Octree pointcloud class More...

#include <pcl/octree/octree_pointcloud.h>

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

Public Types
using	Base = OctreeT
using	LeafNode = typename OctreeT::LeafNode
using	BranchNode = typename OctreeT::BranchNode
using	IndicesPtr = shared_ptr<Indices>
using	IndicesConstPtr = shared_ptr<const Indices>
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr
using	SingleBuffer
using	Ptr
using	ConstPtr
using	AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT>>
using	AlignedPointXYZVector
Public Types inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
using	OctreeT = OctreeBase<LeafContainerT, BranchContainerT>
using	BranchNode = OctreeBranchNode<BranchContainerT>
using	LeafNode = OctreeLeafNode<LeafContainerT>
using	BranchContainer = BranchContainerT
using	LeafContainer = LeafContainerT
using	Iterator = OctreeDepthFirstIterator<OctreeT>
using	ConstIterator = OctreeDepthFirstIterator<const OctreeT>
using	LeafNodeIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>
using	ConstLeafNodeIterator = OctreeLeafNodeDepthFirstIterator<const OctreeT>
using	LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>
using	ConstLeafNodeDepthFirstIterator
using	DepthFirstIterator = OctreeDepthFirstIterator<OctreeT>
using	ConstDepthFirstIterator = OctreeDepthFirstIterator<const OctreeT>
using	BreadthFirstIterator = OctreeBreadthFirstIterator<OctreeT>
using	ConstBreadthFirstIterator = OctreeBreadthFirstIterator<const OctreeT>
using	FixedDepthIterator = OctreeFixedDepthIterator<OctreeT>
using	ConstFixedDepthIterator = OctreeFixedDepthIterator<const OctreeT>
using	LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator<OctreeT>
using	ConstLeafNodeBreadthFirstIterator

Public Member Functions
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor.
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
double	getResolution () const
	Get octree voxel resolution.
uindex_t	getTreeDepth () const
	Get the maximum depth of the octree.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
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.
bool	isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const
	Check if voxel at given point from input cloud exist.
uindex_t	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels.
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.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const index_t &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
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.
void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
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.
double	getVoxelSquaredDiameter (uindex_t tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (uindex_t tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.
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.
void	enableDynamicDepth (std::size_t maxObjsPerLeaf)
	Enable dynamic octree structure.
Public Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
Iterator	begin (uindex_t max_depth_arg=0u)
ConstIterator	begin (uindex_t max_depth_arg=0u) const
ConstIterator	cbegin (uindex_t max_depth_arg=0u) const
const Iterator	end ()
const ConstIterator	end () const
const ConstIterator	cend () const
LeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u)
ConstLeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u) const
const LeafNodeDepthFirstIterator	leaf_depth_end ()
const ConstLeafNodeDepthFirstIterator	leaf_depth_end () const
DepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u)
ConstDepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u) const
const DepthFirstIterator	depth_end ()
const ConstDepthFirstIterator	depth_end () const
BreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u)
ConstBreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u) const
const BreadthFirstIterator	breadth_end ()
const ConstBreadthFirstIterator	breadth_end () const
FixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u)
ConstFixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u) const
const FixedDepthIterator	fixed_depth_end ()
const ConstFixedDepthIterator	fixed_depth_end () const
LeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u)
ConstLeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u) const
const LeafNodeBreadthFirstIterator	leaf_breadth_end ()
const ConstLeafNodeBreadthFirstIterator	leaf_breadth_end () const
	OctreeBase ()
	Empty constructor.
virtual	~OctreeBase ()
	Empty deconstructor.
	OctreeBase (const OctreeBase &source)
	Copy constructor.
OctreeBase &	operator= (const OctreeBase &source)
	Copy operator.
void	setMaxVoxelIndex (uindex_t max_voxel_index_arg)
	Set the maximum amount of voxels per dimension.
void	setTreeDepth (uindex_t max_depth_arg)
	Set the maximum depth of the octree.
uindex_t	getTreeDepth () const
	Get the maximum depth of the octree.
LeafContainerT *	createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
LeafContainerT *	findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
bool	existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
void	removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree.
std::size_t	getBranchCount () const
	Return the amount of existing branch nodes in the octree.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
void	serializeTree (std::vector< char > &binary_tree_out_arg) const
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg) const
	Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector.
void	serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.
void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Deserialize a binary octree description and create a corresponding octree structure.

