Point Cloud Library (PCL)  1.9.1-dev
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pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT > Class Template Reference

This code defines the octree used for point storage at Urban Robotics. More...

#include <pcl/outofcore/octree_base.h>

Public Types

typedef OutofcoreOctreeBase< OutofcoreOctreeDiskContainer< PointT >, PointToctree_disk
 
typedef OutofcoreOctreeBaseNode< OutofcoreOctreeDiskContainer< PointT >, PointToctree_disk_node
 
typedef OutofcoreOctreeBase< OutofcoreOctreeRamContainer< PointT >, PointToctree_ram
 
typedef OutofcoreOctreeBaseNode< OutofcoreOctreeRamContainer< PointT >, PointToctree_ram_node
 
typedef OutofcoreOctreeBaseNode< ContainerT, PointTOutofcoreNodeType
 
typedef OutofcoreOctreeBaseNode< ContainerT, PointTBranchNode
 
typedef OutofcoreOctreeBaseNode< ContainerT, PointTLeafNode
 
typedef OutofcoreDepthFirstIterator< PointT, ContainerT > Iterator
 
typedef const OutofcoreDepthFirstIterator< PointT, ContainerT > ConstIterator
 
typedef OutofcoreBreadthFirstIterator< PointT, ContainerT > BreadthFirstIterator
 
typedef const OutofcoreBreadthFirstIterator< PointT, ContainerT > BreadthFirstConstIterator
 
typedef OutofcoreDepthFirstIterator< PointT, ContainerT > DepthFirstIterator
 
typedef const OutofcoreDepthFirstIterator< PointT, ContainerT > DepthFirstConstIterator
 
typedef boost::shared_ptr< OutofcoreOctreeBase< ContainerT, PointT > > Ptr
 
typedef boost::shared_ptr< const OutofcoreOctreeBase< ContainerT, PointT > > ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef boost::shared_ptr< std::vector< int > > IndicesPtr
 
typedef boost::shared_ptr< const std::vector< int > > IndicesConstPtr
 
typedef boost::shared_ptr< PointCloudPointCloudPtr
 
typedef boost::shared_ptr< const PointCloudPointCloudConstPtr
 
typedef std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
 

Public Member Functions

 OutofcoreOctreeBase (const boost::filesystem::path &root_node_name, const bool load_all)
 Load an existing tree. More...
 
 OutofcoreOctreeBase (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const double resolution_arg, const boost::filesystem::path &root_node_name, const std::string &coord_sys)
 Create a new tree. More...
 
 OutofcoreOctreeBase (const boost::uint64_t max_depth, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::filesystem::path &root_node_name, const std::string &coord_sys)
 Create a new tree; will not overwrite existing tree of same name. More...
 
virtual ~OutofcoreOctreeBase ()
 
boost::uint64_t addDataToLeaf (const AlignedPointTVector &p)
 Recursively add points to the tree. More...
 
boost::uint64_t addPointCloud (PointCloudConstPtr point_cloud)
 Copies the points from the point_cloud falling within the bounding box of the octree to the out-of-core octree; this is an interface to addDataToLeaf and can be used multiple times. More...
 
boost::uint64_t addPointCloud (pcl::PCLPointCloud2::Ptr &input_cloud, const bool skip_bb_check=false)
 Recursively copies points from input_cloud into the leaf nodes of the out-of-core octree, and stores them to disk. More...
 
boost::uint64_t addPointCloud_and_genLOD (pcl::PCLPointCloud2::Ptr &input_cloud)
 Recursively add points to the tree. More...
 
boost::uint64_t addPointCloud (pcl::PCLPointCloud2::Ptr &input_cloud)
 
boost::uint64_t addPointCloud_and_genLOD (PointCloudConstPtr point_cloud)
 
boost::uint64_t addDataToLeaf_and_genLOD (AlignedPointTVector &p)
 Recursively add points to the tree subsampling LODs on the way. More...
 
void queryFrustum (const double *planes, std::list< std::string > &file_names) const
 
void queryFrustum (const double *planes, std::list< std::string > &file_names, const boost::uint32_t query_depth) const
 
void queryFrustum (const double *planes, const Eigen::Vector3d &eye, const Eigen::Matrix4d &view_projection_matrix, std::list< std::string > &file_names, const boost::uint32_t query_depth) const
 
void queryBBIntersects (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::uint32_t query_depth, std::list< std::string > &bin_name) const
 Get a list of file paths at query_depth that intersect with your bounding box specified by min and max. More...
 
void queryBBIncludes (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::uint64_t query_depth, AlignedPointTVector &dst) const
 Get Points in BB, only points inside BB. More...
 
void queryBBIncludes (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob) const
 Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 object in dst_blob. More...
 
void queryBBIncludes_subsample (const Eigen::Vector3d &min, const Eigen::Vector3d &max, uint64_t query_depth, const double percent, AlignedPointTVector &dst) const
 Returns a random subsample of points within the given bounding box at query_depth. More...
 
virtual void queryBoundingBox (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob, double percent=1.0)
 Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 object in dst_blob. More...
 
virtual void queryBoundingBox (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, std::list< std::string > &filenames) const
 Returns list of pcd files from nodes whose bounding boxes intersect with the input bounding box. More...
 
bool getBoundingBox (Eigen::Vector3d &min, Eigen::Vector3d &max) const
 Get the overall bounding box of the outofcore octree; this is the same as the bounding box of the root_node_ node. More...
 
boost::uint64_t getNumPointsAtDepth (const boost::uint64_t &depth_index) const
 Get number of points at specified LOD. More...
 
boost::uint64_t queryBoundingBoxNumPoints (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, bool load_from_disk=true)
 Queries the number of points in a bounding box. More...
 
const std::vector< boost::uint64_t > & getNumPointsVector () const
 Get number of points at each LOD. More...
 
boost::uint64_t getDepth () const
 Get number of LODs, which is the height of the tree. More...
 
boost::uint64_t getTreeDepth () const
 
bool getBinDimension (double &x, double &y) const
 Computes the expected voxel dimensions at the leaves. More...
 
double getVoxelSideLength (const boost::uint64_t &depth) const
 gets the side length of an (assumed) perfect cubic voxel. More...
 
double getVoxelSideLength () const
 Gets the smallest (assumed) cubic voxel side lengths. More...
 
const std::string & getCoordSystem () const
 Get coordinate system tag from the JSON metadata file. More...
 
void buildLOD ()
 Generate multi-resolution LODs for the tree, which are a uniform random sampling all child leafs below the node. More...
 
void printBoundingBox (const size_t query_depth) const
 Prints size of BBox to stdout. More...
 
void printBoundingBox (OutofcoreNodeType &node) const
 Prints the coordinates of the bounding box of the node to stdout. More...
 
void printBoundingBox () const
 Prints size of the bounding boxes to stdou. More...
 
void getOccupiedVoxelCenters (AlignedPointTVector &voxel_centers, size_t query_depth) const
 Returns the voxel centers of all existing voxels at query_depth. More...
 
void getOccupiedVoxelCenters (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers, size_t query_depth) const
 Returns the voxel centers of all existing voxels at query_depth. More...
 
void getOccupiedVoxelCenters (AlignedPointTVector &voxel_centers) const
 Gets the voxel centers of all occupied/existing leaves of the tree. More...
 
void getOccupiedVoxelCenters (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers) const
 Returns the voxel centers of all occupied/existing leaves of the tree. More...
 
void convertToXYZ ()
 Save each .bin file as an XYZ file. More...
 
void writeVPythonVisual (const boost::filesystem::path filename)
 Write a python script using the vpython module containing all the bounding boxes. More...
 
