Octree pointcloud density class More...

#include <pcl/octree/octree_pointcloud_density.h>

Inheritance diagram for pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >:

Collaboration diagram for pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >:

Public Types
typedef OctreeBase< int, LeafT, BranchT >	Base

typedef OctreeBase< int, LeafT, BranchT >::LeafNode	LeafNode

typedef OctreeBase< int, LeafT, BranchT >::BranchNode	BranchNode

typedef OctreeDepthFirstIterator< int, OctreeBase< int, LeafT, BranchT > >	Iterator

typedef const OctreeDepthFirstIterator< int, OctreeBase< int, LeafT, BranchT > >	ConstIterator

typedef OctreeLeafNodeIterator < int, OctreeBase< int, LeafT, BranchT > >	LeafNodeIterator

typedef const OctreeLeafNodeIterator< int, OctreeBase< int, LeafT, BranchT > >	ConstLeafNodeIterator

typedef OctreeDepthFirstIterator< int, OctreeBase< int, LeafT, BranchT > >	DepthFirstIterator

typedef const OctreeDepthFirstIterator< int, OctreeBase< int, LeafT, BranchT > >	ConstDepthFirstIterator

typedef OctreeBreadthFirstIterator < int, OctreeBase< int, LeafT, BranchT > >	BreadthFirstIterator

typedef const OctreeBreadthFirstIterator < int, OctreeBase< int, LeafT, BranchT > >	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, LeafT, OctreeBase < int, LeafT > >	SingleBuffer

typedef OctreePointCloud < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer

typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, OctreeBase< int, LeafT, BranchT > > >	Ptr

typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, OctreeBase < int, LeafT, BranchT > > >	ConstPtr

typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector

typedef OctreeBase< int, OctreeContainerDataT< int > , OctreeContainerEmpty< int > >	SingleObjLeafContainer

typedef OctreeBase< int, OctreeContainerDataTVector < int >, OctreeContainerEmpty < int > >	MultipleObjsLeafContainer

typedef OctreeBase< int, LeafT, BranchT >	OctreeT

Public Member Functions
	OctreePointCloudDensity (const double resolution_arg)
	OctreePointCloudDensity class constructor. More...

virtual	~OctreePointCloudDensity ()
	Empty class deconstructor. More...

unsigned int	getVoxelDensityAtPoint (const PointT &point_arg) const
	Get the amount of points within a leaf node voxel which is addressed by a point. 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 pointIdx_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...

bool	isVoxelOccupiedAtPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg) const
	Check if voxel at given point coordinates exist. More...

bool	isVoxelOccupiedAtPoint (const int &pointIdx_arg) const
	Check if voxel at given point from input cloud exist. More...

void	deleteTree (bool freeMemory_arg=false)
	Delete the octree structure and its leaf nodes. More...

int	getOccupiedVoxelCenters (AlignedPointTVector &voxelCenterList_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 &pointIdx_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 minX_arg, const double minY_arg, const double minZ_arg, const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree. More...

void	getBoundingBox (double &minX_arg, double &minY_arg, double &minZ_arg, double &maxX_arg, double &maxY_arg, double &maxZ_arg) const
	Get bounding box for octree. More...

double	getVoxelSquaredDiameter (unsigned int treeDepth_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 treeDepth_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< int, OctreeBase< int, LeafT, BranchT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
	Generate bounds of the current voxel of an octree iterator. More...

void	setMaxVoxelIndex (unsigned int maxVoxelIndex_arg)
	Set the maximum amount of voxels per dimension. More...

void	setTreeDepth (unsigned int depth_arg)
	Set the maximum depth of the octree. More...

void	enableDynamicDepth (size_t maxObjsPerLeaf)
	Enable dynamic octree structure. More...

void	addData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, const int &data_arg)
	Add a const DataT element to leaf node at (idxX, idxY, idxZ). More...

bool	getData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, int &data_arg) const
	Retrieve a DataT element from leaf node at (idxX, idxY, idxZ). More...

bool	existLeaf (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg) const
	Check for the existence of leaf node at (idxX, idxY, idxZ). More...

void	removeLeaf (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg)
	Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg). More...

std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree. More...

std::size_t	getBranchCount () const
	Return the amount of existing branches in the octree. More...

void	serializeTree (std::vector< char > &binaryTreeOut_arg)
	Serialize octree into a binary output vector describing its branch node structure. More...

void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< int > &dataVector_arg)
	Serialize octree into a binary output vector describing its branch node structure and push all DataT elements stored in the octree to a vector. More...

void	serializeLeafs (std::vector< int > &dataVector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes. More...

void	deserializeTree (std::vector< char > &binaryTreeIn_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure. More...

void	deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< int > &dataVector_arg)
	Deserialize a binary octree description and create a corresponding octree structure. More...

Detailed Description

template<typename PointT, typename LeafT = OctreePointCloudDensityContainer<int>, typename BranchT = OctreeContainerEmpty<int>>
class pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >

Octree pointcloud density class

Note: This class generate an octrees from a point cloud (zero-copy). Only the amount of points that fall into the leaf node voxel are stored.; The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.; typename: PointT: type of point used in pointcloud

Author: Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 139 of file octree_pointcloud_density.h.

Member Typedef Documentation

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::AlignedPointTVector

inherited

Definition at line 132 of file octree_pointcloud.h.

typedef OctreeBase<int, LeafT, BranchT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::Base

inherited

Definition at line 89 of file octree_pointcloud.h.

typedef OctreeBase<int, LeafT, BranchT> ::BranchNode pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::BranchNode

inherited

Definition at line 92 of file octree_pointcloud.h.

typedef OctreeBreadthFirstIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::BreadthFirstIterator

inherited

Definition at line 103 of file octree_pointcloud.h.

typedef const OctreeBreadthFirstIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::ConstBreadthFirstIterator

inherited

Definition at line 104 of file octree_pointcloud.h.

typedef const OctreeDepthFirstIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::ConstDepthFirstIterator

inherited

Definition at line 102 of file octree_pointcloud.h.

typedef const OctreeDepthFirstIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::ConstIterator

inherited

Definition at line 96 of file octree_pointcloud.h.

typedef const OctreeLeafNodeIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::ConstLeafNodeIterator

inherited

Definition at line 99 of file octree_pointcloud.h.

typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafT, OctreeBase<int, LeafT, BranchT> > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::ConstPtr

inherited

Definition at line 129 of file octree_pointcloud.h.

typedef OctreeDepthFirstIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::DepthFirstIterator

inherited

Definition at line 101 of file octree_pointcloud.h.

typedef OctreePointCloud<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::DoubleBuffer

inherited

Definition at line 125 of file octree_pointcloud.h.

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::IndicesConstPtr

inherited

Definition at line 117 of file octree_pointcloud.h.

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::IndicesPtr

inherited

Definition at line 116 of file octree_pointcloud.h.

typedef OctreeDepthFirstIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::Iterator

inherited

Definition at line 95 of file octree_pointcloud.h.

typedef OctreeBase<int, LeafT, BranchT> ::LeafNode pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::LeafNode

inherited

Definition at line 91 of file octree_pointcloud.h.

typedef OctreeLeafNodeIterator<int, OctreeBase<int, LeafT, BranchT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::LeafNodeIterator

inherited

Definition at line 98 of file octree_pointcloud.h.

typedef OctreeBase<int , OctreeContainerDataTVector<int >, OctreeContainerEmpty<int > > pcl::octree::OctreeBase< int , LeafT, BranchT >::MultipleObjsLeafContainer

inherited

Definition at line 70 of file octree_base.h.

typedef OctreeBase<int , LeafT, BranchT> pcl::octree::OctreeBase< int , LeafT, BranchT >::OctreeT

inherited

Definition at line 72 of file octree_base.h.

typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::PointCloud

inherited

Definition at line 119 of file octree_pointcloud.h.

typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::PointCloudConstPtr

inherited

Definition at line 121 of file octree_pointcloud.h.

typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::PointCloudPtr

inherited

Definition at line 120 of file octree_pointcloud.h.

typedef boost::shared_ptr<OctreePointCloud<PointT, LeafT, OctreeBase<int, LeafT, BranchT> > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::Ptr

inherited

Definition at line 128 of file octree_pointcloud.h.

typedef OctreePointCloud<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::SingleBuffer

inherited

Definition at line 124 of file octree_pointcloud.h.

typedef OctreeBase<int , OctreeContainerDataT<int >, OctreeContainerEmpty<int > > pcl::octree::OctreeBase< int , LeafT, BranchT >::SingleObjLeafContainer

inherited

Definition at line 69 of file octree_base.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreePointCloudDensityContainer<int>, typename BranchT = OctreeContainerEmpty<int>>

pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >::OctreePointCloudDensity ( const double resolution_arg )

inline

OctreePointCloudDensity class constructor.

Parameters

resolution_arg,: octree resolution at lowest octree level

Definition at line 146 of file octree_pointcloud_density.h.

template<typename PointT , typename LeafT = OctreePointCloudDensityContainer<int>, typename BranchT = OctreeContainerEmpty<int>>

virtual pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >::~OctreePointCloudDensity ( )

inlinevirtual

Empty class deconstructor.

Definition at line 153 of file octree_pointcloud_density.h.

Member Function Documentation

void pcl::octree::OctreeBase< int , LeafT, BranchT >::addData	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg,
		const int &	data_arg
	)

inherited

Add a const DataT element to leaf node at (idxX, idxY, idxZ).

If leaf node does not exist, it is created and added to the octree.

Parameters

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.
data_arg,:	const reference to DataT object to be added.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::addPointFromCloud	(	const int	pointIdx_arg,
		IndicesPtr	indices_arg
	)

inherited

Add point at given index from input point cloud to octree.

Index will be also added to indices vector.

Parameters

[in]	pointIdx_arg	index of point to be added
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::addPointsFromInputCloud ( )

inherited

Add points from input point cloud to octree.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg
	)

inherited

Add point simultaneously to octree and input point cloud.

Parameters

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg
	)

inherited

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters

[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)

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::defineBoundingBox ( )

inherited

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::defineBoundingBox	(	const double	minX_arg,
		const double	minY_arg,
		const double	minZ_arg,
		const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)

inherited

Define bounding box for octree.

Note: Bounding box cannot be changed once the octree contains elements.

Parameters

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::defineBoundingBox	(	const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)

inherited

Define bounding box for octree.

Note: Lower bounding box point is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters

[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::defineBoundingBox ( const double cubeLen_arg )

inherited

Define bounding box cube for octree.

Note: Lower bounding box corner is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters

[in] cubeLen_arg side length of bounding box cube.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::deleteTree ( bool freeMemory_arg = false )

inlineinherited

Delete the octree structure and its leaf nodes.

Parameters

freeMemory_arg,: if "true", allocated octree nodes are deleted, otherwise they are pushed to the octree node pool

Definition at line 243 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::deleteVoxelAtPoint ( const PointT & point_arg )

inherited

Delete leaf node / voxel at given point.

Parameters

[in] point_arg point addressing the voxel to be deleted.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::deleteVoxelAtPoint ( const int & pointIdx_arg )

inherited

Delete leaf node / voxel at given point from input cloud.

Parameters

[in] pointIdx_arg index of point addressing the voxel to be deleted.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::deserializeTree ( std::vector< char > & binaryTreeIn_arg )

inherited

Deserialize a binary octree description vector and create a corresponding octree structure.

Leaf nodes are initialized with getDataTByKey(..).

Parameters

binaryTreeIn_arg,: reference to input vector for reading binary tree structure.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< int > &	dataVector_arg
	)

inherited

Deserialize a binary octree description and create a corresponding octree structure.

Leaf nodes are initialized with DataT elements from the dataVector.

Parameters

binaryTreeIn_arg,:	reference to input vector for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that provides DataT objects for initializing leaf nodes.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::enableDynamicDepth ( size_t maxObjsPerLeaf )

inlineinherited

Enable dynamic octree structure.