Protected Member Functions
virtual void	addPointIdx (uindex_t point_idx_arg)
	Add point at index from input pointcloud dataset to octree.
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.
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	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box.
void	adoptBoundingBoxToPoint (const PointT &point_idx_arg)
	Grow the bounding box/octree until point fits.
bool	isPointWithinBoundingBox (const PointT &point_idx_arg) const
	Checks if given point is within the bounding box of the octree.
void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point.
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.
virtual bool	genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index.
void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel.
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.
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.
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.
Protected Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
LeafContainerT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node.
LeafContainerT *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node.
bool	existLeaf (const OctreeKey &key_arg) const
	Check for existence of a leaf node in the octree.
void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree.
OctreeNode *	getRootNode () const
	Retrieve root node.
bool	branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Check if branch is pointing to a particular child node.
OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx.
void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch.
char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers.
void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree.
void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree.
BranchNode *	createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new branch child to a branch class.
LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new leaf child to a branch class.
uindex_t	createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafNode &return_leaf_arg, BranchNode *&parent_of_leaf_arg)
	Create a leaf node at octree key.
void	findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafContainerT &result_arg) const
	Recursively search for a given leaf node and return a pointer.
bool	deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node.
void	serializeTreeRecursive (const BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const
	Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.
void	deserializeTreeRecursive (BranchNode branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT >::const_iterator leaf_container_vector_it_arg, typename std::vector< LeafContainerT >::const_iterator *leaf_container_vector_it_end_arg)
	Recursive method for deserializing octree structure.
virtual void	serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
	Callback executed for every leaf node during serialization.
virtual void	deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
	Callback executed for every leaf node during deserialization.
bool	octreeCanResize () const
	Test if octree is able to dynamically change its depth.

Protected Attributes
PointCloudConstPtr	input_
	Pointer to input point cloud dataset.
IndicesConstPtr	indices_
	A pointer to the vector of point indices to use.
double	epsilon_ {0.0}
	Epsilon precision (error bound) for nearest neighbors searches.
double	resolution_
	Octree resolution.
double	min_x_ {0.0}
double	max_x_
double	min_y_ {0.0}
double	max_y_
double	min_z_ {0.0}
double	max_z_
bool	bounding_box_defined_ {false}
	Flag indicating if octree has defined bounding box.
std::size_t	max_objs_per_leaf_ {0}
	Amount of DataT objects per leafNode before expanding branch.
Protected Attributes inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
std::size_t	leaf_count_ {0}
	Amount of leaf nodes.
std::size_t	branch_count_ {1}
	Amount of branch nodes.
BranchNode *	root_node_
	Pointer to root branch node of octree.
uindex_t	depth_mask_ {0}
	Depth mask based on octree depth.
uindex_t	octree_depth_ {0}
	Octree depth.
bool	dynamic_depth_enabled_ {false}
	Enable dynamic_depth.
OctreeKey	max_key_
	key range

Detailed Description

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

Octree pointcloud class

Note: Octree implementation for pointclouds. Only indices are stored by the octree leaf nodes (zero-copy).; The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted; according to the pointcloud dimension or it can be predefined.; Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.

Template Parameters

PointT	type of point used in pointcloud
LeafContainerT	leaf node container
BranchContainerT	branch node container
OctreeT	octree implementation

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

Definition at line 72 of file octree_pointcloud.h.

Member Typedef Documentation

◆ AlignedPointTVector

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT>>

Definition at line 107 of file octree_pointcloud.h.

◆ AlignedPointXYZVector

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointXYZVector

Initial value:

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

Definition at line 108 of file octree_pointcloud.h.

◆ Base

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Base = OctreeT

Definition at line 74 of file octree_pointcloud.h.

◆ BranchNode

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BranchNode = typename OctreeT::BranchNode

Definition at line 77 of file octree_pointcloud.h.

◆ ConstPtr

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstPtr

Initial value:

shared_ptr<

const OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>>

pcl::octree::OctreePointCloud::OctreePointCloud

OctreePointCloud(const double resolution_arg)

Octree pointcloud constructor.

Definition octree_pointcloud.hpp:54

Definition at line 103 of file octree_pointcloud.h.

◆ IndicesConstPtr

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesConstPtr = shared_ptr<const Indices>

Definition at line 86 of file octree_pointcloud.h.

◆ IndicesPtr

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesPtr = shared_ptr<Indices>

Definition at line 85 of file octree_pointcloud.h.

◆ LeafNode

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNode = typename OctreeT::LeafNode

Definition at line 76 of file octree_pointcloud.h.