OutofcoreNodeTypegetBranchChildPtr (const BranchNode &branch_arg, unsigned char childIdx_arg) const
 
pcl::Filter< pcl::PCLPointCloud2 >::Ptr getLODFilter ()
 
const pcl::Filter< pcl::PCLPointCloud2 >::ConstPtr getLODFilter () const
 
void setLODFilter (const pcl::Filter< pcl::PCLPointCloud2 >::Ptr &filter_arg)
 Sets the filter to use when building the levels of depth. More...
 
double getSamplePercent () const
 Returns the sample_percent_ used when constructing the LOD. More...
 
void setSamplePercent (const double sample_percent_arg)
 Sets the sampling percent for constructing LODs. More...
 

Protected Member Functions

void init (const boost::uint64_t &depth, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::filesystem::path &root_name, const std::string &coord_sys)
 
 OutofcoreOctreeBase (OutofcoreOctreeBase &rval)
 
 OutofcoreOctreeBase (const OutofcoreOctreeBase &rval)
 
OutofcoreOctreeBaseoperator= (OutofcoreOctreeBase &rval)
 
OutofcoreOctreeBaseoperator= (const OutofcoreOctreeBase &rval)
 
OutofcoreNodeTypegetRootNode ()
 
void DeAllocEmptyNodeCache (OutofcoreNodeType *current)
 flush empty nodes only More...
 
void saveToFile ()
 Write octree definition ".octree" (defined by octree_extension_) to disk. More...
 
void buildLODRecursive (const std::vector< BranchNode * > &current_branch)
 recursive portion of lod builder More...
 
void incrementPointsInLOD (boost::uint64_t depth, boost::uint64_t inc)
 Increment current depths (LOD for branch nodes) point count; called by addDataAtMaxDepth in OutofcoreOctreeBaseNode. More...
 
bool checkExtension (const boost::filesystem::path &path_name)
 Auxiliary function to validate path_name extension is .octree. More...
 
void flushToDisk ()
 DEPRECATED - Flush all nodes' cache. More...
 
void flushToDiskLazy ()
 DEPRECATED - Flush all non leaf nodes' cache. More...
 
void DeAllocEmptyNodeCache ()
 DEPRECATED - Flush empty nodes only. More...
 

Protected Attributes

OutofcoreNodeTyperoot_node_
 Pointer to the root node of the octree data structure. More...
 
boost::shared_mutex read_write_mutex_
 shared mutex for controlling read/write access to disk More...
 
boost::shared_ptr< OutofcoreOctreeBaseMetadatametadata_
 

Static Protected Attributes

static const std::string TREE_EXTENSION_ = ".octree"
 defined as ".octree" to append to treepath files More...
 
static const int OUTOFCORE_VERSION_ = static_cast<int>(3)
 
static const uint64_t LOAD_COUNT_ = static_cast<uint64_t>(2e9)
 

Friends

class OutofcoreOctreeBaseNode< ContainerT, PointT >
 
class pcl::outofcore::OutofcoreIteratorBase< PointT, ContainerT >
 

Detailed Description

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
class pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >

This code defines the octree used for point storage at Urban Robotics.

Note
Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/. This code was integrated for the Urban Robotics Code Sprint (URCS) by Stephen Fox (foxst.nosp@m.ephe.nosp@m.nd@gm.nosp@m.ail..nosp@m.com). Additional development notes can be found at http://www.pointclouds.org/blog/urcs/.

The primary purpose of this class is an interface to the recursive traversal (recursion handled by pcl::outofcore::OutofcoreOctreeBaseNode) of the in-memory/top-level octree structure. The metadata in each node can be loaded entirely into main memory, from which the tree can be traversed recursively in this state. This class provides an the interface for:

  1. Point/Region insertion methods
  2. Frustrum/box/region queries
  3. Parameterization of resolution, container type, etc...

For lower-level node access, there is a Depth-First iterator for traversing the trees with direct access to the nodes. This can be used for implementing other algorithms, and other iterators can be written in a similar fashion.

The format of the octree is stored on disk in a hierarchical octree structure, where .oct_idx are the JSON-based node metadata files managed by pcl::outofcore::OutofcoreOctreeNodeMetadata, and .octree is the JSON-based octree metadata file managed by pcl::outofcore::OutofcoreOctreeBaseMetadata. Children of each node live in up to eight subdirectories named from 0 to 7, where a metadata and optionally a pcd file will exist. The PCD files are stored in compressed binary PCD format, containing all of the fields existing in the PCLPointCloud2 objects originally inserted into the out of core object.

