Point Cloud Library (PCL)  1.12.0-dev
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pcl::outofcore::OutofcoreOctreeBaseNode Class Reference

OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.
More...

#include <pcl/outofcore/octree_base_node.h>

Public Types

using octree_disk = OutofcoreOctreeBase< OutofcoreOctreeDiskContainer< PointT >, PointT >
 
using octree_disk_node = OutofcoreOctreeBaseNode< OutofcoreOctreeDiskContainer< PointT >, PointT >
 
using AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >
 
using node_type_t = pcl::octree::node_type_t
 

Public Member Functions

 OutofcoreOctreeBaseNode ()
 Empty constructor; sets pointers for children and for bounding boxes to 0. More...
 
 OutofcoreOctreeBaseNode (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, OutofcoreOctreeBase< ContainerT, PointT > *const tree, const boost::filesystem::path &root_name)
 Create root node and directory. More...
 
 ~OutofcoreOctreeBaseNode ()
 Will recursively delete all children calling recFreeChildrein. More...
 
virtual void getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
 gets the minimum and maximum corner of the bounding box represented by this node More...
 
const boost::filesystem::path & getPCDFilename () const
 
const boost::filesystem::path & getMetadataFilename () const
 
void queryFrustum (const double planes[24], std::list< std::string > &file_names)
 
void queryFrustum (const double planes[24], std::list< std::string > &file_names, const std::uint32_t query_depth, const bool skip_vfc_check=false)
 
void queryFrustum (const double planes[24], const Eigen::Vector3d &eye, const Eigen::Matrix4d &view_projection_matrix, std::list< std::string > &file_names, const std::uint32_t query_depth, const bool skip_vfc_check=false)
 
virtual void queryBBIncludes (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::size_t query_depth, AlignedPointTVector &dst)
 Recursively add points that fall into the queried bounding box up to the query_depth. More...
 
virtual void queryBBIncludes (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::size_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob)
 Recursively add points that fall into the queried bounding box up to the query_depth. More...
 
virtual void queryBBIncludes_subsample (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::uint64_t query_depth, const double percent, AlignedPointTVector &v)
 Recursively add points that fall into the queried bounding box up to the query_depth. More...
 
virtual void queryBBIncludes_subsample (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob, double percent=1.0)
 
virtual void queryBBIntersects (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const std::uint32_t query_depth, std::list< std::string > &file_names)
 Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_depth only). More...
 
virtual void printBoundingBox (const std::size_t query_depth) const
 Write the voxel size to stdout at query_depth. More...
 
virtual std::uint64_t addDataToLeaf (const AlignedPointTVector &p, const bool skip_bb_check=true)
 add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point More...
 
virtual std::uint64_t addDataToLeaf (const std::vector< const PointT * > &p, const bool skip_bb_check=true)
 
virtual std::uint64_t addPointCloud (const pcl::PCLPointCloud2::Ptr &input_cloud, const bool skip_bb_check=false)
 Add a single PCLPointCloud2 object into the octree. More...
 
virtual std::uint64_t addPointCloud_and_genLOD (const pcl::PCLPointCloud2::Ptr input_cloud)
 Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this method of LOD construction is not multiresolution. More...
 
virtual std::uint64_t addDataToLeaf_and_genLOD (const AlignedPointTVector &p, const bool skip_bb_check)
 Recursively add points to the leaf and children subsampling LODs on the way down. More...
 
void writeVPythonVisual (std::ofstream &file)
 Write a python visual script to file. More...
 
virtual int read (pcl::PCLPointCloud2::Ptr &output_cloud)
 
node_type_t getNodeType () const override
 
OutofcoreOctreeBaseNodedeepCopy () const override
 
virtual std::size_t getDepth () const
 
virtual std::size_t getNumChildren () const
 Returns the total number of children on disk. More...
 
virtual std::size_t getNumLoadedChildren () const
 Count loaded chilren. More...
 
virtual OutofcoreOctreeBaseNodegetChildPtr (std::size_t index_arg) const
 Returns a pointer to the child in octant index_arg. More...
 
virtual std::uint64_t getDataSize () const
 Gets the number of points available in the PCD file. More...
 
virtual void clearData ()
 

Static Public Attributes

const static std::string node_index_basename = "node"
 
const static std::string node_container_basename = "node"
 
const static std::string node_index_extension = ".oct_idx"
 
const static std::string node_container_extension = ".oct_dat"
 
const static double sample_percent_ = .125
 

Protected Member Functions

 OutofcoreOctreeBaseNode (const boost::filesystem::path &directory_path, OutofcoreOctreeBaseNode< ContainerT, PointT > *super, bool load_all)
 Load from disk If creating root, path is full name. More...
 
void init_root_node (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, OutofcoreOctreeBase< ContainerT, PointT > *const tree, const boost::filesystem::path &rootname)
 Create root node and directory. More...
 
 OutofcoreOctreeBaseNode (const OutofcoreOctreeBaseNode &rval)
 no copy construction right now More...
 
OutofcoreOctreeBaseNodeoperator= (const OutofcoreOctreeBaseNode &rval)
 Operator= is not implemented. More...
 
virtual std::size_t countNumChildren () const
 Counts the number of child directories on disk; used to update num_children_. More...
 
virtual std::size_t countNumLoadedChildren () const
 Counts the number of loaded chilren by testing the children_ array; used to update num_loaded_chilren_ internally. More...
 
void saveIdx (bool recursive)
 Save node's metadata to file. More...
 
void randomSample (const AlignedPointTVector &p, AlignedPointTVector &insertBuff, const bool skip_bb_check)
 Randomly sample point data. More...
 
void subdividePoints (const AlignedPointTVector &p, std::vector< AlignedPointTVector > &c, const bool skip_bb_check)
 Subdivide points to pass to child nodes. More...
 
void subdividePoint (const PointT &point, std::vector< AlignedPointTVector > &c)
 Subdivide a single point into a specific child node. More...
 
std::uint64_t addDataAtMaxDepth (const AlignedPointTVector &p, const bool skip_bb_check=true)
 Add data to the leaf when at max depth of tree. More...
 
std::uint64_t addDataAtMaxDepth (const pcl::PCLPointCloud2::Ptr input_cloud, const bool skip_bb_check=true)
 Add data to the leaf when at max depth of tree. More...
 
bool intersectsWithBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const
 Tests whether the input bounding box intersects with the current node's bounding box. More...
 
bool inBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const
 Tests whether the input bounding box falls inclusively within this node's bounding box. More...
 
bool pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Vector3d &point)
 Tests whether point falls within the input bounding box. More...
 
bool pointInBoundingBox (const PointT &p) const
 Tests if specified point is within bounds of current node's bounding box. More...
 
void createChild (const std::size_t idx)
 Creates child node idx. More...
 
void saveMetadataToFile (const boost::filesystem::path &path)
 Write JSON metadata for this node to file. More...
 
void recFreeChildren ()
 Method which recursively free children of this node. More...
 
std::uint64_t size () const
 Number of points in the payload. More...
 
void flushToDiskRecursive ()
 
void loadFromFile (const boost::filesystem::path &path, OutofcoreOctreeBaseNode *super)
 Loads the nodes metadata from the JSON file. More...
 
void convertToXYZRecursive ()
 Recursively converts data files to ascii XZY files. More...
 
 OutofcoreOctreeBaseNode (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, const char *dir, OutofcoreOctreeBaseNode< ContainerT, PointT > *super)
 Private constructor used for children. More...
 
void copyAllCurrentAndChildPointsRec (std::list< PointT > &v)
 Copies points from this and all children into a single point container (std::list) More...
 
void copyAllCurrentAndChildPointsRec_sub (std::list< PointT > &v, const double percent)
 
bool hasUnloadedChildren () const
 Returns whether or not a node has unloaded children data. More...
 
virtual void loadChildren (bool recursive)
 Load nodes child data creating new nodes for each. More...
 
void getOccupiedVoxelCentersRecursive (AlignedPointTVector &voxel_centers, const std::size_t query_depth)
 Gets a vector of occupied voxel centers. More...
 
void getOccupiedVoxelCentersRecursive (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers, const std::size_t query_depth)
 Gets a vector of occupied voxel centers. More...
 
void sortOctantIndices (const pcl::PCLPointCloud2::Ptr &input_cloud, std::vector< pcl::Indices > &indices, const Eigen::Vector3d &mid_xyz)
 Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This could be overloaded with a parallelized implementation. More...
 
void enlargeToCube (Eigen::Vector3d &bb_min, Eigen::Vector3d &bb_max)
 Enlarges the shortest two sidelengths of the bounding box to a cubic shape; operation is done in place. More...
 

Static Protected Member Functions

static bool pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const PointT &p)
 Tests whether p falls within the input bounding box. More...
 
static bool pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const double x, const double y, const double z)
 Tests whether x, y, and z fall within the input bounding box. More...
 

