setEpsilon().
◆ indices_
|
protected |
A pointer to the vector of point indices to use.
Definition at line 583 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getIndices(), and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud().
◆ input_
|
protected |
Pointer to input point cloud dataset.
Definition at line 580 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getInputCloud(), and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud().
◆ max_objs_per_leaf_
|
protected |
Amount of DataT objects per leafNode before expanding branch.
- Note
- zero indicates a fixed/maximum depth octree structure
Definition at line 607 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::enableDynamicDepth().
◆ max_x_
|
protected |
◆ max_y_
|
protected |
◆ max_z_
|
protected |
◆ min_x_
|
protected |
◆ min_y_
|
protected |
◆ min_z_
|
protected |
◆ resolution_
|
protected |
Octree resolution.
Definition at line 589 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getResolution(), and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setResolution().
The documentation for this class was generated from the following files:
- pcl/octree/octree_pointcloud.h
- pcl/octree/impl/octree_pointcloud.hpp