◆ PointCloud

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 88 of file octree_pointcloud.h.

◆ PointCloudConstPtr

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 90 of file octree_pointcloud.h.

◆ PointCloudPtr

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 89 of file octree_pointcloud.h.

◆ Ptr

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Ptr

Initial value:

shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>>

Definition at line 101 of file octree_pointcloud.h.

◆ SingleBuffer

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

using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer

Initial value:

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

Definition at line 93 of file octree_pointcloud.h.

Constructor & Destructor Documentation

◆ OctreePointCloud()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

OctreePointCloud::OctreePointCloud ( const double resolution_arg )

Octree pointcloud constructor.

Parameters

[in] resolution_arg octree resolution at lowest octree level

Definition at line 53 of file octree_pointcloud.hpp.

References indices_, input_, max_x_, max_y_, max_z_, and resolution_.

Referenced by pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroids(), pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidsRecursive(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudAdjacency(), pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudOccupancy(), pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >::OctreePointCloudPointVector(), pcl::octree::OctreePointCloudSearch< PointInT >::OctreePointCloudSearch(), pcl::octree::OctreePointCloudSinglePoint< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > >::OctreePointCloudSinglePoint(), and pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudVoxelCentroid().

Member Function Documentation

◆ addPointFromCloud()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::addPointFromCloud	(	uindex_t	point_idx_arg,
		IndicesPtr	indices_arg )

Add point at given index from input point cloud to octree.

Index will be also added to indices vector.

Parameters

[in]	point_idx_arg	index of point to be added
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 105 of file octree_pointcloud.hpp.

References addPointIdx().

Referenced by addPointToCloud().

◆ addPointIdx()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::addPointIdx ( uindex_t point_idx_arg )

protectedvirtual

Add point at index from input pointcloud dataset to octree.

Parameters

[in] point_idx_arg the index representing the point in the dataset given by setInputCloud to be added

Reimplemented in pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT >, pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, and pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >.

Definition at line 635 of file octree_pointcloud.hpp.

References adoptBoundingBoxToPoint(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_, expandLeafNode(), genOctreeKeyforPoint(), pcl::octree::OctreeKey::getChildIdxWithDepthMask(), max_objs_per_leaf_, and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

Referenced by addPointFromCloud(), and addPointToCloud().

◆ addPointsFromInputCloud()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::addPointsFromInputCloud ( )

Add points from input point cloud to octree.

Definition at line 76 of file octree_pointcloud.hpp.

References indices_, and input_.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::applyMorphologicalOperator(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud().

◆ addPointToCloud() [1/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg )

Add point simultaneously to octree and input point cloud.

Parameters

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)

Definition at line 119 of file octree_pointcloud.hpp.

References addPointIdx(), and input_.

◆ addPointToCloud() [2/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg )

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 135 of file octree_pointcloud.hpp.

References addPointFromCloud(), indices_, and input_.

◆ adoptBoundingBoxToPoint()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::adoptBoundingBoxToPoint ( const PointT & point_idx_arg )

protected

Grow the bounding box/octree until point fits.

Parameters

[in] point_idx_arg point that should be within bounding box;

Definition at line 492 of file octree_pointcloud.hpp.

References max_x_, max_y_, max_z_, min_x_, min_y_, and min_z_.

Referenced by addPointIdx(), and pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::addPointIdx().

◆ defineBoundingBox() [1/4]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::defineBoundingBox ( )

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

Definition at line 330 of file octree_pointcloud.hpp.

References pcl::getMinMax3D(), input_, and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::readFrameHeader().

◆ defineBoundingBox() [2/4]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::defineBoundingBox ( const double cubeLen_arg )

Define bounding box cube for octree.

Note: Lower bounding box corner is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters

[in] cubeLen_arg side length of bounding box cube.

Definition at line 438 of file octree_pointcloud.hpp.

◆ defineBoundingBox() [3/4]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::defineBoundingBox	(	const double	max_x_arg,
		const double	max_y_arg,
		const double	max_z_arg )

Define bounding box for octree.

Note: Lower bounding box point is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters

[in]	max_x_arg	X coordinate of upper bounding box corner
[in]	max_y_arg	Y coordinate of upper bounding box corner
[in]	max_z_arg	Z coordinate of upper bounding box corner

Definition at line 405 of file octree_pointcloud.hpp.

References bounding_box_defined_, getKeyBitSize(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_, max_x_, max_y_, max_z_, min_x_, min_y_, and min_z_.

◆ defineBoundingBox() [4/4]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::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.