Protected Attributes

OutofcoreOctreeBase< ContainerT, PointT > * m_tree_
 The tree we belong to. More...
 
OutofcoreOctreeBaseNoderoot_node_
 The root node of the tree we belong to. More...
 
OutofcoreOctreeBaseNodeparent_
 super-node More...
 
std::size_t depth_
 Depth in the tree, root is 0, root's children are 1, ... More...
 
std::vector< OutofcoreOctreeBaseNode * > children_
 The children of this node. More...
 
std::uint64_t num_children_
 Number of children on disk. More...
 
std::uint64_t num_loaded_children_
 Number of loaded children this node has. More...
 
std::shared_ptr< ContainerT > payload_
 what holds the points. More...
 
OutofcoreOctreeNodeMetadata::Ptr node_metadata_
 

Static Protected Attributes

static std::mutex rng_mutex_
 Random number generator mutex. More...
 
static std::mt19937 rng_
 Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator. More...
 
const static std::string pcd_extension = ".pcd"
 Extension for this class to find the pcd files on disk. More...
 

Friends

class OutofcoreOctreeBase< ContainerT, PointT >
 
OutofcoreOctreeBaseNode< ContainerT, PointT > * makenode_norec (const boost::filesystem::path &path, OutofcoreOctreeBaseNode< ContainerT, PointT > *super)
 Non-class function which creates a single child leaf; used with queryBBIntersects_noload to avoid loading the data from disk. More...
 
void queryBBIntersects_noload (const boost::filesystem::path &rootnode, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name)
 Non-class method which performs a bounding box query without loading any of the point cloud data from disk. More...
 
void queryBBIntersects_noload (OutofcoreOctreeBaseNode< ContainerT, PointT > *current, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name)
 Non-class method overload. More...
 

Detailed Description

OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.

Note
Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/
Author
Jacob Schloss (jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net)

Definition at line 62 of file octree_base_node.h.

Member Typedef Documentation

◆ AlignedPointTVector

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

Definition at line 113 of file octree_base_node.h.

◆ node_type_t

Definition at line 115 of file octree_base_node.h.

◆ octree_disk

Definition at line 110 of file octree_base_node.h.

◆ octree_disk_node

Definition at line 111 of file octree_base_node.h.

Constructor & Destructor Documentation

◆ OutofcoreOctreeBaseNode() [1/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( )

Empty constructor; sets pointers for children and for bounding boxes to 0.

Definition at line 92 of file octree_base_node.hpp.

References node_metadata_.

◆ OutofcoreOctreeBaseNode() [2/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( const Eigen::Vector3d &  bb_min,
const Eigen::Vector3d &  bb_max,
OutofcoreOctreeBase< ContainerT, PointT > *const  tree,
const boost::filesystem::path &  root_name 
)

Create root node and directory.

Definition at line 183 of file octree_base_node.hpp.

References init_root_node(), and node_metadata_.

◆ ~OutofcoreOctreeBaseNode()

pcl::outofcore::OutofcoreOctreeBaseNode::~OutofcoreOctreeBaseNode ( )

Will recursively delete all children calling recFreeChildrein.

Definition at line 259 of file octree_base_node.hpp.

◆ OutofcoreOctreeBaseNode() [3/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( const boost::filesystem::path &  directory_path,
OutofcoreOctreeBaseNode< ContainerT, PointT > *  super,
bool  load_all 
)
protected

Load from disk If creating root, path is full name.

If creating any other node, path is dir; throws exception if directory or metadata not found

Parameters
[in]directory_pathpathname
[in]super
[in]load_all
Exceptions
PCLExceptionif directory is missing
PCLExceptionif node index is missing

Definition at line 109 of file octree_base_node.hpp.

References countNumChildren(), depth_, getDepth(), loadChildren(), loadFromFile(), node_index_extension, node_metadata_, num_children_, and root_node_.

◆ OutofcoreOctreeBaseNode() [4/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( const OutofcoreOctreeBaseNode rval)
protected

no copy construction right now

◆ OutofcoreOctreeBaseNode() [5/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( const Eigen::Vector3d &  bb_min,
const Eigen::Vector3d &  bb_max,
const char *  dir,
OutofcoreOctreeBaseNode< ContainerT, PointT > *  super 
)
protected

Member Function Documentation

◆ addDataAtMaxDepth() [1/2]

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataAtMaxDepth ( const AlignedPointTVector p,
const bool  skip_bb_check = true 
)
protected

Add data to the leaf when at max depth of tree.