Note: Leaf nodes are kept as close to the root as possible and are only expanded if the number of DataT objects within a leaf node exceeds a fixed limit.

Returns: maxObjsPerLeaf: maximum number of DataT objects per leaf

Definition at line 157 of file octree_base.h.

bool pcl::octree::OctreeBase< int , LeafT, BranchT >::existLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)		const

inherited

Check for the existence of leaf node at (idxX, idxY, idxZ).

Parameters

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.

Returns: "true" if leaf node search is successful, otherwise it returns "false".

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getApproxIntersectedVoxelCentersBySegment	(	const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	end,
		AlignedPointTVector &	voxel_center_list,
		float	precision = `0.2`
	)

inherited

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.

Parameters

[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

Returns: number of intersected voxels

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getBoundingBox	(	double &	minX_arg,
		double &	minY_arg,
		double &	minZ_arg,
		double &	maxX_arg,
		double &	maxY_arg,
		double &	maxZ_arg
	)		const

inherited

Get bounding box for octree.

Note: Bounding box cannot be changed once the octree contains elements.

Parameters

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

std::size_t pcl::octree::OctreeBase< int , LeafT, BranchT >::getBranchCount ( ) const

inlineinherited

Return the amount of existing branches in the octree.

Returns: amount of branch nodes.

Definition at line 213 of file octree_base.h.

bool pcl::octree::OctreeBase< int , LeafT, BranchT >::getData	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg,
		int &	data_arg
	)		const

inherited

Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).

It returns false if leaf node does not exist.

Parameters

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.
data_arg,:	reference to DataT object that contains content of leaf node if search was successful.

Returns: "true" if leaf node search is successful, otherwise it returns "false".

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getEpsilon ( ) const

inlineinherited

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 172 of file octree_pointcloud.h.

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getIndices ( ) const

inlineinherited

Get a pointer to the vector of indices used.

Returns: pointer to vector of indices used.

Definition at line 150 of file octree_pointcloud.h.

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getInputCloud ( ) const

inlineinherited

Get a pointer to the input point cloud dataset.

Returns: pointer to pointcloud input class.

Definition at line 158 of file octree_pointcloud.h.

std::size_t pcl::octree::OctreeBase< int , LeafT, BranchT >::getLeafCount ( ) const

inlineinherited

Return the amount of existing leafs in the octree.

Returns: amount of registered leaf nodes.

Definition at line 204 of file octree_base.h.

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getOccupiedVoxelCenters ( AlignedPointTVector & voxelCenterList_arg ) const

inherited

Get a PointT vector of centers of all occupied voxels.

Parameters

[out] voxelCenterList_arg results are written to this vector of PointT elements

Returns: number of occupied voxels

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getResolution ( ) const

inlineinherited

Get octree voxel resolution.

Returns: voxel resolution at lowest tree level

Definition at line 193 of file octree_pointcloud.h.

unsigned int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getTreeDepth ( ) const

inlineinherited

Get the maximum depth of the octree.

Returns: depth_arg: maximum depth of octree

Definition at line 201 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getVoxelBounds	(	OctreeIteratorBase< int, OctreeBase<int, LeafT, BranchT> > &	iterator,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt
	)

inlineinherited

Generate bounds of the current voxel of an octree iterator.

Parameters

[in]	iterator,:	octree iterator
[out]	min_pt	lower bound of voxel
[out]	max_pt	upper bound of voxel

Definition at line 393 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreePointCloudDensityContainer<int>, typename BranchT = OctreeContainerEmpty<int>>

unsigned int pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >::getVoxelDensityAtPoint ( const PointT & point_arg ) const

inline

Get the amount of points within a leaf node voxel which is addressed by a point.

Parameters

[in] point_arg,: a point addressing a voxel

Returns: amount of points that fall within leaf node voxel

Definition at line 162 of file octree_pointcloud_density.h.

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getVoxelSquaredDiameter ( unsigned int treeDepth_arg ) const

inherited

Calculates the squared diameter of a voxel at given tree depth.

