Octree pointcloud compression class More...

#include <pcl/compression/octree_pointcloud_compression.h>

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

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

Public Types
typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloud	PointCloud

typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloudPtr	PointCloudPtr

typedef OctreePointCloud < PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr	PointCloudConstPtr

typedef OctreeT::LeafNode	LeafNode

typedef OctreeT::BranchNode	BranchNode

typedef PointCloudCompression < PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >	RealTimeStreamCompression

typedef PointCloudCompression < PointT, LeafT, BranchT, OctreeBase< int, LeafT, BranchT > >	SinglePointCloudCompressionLowMemory

typedef OctreeT	Base

typedef OctreeDepthFirstIterator< int, OctreeT >	Iterator

typedef const OctreeDepthFirstIterator< int, OctreeT >	ConstIterator

typedef OctreeLeafNodeIterator < int, OctreeT >	LeafNodeIterator

typedef const OctreeLeafNodeIterator< int, OctreeT >	ConstLeafNodeIterator

typedef OctreeDepthFirstIterator< int, OctreeT >	DepthFirstIterator

typedef const OctreeDepthFirstIterator< int, OctreeT >	ConstDepthFirstIterator

typedef OctreeBreadthFirstIterator < int, OctreeT >	BreadthFirstIterator

typedef const OctreeBreadthFirstIterator < int, OctreeT >	ConstBreadthFirstIterator

typedef boost::shared_ptr < std::vector< int > >	IndicesPtr

typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr

typedef OctreePointCloud < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer

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

typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, OctreeT > >	Ptr

typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, OctreeT > >	ConstPtr

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

Public Member Functions
	PointCloudCompression (compression_Profiles_e compressionProfile_arg=MED_RES_ONLINE_COMPRESSION_WITH_COLOR, bool showStatistics_arg=false, const double pointResolution_arg=0.001, const double octreeResolution_arg=0.01, bool doVoxelGridDownDownSampling_arg=false, const unsigned int iFrameRate_arg=30, bool doColorEncoding_arg=true, const unsigned char colorBitResolution_arg=6)
	Constructor. More...

virtual	~PointCloudCompression ()
	Empty deconstructor. More...

void	initialization ()
	Initialize globals. More...

void	setOutputCloud (const PointCloudPtr &cloud_arg)
	Provide a pointer to the output data set. More...

PointCloudPtr	getOutputCloud () const
	Get a pointer to the output point cloud dataset. More...

void	encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressedTreeDataOut_arg)
	Encode point cloud to output stream. More...

void	decodePointCloud (std::istream &compressedTreeDataIn_arg, PointCloudPtr &cloud_arg)
	Decode point cloud from input stream. 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, OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
	Generate bounds of the current voxel of an octree iterator. More...

Detailed Description

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>
class pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >

Octree pointcloud compression class

Note: This class enables compression and decompression of point cloud data based on octree data structures.; 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 71 of file octree_pointcloud_compression.h.

Member Typedef Documentation

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 132 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 89 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreeT::BranchNode pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::BranchNode

Definition at line 81 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 103 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 104 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 102 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 96 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 99 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 129 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 101 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 125 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 117 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 116 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 95 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreeT::LeafNode pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::LeafNode

Definition at line 80 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 98 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloud pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloud

Definition at line 76 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudConstPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr

Definition at line 78 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef OctreePointCloud<PointT, LeafT, BranchT, OctreeT>::PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr

Definition at line 77 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 128 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

typedef PointCloudCompression<PointT, LeafT, BranchT, Octree2BufBase<int, LeafT, BranchT> > pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::RealTimeStreamCompression

Definition at line 83 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inherited

Definition at line 124 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

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

Definition at line 84 of file octree_pointcloud_compression.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::PointCloudCompression	(	compression_Profiles_e	compressionProfile_arg = `MED_RES_ONLINE_COMPRESSION_WITH_COLOR`,
		bool	showStatistics_arg = `false`,
		const double	pointResolution_arg = `0.001`,
		const double	octreeResolution_arg = `0.01`,
		bool	doVoxelGridDownDownSampling_arg = `false`,
		const unsigned int	iFrameRate_arg = `30`,
		bool	doColorEncoding_arg = `true`,
		const unsigned char	colorBitResolution_arg = `6`
	)

inline

Constructor.

Parameters

compressionProfile_arg,:	define compression profile
octreeResolution_arg,:	octree resolution at lowest octree level
pointResolution_arg,:	precision of point coordinates
doVoxelGridDownDownSampling_arg,:	voxel grid filtering
iFrameRate_arg,:	i-frame encoding rate
doColorEncoding_arg,:	enable/disable color coding
colorBitResolution_arg,:	color bit depth
showStatistics_arg,:	output compression statistics

Definition at line 97 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

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

inlinevirtual

Empty deconstructor.

Definition at line 126 of file octree_pointcloud_compression.h.

Member Function Documentation

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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)

Definition at line 98 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

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

inherited

Add points from input point cloud to octree.

Definition at line 65 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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)

Definition at line 107 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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)

Definition at line 118 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::decodePointCloud	(	std::istream &	compressedTreeDataIn_arg,
		PointCloudPtr &	cloud_arg
	)

Decode point cloud from input stream.

Parameters

compressedTreeDataIn_arg,:	binary input stream containing compressed data
cloud_arg,:	reference to decoded point cloud

Definition at line 174 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

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

inherited

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

Definition at line 266 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 295 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 334 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

Definition at line 369 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

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

inherited

Delete leaf node / voxel at given point.

Parameters

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

Definition at line 168 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

Definition at line 180 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::encodePointCloud	(	const PointCloudConstPtr &	cloud_arg,
		std::ostream &	compressedTreeDataOut_arg
	)

Encode point cloud to output stream.

Parameters

cloud_arg,:	point cloud to be compressed
compressedTreeDataOut_arg,:	binary output stream containing compressed data

Definition at line 58 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 205 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 401 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inlineinherited

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

Definition at line 172 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 191 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::getOutputCloud ( ) const

inline

Get a pointer to the output point cloud dataset.

Returns: pointer to pointcloud output class.

Definition at line 177 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

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

inlineinherited

Get octree voxel resolution.

Returns: voxel resolution at lowest tree level

Definition at line 193 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

unsigned int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::getVoxelBounds	(	OctreeIteratorBase< int, OctreeT > &	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 , typename BranchT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 705 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT , typename LeafT , typename BranchT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 690 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::initialization ( )

inline

Initialize globals.

Definition at line 131 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 131 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 155 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename BranchT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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

Definition at line 144 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

template<typename PointT , typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>

void pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >::setOutputCloud ( const PointCloudPtr & cloud_arg )

inline

Provide a pointer to the output data set.

Parameters

cloud_arg,: the boost shared pointer to a PointCloud message

Definition at line 165 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = OctreeBase<int, LeafT, BranchT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::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.

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

/builddir/build/BUILD/PCL-1.6.0-Source/io/include/pcl/compression/octree_pointcloud_compression.h
/builddir/build/BUILD/PCL-1.6.0-Source/io/include/pcl/compression/impl/octree_pointcloud_compression.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>> class pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>, typename OctreeT = Octree2BufBase<int, LeafT, BranchT>>
class pcl::octree::PointCloudCompression< PointT, LeafT, BranchT, OctreeT >