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| OctreePointCloudSearch (const double resolution) |
| Constructor. More...
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bool | voxelSearch (const PointT &point, std::vector< int > &point_idx_data) |
| Search for neighbors within a voxel at given point. More...
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bool | voxelSearch (const int index, std::vector< int > &point_idx_data) |
| Search for neighbors within a voxel at given point referenced by a point index. More...
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int | nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
| Search for k-nearest neighbors at the query point. More...
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int | nearestKSearch (const PointT &p_q, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
| Search for k-nearest neighbors at given query point. More...
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int | nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
| Search for k-nearest neighbors at query point. More...
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void | approxNearestSearch (const PointCloud &cloud, int query_index, int &result_index, float &sqr_distance) |
| Search for approx. More...
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void | approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance) |
| Search for approx. More...
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void | approxNearestSearch (int query_index, int &result_index, float &sqr_distance) |
| Search for approx. More...
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int | radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) |
| Search for all neighbors of query point that are within a given radius. More...
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int | radiusSearch (const PointT &p_q, const double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all neighbors of query point that are within a given radius. More...
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int | radiusSearch (int index, const double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all neighbors of query point that are within a given radius. More...
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int | getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxel_center_list, int max_voxel_count=0) const |
| Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction). More...
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int | getIntersectedVoxelIndices (Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector< int > &k_indices, int max_voxel_count=0) const |
| Get indices of all voxels that are intersected by a ray (origin, direction). More...
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int | boxSearch (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, std::vector< int > &k_indices) const |
| Search for points within rectangular search area Points exactly on the edges of the search rectangle are included. More...
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| OctreePointCloud (const double resolution_arg) |
| Octree pointcloud constructor. More...
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void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set. More...
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const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More...
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PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches. More...
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double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches. More...
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void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution. More...
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double | getResolution () const |
| Get octree voxel resolution. More...
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unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More...
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void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. More...
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void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree. More...
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud. More...
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud. More...
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bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. More...
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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...
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bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
| Check if voxel at given point from input cloud exist. More...
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void | deleteTree () |
| Delete the octree structure and its leaf nodes. More...
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int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. More...
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int | 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...
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void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point. More...
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void | deleteVoxelAtPoint (const int &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud. More...
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void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...
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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...
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void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More...
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void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree. More...
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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...
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double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. More...
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double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth. More...
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double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. More...
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double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level. More...
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void | getVoxelBounds (const OctreeIteratorBase< OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator. More...
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void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. More...
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Iterator | begin (unsigned int max_depth_arg=0u) |
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const Iterator | end () |
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LeafNodeDepthFirstIterator | leaf_depth_begin (unsigned int max_depth_arg=0u) |
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const LeafNodeDepthFirstIterator | leaf_depth_end () |
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DepthFirstIterator | depth_begin (unsigned int max_depth_arg=0u) |
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const DepthFirstIterator | depth_end () |
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BreadthFirstIterator | breadth_begin (unsigned int max_depth_arg=0u) |
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const BreadthFirstIterator | breadth_end () |
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FixedDepthIterator | fixed_depth_begin (unsigned int fixed_depth_arg=0u) |
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const FixedDepthIterator | fixed_depth_end () |
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LeafNodeBreadthFirstIterator | leaf_breadth_begin (unsigned int max_depth_arg=0u) |
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const LeafNodeBreadthFirstIterator | leaf_breadth_end () |
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| OctreeBase () |
| Empty constructor. More...
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| OctreeBase (const OctreeBase &source) |
| Copy constructor. More...
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virtual | ~OctreeBase () |
| Empty deconstructor. More...
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OctreeBase & | operator= (const OctreeBase &source) |
| Copy operator. More...
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void | setMaxVoxelIndex (unsigned int max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension. More...
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void | setTreeDepth (unsigned int max_depth_arg) |
| Set the maximum depth of the octree. More...
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unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More...
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OctreeContainerPointIndices * | createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
| Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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OctreeContainerPointIndices * | findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
| Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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bool | existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const |
| idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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void | removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
| Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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std::size_t | getLeafCount () const |
| Return the amount of existing leafs in the octree. More...
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std::size_t | getBranchCount () const |
| Return the amount of existing branch nodes in the octree. More...
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void | deleteTree () |
| Delete the octree structure and its leaf nodes. More...
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void | serializeTree (std::vector< char > &binary_tree_out_arg) |
| Serialize octree into a binary output vector describing its branch node structure. More...
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void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More...
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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...
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void | deserializeTree (std::vector< char > &binary_tree_input_arg) |
| Deserialize a binary octree description vector and create a corresponding octree structure. More...
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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...
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float | pointSquaredDist (const PointT &point_a, const PointT &point_b) const |
| Helper function to calculate the squared distance between two points. More...
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void | getNeighborsWithinRadiusRecursive (const PointT &point, const double radiusSquared, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn) const |
| Recursive search method that explores the octree and finds neighbors within a given radius. More...
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double | getKNearestNeighborRecursive (const PointT &point, unsigned int K, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, const double squared_search_radius, std::vector< prioPointQueueEntry > &point_candidates) const |
| Recursive search method that explores the octree and finds the K nearest neighbors. More...
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void | approxNearestSearchRecursive (const PointT &point, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, int &result_index, float &sqr_distance) |
| Recursive search method that explores the octree and finds the approximate nearest neighbor. More...
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int | getIntersectedVoxelCentersRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, AlignedPointTVector &voxel_center_list, int max_voxel_count) const |
| Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers. More...
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void | boxSearchRecursive (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, std::vector< int > &k_indices) const |
| Recursive search method that explores the octree and finds points within a rectangular search area. More...
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int | getIntersectedVoxelIndicesRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, std::vector< int > &k_indices, int max_voxel_count) const |
| Recursively search the tree for all intersected leaf nodes and return a vector of indices. More...
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void | initIntersectedVoxel (Eigen::Vector3f &origin, Eigen::Vector3f &direction, double &min_x, double &min_y, double &min_z, double &max_x, double &max_y, double &max_z, unsigned char &a) const |
| Initialize raytracing algorithm. More...
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int | getFirstIntersectedNode (double min_x, double min_y, double min_z, double mid_x, double mid_y, double mid_z) const |
| Find first child node ray will enter. More...
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int | getNextIntersectedNode (double x, double y, double z, int a, int b, int c) const |
| Get the next visited node given the current node upper bounding box corner. More...
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virtual void | addPointIdx (const int point_idx_arg) |
| Add point at index from input pointcloud dataset to octree. More...
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void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask) |
| Add point at index from input pointcloud dataset to octree. More...
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const PointT & | getPointByIndex (const unsigned int index_arg) const |
| Get point at index from input pointcloud dataset. More...
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OctreeContainerPointIndices * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. More...
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void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. More...
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void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. More...
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bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. More...
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void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More...
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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...
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virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. More...
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void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. More...
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void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const |
| Generate a point at center of octree voxel at given tree level. More...
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void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int 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...
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int | 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...
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OctreeContainerPointIndices * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node. More...
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OctreeContainerPointIndices * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node. More...
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bool | existLeaf (const OctreeKey &key_arg) const |
| Check for existence of a leaf node in the octree. More...
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void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree. More...
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OctreeNode * | getRootNode () const |
| Retrieve root node. More...
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bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Check if branch is pointing to a particular child node. More...
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OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Retrieve a child node pointer for child node at child_idx. More...
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void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
| Assign new child node to branch. More...
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char | getBranchBitPattern (const BranchNode &branch_arg) const |
| Generate bit pattern reflecting the existence of child node pointers. More...
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void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree. More...
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void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree. More...
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BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new branch child to a branch class. More...
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LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new leaf child to a branch class. More...
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unsigned int | createLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg) |
| Create a leaf node at octree key. More...
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void | findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, OctreeContainerPointIndices *&result_arg) const |
| Recursively search for a given leaf node and return a pointer. More...
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bool | deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg) |
| Recursively search and delete leaf node. More...
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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...
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void | deserializeTreeRecursive (BranchNode *branch_arg, unsigned int 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...
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virtual void | serializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) const |
| Callback executed for every leaf node during serialization. More...
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virtual void | deserializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) |
| Callback executed for every leaf node during deserialization. More...
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bool | octreeCanResize () |
| Test if octree is able to dynamically change its depth. More...
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