Point Cloud Library (PCL)
1.7.0
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Octree pointcloud class More...
#include <pcl/octree/octree_pointcloud.h>
Public Types | |
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< PointT > | PointCloud |
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 | |
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 (OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) |
Generate bounds of the current voxel of an octree iterator. More... | |
void | enableDynamicDepth (size_t maxObjsPerLeaf) |
Enable dynamic octree structure. More... | |
Protected Member Functions | |
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 PointT & | getPointByIndex (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 | |
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... | |
Friends | |
class | OctreeIteratorBase< OctreeT > |
class | OctreeDepthFirstIterator< OctreeT > |
class | OctreeBreadthFirstIterator< OctreeT > |
class | OctreeLeafNodeIterator< OctreeT > |
Octree pointcloud class
Definition at line 77 of file octree_pointcloud.h.
typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointTVector |
Definition at line 133 of file octree_pointcloud.h.
typedef std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointXYZVector |
Definition at line 134 of file octree_pointcloud.h.
typedef OctreeT pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Base |
Definition at line 86 of file octree_pointcloud.h.
typedef OctreeT::BranchNode pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BranchNode |
Definition at line 89 of file octree_pointcloud.h.
typedef OctreeBreadthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BreadthFirstIterator |
Definition at line 104 of file octree_pointcloud.h.
typedef const OctreeBreadthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstBreadthFirstIterator |
Definition at line 105 of file octree_pointcloud.h.
typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstDepthFirstIterator |
Definition at line 101 of file octree_pointcloud.h.
typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstIterator |
Definition at line 93 of file octree_pointcloud.h.
typedef const OctreeLeafNodeIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstLeafNodeIterator |
Definition at line 97 of file octree_pointcloud.h.
typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstPtr |
Definition at line 130 of file octree_pointcloud.h.
typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::DepthFirstIterator |
Definition at line 100 of file octree_pointcloud.h.
typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesConstPtr |
Definition at line 118 of file octree_pointcloud.h.
typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesPtr |
Definition at line 117 of file octree_pointcloud.h.
typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Iterator |
Definition at line 92 of file octree_pointcloud.h.
typedef OctreeT::LeafNode pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNode |
Definition at line 88 of file octree_pointcloud.h.
typedef OctreeLeafNodeIterator<OctreeT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNodeIterator |
Definition at line 96 of file octree_pointcloud.h.
typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloud |
Definition at line 120 of file octree_pointcloud.h.
typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudConstPtr |
Definition at line 122 of file octree_pointcloud.h.
typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudPtr |
Definition at line 121 of file octree_pointcloud.h.
typedef boost::shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Ptr |
Definition at line 129 of file octree_pointcloud.h.
typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT> > pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer |
Definition at line 125 of file octree_pointcloud.h.
pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::OctreePointCloud | ( | const double | resolution_arg | ) |
Octree pointcloud constructor.
[in] | resolution_arg | octree resolution at lowest octree level |
Definition at line 51 of file octree_pointcloud.hpp.
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Empty deconstructor.
Definition at line 61 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointFromCloud | ( | const int | 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.
[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 99 of file octree_pointcloud.hpp.
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Add point at index from input pointcloud dataset to octree.
[in] | point_idx_arg | the index representing the point in the dataset given by setInputCloud to be added |
Reimplemented in pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >, pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >, and pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >.
Definition at line 558 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::getChildIdxWithDepthMask().
Referenced by pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >::addPointIdx().
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud | ( | ) |
Add points from input point cloud to octree.
Definition at line 67 of file octree_pointcloud.hpp.
References pcl::isFinite().
Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud().
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointToCloud | ( | const PointT & | point_arg, |
PointCloudPtr | cloud_arg | ||
) |
Add point simultaneously to octree and input point cloud.
[in] | point_arg | point to be added |
[in] | cloud_arg | pointer to input point cloud dataset (given by setInputCloud) |
Definition at line 108 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::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.
[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 119 of file octree_pointcloud.hpp.
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Grow the bounding box/octree until point fits.
[in] | point_idx_arg | point that should be within bounding box; |
Definition at line 419 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox | ( | ) |
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
Definition at line 267 of file octree_pointcloud.hpp.
References pcl::getMinMax3D().
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::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.
[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 296 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox | ( | const double | max_x_arg, |
const double | max_y_arg, | ||
const double | max_z_arg | ||
) |
Define bounding box for octree.
[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 335 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::defineBoundingBox | ( | const double | cubeLen_arg | ) |
Define bounding box cube for octree.
[in] | cubeLen_arg | side length of bounding box cube. |
Definition at line 370 of file octree_pointcloud.hpp.
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Delete the octree structure and its leaf nodes.
Definition at line 241 of file octree_pointcloud.h.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteVoxelAtPoint | ( | const PointT & | point_arg | ) |
Delete leaf node / voxel at given point.
[in] | point_arg | point addressing the voxel to be deleted. |
Definition at line 169 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::deleteVoxelAtPoint | ( | const int & | point_idx_arg | ) |
Delete leaf node / voxel at given point from input cloud.
[in] | point_idx_arg | index of point addressing the voxel to be deleted. |
Definition at line 181 of file octree_pointcloud.hpp.
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Enable dynamic octree structure.
maxObjsPerLeaf,: | maximum number of DataT objects per leaf |
Definition at line 400 of file octree_pointcloud.h.
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Add point at index from input pointcloud dataset to octree.
[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 509 of file octree_pointcloud.hpp.
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Find octree leaf node at a given point.
[in] | point_arg | query point |
Definition at line 438 of file octree_pointcloud.h.
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Generate a point at center of leaf node voxel.
[in] | key_arg | octree key addressing a leaf node. |
[out] | point_arg | write leaf node voxel center to this point reference |
Definition at line 709 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
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Virtual method for generating octree key for a given point index.
[in] | data_arg | index value representing a point in the dataset given by setInputCloud |
[out] | key_arg | write octree key to this reference |
Definition at line 697 of file octree_pointcloud.hpp.
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Generate octree key for voxel at a given point.
[in] | point_arg | the point addressing a voxel |
[out] | key_arg | write octree key to this reference |
Definition at line 670 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::findLeafAtPoint().
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Generate octree key for voxel at a given point.
[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 681 of file octree_pointcloud.hpp.
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Generate bounds of an octree voxel using octree key and tree depth arguments.
[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 732 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelBounds().
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Generate a point at center of octree voxel at given tree level.
[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 719 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
int pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::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.
[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 |
Definition at line 206 of file octree_pointcloud.hpp.
void pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::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.
[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 402 of file octree_pointcloud.hpp.
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Get the search epsilon precision (error bound) for nearest neighbors searches.
Definition at line 172 of file octree_pointcloud.h.
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Get a pointer to the vector of indices used.
Definition at line 150 of file octree_pointcloud.h.
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Get a pointer to the input point cloud dataset.
Definition at line 158 of file octree_pointcloud.h.
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Define octree key setting and octree depth based on defined bounding box.
Definition at line 611 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::maxDepth.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setResolution().
int pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getOccupiedVoxelCenters | ( | AlignedPointTVector & | voxel_center_list_arg | ) | const |
Get a PointT vector of centers of all occupied voxels.
[out] | voxel_center_list_arg | results are written to this vector of PointT elements |
Definition at line 192 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
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Recursively search the tree for all leaf nodes and return a vector of voxel centers.
[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 |
Definition at line 776 of file octree_pointcloud.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::OctreeNode::getNodeType(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
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Get point at index from input pointcloud dataset.
[in] | index_arg | index representing the point in the dataset given by setInputCloud |
Definition at line 602 of file octree_pointcloud.hpp.
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Get octree voxel resolution.
Definition at line 193 of file octree_pointcloud.h.
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Get the maximum depth of the octree.
Definition at line 201 of file octree_pointcloud.h.
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Generate bounds of the current voxel of an octree iterator.
[in] | iterator,: | octree iterator |
[out] | min_pt | lower bound of voxel |
[out] | max_pt | upper bound of voxel |
Definition at line 389 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredDiameter | ( | unsigned int | tree_depth_arg | ) | const |
Calculates the squared diameter of a voxel at given tree depth.
[in] | tree_depth_arg | depth/level in octree |
Definition at line 768 of file octree_pointcloud.hpp.
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Calculates the squared diameter of a voxel at leaf depth.
Definition at line 363 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelSquaredDiameter().
double pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getVoxelSquaredSideLen | ( | unsigned int | tree_depth_arg | ) | const |
Calculates the squared voxel cube side length at given tree depth.
[in] | tree_depth_arg | depth/level in octree |
Definition at line 753 of file octree_pointcloud.hpp.
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Calculates the squared voxel cube side length at leaf level.
Definition at line 378 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelSquaredSideLen().
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Checks if given point is within the bounding box of the octree.
[in] | point_idx_arg | point to be checked for bounding box violations |
Definition at line 466 of file octree_pointcloud.h.
bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isVoxelOccupiedAtPoint | ( | const PointT & | point_arg | ) | const |
Check if voxel at given point exist.
[in] | point_arg | point to be checked |
Definition at line 132 of file octree_pointcloud.hpp.
bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::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.
[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 |
Definition at line 156 of file octree_pointcloud.hpp.
bool pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::isVoxelOccupiedAtPoint | ( | const int & | point_idx_arg | ) | const |
Check if voxel at given point from input cloud exist.
[in] | point_idx_arg | point to be checked |
Definition at line 145 of file octree_pointcloud.hpp.
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Set the search epsilon precision (error bound) for nearest neighbors searches.
[in] | eps | precision (error bound) for nearest neighbors searches |
Definition at line 166 of file octree_pointcloud.h.
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Provide a pointer to the input data set.
[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 140 of file octree_pointcloud.h.
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Set/change the octree voxel resolution.
[in] | resolution_arg | side length of voxels at lowest tree level |
Definition at line 180 of file octree_pointcloud.h.
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Definition at line 82 of file octree_pointcloud.h.
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Definition at line 81 of file octree_pointcloud.h.
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Definition at line 80 of file octree_pointcloud.h.
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Definition at line 83 of file octree_pointcloud.h.
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Flag indicating if octree has defined bounding box.
Definition at line 565 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree().
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Epsilon precision (error bound) for nearest neighbors searches.
Definition at line 549 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getEpsilon(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setEpsilon().
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A pointer to the vector of point indices to use.
Definition at line 546 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getIndices(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setInputCloud().
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Pointer to input point cloud dataset.
Definition at line 543 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getInputCloud(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setInputCloud().
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Amount of DataT objects per leafNode before expanding branch.
Definition at line 570 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::enableDynamicDepth().
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Definition at line 556 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox().
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Definition at line 559 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox().
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Definition at line 562 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox().
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Definition at line 555 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox().
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Definition at line 558 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox().
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Definition at line 561 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::isPointWithinBoundingBox().
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Octree resolution.
Definition at line 552 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getResolution(), and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::setResolution().