Note: Bounding box cannot be changed once the octree contains elements.

Parameters

[in]	min_x_arg	X coordinate of lower bounding box corner
[in]	min_y_arg	Y coordinate of lower bounding box corner
[in]	min_z_arg	Z coordinate of lower bounding box corner
[in]	max_x_arg	X coordinate of upper bounding box corner
[in]	max_y_arg	Y coordinate of upper bounding box corner
[in]	max_z_arg	Z coordinate of upper bounding box corner

Definition at line 369 of file octree_pointcloud.hpp.

◆ deleteTree()

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

void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteTree ( )

inline

Delete the octree structure and its leaf nodes.

Definition at line 240 of file octree_pointcloud.h.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::readFrameHeader().

◆ deleteVoxelAtPoint() [1/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::deleteVoxelAtPoint ( const index_t & point_idx_arg )

Delete leaf node / voxel at given point from input cloud.

Parameters

[in] point_idx_arg index of point addressing the voxel to be deleted.

Definition at line 234 of file octree_pointcloud.hpp.

◆ deleteVoxelAtPoint() [2/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::deleteVoxelAtPoint ( const PointT & point_arg )

Delete leaf node / voxel at given point.

Parameters

[in] point_arg point addressing the voxel to be deleted.

Definition at line 213 of file octree_pointcloud.hpp.

◆ enableDynamicDepth()

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

void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::enableDynamicDepth ( std::size_t maxObjsPerLeaf )

inline

Enable dynamic octree structure.

Note: Leaf nodes are kept as close to the root as possible and are only expanded if the number of DataT objects within a leaf node exceeds a fixed limit.

Parameters

maxObjsPerLeaf maximum number of DataT objects per leaf

Definition at line 421 of file octree_pointcloud.h.

◆ expandLeafNode()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::expandLeafNode	(	LeafNode *	leaf_node,
		BranchNode *	parent_branch,
		unsigned char	child_idx,
		uindex_t	depth_mask )

protected

Add point at index from input pointcloud dataset to octree.

Parameters

[in]	leaf_node	to be expanded
[in]	parent_branch	parent of leaf node to be expanded
[in]	child_idx	child index of leaf node (in parent branch)
[in]	depth_mask	of leaf node to be expanded

Definition at line 585 of file octree_pointcloud.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createBranchChild(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), genOctreeKeyforPoint(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_.

Referenced by addPointIdx().

◆ findLeafAtPoint()

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

LeafContainerT * pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::findLeafAtPoint ( const PointT & point_arg ) const

inlineprotected

Find octree leaf node at a given point.

Parameters

[in] point_arg query point

Returns: pointer to leaf node. If leaf node does not exist, pointer is 0.

Definition at line 466 of file octree_pointcloud.h.

◆ genLeafNodeCenterFromOctreeKey()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::genLeafNodeCenterFromOctreeKey	(	const OctreeKey &	key_arg,
		PointT &	point_arg ) const

protected

Generate a point at center of leaf node voxel.

Parameters

[in]	key_arg	octree key addressing a leaf node.
[out]	point_arg	write leaf node voxel center to this point reference

Definition at line 823 of file octree_pointcloud.hpp.

References min_x_, min_y_, min_z_, resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeVoxelAdjacencyGraph(), and getOccupiedVoxelCentersRecursive().

◆ genOctreeKeyForDataT()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

bool OctreePointCloud::genOctreeKeyForDataT	(	const index_t &	data_arg,
		OctreeKey &	key_arg ) const

protectedvirtual

Virtual method for generating octree key for a given point index.

Note: This method enables to assign indices to leaf nodes during octree deserialization.

Parameters

[in]	data_arg	index value representing a point in the dataset given by setInputCloud
[out]	key_arg	write octree key to this reference

Returns: "true" - octree keys are assignable

Definition at line 806 of file octree_pointcloud.hpp.

References genOctreeKeyforPoint(), and getPointByIndex().

◆ genOctreeKeyforPoint() [1/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::genOctreeKeyforPoint	(	const double	point_x_arg,
		const double	point_y_arg,
		const double	point_z_arg,
		OctreeKey &	key_arg ) const

protected

Generate octree key for voxel at a given point.

Parameters

[in]	point_x_arg	X coordinate of point addressing a voxel
[in]	point_y_arg	Y coordinate of point addressing a voxel
[in]	point_z_arg	Z coordinate of point addressing a voxel
[out]	key_arg	write octree key to this reference

Definition at line 784 of file octree_pointcloud.hpp.