If skip_bb_check is true, adds to the node regardless of the bounding box it represents; otherwise only adds points that fall within the bounding box

Parameters
[in]pvector of points to attempt to add to the tree
[in]skip_bb_checkif true, doesn't check that points are in the proper bounding box; if false, only adds the points that fall into the bounding box to this node
Returns
number of points successfully added

◆ addDataAtMaxDepth() [2/2]

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataAtMaxDepth ( const pcl::PCLPointCloud2::Ptr  input_cloud,
const bool  skip_bb_check = true 
)
protected

Add data to the leaf when at max depth of tree.

If skip_bb_check is true, adds to the node regardless of the bounding box it represents; otherwise only adds points that fall within the bounding box

Parameters
[in]input_cloudPCLPointCloud2 points to attempt to add to the tree;
Warning
PCLPointCloud2 inserted into the tree must have x,y,z fields, and must be of same type of any other points inserted in the tree
Parameters
[in]skip_bb_check(default true) if true, doesn't check that points are in the proper bounding box; if false, only adds the points that fall into the bounding box to this node
Returns
number of points successfully added

◆ addDataToLeaf() [1/2]

virtual std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf ( const AlignedPointTVector p,
const bool  skip_bb_check = true 
)
virtual

add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point

Parameters
[in]pvector of points to add to the leaf
[in]skip_bb_checkwhether to check if the point's coordinates fall within the bounding box

◆ addDataToLeaf() [2/2]

virtual std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf ( const std::vector< const PointT * > &  p,
const bool  skip_bb_check = true 
)
virtual

◆ addDataToLeaf_and_genLOD()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf_and_genLOD ( const AlignedPointTVector p,
const bool  skip_bb_check 
)
virtual

Recursively add points to the leaf and children subsampling LODs on the way down.

Note
rng_mutex_ lock occurs

Definition at line 802 of file octree_base_node.hpp.

◆ addPointCloud()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addPointCloud ( const pcl::PCLPointCloud2::Ptr input_cloud,
const bool  skip_bb_check = false 
)
virtual

Add a single PCLPointCloud2 object into the octree.

Parameters
[in]input_cloud
[in]skip_bb_check(default = false)

Definition at line 495 of file octree_base_node.hpp.

References pcl::copyPointCloud().

◆ addPointCloud_and_genLOD()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addPointCloud_and_genLOD ( const pcl::PCLPointCloud2::Ptr  input_cloud)
virtual

Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this method of LOD construction is not multiresolution.

Rather, there are no redundant data.

Definition at line 702 of file octree_base_node.hpp.

References pcl::copyPointCloud(), pcl::FilterIndices< pcl::PCLPointCloud2 >::filter(), pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices(), pcl::PCLBase< pcl::PCLPointCloud2 >::setInputCloud(), pcl::FilterIndices< pcl::PCLPointCloud2 >::setNegative(), and pcl::RandomSample< pcl::PCLPointCloud2 >::setSample().

◆ clearData()

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::clearData ( )
inlinevirtual

Definition at line 302 of file octree_base_node.h.

References payload_.

◆ convertToXYZRecursive()

void pcl::outofcore::OutofcoreOctreeBaseNode::convertToXYZRecursive ( )
protected

Recursively converts data files to ascii XZY files.

Definition at line 1943 of file octree_base_node.hpp.

◆ copyAllCurrentAndChildPointsRec()

void pcl::outofcore::OutofcoreOctreeBaseNode::copyAllCurrentAndChildPointsRec ( std::list< PointT > &  v)
protected

Copies points from this and all children into a single point container (std::list)

Definition at line 1752 of file octree_base_node.hpp.

◆ copyAllCurrentAndChildPointsRec_sub()

void pcl::outofcore::OutofcoreOctreeBaseNode::copyAllCurrentAndChildPointsRec_sub ( std::list< PointT > &  v,
const double  percent 
)
protected

Definition at line 1775 of file octree_base_node.hpp.

◆ countNumChildren()

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::countNumChildren ( ) const
protectedvirtual

Counts the number of child directories on disk; used to update num_children_.

Definition at line 268 of file octree_base_node.hpp.

Referenced by getNumChildren(), and OutofcoreOctreeBaseNode().

◆ countNumLoadedChildren()

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::countNumLoadedChildren ( ) const
protectedvirtual

Counts the number of loaded chilren by testing the children_ array; used to update num_loaded_chilren_ internally.