A brief outline of the out of core octree can be seen below. The files in [brackets] exist only when the LOD are built.

At this point in time, there is not support for multiple trees existing in a single directory hierarchy.

tree_name/
     tree_name.oct_idx
     tree_name.octree
     [tree_name-uuid.pcd]
     0/
          tree_name.oct_idx
          [tree_name-uuid.pcd]
          0/
             ...
          1/
              ...
                ...
                    0/
                        tree_name.oct_idx
                        tree_name.pcd
     1/
     ...
     7/
Author
Jacob Schloss (jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net)
Stephen Fox, Urban Robotics Code Sprint (foxst.nosp@m.ephe.nosp@m.nd@gm.nosp@m.ail..nosp@m.com)

Definition at line 148 of file octree_base.h.

Member Typedef Documentation

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::AlignedPointTVector

Definition at line 187 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBaseNode<ContainerT, PointT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::BranchNode

Definition at line 164 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef const OutofcoreBreadthFirstIterator<PointT, ContainerT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::BreadthFirstConstIterator

Definition at line 171 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreBreadthFirstIterator<PointT, ContainerT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::BreadthFirstIterator

Definition at line 170 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef const OutofcoreDepthFirstIterator<PointT, ContainerT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::ConstIterator

Definition at line 168 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef boost::shared_ptr<const OutofcoreOctreeBase<ContainerT, PointT> > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::ConstPtr

Definition at line 177 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef const OutofcoreDepthFirstIterator<PointT, ContainerT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DepthFirstConstIterator

Definition at line 174 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreDepthFirstIterator<PointT, ContainerT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DepthFirstIterator

Definition at line 173 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef boost::shared_ptr<const std::vector<int> > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::IndicesConstPtr

Definition at line 182 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef boost::shared_ptr<std::vector<int> > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::IndicesPtr

Definition at line 181 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreDepthFirstIterator<PointT, ContainerT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::Iterator

Definition at line 167 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBaseNode<ContainerT, PointT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::LeafNode

Definition at line 165 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBase<OutofcoreOctreeDiskContainer<PointT>, PointT > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_disk

Definition at line 156 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer<PointT>, PointT > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_disk_node

Definition at line 157 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBase<OutofcoreOctreeRamContainer<PointT>, PointT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_ram

Definition at line 159 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBaseNode<OutofcoreOctreeRamContainer<PointT>, PointT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_ram_node

Definition at line 160 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef OutofcoreOctreeBaseNode<ContainerT, PointT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreNodeType

Definition at line 162 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef pcl::PointCloud<PointT> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::PointCloud

Definition at line 179 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef boost::shared_ptr<const PointCloud> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::PointCloudConstPtr

Definition at line 185 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef boost::shared_ptr<PointCloud> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::PointCloudPtr

Definition at line 184 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
typedef boost::shared_ptr<OutofcoreOctreeBase<ContainerT, PointT> > pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::Ptr

Definition at line 176 of file octree_base.h.

Constructor & Destructor Documentation

template<typename ContainerT , typename PointT >
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase ( const boost::filesystem::path &  root_node_name,
const bool  load_all 
)

Load an existing tree.

If load_all is set, the BB and point count for every node is loaded, otherwise only the root node is actually created, and the rest will be generated on insertion or query.

Parameters
root_node_namePath to the top-level tree/tree.oct_idx metadata file
load_allLoad entire tree metadata (does not load any points from disk)
Exceptions
PCLExceptionfor bad extension (root node metadata must be .oct_idx extension)

Definition at line 77 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::checkExtension(), pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::m_tree_, pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::metadata_, pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::TREE_EXTENSION_.

template<typename ContainerT , typename PointT >
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const double  resolution_arg,
const boost::filesystem::path &  root_node_name,
const std::string &  coord_sys 
)

Create a new tree.