References genOctreeKeyforPoint().

◆ genOctreeKeyforPoint() [2/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::genOctreeKeyforPoint	(	const PointT &	point_arg,
		OctreeKey &	key_arg ) const

protected

Generate octree key for voxel at a given point.

Parameters

[in]	point_arg	the point addressing a voxel
[out]	key_arg	write octree key to this reference

Definition at line 765 of file octree_pointcloud.hpp.

References min_x_, min_y_, min_z_, resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by addPointIdx(), pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::addPointIdx(), expandLeafNode(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >::findLeafAtPoint(), genOctreeKeyForDataT(), genOctreeKeyforPoint(), pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidAtPoint(), and isVoxelOccupiedAtPoint().

◆ genVoxelBoundsFromOctreeKey()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::genVoxelBoundsFromOctreeKey	(	const OctreeKey &	key_arg,
		uindex_t	tree_depth_arg,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt ) const

protected

Generate bounds of an octree voxel using octree key and tree depth arguments.

Parameters

[in]	key_arg	octree key addressing an octree node.
[in]	tree_depth_arg	octree depth of query voxel
[out]	min_pt	lower bound of voxel
[out]	max_pt	upper bound of voxel

Definition at line 870 of file octree_pointcloud.hpp.

References min_x_, min_y_, min_z_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_, resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >::getVoxelBounds().

◆ genVoxelCenterFromOctreeKey()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::genVoxelCenterFromOctreeKey	(	const OctreeKey &	key_arg,
		uindex_t	tree_depth_arg,
		PointT &	point_arg ) const

protected

Generate a point at center of octree voxel at given tree level.

Parameters

[in]	key_arg	octree key addressing an octree node.
[in]	tree_depth_arg	octree depth of query voxel
[out]	point_arg	write leaf node center point to this reference

Definition at line 841 of file octree_pointcloud.hpp.

References min_x_, min_y_, min_z_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_, resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getApproxIntersectedVoxelCentersBySegment()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

pcl::uindex_t OctreePointCloud::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.

This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.

Parameters

[in]	origin	origin of the line segment
[in]	end	end of the line segment
[out]	voxel_center_list	results are written to this vector of PointT elements
[in]	precision	determines the size of the steps: step_size = octree_resolution x precision

Returns: number of intersected voxels

Definition at line 267 of file octree_pointcloud.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::end().

◆ getBoundingBox()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::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.

Note: Bounding box cannot be changed once the octree contains elements.

Parameters

[in]	min_x_arg	X coordinate of lower bounding box corner
[in]	min_y_arg	Y coordinate of lower bounding box corner
[in]	min_z_arg	Z coordinate of lower bounding box corner
[in]	max_x_arg	X coordinate of upper bounding box corner
[in]	max_y_arg	Y coordinate of upper bounding box corner
[in]	max_z_arg	Z coordinate of upper bounding box corner

Definition at line 469 of file octree_pointcloud.hpp.

References max_x_, max_y_, min_x_, min_y_, and min_z_.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::writeFrameHeader().

◆ getEpsilon()

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getEpsilon ( ) const

inline

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 155 of file octree_pointcloud.h.

◆ getIndices()

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

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getIndices ( ) const

inline

Get a pointer to the vector of indices used.

Returns: pointer to vector of indices used.

Definition at line 128 of file octree_pointcloud.h.

◆ getInputCloud()

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

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getInputCloud ( ) const

inline

Get a pointer to the input point cloud dataset.

Returns: pointer to pointcloud input class.

Definition at line 137 of file octree_pointcloud.h.

◆ getKeyBitSize()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

void OctreePointCloud::getKeyBitSize ( )

protected

Define octree key setting and octree depth based on defined bounding box.

Definition at line 697 of file octree_pointcloud.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_count_, max_x_, max_y_, max_z_, pcl::octree::OctreeKey::maxDepth, min_x_, min_y_, min_z_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_, resolution_, and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setTreeDepth().

Referenced by defineBoundingBox(), and pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >::setResolution().

◆ getOccupiedVoxelCenters()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

pcl::uindex_t OctreePointCloud::getOccupiedVoxelCenters ( AlignedPointTVector & voxel_center_list_arg ) const

Get a PointT vector of centers of all occupied voxels.

Parameters

[out] voxel_center_list_arg results are written to this vector of PointT elements

Returns: number of occupied voxels

Definition at line 250 of file octree_pointcloud.hpp.