Definition at line 1909 of file octree_base_node.hpp.

Referenced by getNumLoadedChildren().

◆ createChild()

void pcl::outofcore::OutofcoreOctreeBaseNode::createChild ( const std::size_t  idx)
protected

Creates child node idx.

Parameters
[in]idxIndex (0-7) of the child node

Definition at line 860 of file octree_base_node.hpp.

◆ deepCopy()

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode::deepCopy ( ) const
inlineoverride

Definition at line 264 of file octree_base_node.h.

◆ enlargeToCube()

void pcl::outofcore::OutofcoreOctreeBaseNode::enlargeToCube ( Eigen::Vector3d &  bb_min,
Eigen::Vector3d &  bb_max 
)
protected

Enlarges the shortest two sidelengths of the bounding box to a cubic shape; operation is done in place.

◆ flushToDiskRecursive()

void pcl::outofcore::OutofcoreOctreeBaseNode::flushToDiskRecursive ( )
protected

Definition at line 1964 of file octree_base_node.hpp.

◆ getBoundingBox()

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::getBoundingBox ( Eigen::Vector3d &  min_bb,
Eigen::Vector3d &  max_bb 
) const
inlinevirtual

gets the minimum and maximum corner of the bounding box represented by this node

Parameters
[out]min_bbreturns the minimum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
[out]max_bbreturns the maximum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z

Definition at line 140 of file octree_base_node.h.

References node_metadata_.

◆ getChildPtr()

OutofcoreOctreeBaseNode< ContainerT, PointT > * pcl::outofcore::OutofcoreOctreeBaseNode::getChildPtr ( std::size_t  index_arg) const
virtual

Returns a pointer to the child in octant index_arg.

Definition at line 1893 of file octree_base_node.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getBranchChildPtr().

◆ getDataSize()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::getDataSize ( ) const
virtual

Gets the number of points available in the PCD file.

Definition at line 1901 of file octree_base_node.hpp.

◆ getDepth()

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::getDepth ( ) const
inlinevirtual

◆ getMetadataFilename()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeBaseNode::getMetadataFilename ( ) const
inline

Definition at line 153 of file octree_base_node.h.

References node_metadata_.

◆ getNodeType()

node_type_t pcl::outofcore::OutofcoreOctreeBaseNode::getNodeType ( ) const
inlineoverride

◆ getNumChildren()

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::getNumChildren ( ) const
inlinevirtual

Returns the total number of children on disk.

Definition at line 279 of file octree_base_node.h.

References countNumChildren().

Referenced by getNodeType().

◆ getNumLoadedChildren()

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::getNumLoadedChildren ( ) const
inlinevirtual

Count loaded chilren.

Definition at line 287 of file octree_base_node.h.

References countNumLoadedChildren().

◆ getOccupiedVoxelCentersRecursive() [1/2]

void pcl::outofcore::OutofcoreOctreeBaseNode::getOccupiedVoxelCentersRecursive ( AlignedPointTVector voxel_centers,
const std::size_t  query_depth 
)
protected

Gets a vector of occupied voxel centers.

Parameters
[out]voxel_centers
[in]query_depth

Definition at line 968 of file octree_base_node.hpp.

◆ getOccupiedVoxelCentersRecursive() [2/2]

void pcl::outofcore::OutofcoreOctreeBaseNode::getOccupiedVoxelCentersRecursive ( std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  voxel_centers,
const std::size_t  query_depth 
)
protected

Gets a vector of occupied voxel centers.

Parameters
[out]voxel_centers
[in]query_depth

Definition at line 1312 of file octree_base_node.hpp.

◆ getPCDFilename()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeBaseNode::getPCDFilename ( ) const
inline

Definition at line 147 of file octree_base_node.h.

References node_metadata_.

◆ hasUnloadedChildren()

bool pcl::outofcore::OutofcoreOctreeBaseNode::hasUnloadedChildren ( ) const
protected

Returns whether or not a node has unloaded children data.

Definition at line 301 of file octree_base_node.hpp.

◆ inBoundingBox()

bool pcl::outofcore::OutofcoreOctreeBaseNode::inBoundingBox ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb 
) const
inlineprotected

Tests whether the input bounding box falls inclusively within this node's bounding box.

Parameters
[in]min_bbThe minimum corner of the input bounding box
[in]max_bbThe maximum corner of the input bounding box
Returns
bool True if the input bounding box falls inclusively within the boundaries of this node's bounding box

Definition at line 1822 of file octree_base_node.hpp.