Create a new tree rootname with specified bounding box; will remove and overwrite existing tree with the same name

Computes the depth of the tree based on desired leaf , then calls the other constructor.

Parameters
minBounding box min
maxBounding box max
resolution_argNode dimension in meters (assuming your point data is in meters)
root_node_namemust end in ".oct_idx"
coord_sysCoordinate system which is stored in the JSON metadata
Exceptions
PCLExceptionif root file extension does not match pcl::outofcore::OutofcoreOctreeBaseNode::node_index_extension

Definition at line 105 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::init().

template<typename ContainerT , typename PointT >
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase ( const boost::uint64_t  max_depth,
const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const boost::filesystem::path &  root_node_name,
const std::string &  coord_sys 
)

Create a new tree; will not overwrite existing tree of same name.

Create a new tree rootname with specified bounding box; will not overwrite an existing tree

Parameters
max_depthSpecifies a fixed number of LODs to generate, which is the depth of the tree
minBounding box min
maxBounding box max
Note
Bounding box of the tree must be set before inserting any points. The tree cannot be resized at this time.
Parameters
root_node_namemust end in ".oct_idx"
coord_sysCoordinate system which is stored in the JSON metadata
Exceptions
PCLExceptionif the parent directory has existing children (detects an existing tree)
PCLExceptionif file extension is not ".oct_idx"

Definition at line 127 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::init().

template<typename ContainerT , typename PointT >
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::~OutofcoreOctreeBase ( )
virtual
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase ( OutofcoreOctreeBase< ContainerT, PointT > &  rval)
protected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase ( const OutofcoreOctreeBase< ContainerT, PointT > &  rval)
protected

Member Function Documentation

template<typename ContainerT , typename PointT >
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf ( const AlignedPointTVector p)
template<typename ContainerT , typename PointT >
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf_and_genLOD ( AlignedPointTVector p)
template<typename ContainerT , typename PointT >
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud ( PointCloudConstPtr  point_cloud)

Copies the points from the point_cloud falling within the bounding box of the octree to the out-of-core octree; this is an interface to addDataToLeaf and can be used multiple times.

Parameters
point_cloudPointer to the point cloud data to copy to the outofcore octree; Assumes templated PointT matches for each.
Returns
Number of points successfully copied from the point cloud to the octree.

Definition at line 224 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf().

template<typename ContainerT , typename PointT >
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud ( pcl::PCLPointCloud2::Ptr input_cloud,
const bool  skip_bb_check = false 
)

Recursively copies points from input_cloud into the leaf nodes of the out-of-core octree, and stores them to disk.

Parameters
[in]input_cloudThe cloud of points to be inserted into the out-of-core octree. Note if multiple PCLPointCloud2 objects are added to the tree, this assumes that they all have exactly the same fields.
[in]skip_bb_check(default=false) whether to skip the bounding box check on insertion. Note the bounding box check is never skipped in the current implementation.
Returns
Number of poitns successfully copied from the point cloud to the octree

Definition at line 232 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud ( pcl::PCLPointCloud2::Ptr input_cloud)
template<typename ContainerT , typename PointT >
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud_and_genLOD ( pcl::PCLPointCloud2::Ptr input_cloud)

Recursively add points to the tree.

Recursively add points to the tree. 1/8 of the remaining points at each LOD are stored at each internal node of the octree until either (a) runs out of points, in which case the leaf is not at the maximum depth of the tree, or (b) a larger set of points falls in the leaf at the maximum depth. Note unlike the old implementation, multiple copies of the same point will not be added at multiple LODs as it walks the tree. Once the point is added to the octree, it is no longer propagated further down the tree.

Parameters
[in]input_cloudThe input cloud of points which will be copied into the sorted nodes of the out-of-core octree
Returns
The total number of points added to the out-of-core octree.

Definition at line 254 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud_and_genLOD(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud_and_genLOD ( PointCloudConstPtr  point_cloud)
template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::buildLOD ( )
template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::buildLODRecursive ( const std::vector< BranchNode * > &  current_branch)
protected
template<typename ContainerT , typename PointT >
bool pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::checkExtension ( const boost::filesystem::path &  path_name)
protected

Auxiliary function to validate path_name extension is .octree.

Returns
0 if bad; 1 if extension is .oct_idx

Definition at line 698 of file octree_base.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::init(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase().

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::convertToXYZ ( )
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DeAllocEmptyNodeCache ( OutofcoreNodeType current)
protected

flush empty nodes only

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DeAllocEmptyNodeCache ( )
protected
template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::flushToDisk ( )
protected

DEPRECATED - Flush all nodes' cache.

Definition at line 445 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::flushToDiskLazy ( )
protected

DEPRECATED - Flush all non leaf nodes' cache.

Definition at line 453 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
bool pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBinDimension ( double &  x,
double &  y 
) const
template<typename ContainerT , typename PointT >
bool pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBoundingBox ( Eigen::Vector3d &  min,
Eigen::Vector3d &  max 
) const
template<typename ContainerT , typename PointT >
OutofcoreOctreeBaseNode< ContainerT, PointT > * pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBranchChildPtr ( const BranchNode branch_arg,
unsigned char  childIdx_arg 
) const
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
const std::string& pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getCoordSystem ( ) const
inline

Get coordinate system tag from the JSON metadata file.

Definition at line 468 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getDepth ( ) const
inline
template<typename ContainerT , typename PointT >
pcl::Filter< pcl::PCLPointCloud2 >::Ptr pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getLODFilter ( )

Definition at line 501 of file octree_base.hpp.

template<typename ContainerT , typename PointT >
const pcl::Filter< pcl::PCLPointCloud2 >::ConstPtr pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getLODFilter ( ) const

Definition at line 509 of file octree_base.hpp.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getNumPointsAtDepth ( const boost::uint64_t &  depth_index) const
inline

Get number of points at specified LOD.

Parameters
[in]depth_indexthe level of detail at which we want the number of points (0 is root, 1, 2,...)
Returns
number of points in the tree at depth

Definition at line 404 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
const std::vector<boost::uint64_t>& pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getNumPointsVector ( ) const
inline

Get number of points at each LOD.

Returns
vector of number of points in each LOD indexed by each level of depth, 0 to the depth of the tree.

Definition at line 425 of file octree_base.h.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters ( AlignedPointTVector voxel_centers,
size_t  query_depth 
) const

Returns the voxel centers of all existing voxels at query_depth.

Parameters
[out]voxel_centersVector of PointXYZ voxel centers for nodes that exist at that depth
[in]query_depththe depth of the tree at which to retrieve occupied/existing voxels

Definition at line 384 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getOccupiedVoxelCentersRecursive(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::metadata_, pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters ( std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  voxel_centers,
size_t  query_depth 
) const

Returns the voxel centers of all existing voxels at query_depth.

Parameters
[out]voxel_centersVector of PointXYZ voxel centers for nodes that exist at that depth
[in]query_depththe depth of the tree at which to retrieve occupied/existing voxels

Definition at line 400 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getOccupiedVoxelCentersRecursive(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::metadata_, pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters ( AlignedPointTVector voxel_centers) const
inline

Gets the voxel centers of all occupied/existing leaves of the tree.

Definition at line 514 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters ( std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &  voxel_centers) const
inline

Returns the voxel centers of all occupied/existing leaves of the tree.

Parameters
[out]voxel_centersstd::vector of the centers of all occupied leaves of the octree

Definition at line 523 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
OutofcoreNodeType* pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getRootNode ( )
inlineprotected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
double pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getSamplePercent ( ) const
inline

Returns the sample_percent_ used when constructing the LOD.

Definition at line 555 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getTreeDepth ( ) const
inline
template<typename ContainerT , typename PointT >
double pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getVoxelSideLength ( const boost::uint64_t &  depth) const

gets the side length of an (assumed) perfect cubic voxel.