References getOccupiedVoxelCentersRecursive(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getOccupiedVoxelCentersRecursive()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

pcl::uindex_t OctreePointCloud::getOccupiedVoxelCentersRecursive	(	const BranchNode *	node_arg,
		const OctreeKey &	key_arg,
		AlignedPointTVector &	voxel_center_list_arg ) const

protected

Recursively search the tree for all leaf nodes and return a vector of voxel centers.

Parameters

[in]	node_arg	current octree node to be explored
[in]	key_arg	octree key addressing a leaf node.
[out]	voxel_center_list_arg	results are written to this vector of PointT elements

Returns: number of voxels found

Definition at line 934 of file octree_pointcloud.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::branchHasChild(), genLeafNodeCenterFromOctreeKey(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getBranchChildPtr(), pcl::octree::OctreeNode::getNodeType(), getOccupiedVoxelCentersRecursive(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by getOccupiedVoxelCenters(), and getOccupiedVoxelCentersRecursive().

◆ getPointByIndex()

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

const PointT & OctreePointCloud::getPointByIndex ( uindex_t index_arg ) const

protected

Get point at index from input pointcloud dataset.

Parameters

[in] index_arg index representing the point in the dataset given by setInputCloud

Returns: PointT from input pointcloud dataset

Definition at line 683 of file octree_pointcloud.hpp.

References input_.

Referenced by genOctreeKeyForDataT().

◆ getResolution()

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getResolution ( ) const

inline

Get octree voxel resolution.

Returns: voxel resolution at lowest tree level

Definition at line 182 of file octree_pointcloud.h.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::writeFrameHeader().

◆ getTreeDepth()

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

uindex_t pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getTreeDepth ( ) const

inline

Get the maximum depth of the octree.

Returns: depth_arg: maximum depth of octree

Definition at line 191 of file octree_pointcloud.h.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud().

◆ getVoxelBounds()

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

void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelBounds	(	const OctreeIteratorBase< OctreeT > &	iterator,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt ) const

inline

Generate bounds of the current voxel of an octree iterator.

Parameters

[in]	iterator	octree iterator
[out]	min_pt	lower bound of voxel
[out]	max_pt	upper bound of voxel

Definition at line 405 of file octree_pointcloud.h.

◆ getVoxelSquaredDiameter() [1/2]

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredDiameter ( ) const

inline

Calculates the squared diameter of a voxel at leaf depth.

Returns: squared diameter

Definition at line 378 of file octree_pointcloud.h.

Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >::getVoxelSquaredDiameter().

◆ getVoxelSquaredDiameter() [2/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

double OctreePointCloud::getVoxelSquaredDiameter ( uindex_t tree_depth_arg ) const

Calculates the squared diameter of a voxel at given tree depth.

Parameters

[in] tree_depth_arg depth/level in octree

Returns: squared diameter

Definition at line 921 of file octree_pointcloud.hpp.

References getVoxelSquaredSideLen().

◆ getVoxelSquaredSideLen() [1/2]

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredSideLen ( ) const

inline

Calculates the squared voxel cube side length at leaf level.

Returns: squared voxel cube side length

Definition at line 394 of file octree_pointcloud.h.

Referenced by pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >::getVoxelSquaredSideLen().

◆ getVoxelSquaredSideLen() [2/2]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

double OctreePointCloud::getVoxelSquaredSideLen ( uindex_t tree_depth_arg ) const

Calculates the squared voxel cube side length at given tree depth.

Parameters

[in] tree_depth_arg depth/level in octree

Returns: squared voxel cube side length

Definition at line 900 of file octree_pointcloud.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::octree_depth_, and resolution_.

Referenced by getVoxelSquaredDiameter().

◆ isPointWithinBoundingBox()

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

bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isPointWithinBoundingBox ( const PointT & point_idx_arg ) const

inlineprotected

Checks if given point is within the bounding box of the octree.

Parameters

[in] point_idx_arg point to be checked for bounding box violations

Returns: "true" - no bound violation

Definition at line 496 of file octree_pointcloud.h.

Referenced by isVoxelOccupiedAtPoint().

◆ isVoxelOccupiedAtPoint() [1/3]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

bool OctreePointCloud::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.

Parameters

[in]	point_x_arg	X coordinate of point to be checked
[in]	point_y_arg	Y coordinate of point to be checked
[in]	point_z_arg	Z coordinate of point to be checked

Returns: "true" if voxel exist; "false" otherwise

Definition at line 192 of file octree_pointcloud.hpp.