◆ init_root_node()

void pcl::outofcore::OutofcoreOctreeBaseNode::init_root_node ( const Eigen::Vector3d &  bb_min,
const Eigen::Vector3d &  bb_max,
OutofcoreOctreeBase< ContainerT, PointT > *const  tree,
const boost::filesystem::path &  rootname 
)
protected

Create root node and directory.

Initializes the root node and performs initial filesystem checks for the octree; throws OctreeException::OCT_BAD_PATH if root directory is an existing file

Parameters
bb_mintriple of x,y,z minima for bounding box
bb_maxtriple of x,y,z maxima for bounding box
treeaddress of the tree data structure that will hold this initial root node
rootnameRoot directory for location of on-disk octree storage; if directory doesn't exist, it is created; if "rootname" is an existing file,
Exceptions
PCLExceptionif the specified path already exists

Definition at line 202 of file octree_base_node.hpp.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString().

Referenced by OutofcoreOctreeBaseNode().

◆ intersectsWithBoundingBox()

bool pcl::outofcore::OutofcoreOctreeBaseNode::intersectsWithBoundingBox ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb 
) const
inlineprotected

Tests whether the input bounding box intersects with the current node's bounding box.

Parameters
[in]min_bbThe minimum corner of the input bounding box
[in]max_bbThe maximum corner of the input bounding box
Returns
bool True if any portion of the bounding box intersects with this node's bounding box; false otherwise

Definition at line 1800 of file octree_base_node.hpp.

◆ loadChildren()

void pcl::outofcore::OutofcoreOctreeBaseNode::loadChildren ( bool  recursive)
protectedvirtual

Load nodes child data creating new nodes for each.

Definition at line 308 of file octree_base_node.hpp.

Referenced by OutofcoreOctreeBaseNode().

◆ loadFromFile()

void pcl::outofcore::OutofcoreOctreeBaseNode::loadFromFile ( const boost::filesystem::path &  path,
OutofcoreOctreeBaseNode super 
)
protected

Loads the nodes metadata from the JSON file.

Definition at line 1925 of file octree_base_node.hpp.

Referenced by OutofcoreOctreeBaseNode().

◆ operator=()

OutofcoreOctreeBaseNode& pcl::outofcore::OutofcoreOctreeBaseNode::operator= ( const OutofcoreOctreeBaseNode rval)
protected

Operator= is not implemented.

◆ pointInBoundingBox() [1/4]

static bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
const double  x,
const double  y,
const double  z 
)
staticprotected

Tests whether x, y, and z fall within the input bounding box.

Parameters
[in]min_bbThe minimum corner of the input bounding box
[in]max_bbThe maximum corner of the input bounding box
x
y
z

◆ pointInBoundingBox() [2/4]

bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
const Eigen::Vector3d &  point 
)
protected

Tests whether point falls within the input bounding box.

Parameters
[in]min_bbThe minimum corner of the input bounding box
[in]max_bbThe maximum corner of the input bounding box
[in]pointThe test point

◆ pointInBoundingBox() [3/4]

bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
const PointT p 
)
inlinestaticprotected

Tests whether p falls within the input bounding box.

Parameters
[in]min_bbThe minimum corner of the input bounding box
[in]max_bbThe maximum corner of the input bounding box
[in]pThe point to be tested

Definition at line 1844 of file octree_base_node.hpp.

◆ pointInBoundingBox() [4/4]

bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox ( const PointT p) const
inlineprotected

Tests if specified point is within bounds of current node's bounding box.

Definition at line 923 of file octree_base_node.hpp.

◆ printBoundingBox()

void pcl::outofcore::OutofcoreOctreeBaseNode::printBoundingBox ( const std::size_t  query_depth) const
virtual

Write the voxel size to stdout at query_depth.

Parameters
[in]query_depthThe depth at which to print the size of the voxel/bounding boxes

Definition at line 940 of file octree_base_node.hpp.

◆ queryBBIncludes() [1/2]

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
std::size_t  query_depth,
AlignedPointTVector dst 
)
virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters
[in]min_bbthe minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]max_bbthe maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]query_depththe maximum depth to query in the octree for points within the bounding box
[out]dstdestion of points returned by the queries

◆ queryBBIncludes() [2/2]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
std::size_t  query_depth,
const pcl::PCLPointCloud2::Ptr dst_blob 
)
virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters
[in]min_bbthe minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]max_bbthe maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]query_depththe maximum depth to query in the octree for points within the bounding box
[out]dst_blobdestion of points returned by the queries

Definition at line 1375 of file octree_base_node.hpp.

References pcl::concatenate(), pcl::copyPointCloud(), pcl::fromPCLPointCloud2(), pcl::getPointsInBox(), pcl::PointCloud< PointT >::height, pcl::utils::ignore(), and pcl::PointCloud< PointT >::width.

◆ queryBBIncludes_subsample() [1/2]

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes_subsample ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
std::uint64_t  query_depth,
const double  percent,
AlignedPointTVector v 
)
virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters
[in]min_bbthe minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]max_bbthe maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]query_depth
percent
[out]vstd::list of points returned by the query

◆ queryBBIncludes_subsample() [2/2]

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes_subsample ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
std::uint64_t  query_depth,
const pcl::PCLPointCloud2::Ptr dst_blob,
double  percent = 1.0 
)
virtual

◆ queryBBIntersects()

void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIntersects ( const Eigen::Vector3d &  min_bb,
const Eigen::Vector3d &  max_bb,
const std::uint32_t  query_depth,
std::list< std::string > &  file_names 
)
virtual

Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_depth only).

Definition at line 1335 of file octree_base_node.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::queryBoundingBox().

◆ queryFrustum() [1/3]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryFrustum ( const double  planes[24],
const Eigen::Vector3d &  eye,
const Eigen::Matrix4d &  view_projection_matrix,
std::list< std::string > &  file_names,
const std::uint32_t  query_depth,
const bool  skip_vfc_check = false 
)

◆ queryFrustum() [2/3]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryFrustum ( const double  planes[24],
std::list< std::string > &  file_names 
)

Definition at line 1045 of file octree_base_node.hpp.

◆ queryFrustum() [3/3]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryFrustum ( const double  planes[24],
std::list< std::string > &  file_names,
const std::uint32_t  query_depth,
const bool  skip_vfc_check = false 
)

◆ randomSample()

void pcl::outofcore::OutofcoreOctreeBaseNode::randomSample ( const AlignedPointTVector p,
AlignedPointTVector insertBuff,
const bool  skip_bb_check 
)
protected

Randomly sample point data.

Definition at line 559 of file octree_base_node.hpp.

References pcl::outofcore::pointInBoundingBox().

◆ read()

int pcl::outofcore::OutofcoreOctreeBaseNode::read ( pcl::PCLPointCloud2::Ptr output_cloud)
virtual

◆ recFreeChildren()

void pcl::outofcore::OutofcoreOctreeBaseNode::recFreeChildren ( )
protected

Method which recursively free children of this node.

Definition at line 332 of file octree_base_node.hpp.

◆ saveIdx()

void pcl::outofcore::OutofcoreOctreeBaseNode::saveIdx ( bool  recursive)
protected

Save node's metadata to file.

Parameters
[in]recursiveif false, save only this node's metadata to file; if true, recursively save all children's metadata to files as well

Definition at line 284 of file octree_base_node.hpp.

Referenced by OutofcoreOctreeBaseNode().

◆ saveMetadataToFile()

void pcl::outofcore::OutofcoreOctreeBaseNode::saveMetadataToFile ( const boost::filesystem::path &  path)
protected

Write JSON metadata for this node to file.

◆ size()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::size ( ) const
inlineprotected

Number of points in the payload.

Definition at line 467 of file octree_base_node.h.

References payload_.

◆ sortOctantIndices()

void pcl::outofcore::OutofcoreOctreeBaseNode::sortOctantIndices ( const pcl::PCLPointCloud2::Ptr input_cloud,
std::vector< pcl::Indices > &  indices,
const Eigen::Vector3d &  mid_xyz 
)
protected

Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This could be overloaded with a parallelized implementation.

Definition at line 1976 of file octree_base_node.hpp.

References pcl::getFieldIndex(), and pcl::outofcore::pointInBoundingBox().

◆ subdividePoint()

void pcl::outofcore::OutofcoreOctreeBaseNode::subdividePoint ( const PointT point,
std::vector< AlignedPointTVector > &  c 
)
protected

Subdivide a single point into a specific child node.

Definition at line 692 of file octree_base_node.hpp.

◆ subdividePoints()

void pcl::outofcore::OutofcoreOctreeBaseNode::subdividePoints ( const AlignedPointTVector p,
std::vector< AlignedPointTVector > &  c,
const bool  skip_bb_check 
)
protected

Subdivide points to pass to child nodes.