Note
If the initial bounding box specified in constructing the octree is not square, then this method does not return a sensible value
Returns
the side length of the cubic voxel size at the specified depth

Definition at line 549 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBoundingBox(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::metadata_.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
double pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getVoxelSideLength ( ) const
inline

Gets the smallest (assumed) cubic voxel side lengths.

The smallest voxels are located at the max depth of the tree.

Returns
The side length of a the cubic voxel located at the leaves

Definition at line 460 of file octree_base.h.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::incrementPointsInLOD ( boost::uint64_t  depth,
boost::uint64_t  inc 
)
inlineprotected

Increment current depths (LOD for branch nodes) point count; called by addDataAtMaxDepth in OutofcoreOctreeBaseNode.

Definition at line 684 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::metadata_.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::buildLODRecursive().

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::init ( const boost::uint64_t &  depth,
const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const boost::filesystem::path &  root_name,
const std::string &  coord_sys 
)
protected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
OutofcoreOctreeBase& pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::operator= ( OutofcoreOctreeBase< ContainerT, PointT > &  rval)
protected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
OutofcoreOctreeBase& pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::operator= ( const OutofcoreOctreeBase< ContainerT, PointT > &  rval)
protected
template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::printBoundingBox ( const size_t  query_depth) const
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::printBoundingBox ( OutofcoreNodeType node) const

Prints the coordinates of the bounding box of the node to stdout.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::printBoundingBox ( ) const
inline

Prints size of the bounding boxes to stdou.

Definition at line 493 of file octree_base.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::buildLOD().

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const boost::uint64_t  query_depth,
AlignedPointTVector dst 
) const

Get Points in BB, only points inside BB.

The query processes the data at each node, filtering points that fall out of the query bounds, and returns a single, concatenated point cloud.

Parameters
[in]minThe minimum corner of the bounding box for querying
[in]maxThe maximum corner of the bounding box for querying
[in]query_depthThe depth from which point data will be taken
Note
If the LODs of the tree have not been built, you must specify the maximum depth in order to retrieve any data
Parameters
[out]dstThe destination vector of points

Definition at line 313 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const boost::uint64_t  query_depth,
const pcl::PCLPointCloud2::Ptr dst_blob 
) const

Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 object in dst_blob.

Parameters
[in]minThe minimum corner of the input bounding box.
[in]maxThe maximum corner of the input bounding box.
[in]query_depthThe query depth at which to search for points; only points at this depth are returned
[out]dst_blobStorage location for the points satisfying the query.

Definition at line 324 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes_subsample ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
uint64_t  query_depth,
const double  percent,
AlignedPointTVector dst 
) const

Returns a random subsample of points within the given bounding box at query_depth.

Parameters
[in]minThe minimum corner of the boudning box to query.
[out]maxThe maximum corner of the bounding box to query.
[in]query_depthThe depth in the tree at which to look for the points. Only returns points within the given bounding box at the specified query_depth.
percent
[out]dstThe destination in which to return the points.

Definition at line 338 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIntersects ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const boost::uint32_t  query_depth,
std::list< std::string > &  bin_name 
) const

Get a list of file paths at query_depth that intersect with your bounding box specified by min and max.

When querying with this method, you may be stuck with extra data (some outside of your query bounds) that reside in the files.

Parameters
[in]minThe minimum corner of the bounding box
[in]maxThe maximum corner of the bounding box
[in]query_depth0 is root, (this->depth) is full
[out]bin_nameList of paths to point data files (PCD currently) which satisfy the query

Definition at line 416 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIntersects(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_, and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBoundingBox ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const int  query_depth,
const pcl::PCLPointCloud2::Ptr dst_blob,
double  percent = 1.0 
)
virtual

Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 object in dst_blob.

If the optional argument for filter is given, points are processed by that filter before returning.

Parameters
[in]minThe minimum corner of the input bounding box.
[in]maxThe maximum corner of the input bounding box.
[in]query_depthThe depth of tree at which to query; only points at this depth are returned
[out]dst_blobThe destination in which points within the bounding box are stored.
[in]percentoptional sampling percentage which is applied after each time data are read from disk

Definition at line 347 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes(), pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
virtual void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBoundingBox ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const int  query_depth,
std::list< std::string > &  filenames 
) const
inlinevirtual

Returns list of pcd files from nodes whose bounding boxes intersect with the input bounding box.