◆ isVoxelOccupiedAtPoint() [2/3]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

bool OctreePointCloud::isVoxelOccupiedAtPoint ( const index_t & point_idx_arg ) const

Check if voxel at given point from input cloud exist.

Parameters

[in] point_idx_arg point to be checked

Returns: "true" if voxel exist; "false" otherwise

Definition at line 176 of file octree_pointcloud.hpp.

References input_, and isVoxelOccupiedAtPoint().

◆ isVoxelOccupiedAtPoint() [3/3]

template<typename PointT, typename LeafContainerT, typename BranchContainerT, typename OctreeT>

bool OctreePointCloud::isVoxelOccupiedAtPoint ( const PointT & point_arg ) const

Check if voxel at given point exist.

Parameters

[in] point_arg point to be checked

Returns: "true" if voxel exist; "false" otherwise

Definition at line 154 of file octree_pointcloud.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::existLeaf(), genOctreeKeyforPoint(), and isPointWithinBoundingBox().

Referenced by isVoxelOccupiedAtPoint().

◆ setEpsilon()

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

void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setEpsilon ( double eps )

inline

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters

[in] eps precision (error bound) for nearest neighbors searches

Definition at line 147 of file octree_pointcloud.h.

◆ setInputCloud()

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

void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = IndicesConstPtr() )

inline

Provide a pointer to the input data set.

Parameters

[in]	cloud_arg	the const boost shared pointer to a PointCloud message
[in]	indices_arg	the point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 117 of file octree_pointcloud.h.

Referenced by pcl::applyMorphologicalOperator(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud().

◆ setResolution()

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

void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setResolution ( double resolution_arg )

inline

Set/change the octree voxel resolution.

Parameters

[in] resolution_arg side length of voxels at lowest tree level

Definition at line 164 of file octree_pointcloud.h.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, Octree2BufBase< LeafT, BranchT > >::initialization(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::readFrameHeader().

Member Data Documentation

◆ bounding_box_defined_

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

bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::bounding_box_defined_ {false}

protected

Flag indicating if octree has defined bounding box.

Definition at line 602 of file octree_pointcloud.h.

Referenced by defineBoundingBox().

◆ epsilon_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::epsilon_ {0.0}

protected

Epsilon precision (error bound) for nearest neighbors searches.

Definition at line 586 of file octree_pointcloud.h.

◆ indices_

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

IndicesConstPtr pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::indices_

protected

A pointer to the vector of point indices to use.

Definition at line 583 of file octree_pointcloud.h.

Referenced by addPointsFromInputCloud(), addPointToCloud(), and OctreePointCloud().

◆ input_

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

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::input_

protected

Pointer to input point cloud dataset.

Definition at line 580 of file octree_pointcloud.h.

Referenced by pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::addPointIdx(), addPointsFromInputCloud(), addPointToCloud(), addPointToCloud(), defineBoundingBox(), getPointByIndex(), pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidAtPoint(), isVoxelOccupiedAtPoint(), OctreePointCloud(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback().

◆ max_objs_per_leaf_

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

std::size_t pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_objs_per_leaf_ {0}

protected

Amount of DataT objects per leafNode before expanding branch.

Note: zero indicates a fixed/maximum depth octree structure

Definition at line 607 of file octree_pointcloud.h.

Referenced by addPointIdx().

◆ max_x_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_x_

protected

Definition at line 593 of file octree_pointcloud.h.

Referenced by adoptBoundingBoxToPoint(), defineBoundingBox(), getBoundingBox(), getKeyBitSize(), pcl::octree::OctreePointCloudSearch< PointInT >::initIntersectedVoxel(), and OctreePointCloud().

◆ max_y_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_y_

protected

Definition at line 596 of file octree_pointcloud.h.

Referenced by adoptBoundingBoxToPoint(), defineBoundingBox(), getBoundingBox(), getKeyBitSize(), pcl::octree::OctreePointCloudSearch< PointInT >::initIntersectedVoxel(), and OctreePointCloud().

◆ max_z_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::max_z_

protected

Definition at line 599 of file octree_pointcloud.h.

Referenced by adoptBoundingBoxToPoint(), defineBoundingBox(), getKeyBitSize(), pcl::octree::OctreePointCloudSearch< PointInT >::initIntersectedVoxel(), and OctreePointCloud().

◆ min_x_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_x_ {0.0}

protected

Definition at line 592 of file octree_pointcloud.h.

