Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions
pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT > Class Template Reference

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< PointTPointCloud
 
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 PointTgetPointByIndex (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

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

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_argoctree resolution at lowest octree level

Definition at line 76 of file octree_pointcloud_pointvector.h.

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: