Point Cloud Library (PCL)  1.12.1-dev
octree_pointcloud.h
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38 
39 #pragma once
40 
41 #include <pcl/octree/octree_base.h>
42 #include <pcl/point_cloud.h>
43 #include <pcl/point_types.h>
44 
45 #include <vector>
46 
47 namespace pcl {
48 namespace octree {
49 
50 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
51 /** \brief @b Octree pointcloud class
52  * \note Octree implementation for pointclouds. Only indices are stored by the octree
53  * leaf nodes (zero-copy).
54  * \note The octree pointcloud class needs to be initialized with its voxel resolution.
55  * Its bounding box is automatically adjusted
56  * \note according to the pointcloud dimension or it can be predefined.
57  * \note Note: The tree depth equates to the resolution and the bounding box dimensions
58  * of the octree.
59  * \tparam PointT: type of point used in pointcloud
60  * \tparam LeafContainerT: leaf node container
61  * \tparam BranchContainerT: branch node container
62  * \tparam OctreeT: octree implementation
63  * \ingroup octree
64  * \author Julius Kammerl * (julius@kammerl.de)
65  */
66 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
67 template <typename PointT,
68  typename LeafContainerT = OctreeContainerPointIndices,
69  typename BranchContainerT = OctreeContainerEmpty,
70  typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
71 
72 class OctreePointCloud : public OctreeT {
73 public:
74  using Base = OctreeT;
75 
76  using LeafNode = typename OctreeT::LeafNode;
77  using BranchNode = typename OctreeT::BranchNode;
78 
79  /** \brief Octree pointcloud constructor.
80  * \param[in] resolution_arg octree resolution at lowest octree level
81  */
82  OctreePointCloud(const double resolution_arg);
83 
84  // public typedefs
85  using IndicesPtr = shared_ptr<Indices>;
86  using IndicesConstPtr = shared_ptr<const Indices>;
87 
89  using PointCloudPtr = typename PointCloud::Ptr;
91 
92  // public typedefs for single/double buffering
94  LeafContainerT,
95  BranchContainerT,
97  // using DoubleBuffer = OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
98  // Octree2BufBase<LeafContainerT> >;
99 
100  // Boost shared pointers
101  using Ptr =
102  shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>>;
103  using ConstPtr = shared_ptr<
105 
106  // Eigen aligned allocator
107  using AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT>>;
109  std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ>>;
110 
111  /** \brief Provide a pointer to the input data set.
112  * \param[in] cloud_arg the const boost shared pointer to a PointCloud message
113  * \param[in] indices_arg the point indices subset that is to be used from \a cloud -
114  * if 0 the whole point cloud is used
115  */
116  inline void
118  const IndicesConstPtr& indices_arg = IndicesConstPtr())
119  {
120  input_ = cloud_arg;
121  indices_ = indices_arg;
122  }
123 
124  /** \brief Get a pointer to the vector of indices used.
125  * \return pointer to vector of indices used.
126  */
127  inline IndicesConstPtr const
128  getIndices() const
129  {
130  return (indices_);
131  }
132 
133  /** \brief Get a pointer to the input point cloud dataset.
134  * \return pointer to pointcloud input class.
135  */
136  inline PointCloudConstPtr
138  {
139  return (input_);
140  }
141 
142  /** \brief Set the search epsilon precision (error bound) for nearest neighbors
143  * searches.
144  * \param[in] eps precision (error bound) for nearest neighbors searches
145  */
146  inline void
147  setEpsilon(double eps)
148  {
149  epsilon_ = eps;
150  }
151 
152  /** \brief Get the search epsilon precision (error bound) for nearest neighbors
153  * searches. */
154  inline double
155  getEpsilon() const
156  {
157  return (epsilon_);
158  }
159 
160  /** \brief Set/change the octree voxel resolution
161  * \param[in] resolution_arg side length of voxels at lowest tree level
162  */
163  inline void
164  setResolution(double resolution_arg)
165  {
166  // octree needs to be empty to change its resolution
167  assert(this->leaf_count_ == 0);
168 
169  resolution_ = resolution_arg;
170 
171  getKeyBitSize();
172  }
173 
174  /** \brief Get octree voxel resolution
175  * \return voxel resolution at lowest tree level
176  */
177  inline double
179  {
180  return (resolution_);
181  }
182 
183  /** \brief Get the maximum depth of the octree.
184  * \return depth_arg: maximum depth of octree
185  * */
186  inline uindex_t
187  getTreeDepth() const
188  {
189  return this->octree_depth_;
190  }
191 
192  /** \brief Add points from input point cloud to octree. */
193  void
195 
196  /** \brief Add point at given index from input point cloud to octree. Index will be
197  * also added to indices vector.
198  * \param[in] point_idx_arg index of point to be added
199  * \param[in] indices_arg pointer to indices vector of the dataset (given by \a
200  * setInputCloud)
201  */
202  void
203  addPointFromCloud(uindex_t point_idx_arg, IndicesPtr indices_arg);
204 
205  /** \brief Add point simultaneously to octree and input point cloud.
206  * \param[in] point_arg point to be added
207  * \param[in] cloud_arg pointer to input point cloud dataset (given by \a
208  * setInputCloud)
209  */
210  void
211  addPointToCloud(const PointT& point_arg, PointCloudPtr cloud_arg);
212 
213  /** \brief Add point simultaneously to octree and input point cloud. A corresponding
214  * index will be added to the indices vector.
215  * \param[in] point_arg point to be added
216  * \param[in] cloud_arg pointer to input point cloud dataset (given by \a
217  * setInputCloud)
218  * \param[in] indices_arg pointer to indices vector of the dataset (given by \a
219  * setInputCloud)
220  */
221  void
222  addPointToCloud(const PointT& point_arg,
223  PointCloudPtr cloud_arg,
224  IndicesPtr indices_arg);
225 
226  /** \brief Check if voxel at given point exist.
227  * \param[in] point_arg point to be checked
228  * \return "true" if voxel exist; "false" otherwise
229  */
230  bool
231  isVoxelOccupiedAtPoint(const PointT& point_arg) const;
232 
233  /** \brief Delete the octree structure and its leaf nodes.
234  * */
235  void
237  {
238  // reset bounding box
239  min_x_ = max_x_ = min_y_ = max_y_ = min_z_ = max_z_ = 0;
240  this->bounding_box_defined_ = false;
241 
243  }
244 
245  /** \brief Check if voxel at given point coordinates exist.
246  * \param[in] point_x_arg X coordinate of point to be checked
247  * \param[in] point_y_arg Y coordinate of point to be checked
248  * \param[in] point_z_arg Z coordinate of point to be checked
249  * \return "true" if voxel exist; "false" otherwise
250  */
251  bool
252  isVoxelOccupiedAtPoint(const double point_x_arg,
253  const double point_y_arg,
254  const double point_z_arg) const;
255 
256  /** \brief Check if voxel at given point from input cloud exist.
257  * \param[in] point_idx_arg point to be checked
258  * \return "true" if voxel exist; "false" otherwise
259  */
260  bool
261  isVoxelOccupiedAtPoint(const index_t& point_idx_arg) const;
262 
263  /** \brief Get a PointT vector of centers of all occupied voxels.
264  * \param[out] voxel_center_list_arg results are written to this vector of PointT
265  * elements
266  * \return number of occupied voxels
267  */
268  uindex_t
269  getOccupiedVoxelCenters(AlignedPointTVector& voxel_center_list_arg) const;
270 
271  /** \brief Get a PointT vector of centers of voxels intersected by a line segment.
272  * This returns a approximation of the actual intersected voxels by walking
273  * along the line with small steps. Voxels are ordered, from closest to
274  * furthest w.r.t. the origin.
275  * \param[in] origin origin of the line segment
276  * \param[in] end end of the line segment
277  * \param[out] voxel_center_list results are written to this vector of PointT elements
278  * \param[in] precision determines the size of the steps: step_size =
279  * octree_resolution x precision
280  * \return number of intersected voxels
281  */
282  uindex_t
283  getApproxIntersectedVoxelCentersBySegment(const Eigen::Vector3f& origin,
284  const Eigen::Vector3f& end,
285  AlignedPointTVector& voxel_center_list,
286  float precision = 0.2);
287 
288  /** \brief Delete leaf node / voxel at given point
289  * \param[in] point_arg point addressing the voxel to be deleted.
290  */
291  void
292  deleteVoxelAtPoint(const PointT& point_arg);
293 
294  /** \brief Delete leaf node / voxel at given point from input cloud
295  * \param[in] point_idx_arg index of point addressing the voxel to be deleted.
296  */
297  void
298  deleteVoxelAtPoint(const index_t& point_idx_arg);
299 
300  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
301  // Bounding box methods
302  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
303 
304  /** \brief Investigate dimensions of pointcloud data set and define corresponding
305  * bounding box for octree. */
306  void
308 
309  /** \brief Define bounding box for octree
310  * \note Bounding box cannot be changed once the octree contains elements.
311  * \param[in] min_x_arg X coordinate of lower bounding box corner
312  * \param[in] min_y_arg Y coordinate of lower bounding box corner
313  * \param[in] min_z_arg Z coordinate of lower bounding box corner
314  * \param[in] max_x_arg X coordinate of upper bounding box corner
315  * \param[in] max_y_arg Y coordinate of upper bounding box corner
316  * \param[in] max_z_arg Z coordinate of upper bounding box corner
317  */
318  void
319  defineBoundingBox(const double min_x_arg,
320  const double min_y_arg,
321  const double min_z_arg,
322  const double max_x_arg,
323  const double max_y_arg,
324  const double max_z_arg);
325 
326  /** \brief Define bounding box for octree
327  * \note Lower bounding box point is set to (0, 0, 0)
328  * \note Bounding box cannot be changed once the octree contains elements.
329  * \param[in] max_x_arg X coordinate of upper bounding box corner
330  * \param[in] max_y_arg Y coordinate of upper bounding box corner
331  * \param[in] max_z_arg Z coordinate of upper bounding box corner
332  */
333  void
334  defineBoundingBox(const double max_x_arg,
335  const double max_y_arg,
336  const double max_z_arg);
337 
338  /** \brief Define bounding box cube for octree
339  * \note Lower bounding box corner is set to (0, 0, 0)
340  * \note Bounding box cannot be changed once the octree contains elements.
341  * \param[in] cubeLen_arg side length of bounding box cube.
342  */
343  void
344  defineBoundingBox(const double cubeLen_arg);
345 
346  /** \brief Get bounding box for octree
347  * \note Bounding box cannot be changed once the octree contains elements.
348  * \param[in] min_x_arg X coordinate of lower bounding box corner
349  * \param[in] min_y_arg Y coordinate of lower bounding box corner
350  * \param[in] min_z_arg Z coordinate of lower bounding box corner
351  * \param[in] max_x_arg X coordinate of upper bounding box corner
352  * \param[in] max_y_arg Y coordinate of upper bounding box corner
353  * \param[in] max_z_arg Z coordinate of upper bounding box corner
354  */
355  void
356  getBoundingBox(double& min_x_arg,
357  double& min_y_arg,
358  double& min_z_arg,
359  double& max_x_arg,
360  double& max_y_arg,
361  double& max_z_arg) const;
362 
363  /** \brief Calculates the squared diameter of a voxel at given tree depth
364  * \param[in] tree_depth_arg depth/level in octree
365  * \return squared diameter
366  */
367  double
368  getVoxelSquaredDiameter(uindex_t tree_depth_arg) const;
369 
370  /** \brief Calculates the squared diameter of a voxel at leaf depth
371  * \return squared diameter
372  */
373  inline double
375  {
377  }
378 
379  /** \brief Calculates the squared voxel cube side length at given tree depth
380  * \param[in] tree_depth_arg depth/level in octree
381  * \return squared voxel cube side length
382  */
383  double
384  getVoxelSquaredSideLen(uindex_t tree_depth_arg) const;
385 
386  /** \brief Calculates the squared voxel cube side length at leaf level
387  * \return squared voxel cube side length
388  */
389  inline double
391  {
393  }
394 
395  /** \brief Generate bounds of the current voxel of an octree iterator
396  * \param[in] iterator: octree iterator
397  * \param[out] min_pt lower bound of voxel
398  * \param[out] max_pt upper bound of voxel
399  */
400  inline void
402  Eigen::Vector3f& min_pt,
403  Eigen::Vector3f& max_pt) const
404  {
406  iterator.getCurrentOctreeDepth(),
407  min_pt,
408  max_pt);
409  }
410 
411  /** \brief Enable dynamic octree structure
412  * \note Leaf nodes are kept as close to the root as possible and are only expanded
413  * if the number of DataT objects within a leaf node exceeds a fixed limit.
414  * \param maxObjsPerLeaf: maximum number of DataT objects per leaf
415  * */
416  inline void
417  enableDynamicDepth(std::size_t maxObjsPerLeaf)
418  {
419  assert(this->leaf_count_ == 0);
420  max_objs_per_leaf_ = maxObjsPerLeaf;
421 
423  }
424 
425 protected:
426  /** \brief Add point at index from input pointcloud dataset to octree
427  * \param[in] point_idx_arg the index representing the point in the dataset given by
428  * \a setInputCloud to be added
429  */
430  virtual void
431  addPointIdx(uindex_t point_idx_arg);
432 
433  /** \brief Add point at index from input pointcloud dataset to octree
434  * \param[in] leaf_node to be expanded
435  * \param[in] parent_branch parent of leaf node to be expanded
436  * \param[in] child_idx child index of leaf node (in parent branch)
437  * \param[in] depth_mask of leaf node to be expanded
438  */
439  void
440  expandLeafNode(LeafNode* leaf_node,
441  BranchNode* parent_branch,
442  unsigned char child_idx,
443  uindex_t depth_mask);
444 
445  /** \brief Get point at index from input pointcloud dataset
446  * \param[in] index_arg index representing the point in the dataset given by \a
447  * setInputCloud
448  * \return PointT from input pointcloud dataset
449  */
450  const PointT&
451  getPointByIndex(uindex_t index_arg) const;
452 
453  /** \brief Find octree leaf node at a given point
454  * \param[in] point_arg query point
455  * \return pointer to leaf node. If leaf node does not exist, pointer is 0.
456  */
457  LeafContainerT*
458  findLeafAtPoint(const PointT& point_arg) const
459  {
460  OctreeKey key;
461 
462  // generate key for point
463  this->genOctreeKeyforPoint(point_arg, key);
464 
465  return (this->findLeaf(key));
466  }
467 
468  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
469  // Protected octree methods based on octree keys
470  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
471 
472  /** \brief Define octree key setting and octree depth based on defined bounding box.
473  */
474  void
475  getKeyBitSize();
476 
477  /** \brief Grow the bounding box/octree until point fits
478  * \param[in] point_idx_arg point that should be within bounding box;
479  */
480  void
481  adoptBoundingBoxToPoint(const PointT& point_idx_arg);
482 
483  /** \brief Checks if given point is within the bounding box of the octree
484  * \param[in] point_idx_arg point to be checked for bounding box violations
485  * \return "true" - no bound violation
486  */
487  inline bool
488  isPointWithinBoundingBox(const PointT& point_idx_arg) const
489  {
490  return (!((point_idx_arg.x < min_x_) || (point_idx_arg.y < min_y_) ||
491  (point_idx_arg.z < min_z_) || (point_idx_arg.x >= max_x_) ||
492  (point_idx_arg.y >= max_y_) || (point_idx_arg.z >= max_z_)));
493  }
494 
495  /** \brief Generate octree key for voxel at a given point
496  * \param[in] point_arg the point addressing a voxel
497  * \param[out] key_arg write octree key to this reference
498  */
499  void
500  genOctreeKeyforPoint(const PointT& point_arg, OctreeKey& key_arg) const;
501 
502  /** \brief Generate octree key for voxel at a given point
503  * \param[in] point_x_arg X coordinate of point addressing a voxel
504  * \param[in] point_y_arg Y coordinate of point addressing a voxel
505  * \param[in] point_z_arg Z coordinate of point addressing a voxel
506  * \param[out] key_arg write octree key to this reference
507  */
508  void
509  genOctreeKeyforPoint(const double point_x_arg,
510  const double point_y_arg,
511  const double point_z_arg,
512  OctreeKey& key_arg) const;
513 
514  /** \brief Virtual method for generating octree key for a given point index.