Definition at line 670 of file octree_base_node.hpp.

References pcl::outofcore::pointInBoundingBox().

◆ writeVPythonVisual()

void pcl::outofcore::OutofcoreOctreeBaseNode::writeVPythonVisual ( std::ofstream &  file)

Write a python visual script to file.

Parameters
[in]fileoutput file stream to write the python visual script

Definition at line 1864 of file octree_base_node.hpp.

Friends And Related Function Documentation

◆ makenode_norec

OutofcoreOctreeBaseNode<ContainerT, PointT>* makenode_norec ( const boost::filesystem::path &  path,
OutofcoreOctreeBaseNode< ContainerT, PointT > *  super 
)
friend

Non-class function which creates a single child leaf; used with queryBBIntersects_noload to avoid loading the data from disk.

◆ OutofcoreOctreeBase< ContainerT, PointT >

friend class OutofcoreOctreeBase< ContainerT, PointT >
friend

Definition at line 97 of file octree_base_node.h.

◆ queryBBIntersects_noload [1/2]

void queryBBIntersects_noload ( const boost::filesystem::path &  rootnode,
const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const std::uint32_t  query_depth,
std::list< std::string > &  bin_name 
)
friend

Non-class method which performs a bounding box query without loading any of the point cloud data from disk.

◆ queryBBIntersects_noload [2/2]

void queryBBIntersects_noload ( OutofcoreOctreeBaseNode< ContainerT, PointT > *  current,
const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const std::uint32_t  query_depth,
std::list< std::string > &  bin_name 
)
friend

Non-class method overload.

Member Data Documentation

◆ children_

std::vector<OutofcoreOctreeBaseNode*> pcl::outofcore::OutofcoreOctreeBaseNode::children_
protected

The children of this node.

Definition at line 540 of file octree_base_node.h.

◆ depth_

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::depth_
protected

Depth in the tree, root is 0, root's children are 1, ...

Definition at line 538 of file octree_base_node.h.

Referenced by getDepth(), and OutofcoreOctreeBaseNode().

◆ m_tree_

OutofcoreOctreeBase<ContainerT, PointT>* pcl::outofcore::OutofcoreOctreeBaseNode::m_tree_
protected

The tree we belong to.

Definition at line 532 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ node_container_basename

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_container_basename = "node"
static

Definition at line 118 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ node_container_extension

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_container_extension = ".oct_dat"
static

Definition at line 120 of file octree_base_node.h.

◆ node_index_basename

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_index_basename = "node"
static

Definition at line 117 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ node_index_extension

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_index_extension = ".oct_idx"
static

Definition at line 119 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ node_metadata_

OutofcoreOctreeNodeMetadata::Ptr pcl::outofcore::OutofcoreOctreeBaseNode::node_metadata_
protected

◆ num_children_

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::num_children_
protected

Number of children on disk.

This is only changed when a new node is created

Definition at line 543 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ num_loaded_children_

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::num_loaded_children_
protected

Number of loaded children this node has.

"Loaded" means child OctreeBaseNodes have been allocated, and their metadata files have been loaded into memory. num_loaded_children_ <= num_children_

Definition at line 551 of file octree_base_node.h.

◆ parent_

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode::parent_
protected

super-node

Definition at line 536 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ payload_

std::shared_ptr<ContainerT> pcl::outofcore::OutofcoreOctreeBaseNode::payload_
protected

what holds the points.

currently a custom class, but in theory you could use an stl container if you rewrote some of this class. I used to use deques for this...

Definition at line 556 of file octree_base_node.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::buildLODRecursive(), clearData(), OutofcoreOctreeBaseNode(), and size().

◆ pcd_extension

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::pcd_extension = ".pcd"
staticprotected

Extension for this class to find the pcd files on disk.

Definition at line 566 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ rng_

std::mt19937 pcl::outofcore::OutofcoreOctreeBaseNode::rng_
staticprotected

Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator.

Definition at line 563 of file octree_base_node.h.

◆ rng_mutex_

std::mutex pcl::outofcore::OutofcoreOctreeBaseNode::rng_mutex_
staticprotected

Random number generator mutex.

Definition at line 559 of file octree_base_node.h.

◆ root_node_

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode::root_node_
protected

The root node of the tree we belong to.

Definition at line 534 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ sample_percent_

const double pcl::outofcore::OutofcoreOctreeBaseNode::sample_percent_ = .125
static

Definition at line 121 of file octree_base_node.h.


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