Octree pointcloud change detector class More...

#include <pcl/octree/octree_pointcloud_changedetector.h>

Inheritance diagram for pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >:

Collaboration diagram for pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >:

Public Types
using	Ptr = shared_ptr< OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > >

using	ConstPtr = shared_ptr< const OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > >

Public Types inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
using	Base = Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty >

using	LeafNode = typename OctreeT::LeafNode

using	BranchNode = typename OctreeT::BranchNode

using	IndicesPtr = shared_ptr< Indices >

using	IndicesConstPtr = shared_ptr< const Indices >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	SingleBuffer = OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices > >

using	Ptr = shared_ptr< OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > >

using	ConstPtr = shared_ptr< const OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > >

using	AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >

using	AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >

Public Types inherited from pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >
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
	OctreePointCloudChangeDetector (const double resolution_arg)
	Constructor. More...

std::size_t	getPointIndicesFromNewVoxels (Indices &indicesVector_arg, const uindex_t minPointsPerLeaf_arg=0)
	Get a indices from all leaf nodes that did not exist in previous buffer. More...

Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set. More...

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...

bool	isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const
	Check if voxel at given point coordinates exist. More...

bool	isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const
	Check if voxel at given point from input cloud exist. More...

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

uindex_t	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels. More...

uindex_t	getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2)
	Get a PointT vector of centers of voxels intersected by a line segment. More...

void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point. More...

void	deleteVoxelAtPoint (const index_t &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud. More...

void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...

void	defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree. More...

void	getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const
	Get bounding box for octree. More...

double	getVoxelSquaredDiameter (uindex_t tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth. More...

double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth. More...

double	getVoxelSquaredSideLen (uindex_t tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth. More...

double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level. More...

void	getVoxelBounds (const OctreeIteratorBase< Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of the current voxel of an octree iterator. More...

void	enableDynamicDepth (std::size_t maxObjsPerLeaf)
	Enable dynamic octree structure. More...

Public Member Functions inherited from pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >
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...

Additional Inherited Members
Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
virtual void	addPointIdx (uindex_t point_idx_arg)
	Add point at index from input pointcloud dataset to octree. More...

void	expandLeafNode (LeafNode leaf_node, BranchNode parent_branch, unsigned char child_idx, uindex_t depth_mask)
	Add point at index from input pointcloud dataset to octree. More...

const PointT &	getPointByIndex (uindex_t index_arg) const
	Get point at index from input pointcloud dataset. More...

OctreeContainerPointIndices *	findLeafAtPoint (const PointT &point_arg) const
	Find octree leaf node at a given point. More...

void	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box. More...

void	adoptBoundingBoxToPoint (const PointT &point_idx_arg)
	Grow the bounding box/octree until point fits. More...

bool	isPointWithinBoundingBox (const PointT &point_idx_arg) const
	Checks if given point is within the bounding box of the octree. More...

void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

void	genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

virtual bool	genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index. More...

void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel. More...

void	genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const
	Generate a point at center of octree voxel at given tree level. More...

void	genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of an octree voxel using octree key and tree depth arguments. More...

uindex_t	getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const
	Recursively search the tree for all leaf nodes and return a vector of voxel centers. More...

Protected Member Functions inherited from pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >
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 inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > >
PointCloudConstPtr	input_
	Pointer to input point cloud dataset. More...

IndicesConstPtr	indices_
	A pointer to the vector of point indices to use. More...

double	epsilon_
	Epsilon precision (error bound) for nearest neighbors searches. More...

double	resolution_
	Octree resolution. More...

double	min_x_

double	max_x_

double	min_y_

double	max_y_

double	min_z_

double	max_z_

bool	bounding_box_defined_
	Flag indicating if octree has defined bounding box. More...

std::size_t	max_objs_per_leaf_
	Amount of DataT objects per leafNode before expanding branch. More...

Protected Attributes inherited from pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >
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...

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >

Octree pointcloud change detector class

Note: This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices; The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.

Template Parameters

PointT type of point used in pointcloud

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

Definition at line 63 of file octree_pointcloud_changedetector.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::ConstPtr = shared_ptr< const OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT> >

Definition at line 74 of file octree_pointcloud_changedetector.h.

◆ Ptr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::Ptr = shared_ptr< OctreePointCloudChangeDetector<PointT, LeafContainerT, BranchContainerT> >

Definition at line 72 of file octree_pointcloud_changedetector.h.

Constructor & Destructor Documentation

◆ OctreePointCloudChangeDetector()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudChangeDetector ( const double resolution_arg )

inline

Constructor.

Parameters

resolution_arg octree resolution at lowest octree level

Definition at line 80 of file octree_pointcloud_changedetector.h.

Member Function Documentation

◆ getPointIndicesFromNewVoxels()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::getPointIndicesFromNewVoxels	(	Indices &	indicesVector_arg,
		const uindex_t	minPointsPerLeaf_arg = `0`
	)

inline

Get a indices from all leaf nodes that did not exist in previous buffer.

Parameters

indicesVector_arg	results are written to this vector of int indices
minPointsPerLeaf_arg	minimum amount of points required within leaf node to become serialized.