Octree pointcloud point vector class More...

#include <pcl/octree/octree_pointcloud_pointvector.h>

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

Public Types
typedef OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >	SingleBuffer

Public Types inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
typedef OctreeT	Base

typedef OctreeT::LeafNode	LeafNode

typedef OctreeT::BranchNode	BranchNode

typedef OctreeDepthFirstIterator< OctreeT >	Iterator

typedef const OctreeDepthFirstIterator< OctreeT >	ConstIterator

typedef OctreeLeafNodeIterator< OctreeT >	LeafNodeIterator

typedef const OctreeLeafNodeIterator< OctreeT >	ConstLeafNodeIterator

typedef OctreeDepthFirstIterator< OctreeT >	DepthFirstIterator

typedef const OctreeDepthFirstIterator< OctreeT >	ConstDepthFirstIterator

typedef OctreeBreadthFirstIterator< OctreeT >	BreadthFirstIterator

typedef const OctreeBreadthFirstIterator< OctreeT >	ConstBreadthFirstIterator

typedef boost::shared_ptr< std::vector< int > >	IndicesPtr

typedef boost::shared_ptr< const std::vector< int > >	IndicesConstPtr

typedef pcl::PointCloud< PointT >	PointCloud

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >	SingleBuffer

typedef boost::shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > >	Ptr

typedef boost::shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > >	ConstPtr

typedef std::vector< PointT, Eigen::aligned_allocator< PointT > >	AlignedPointTVector

typedef std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >	AlignedPointXYZVector

Public Member Functions
	OctreePointCloudPointVector (const double resolution_arg)
	Constructor. More...

virtual	~OctreePointCloudPointVector ()
	Empty class constructor. More...

Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor. More...

virtual	~OctreePointCloud ()
	Empty deconstructor. More...

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

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches. More...

double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches. More...

void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution. More...

double	getResolution () const
	Get octree voxel resolution. More...

unsigned int	getTreeDepth () const
	Get the maximum depth of the octree. More...

void	addPointsFromInputCloud ()
	Add points from input point cloud to octree. More...

void	addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud. More...

bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist. More...

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

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

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

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

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...

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

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

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

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

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

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

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

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

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

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

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

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

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

Additional Inherited Members
Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
virtual void	addPointIdx (const int point_idx_arg)
	Add point at index from input pointcloud dataset to octree. More...

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

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

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

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

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

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

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

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

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

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

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

void	genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, 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...

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...

Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
PointCloudConstPtr	input_
	Pointer to input point cloud dataset. More...

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

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

double	resolution_
	Octree resolution. More...

double	min_x_

double	max_x_

double	min_y_

double	max_y_

double	min_z_

double	max_z_

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

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

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
class pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >

Octree pointcloud point vector class

Note: This pointcloud octree class generate an octrees from a point cloud (zero-copy). Every leaf node contains a list of point indices of the dataset given by setInputCloud.; The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.; typename: PointT: type of point used in pointcloud

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

Definition at line 63 of file octree_pointcloud_pointvector.h.

Member Typedef Documentation

◆ SingleBuffer

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

typedef OctreePointCloudPointVector<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT, BranchContainerT> > pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer

Definition at line 69 of file octree_pointcloud_pointvector.h.

Constructor & Destructor Documentation

◆ OctreePointCloudPointVector()

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

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

inline

Constructor.

Parameters

resolution_arg octree resolution at lowest octree level

Definition at line 76 of file octree_pointcloud_pointvector.h.

◆ ~OctreePointCloudPointVector()

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

virtual pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >::~OctreePointCloudPointVector ( )

inlinevirtual

Empty class constructor.

Definition at line 82 of file octree_pointcloud_pointvector.h.

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

/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/octree/include/pcl/octree/octree_pointcloud_pointvector.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>> class pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >

Member Typedef Documentation

◆ SingleBuffer

Constructor & Destructor Documentation

◆ OctreePointCloudPointVector()

◆ ~OctreePointCloudPointVector()

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty, typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
class pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >