Point Cloud Library (PCL)  1.9.1-dev
List of all members | Classes | Public Types | Public Member Functions | Protected Attributes
pcl::recognition::ORROctree Class Reference

That's a very specialized and simple octree class. More...

#include <pcl/recognition/ransac_based/orr_octree.h>

Classes

class  Node
 

Public Types

typedef pcl::PointCloud< pcl::PointXYZPointCloudIn
 
typedef pcl::PointCloud< pcl::PointXYZPointCloudOut
 
typedef pcl::PointCloud< pcl::NormalPointCloudN
 

Public Member Functions

 ORROctree ()
 
virtual ~ORROctree ()
 
void clear ()
 
void build (const PointCloudIn &points, float voxel_size, const PointCloudN *normals=NULL, float enlarge_bounds=0.00001f)
 Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'. More...
 
void build (const float *bounds, float voxel_size)
 Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'. More...
 
ORROctree::NodecreateLeaf (float x, float y, float z)
 Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. More...
 
void getFullLeavesIntersectedBySphere (const float *p, float radius, std::list< ORROctree::Node * > &out) const
 This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'. More...
 
ORROctree::NodegetRandomFullLeafOnSphere (const float *p, float radius) const
 Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'. More...
 
ORROctree::NodegetLeaf (int i, int j, int k)
 Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. More...
 
ORROctree::NodegetLeaf (float x, float y, float z)
 Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists. More...
 
void deleteBranch (Node *node)
 Deletes the branch 'node' is part of. More...
 
std::vector< ORROctree::Node * > & getFullLeaves ()
 Returns a vector with all octree leaves which contain at least one point. More...
 
const std::vector< ORROctree::Node * > & getFullLeaves () const
 
void getFullLeavesPoints (PointCloudOut &out) const
 
void getNormalsOfFullLeaves (PointCloudN &out) const
 
ORROctree::NodegetRoot ()
 
const float * getBounds () const
 
void getBounds (float b[6]) const
 
float getVoxelSize () const
 
void insertNeighbors (Node *node)
 

Protected Attributes

float voxel_size_
 
float bounds_ [6]
 
int tree_levels_
 
Noderoot_
 
std::vector< Node * > full_leaves_
 

Detailed Description

That's a very specialized and simple octree class.

That's the way it is intended to be, that's why no templates and stuff like this.

Author
Chavdar Papazov

Definition at line 70 of file orr_octree.h.

Member Typedef Documentation

Definition at line 73 of file orr_octree.h.

Definition at line 75 of file orr_octree.h.

Definition at line 74 of file orr_octree.h.

Constructor & Destructor Documentation

pcl::recognition::ORROctree::ORROctree ( )
virtual pcl::recognition::ORROctree::~ORROctree ( )
inlinevirtual

Definition at line 281 of file orr_octree.h.

Member Function Documentation

void pcl::recognition::ORROctree::build ( const PointCloudIn points,
float  voxel_size,
const PointCloudN normals = NULL,
float  enlarge_bounds = 0.00001f 
)

Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'.

'enlarge_bounds' makes sure that no points from the input will lie on the octree boundary by enlarging the bounds by that factor. For example, enlarge_bounds = 1 means that the bounds will be enlarged by 100%. The default value is fine.

void pcl::recognition::ORROctree::build ( const float *  bounds,
float  voxel_size 
)

Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'.

void pcl::recognition::ORROctree::clear ( )
ORROctree::Node* pcl::recognition::ORROctree::createLeaf ( float  x,
float  y,
float  z 
)
inline

Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet.

The method returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and method just returns a pointer to the leaf.

Definition at line 303 of file orr_octree.h.

References pcl::recognition::ORROctree::Node::createChildren(), pcl::recognition::ORROctree::Node::getCenter(), pcl::recognition::ORROctree::Node::getChild(), pcl::recognition::ORROctree::Node::getData(), and pcl::recognition::ORROctree::Node::setData().

void pcl::recognition::ORROctree::deleteBranch ( Node node)

Deletes the branch 'node' is part of.

const float* pcl::recognition::ORROctree::getBounds ( ) const
inline

Definition at line 430 of file orr_octree.h.

void pcl::recognition::ORROctree::getBounds ( float  b[6]) const
inline

Definition at line 436 of file orr_octree.h.

std::vector<ORROctree::Node*>& pcl::recognition::ORROctree::getFullLeaves ( )
inline

Returns a vector with all octree leaves which contain at least one point.

Definition at line 415 of file orr_octree.h.

const std::vector<ORROctree::Node*>& pcl::recognition::ORROctree::getFullLeaves ( ) const
inline

Definition at line 418 of file orr_octree.h.

void pcl::recognition::ORROctree::getFullLeavesIntersectedBySphere ( const float *  p,
float  radius,
std::list< ORROctree::Node * > &  out 
) const

This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'.

Pointers to the intersected full leaves are saved in 'out'. The method computes a super set in the sense that in general not all leaves saved in 'out' are really intersected by the sphere. The intersection test is based on the leaf radius (since its faster than checking all leaf corners and sides), so we report more leaves than we should, but still, this is a fair approximation.

void pcl::recognition::ORROctree::getFullLeavesPoints ( PointCloudOut out) const
ORROctree::Node* pcl::recognition::ORROctree::getLeaf ( int  i,
int  j,
int  k 
)
inline

Since the leaves are aligned in a rectilinear grid, each leaf has a unique id.

The method returns the leaf with id [i, j, k] or NULL is no such leaf exists.

Definition at line 364 of file orr_octree.h.

ORROctree::Node* pcl::recognition::ORROctree::getLeaf ( float  x,
float  y,
float  z 
)
inline

Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists.

Definition at line 376 of file orr_octree.h.

References pcl::recognition::ORROctree::Node::getCenter(), pcl::recognition::ORROctree::Node::getChild(), and pcl::recognition::ORROctree::Node::hasChildren().

void pcl::recognition::ORROctree::getNormalsOfFullLeaves ( PointCloudN out) const
ORROctree::Node* pcl::recognition::ORROctree::getRandomFullLeafOnSphere ( const float *  p,
float  radius 
) const

Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'.

Returns NULL if no leaf is intersected by that sphere.

ORROctree::Node* pcl::recognition::ORROctree::getRoot ( )
inline

Definition at line 427 of file orr_octree.h.

float pcl::recognition::ORROctree::getVoxelSize ( ) const
inline

Definition at line 442 of file orr_octree.h.

void pcl::recognition::ORROctree::insertNeighbors ( Node node)
inline

Member Data Documentation

float pcl::recognition::ORROctree::bounds_[6]
protected

Definition at line 483 of file orr_octree.h.

std::vector<Node*> pcl::recognition::ORROctree::full_leaves_
protected

Definition at line 486 of file orr_octree.h.

Node* pcl::recognition::ORROctree::root_
protected

Definition at line 485 of file orr_octree.h.

int pcl::recognition::ORROctree::tree_levels_
protected

Definition at line 484 of file orr_octree.h.

float pcl::recognition::ORROctree::voxel_size_
protected

Definition at line 483 of file orr_octree.h.


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