Point Cloud Library (PCL)  1.8.0-dev
Classes
Module octree

Detailed Description

Overview

The pcl_octree library provides efficient methods for creating a hierarchical tree data structure from point cloud data. This enables spatial partitioning, downsampling and search operations on the point data set. Each octree node has either eight children or no children. The root node describes a cubic bounding box which encapsulates all points. At every tree level, this space becomes subdivided by a factor of 2 which results in an increased voxel resolution.

The pcl_octree implementation provides efficient nearest neighbor search routines, such as "Neighbors within Voxel Search”, “K Nearest Neighbor Search” and “Neighbors within Radius Search”. It automatically adjusts its dimension to the point data set. A set of leaf node classes provide additional functionality, such as spacial "occupancy" and "point density per voxel" checks. Functions for serialization and deserialization enable to efficiently encode the octree structure into a binary format. Furthermore, a memory pool implementation reduces expensive memory allocation and deallocation operations in scenarios where octrees needs to be created at high rate.

The following figure illustrates the voxel bounding boxes of an octree nodes at lowest tree level. The octree voxels are surrounding every 3D point from the bunny's surface. The red dots represent the point data. This image is create with the octree_viewer (visualization/tools/octree_viewer).

For examples how to use the pcl_octree library, please visit the pcl tutorial page.

octree_bunny.png

Requirements

Classes

class  pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >
 Octree double buffer class More...
 
class  pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
 Octree class. More...
 
class  pcl::octree::OctreeIteratorBase< OctreeT >
 Abstract octree iterator class More...
 
class  pcl::octree::OctreeDepthFirstIterator< OctreeT >
 Octree iterator class More...
 
class  pcl::octree::OctreeBreadthFirstIterator< OctreeT >
 Octree iterator class More...
 
class  pcl::octree::OctreeLeafNodeIterator< OctreeT >
 Octree leaf node iterator class. More...
 
class  pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >
 Octree pointcloud class More...
 
class  pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >
 Octree pointcloud voxel class which maintains adjacency information for its voxels. More...
 
class  pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >
 Octree pointcloud change detector class More...
 
class  pcl::octree::OctreePointCloudDensity< PointT, LeafContainerT, BranchContainerT >
 Octree pointcloud density class More...
 
class  pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >
 Octree pointcloud occupancy class More...
 
class  pcl::octree::OctreePointCloudPointVector< PointT, LeafContainerT, BranchContainerT, OctreeT >
 Octree pointcloud point vector class More...
 
class  pcl::octree::OctreePointCloudSinglePoint< PointT, LeafContainerT, BranchContainerT, OctreeT >
 Octree pointcloud single point class More...
 
class  pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >
 Octree pointcloud voxel centroid class More...
 
class  pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >
 Octree pointcloud search class More...
 
class  pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::prioBranchQueueEntry
 Priority queue entry for branch nodes More...
 
class  pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::prioPointQueueEntry
 Priority queue entry for point candidates More...