515  * \note This method enables to assign indices to leaf nodes during octree
516  * deserialization.
517  * \param[in] data_arg index value representing a point in the dataset given by \a
518  * setInputCloud
519  * \param[out] key_arg write octree key to this reference \return "true" - octree keys
520  * are assignable
521  */
522  virtual bool
523  genOctreeKeyForDataT(const index_t& data_arg, OctreeKey& key_arg) const;
524 
525  /** \brief Generate a point at center of leaf node voxel
526  * \param[in] key_arg octree key addressing a leaf node.
527  * \param[out] point_arg write leaf node voxel center to this point reference
528  */
529  void
530  genLeafNodeCenterFromOctreeKey(const OctreeKey& key_arg, PointT& point_arg) const;
531 
532  /** \brief Generate a point at center of octree voxel at given tree level
533  * \param[in] key_arg octree key addressing an octree node.
534  * \param[in] tree_depth_arg octree depth of query voxel
535  * \param[out] point_arg write leaf node center point to this reference
536  */
537  void
538  genVoxelCenterFromOctreeKey(const OctreeKey& key_arg,
539  uindex_t tree_depth_arg,
540  PointT& point_arg) const;
541 
542  /** \brief Generate bounds of an octree voxel using octree key and tree depth
543  * arguments
544  * \param[in] key_arg octree key addressing an octree node.
545  * \param[in] tree_depth_arg octree depth of query voxel
546  * \param[out] min_pt lower bound of voxel
547  * \param[out] max_pt upper bound of voxel
548  */
549  void
550  genVoxelBoundsFromOctreeKey(const OctreeKey& key_arg,
551  uindex_t tree_depth_arg,
552  Eigen::Vector3f& min_pt,
553  Eigen::Vector3f& max_pt) const;
554 
555  /** \brief Recursively search the tree for all leaf nodes and return a vector of voxel
556  * centers.
557  * \param[in] node_arg current octree node to be explored
558  * \param[in] key_arg octree key addressing a leaf node.
559  * \param[out] voxel_center_list_arg results are written to this vector of PointT
560  * elements
561  * \return number of voxels found
562  */
563  uindex_t
565  const OctreeKey& key_arg,
566  AlignedPointTVector& voxel_center_list_arg) const;
567 
568  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
569  // Globals
570  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
571  /** \brief Pointer to input point cloud dataset. */
573 
574  /** \brief A pointer to the vector of point indices to use. */
576 
577  /** \brief Epsilon precision (error bound) for nearest neighbors searches. */
578  double epsilon_;
579 
580  /** \brief Octree resolution. */
581  double resolution_;
582 
583  // Octree bounding box coordinates
584  double min_x_;
585  double max_x_;
586 
587  double min_y_;
588  double max_y_;
589 
590  double min_z_;
591  double max_z_;
592 
593  /** \brief Flag indicating if octree has defined bounding box. */
595 
596  /** \brief Amount of DataT objects per leafNode before expanding branch
597  * \note zero indicates a fixed/maximum depth octree structure
598  * **/
599  std::size_t max_objs_per_leaf_;
600 };
601 
602 } // namespace octree
603 } // namespace pcl
604 
605 #ifdef PCL_NO_PRECOMPILE
606 #include <pcl/octree/impl/octree_pointcloud.hpp>
607 #endif
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > OctreeT
Definition: octree_base.h:64
void deleteTree()
Delete the octree structure and its leaf nodes.
OctreeContainerPointIndices * findLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
Abstract octree iterator class
const OctreeKey & getCurrentOctreeKey() const
Get octree key for the current iterator octree node.
uindex_t getCurrentOctreeDepth() const
Get the current depth level of octree.
