Octree pointcloud occupancy class More...
#include <pcl/octree/octree_pointcloud_occupancy.h>
Inheritance diagram for pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >:
Collaboration diagram for pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >:
Public Member Functions | |
| OctreePointCloudOccupancy (const double resolution_arg) | |
| Constructor. More... | |
| ~OctreePointCloudOccupancy () override=default | |
| Empty class constructor. More... | |
| void | setOccupiedVoxelAtPoint (const PointT &point_arg) |
| Set occupied voxel at point. More... | |
| void | setOccupiedVoxelsAtPointsFromCloud (PointCloudPtr cloud_arg) |
| Set occupied voxels at all points from point cloud. More... | |
| Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, 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< OctreeBase< OctreeContainerEmpty, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator. More... | |
| void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. More... | |
| Public Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT > | |
| 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... | |
| virtual | ~OctreeBase () |
| Empty deconstructor. More... | |
| OctreeBase (const OctreeBase &source) | |
| Copy constructor. More... | |
| OctreeBase & | operator= (const OctreeBase &source) |
| Copy operator. More... | |
| void | setMaxVoxelIndex (uindex_t max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension. More... | |
| void | setTreeDepth (uindex_t max_depth_arg) |
| Set the maximum depth of the octree. More... | |
| uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree. More... | |
| LeafContainerT * | createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
| LeafContainerT * | findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) 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< LeafContainerT * > &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< LeafContainerT * > &leaf_container_vector_arg) |
| Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More... | |
| void | deserializeTree (std::vector< char > &binary_tree_input_arg) |
| Deserialize a binary octree description vector and create a corresponding octree structure. More... | |
| void | deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg) |
| Deserialize a binary octree description and create a corresponding octree structure. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, 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... | |
| OctreeContainerEmpty * | 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< LeafContainerT, BranchContainerT > | |
| LeafContainerT * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node. More... | |
| LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node. More... | |
| bool | existLeaf (const OctreeKey &key_arg) const |
| Check for existence of a leaf node in the octree. More... | |
| void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree. More... | |
| OctreeNode * | getRootNode () const |
| Retrieve root node. More... | |
| bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Check if branch is pointing to a particular child node. More... | |
| OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Retrieve a child node pointer for child node at child_idx. More... | |
| void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
| Assign new child node to branch. More... | |
| char | getBranchBitPattern (const BranchNode &branch_arg) const |
| Generate bit pattern reflecting the existence of child node pointers. More... | |
| void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree. More... | |
| void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree. More... | |
| BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new branch child to a branch class. More... | |
| LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new leaf child to a branch class. More... | |
| uindex_t | createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg) |
| Create a leaf node at octree key. More... | |
| void | findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const |
| Recursively search for a given leaf node and return a pointer. More... | |
| bool | deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg) |
| Recursively search and delete leaf node. More... | |
| void | serializeTreeRecursive (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const |
| Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. More... | |
| void | deserializeTreeRecursive (BranchNode *branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg) |
| Recursive method for deserializing octree structure. More... | |
| virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) const |
| Callback executed for every leaf node during serialization. More... | |
| virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |
| Callback executed for every leaf node during deserialization. More... | |
| bool | octreeCanResize () const |
| Test if octree is able to dynamically change its depth. More... | |
| Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, OctreeContainerEmpty > > | |
| PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. More... | |
| IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches. More... | |
| double | resolution_ |
| Octree resolution. More... | |
| double | min_x_ |
| double | max_x_ |
| double | min_y_ |
| double | max_y_ |
| double | min_z_ |
| double | max_z_ |
| bool | bounding_box_defined_ |
| Flag indicating if octree has defined bounding box. More... | |
| std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch. More... | |
| Protected Attributes inherited from pcl::octree::OctreeBase< 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... | |
| uindex_t | octree_depth_ {0} |
| Octree depth. More... | |
| bool | dynamic_depth_enabled_ {false} |
| Enable dynamic_depth. More... | |
| OctreeKey | max_key_ |
| key range More... | |
Detailed Description
template<typename PointT, typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >
Octree pointcloud occupancy class
- Template Parameters
-
PointT type of point used in pointcloud This pointcloud octree class generate an octrees from a point cloud (zero-copy). No information is stored at the lead nodes. It can be used of occupancy checks.
- Note
- The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
Definition at line 60 of file octree_pointcloud_occupancy.h.
Member Typedef Documentation
◆ DoubleBuffer
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::DoubleBuffer = OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT> |
Definition at line 72 of file octree_pointcloud_occupancy.h.
◆ PointCloud
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::PointCloud = typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloud |
Definition at line 76 of file octree_pointcloud_occupancy.h.
◆ PointCloudConstPtr
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr = typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>:: PointCloudConstPtr |
Definition at line 81 of file octree_pointcloud_occupancy.h.
◆ PointCloudPtr
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr = typename OctreePointCloud<PointT, LeafContainerT, BranchContainerT>::PointCloudPtr |
Definition at line 78 of file octree_pointcloud_occupancy.h.
◆ SingleBuffer
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::SingleBuffer = OctreePointCloudOccupancy<PointT, LeafContainerT, BranchContainerT> |
Definition at line 70 of file octree_pointcloud_occupancy.h.
Constructor & Destructor Documentation
◆ OctreePointCloudOccupancy()
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Constructor.
- Parameters
-
resolution_arg octree resolution at lowest octree level
Definition at line 88 of file octree_pointcloud_occupancy.h.
◆ ~OctreePointCloudOccupancy()
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
|
overridedefault |
Empty class constructor.
Member Function Documentation
◆ setOccupiedVoxelAtPoint()
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Set occupied voxel at point.
- Parameters
-
point_arg input point
Definition at line 103 of file octree_pointcloud_occupancy.h.
References pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, OctreeContainerEmpty > >::adoptBoundingBoxToPoint(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf(), and pcl::octree::OctreePointCloud< PointT, OctreeContainerEmpty, OctreeContainerEmpty, OctreeBase< OctreeContainerEmpty, OctreeContainerEmpty > >::genOctreeKeyforPoint().
Referenced by pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::setOccupiedVoxelsAtPointsFromCloud().
◆ setOccupiedVoxelsAtPointsFromCloud()
template<typename PointT , typename LeafContainerT = OctreeContainerEmpty, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Set occupied voxels at all points from point cloud.
- Parameters
-
cloud_arg input point cloud
Definition at line 121 of file octree_pointcloud_occupancy.h.
References pcl::isFinite(), and pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::setOccupiedVoxelAtPoint().
The documentation for this class was generated from the following file:
- pcl/octree/octree_pointcloud_occupancy.h