Point Cloud Library (PCL)
1.11.0
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Octree pointcloud class More...
#include <pcl/octree/octree_pointcloud.h>
Public Types | |
using | Base = OctreeT |
using | LeafNode = typename OctreeT::LeafNode |
using | BranchNode = typename OctreeT::BranchNode |
using | IndicesPtr = shared_ptr< std::vector< int >> |
using | IndicesConstPtr = shared_ptr< const std::vector< int >> |
using | PointCloud = pcl::PointCloud< PointT > |
using | PointCloudPtr = typename PointCloud::Ptr |
using | PointCloudConstPtr = typename PointCloud::ConstPtr |
using | SingleBuffer = OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT >> |
using | Ptr = shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >> |
using | ConstPtr = shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >> |
using | AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT >> |
using | AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ >> |
Public Member Functions | |
OctreePointCloud (const double resolution_arg) | |
Octree pointcloud constructor. 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 (const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
Generate bounds of the current voxel of an octree iterator. More... | |
void | enableDynamicDepth (std::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... | |
Octree pointcloud class
PointT | type of point used in pointcloud |
LeafContainerT | leaf node container |
BranchContainerT | branch node container |
OctreeT | octree implementation |
Definition at line 72 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT>> |
Definition at line 107 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::AlignedPointXYZVector = std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ>> |
Definition at line 109 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Base = OctreeT |
Definition at line 74 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::BranchNode = typename OctreeT::BranchNode |
Definition at line 77 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::ConstPtr = shared_ptr< const OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>> |
Definition at line 104 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesConstPtr = shared_ptr<const std::vector<int>> |
Definition at line 86 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::IndicesPtr = shared_ptr<std::vector<int>> |
Definition at line 85 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::LeafNode = typename OctreeT::LeafNode |
Definition at line 76 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 88 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 90 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 89 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::Ptr = shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>> |
Definition at line 102 of file octree_pointcloud.h.
using pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::SingleBuffer = OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBase<LeafContainerT>> |
Definition at line 96 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 53 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 107 of file octree_pointcloud.hpp.
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protectedvirtual |
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::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >, and pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >.
Definition at line 655 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 78 of file octree_pointcloud.hpp.
References pcl::isFinite().
Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
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 121 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 137 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 512 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 333 of file octree_pointcloud.hpp.
References pcl::getMinMax3D().
Referenced by pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
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 367 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 411 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 452 of file octree_pointcloud.hpp.
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inline |
Delete the octree structure and its leaf nodes.
Definition at line 236 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 216 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 237 of file octree_pointcloud.hpp.
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Enable dynamic octree structure.
maxObjsPerLeaf | maximum number of DataT objects per leaf |
Definition at line 417 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 605 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 458 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 854 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
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protectedvirtual |
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 837 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 793 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, LeafTWrap, BranchTWrap >::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 815 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 901 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, LeafTWrap, BranchTWrap >::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 872 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 270 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 489 of file octree_pointcloud.hpp.
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Get the search epsilon precision (error bound) for nearest neighbors searches.
Definition at line 155 of file octree_pointcloud.h.
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Get a pointer to the vector of indices used.
Definition at line 128 of file octree_pointcloud.h.
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Get a pointer to the input point cloud dataset.
Definition at line 137 of file octree_pointcloud.h.
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Define octree key setting and octree depth based on defined bounding box.
Definition at line 717 of file octree_pointcloud.hpp.
References pcl::octree::OctreeKey::maxDepth.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::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 253 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 968 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 703 of file octree_pointcloud.hpp.
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Get octree voxel resolution.
Definition at line 178 of file octree_pointcloud.h.
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Get the maximum depth of the octree.
Definition at line 187 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 401 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 955 of file octree_pointcloud.hpp.
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Calculates the squared diameter of a voxel at leaf depth.
Definition at line 374 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::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 934 of file octree_pointcloud.hpp.
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Calculates the squared voxel cube side length at leaf level.
Definition at line 390 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::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 488 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 157 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 195 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 179 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 147 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 117 of file octree_pointcloud.h.
Referenced by pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
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Set/change the octree voxel resolution.
[in] | resolution_arg | side length of voxels at lowest tree level |
Definition at line 164 of file octree_pointcloud.h.
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Flag indicating if octree has defined bounding box.
Definition at line 594 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::deleteTree().
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Epsilon precision (error bound) for nearest neighbors searches.
Definition at line 578 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::getEpsilon(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::setEpsilon().
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A pointer to the vector of point indices to use.
Definition at line 575 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::getIndices(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::setInputCloud().
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Pointer to input point cloud dataset.
Definition at line 572 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::getInputCloud(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::setInputCloud().
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Amount of DataT objects per leafNode before expanding branch.
Definition at line 599 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::enableDynamicDepth().
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Definition at line 585 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::isPointWithinBoundingBox().
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Definition at line 588 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::isPointWithinBoundingBox().
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Definition at line 591 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::isPointWithinBoundingBox().
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Definition at line 584 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::isPointWithinBoundingBox().
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Definition at line 587 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::isPointWithinBoundingBox().
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Definition at line 590 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::deleteTree(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::isPointWithinBoundingBox().
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Octree resolution.
Definition at line 581 of file octree_pointcloud.h.
Referenced by pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::getResolution(), and pcl::octree::OctreePointCloud< PointT, LeafTWrap, BranchTWrap >::setResolution().