Octree key class
Definition: octree_key.h:54
Octree pointcloud class
double getVoxelSquaredDiameter() const
Calculates the squared diameter of a voxel at leaf depth.
shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > ConstPtr
bool isPointWithinBoundingBox(const PointT &point_idx_arg) const
Checks if given point is within the bounding box of the octree.
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
uindex_t getOccupiedVoxelCenters(AlignedPointTVector &voxel_center_list_arg) const
Get a PointT vector of centers of all occupied voxels.
const PointT & getPointByIndex(uindex_t index_arg) const
Get point at index from input pointcloud dataset.
LeafContainerT * findLeafAtPoint(const PointT &point_arg) const
Find octree leaf node at a given point.
void deleteTree()
Delete the octree structure and its leaf nodes.
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.
std::size_t max_objs_per_leaf_
Amount of DataT objects per leafNode before expanding branch.
void deleteVoxelAtPoint(const PointT &point_arg)
Delete leaf node / voxel at given point.
PointCloudConstPtr input_
Pointer to input point cloud dataset.
void genLeafNodeCenterFromOctreeKey(const OctreeKey &key_arg, PointT &point_arg) const
Generate a point at center of leaf node voxel.
PointCloudConstPtr getInputCloud() const
Get a pointer to the input point cloud dataset.
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.
typename PointCloud::Ptr PointCloudPtr
void addPointFromCloud(uindex_t point_idx_arg, IndicesPtr indices_arg)
Add point at given index from input point cloud to octree.
OctreePointCloud(const double resolution_arg)
Octree pointcloud constructor.
IndicesConstPtr indices_
A pointer to the vector of point indices to use.
shared_ptr< Indices > IndicesPtr
void addPointToCloud(const PointT &point_arg, PointCloudPtr cloud_arg)
Add point simultaneously to octree and input point cloud.
uindex_t getTreeDepth() const
Get the maximum depth of the octree.
typename PointCloud::ConstPtr PointCloudConstPtr
void setEpsilon(double eps)
Set the search epsilon precision (error bound) for nearest neighbors searches.
bool bounding_box_defined_
Flag indicating if octree has defined bounding box.
double getEpsilon() const
Get the search epsilon precision (error bound) for nearest neighbors searches.
void defineBoundingBox()
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > Ptr
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.
void setInputCloud(const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
Provide a pointer to the input data set.
typename OctreeT::LeafNode LeafNode
virtual void addPointIdx(uindex_t point_idx_arg)
Add point at index from input pointcloud dataset to octree.
double getVoxelSquaredSideLen() const
Calculates the squared voxel cube side length at leaf level.
void setResolution(double resolution_arg)
Set/change the octree voxel resolution.
bool isVoxelOccupiedAtPoint(const PointT &point_arg) const
Check if voxel at given point exist.
double epsilon_
Epsilon precision (error bound) for nearest neighbors searches.
double getResolution() const
Get octree voxel resolution.
void enableDynamicDepth(std::size_t maxObjsPerLeaf)
Enable dynamic octree structure.
std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
void addPointsFromInputCloud()
Add points from input point cloud to octree.
std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > > AlignedPointXYZVector
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.
typename OctreeT::BranchNode BranchNode
void getVoxelBounds(const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
Generate bounds of the current voxel of an octree iterator.
IndicesConstPtr const getIndices() const
Get a pointer to the vector of indices used.
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
shared_ptr< const Indices > IndicesConstPtr
double resolution_
Octree resolution.
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.
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.
virtual bool genOctreeKeyForDataT(const index_t &data_arg, OctreeKey &key_arg) const
Virtual method for generating octree key for a given point index.
void getKeyBitSize()
Define octree key setting and octree depth based on defined bounding box.
Defines all the PCL implemented PointT point type structures.
shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:59
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition: types.h:120
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:112
shared_ptr< Indices > IndicesPtr
Definition: pcl_base.h:58
A point structure representing Euclidean xyz coordinates, and the RGB color.