Octree double buffer class More...

#include <pcl/octree/octree2buf_base.h>

Public Types
typedef Octree2BufBase< DataT, LeafT, BranchT >	OctreeT
typedef BufferedBranchNode < BranchT >	BranchNode
typedef OctreeLeafNode< LeafT >	LeafNode
typedef OctreeDepthFirstIterator < DataT, OctreeT >	Iterator
typedef const OctreeDepthFirstIterator < DataT, OctreeT >	ConstIterator
typedef OctreeLeafNodeIterator < DataT, OctreeT >	LeafNodeIterator
typedef const OctreeLeafNodeIterator< DataT, OctreeT >	ConstLeafNodeIterator
typedef OctreeDepthFirstIterator < DataT, OctreeT >	DepthFirstIterator
typedef const OctreeDepthFirstIterator < DataT, OctreeT >	ConstDepthFirstIterator
typedef OctreeBreadthFirstIterator < DataT, OctreeT >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < DataT, OctreeT >	ConstBreadthFirstIterator
Public Member Functions
	Octree2BufBase ()
	Empty constructor.
virtual	~Octree2BufBase ()
	Empty deconstructor.
	Octree2BufBase (const Octree2BufBase &source)
	Copy constructor.
Octree2BufBase &	operator= (const Octree2BufBase &source)
	Copy constructor.
void	setMaxVoxelIndex (unsigned int maxVoxelIndex_arg)
	Set the maximum amount of voxels per dimension.
void	setTreeDepth (unsigned int depth_arg)
	Set the maximum depth of the octree.
unsigned int	getTreeDepth () const
	Get the maximum depth of the octree.
void	addData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, const DataT &data_arg)
	Add a const DataT element to leaf node at (idxX, idxY, idxZ).
bool	getData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, DataT &data_arg) const
	Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).
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).
void	removeLeaf (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg)
	Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).
unsigned int	getLeafCount () const
	Return the amount of existing leafs in the octree.
unsigned int	getBranchCount () const
	Return the amount of existing branches in the octree.
void	deleteTree (bool freeMemory_arg=false)
	Delete the octree structure and its leaf nodes.
void	deletePreviousBuffer ()
	Delete octree structure of previous buffer.
void	deleteCurrentBuffer ()
	Delete the octree structure in the current buffer.
void	switchBuffers ()
	Switch buffers and reset current octree structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, bool doXOREncoding_arg=false)
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &dataVector_arg, bool doXOREncoding_arg=false)
	Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector.
void	serializeLeafs (std::vector< DataT > &dataVector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
void	serializeNewLeafs (std::vector< DataT > &dataVector_arg, const int minPointsPerLeaf_arg=0)
	Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, bool doXORDecoding_arg=false)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg, bool doXORDecoding_arg=false)
	Deserialize a binary octree description and create a corresponding octree structure.
Friends
class	OctreeIteratorBase< DataT, OctreeT >
class	OctreeDepthFirstIterator< DataT, OctreeT >
class	OctreeBreadthFirstIterator< DataT, OctreeT >
class	OctreeLeafNodeIterator< DataT, OctreeT >

Detailed Description

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>
class pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >

Octree double buffer class

Note:: This octree implementation keeps two separate octree structures in memory. This enables to create octree structures at high rate due to an advanced memory management.; Furthermore, it allows for detecting and differentially compare the adjacent octree structures.; The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).; All leaf nodes are addressed by integer indices.; Note: The tree depth equates to the bit length of the voxel indices.

Author:: Julius Kammerl (julius@kammerl.de)

Definition at line 178 of file octree2buf_base.h.

Member Typedef Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef BufferedBranchNode<BranchT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::BranchNode

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 191 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeBreadthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::BreadthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 203 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeBreadthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstBreadthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 204 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstDepthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 202 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 196 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef const OctreeLeafNodeIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::ConstLeafNodeIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 199 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::DepthFirstIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 201 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeDepthFirstIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Iterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 195 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeLeafNode<LeafT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::LeafNode

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 192 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef OctreeLeafNodeIterator<DataT, OctreeT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::LeafNodeIterator

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 198 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

typedef Octree2BufBase<DataT, LeafT, BranchT> pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::OctreeT

Definition at line 183 of file octree2buf_base.h.

Constructor & Destructor Documentation

template<typename DataT , typename LeafT , typename BranchT >

pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Octree2BufBase ( )

Empty constructor.

Definition at line 48 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::~Octree2BufBase ( ) [virtual]

Empty deconstructor.

Definition at line 65 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::Octree2BufBase ( const Octree2BufBase< DataT, LeafT, BranchT > & source ) [inline]

Copy constructor.

Definition at line 214 of file octree2buf_base.h.

Member Function Documentation

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::addData	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg,
		const DataT &	data_arg
	)

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

If leaf node does not exist, it is 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 that is fed to the lead node.

Definition at line 108 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteCurrentBuffer ( ) [inline]

Delete the octree structure in the current buffer.

Definition at line 329 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deletePreviousBuffer ( ) [inline]

Delete octree structure of previous buffer.

Definition at line 323 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deleteTree ( bool freeMemory_arg = false )

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 163 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		bool	doXORDecoding_arg = `false`
	)

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.
doXORDecoding_arg,:	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 266 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg,
		bool	doXORDecoding_arg = `false`
	)

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 inpvectoream for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that provides DataT objects for initializing leaf nodes.
doXORDecoding_arg,:	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 289 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::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).

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".

Definition at line 139 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getBranchCount ( ) const [inline]

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 311 of file octree2buf_base.h.

template<typename DataT, typename LeafT , typename BranchT >

bool pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getData	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg,
		DataT &	data_arg
	)		const

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".

Definition at line 120 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getLeafCount ( ) const [inline]

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 303 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

unsigned int pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::getTreeDepth ( ) const [inline]

Get the maximum depth of the octree.

Returns:: depth_arg: maximum depth of octree

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >.

Definition at line 255 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

Octree2BufBase& pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::operator= ( const Octree2BufBase< DataT, LeafT, BranchT > & source ) [inline]

Copy constructor.

Definition at line 226 of file octree2buf_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::removeLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)

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.

Definition at line 151 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeLeafs ( std::vector< DataT > & dataVector_arg )

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.

Definition at line 249 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeNewLeafs	(	std::vector< DataT > &	dataVector_arg,
		const int	minPointsPerLeaf_arg = `0`
	)

Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.

Parameters:

dataVector_arg,:	reference to DataT vector that receives a copy of all DataT objects in the octree.
minPointsPerLeaf_arg,:	minimum amount of points required within leaf node to become serialized.

Definition at line 318 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		bool	doXOREncoding_arg = `false`
	)

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

Parameters:

binaryTreeOut_arg,:	reference to output vector for writing binary tree structure.
doXOREncoding_arg,:	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 212 of file octree2buf_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		std::vector< DataT > &	dataVector_arg,
		bool	doXOREncoding_arg = `false`
	)

Serialize octree into a binary output vector describing its branch node structure and 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
doXOREncoding_arg,:	select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 229 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::setMaxVoxelIndex ( unsigned int maxVoxelIndex_arg )

Set the maximum amount of voxels per dimension.

Parameters:

maxVoxelIndex_arg,: maximum amount of voxels per dimension

Definition at line 75 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::setTreeDepth ( unsigned int depth_arg )

Set the maximum depth of the octree.

Parameters:

depth_arg,: maximum depth of octree

Definition at line 92 of file octree2buf_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >::switchBuffers ( )

Switch buffers and reset current octree structure.

Definition at line 185 of file octree2buf_base.hpp.

Friends And Related Function Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeBreadthFirstIterator< DataT, OctreeT > [friend]

Definition at line 188 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeDepthFirstIterator< DataT, OctreeT > [friend]

Definition at line 187 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeIteratorBase< DataT, OctreeT > [friend]

Definition at line 186 of file octree2buf_base.h.

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>

friend class OctreeLeafNodeIterator< DataT, OctreeT > [friend]

Definition at line 189 of file octree2buf_base.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/octree/include/pcl/octree/octree2buf_base.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/octree/include/pcl/octree/impl/octree2buf_base.hpp

Public Types

Public Member Functions

Friends

Detailed Description

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>> class pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

template<typename DataT, typename LeafT = OctreeContainerDataT<DataT>, typename BranchT = OctreeContainerEmpty<DataT>>
class pcl::octree::Octree2BufBase< DataT, LeafT, BranchT >