Referenced by adoptBoundingBoxToPoint(), defineBoundingBox(), pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::deserializeTreeCallback(), genLeafNodeCenterFromOctreeKey(), genOctreeKeyforPoint(), genVoxelBoundsFromOctreeKey(), genVoxelCenterFromOctreeKey(), getBoundingBox(), getKeyBitSize(), pcl::octree::OctreePointCloudSearch< PointInT >::initIntersectedVoxel(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback().

◆ min_y_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_y_ {0.0}

protected

Definition at line 595 of file octree_pointcloud.h.

Referenced by adoptBoundingBoxToPoint(), defineBoundingBox(), pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::deserializeTreeCallback(), genLeafNodeCenterFromOctreeKey(), genOctreeKeyforPoint(), genVoxelBoundsFromOctreeKey(), genVoxelCenterFromOctreeKey(), getBoundingBox(), getKeyBitSize(), pcl::octree::OctreePointCloudSearch< PointInT >::initIntersectedVoxel(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback().

◆ min_z_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::min_z_ {0.0}

protected

Definition at line 598 of file octree_pointcloud.h.

Referenced by adoptBoundingBoxToPoint(), defineBoundingBox(), pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::deserializeTreeCallback(), genLeafNodeCenterFromOctreeKey(), genOctreeKeyforPoint(), genVoxelBoundsFromOctreeKey(), genVoxelCenterFromOctreeKey(), getBoundingBox(), getKeyBitSize(), pcl::octree::OctreePointCloudSearch< PointInT >::initIntersectedVoxel(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback().

◆ resolution_

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

double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::resolution_

protected

Octree resolution.

Definition at line 589 of file octree_pointcloud.h.

Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::deserializeTreeCallback(), genLeafNodeCenterFromOctreeKey(), genOctreeKeyforPoint(), genVoxelBoundsFromOctreeKey(), genVoxelCenterFromOctreeKey(), getKeyBitSize(), getVoxelSquaredSideLen(), OctreePointCloud(), and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::serializeTreeCallback().

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

pcl/octree/octree_pointcloud.h
pcl/octree/impl/octree_pointcloud.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ AlignedPointTVector

◆ AlignedPointXYZVector

◆ Base

◆ BranchNode

◆ ConstPtr

◆ IndicesConstPtr

◆ IndicesPtr

◆ LeafNode

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ SingleBuffer

Constructor & Destructor Documentation

◆ OctreePointCloud()

Member Function Documentation

◆ addPointFromCloud()

◆ addPointIdx()

◆ addPointsFromInputCloud()

◆ addPointToCloud() [1/2]

◆ addPointToCloud() [2/2]

◆ adoptBoundingBoxToPoint()

◆ defineBoundingBox() [1/4]

◆ defineBoundingBox() [2/4]

◆ defineBoundingBox() [3/4]

◆ defineBoundingBox() [4/4]

◆ deleteTree()

◆ deleteVoxelAtPoint() [1/2]

◆ deleteVoxelAtPoint() [2/2]

◆ enableDynamicDepth()

◆ expandLeafNode()

◆ findLeafAtPoint()

◆ genLeafNodeCenterFromOctreeKey()

◆ genOctreeKeyForDataT()

◆ genOctreeKeyforPoint() [1/2]

◆ genOctreeKeyforPoint() [2/2]

◆ genVoxelBoundsFromOctreeKey()

◆ genVoxelCenterFromOctreeKey()

◆ getApproxIntersectedVoxelCentersBySegment()

◆ getBoundingBox()

◆ getEpsilon()

◆ getIndices()

◆ getInputCloud()

◆ getKeyBitSize()

◆ getOccupiedVoxelCenters()

◆ getOccupiedVoxelCentersRecursive()

◆ getPointByIndex()

◆ getResolution()

◆ getTreeDepth()

◆ getVoxelBounds()

◆ getVoxelSquaredDiameter() [1/2]

◆ getVoxelSquaredDiameter() [2/2]

◆ getVoxelSquaredSideLen() [1/2]

◆ getVoxelSquaredSideLen() [2/2]

◆ isPointWithinBoundingBox()

◆ isVoxelOccupiedAtPoint() [1/3]

◆ isVoxelOccupiedAtPoint() [2/3]

◆ isVoxelOccupiedAtPoint() [3/3]

◆ setEpsilon()

◆ setInputCloud()

◆ setResolution()

Member Data Documentation

◆ bounding_box_defined_

◆ epsilon_

◆ indices_

◆ input_

◆ max_objs_per_leaf_

◆ max_x_

◆ max_y_

◆ max_z_

◆ min_x_

◆ min_y_

◆ min_z_

◆ resolution_