Parameters
[in]minThe minimum corner of the input bounding box.
[in]maxThe maximum corner of the input bounding box.
query_depth
[out]filenamesThe list of paths to the PCD files which can be loaded and processed.

Definition at line 381 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBoundingBoxNumPoints ( const Eigen::Vector3d &  min,
const Eigen::Vector3d &  max,
const int  query_depth,
bool  load_from_disk = true 
)

Queries the number of points in a bounding box.

Parameters
[in]minThe minimum corner of the input bounding box
[out]maxThe maximum corner of the input bounding box
[in]query_depthThe depth of the nodes to restrict the search to (only this depth is searched)
[in]load_from_disk(default true) Whether to load PCD files to count exactly the number of points within the bounding box; setting this to false will return an upper bound by just reading the number of points from the PCD header, even if there may be some points in that node do not fall within the query bounding box.
Returns
Number of points in the bounding box at depth query_depth
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryFrustum ( const double *  planes,
std::list< std::string > &  file_names 
) const
template<typename Container , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< Container, PointT >::queryFrustum ( const double *  planes,
std::list< std::string > &  file_names,
const boost::uint32_t  query_depth 
) const
template<typename Container , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< Container, PointT >::queryFrustum ( const double *  planes,
const Eigen::Vector3d &  eye,
const Eigen::Matrix4d &  view_projection_matrix,
std::list< std::string > &  file_names,
const boost::uint32_t  query_depth 
) const
template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::saveToFile ( )
protected
template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::setLODFilter ( const pcl::Filter< pcl::PCLPointCloud2 >::Ptr filter_arg)

Sets the filter to use when building the levels of depth.

Recommended filters are pcl::RandomSample<pcl::PCLPointCloud2> or pcl::VoxelGrid

Definition at line 517 of file octree_base.hpp.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::setSamplePercent ( const double  sample_percent_arg)
inline

Sets the sampling percent for constructing LODs.

Each LOD gets sample_percent^d points.

Parameters
[in]sample_percent_argPercentage between 0 and 1.

Definition at line 563 of file octree_base.h.

template<typename ContainerT , typename PointT >
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::writeVPythonVisual ( const boost::filesystem::path  filename)

Write a python script using the vpython module containing all the bounding boxes.

Definition at line 433 of file octree_base.hpp.

References pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_, and pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::writeVPythonVisual().

Friends And Related Function Documentation

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
friend class OutofcoreOctreeBaseNode< ContainerT, PointT >
friend

Definition at line 150 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
friend class pcl::outofcore::OutofcoreIteratorBase< PointT, ContainerT >
friend

Definition at line 151 of file octree_base.h.

Member Data Documentation

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
const uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::LOAD_COUNT_ = static_cast<uint64_t>(2e9)
staticprotected

Definition at line 645 of file octree_base.h.

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::shared_ptr<OutofcoreOctreeBaseMetadata> pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::metadata_
protected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
const int pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OUTOFCORE_VERSION_ = static_cast<int>(3)
staticprotected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
boost::shared_mutex pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::read_write_mutex_
mutableprotected
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
OutofcoreNodeType* pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::root_node_
protected

Pointer to the root node of the octree data structure.

Definition at line 632 of file octree_base.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf_and_genLOD(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud_and_genLOD(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::buildLOD(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::convertToXYZ(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DeAllocEmptyNodeCache(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::flushToDisk(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::flushToDiskLazy(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBinDimension(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBoundingBox(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::init(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::printBoundingBox(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes_subsample(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIntersects(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBoundingBox(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryFrustum(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::writeVPythonVisual(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::~OutofcoreOctreeBase().

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
const std::string pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::TREE_EXTENSION_ = ".octree"
staticprotected

defined as ".octree" to append to treepath files

Note
this might change

Definition at line 642 of file octree_base.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::init(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase().


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