Parameters

[in] treeDepth_arg depth/level in octree

Returns: squared diameter

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getVoxelSquaredDiameter ( ) const

inlineinherited

Calculates the squared diameter of a voxel at leaf depth.

Returns: squared diameter

Definition at line 368 of file octree_pointcloud.h.

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getVoxelSquaredSideLen ( unsigned int treeDepth_arg ) const

inherited

Calculates the squared voxel cube side length at given tree depth.

Parameters

[in] treeDepth_arg depth/level in octree

Returns: squared voxel cube side length

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::getVoxelSquaredSideLen ( ) const

inlineinherited

Calculates the squared voxel cube side length at leaf level.

Returns: squared voxel cube side length

Definition at line 383 of file octree_pointcloud.h.

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::isVoxelOccupiedAtPoint ( const PointT & point_arg ) const

inherited

Check if voxel at given point exist.

Parameters

[in] point_arg point to be checked

Returns: "true" if voxel exist; "false" otherwise

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::isVoxelOccupiedAtPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg
	)		const

inherited

Check if voxel at given point coordinates exist.

Parameters

[in]	pointX_arg	X coordinate of point to be checked
[in]	pointY_arg	Y coordinate of point to be checked
[in]	pointZ_arg	Z coordinate of point to be checked

Returns: "true" if voxel exist; "false" otherwise

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::isVoxelOccupiedAtPoint ( const int & pointIdx_arg ) const

inherited

Check if voxel at given point from input cloud exist.

Parameters

[in] pointIdx_arg point to be checked

Returns: "true" if voxel exist; "false" otherwise

void pcl::octree::OctreeBase< int , LeafT, BranchT >::removeLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)

inherited

Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).

Parameters

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::serializeLeafs ( std::vector< int > & dataVector_arg )

inherited

Outputs a vector of all DataT elements that are stored within the octree leaf nodes.

Parameters

dataVector_arg,: reference to DataT vector that receives a copy of all DataT objects in the octree.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::serializeTree ( std::vector< char > & binaryTreeOut_arg )

inherited

Serialize octree into a binary output vector describing its branch node structure.

Parameters

binaryTreeOut_arg,: reference to output vector for writing binary tree structure.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		std::vector< int > &	dataVector_arg
	)

inherited

Serialize octree into a binary output vector describing its branch node structure and push all DataT elements stored in the octree to a vector.

Parameters

binaryTreeOut_arg,:	reference to output vector for writing binary tree structure.
dataVector_arg,:	reference of DataT vector that receives a copy of all DataT objects in the octree

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::setEpsilon ( double eps )

inlineinherited

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters

[in] eps precision (error bound) for nearest neighbors searches

Definition at line 166 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = `IndicesConstPtr ()`
	)

inlineinherited

Provide a pointer to the input data set.

Parameters

[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 138 of file octree_pointcloud.h.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::setMaxVoxelIndex ( unsigned int maxVoxelIndex_arg )

inherited

Set the maximum amount of voxels per dimension.

Parameters

[in] maxVoxelIndex_arg maximum amount of voxels per dimension

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase<int, LeafT, BranchT> >::setResolution ( double resolution_arg )

inlineinherited

Set/change the octree voxel resolution.

Parameters

[in] resolution_arg side length of voxels at lowest tree level

Definition at line 180 of file octree_pointcloud.h.

void pcl::octree::OctreeBase< int , LeafT, BranchT >::setTreeDepth ( unsigned int depth_arg )

inherited

Set the maximum depth of the octree.

Parameters

depth_arg,: maximum depth of octree

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

/builddir/build/BUILD/PCL-1.6.0-Source/octree/include/pcl/octree/octree_pointcloud_density.h

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename LeafT = OctreePointCloudDensityContainer<int>, typename BranchT = OctreeContainerEmpty<int>> class pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename LeafT = OctreePointCloudDensityContainer<int>, typename BranchT = OctreeContainerEmpty<int>>
class pcl::octree::OctreePointCloudDensity< PointT, LeafT, BranchT >