Octree class. More...

#include <pcl/octree/octree_base.h>

Public Types
typedef OctreeBase< DataT, OctreeContainerDataT< DataT > , OctreeContainerEmpty< DataT > >	SingleObjLeafContainer
typedef OctreeBase< DataT, OctreeContainerDataTVector < DataT > , OctreeContainerEmpty< DataT > >	MultipleObjsLeafContainer
typedef OctreeBase< DataT, LeafT, BranchT >	OctreeT
typedef OctreeBranchNode< 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
	OctreeBase ()
	Empty constructor.
virtual	~OctreeBase ()
	Empty deconstructor.
	OctreeBase (const OctreeBase &source)
	Copy constructor.
OctreeBase &	operator= (const OctreeBase &source)
	Copy operator.
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	enableDynamicDepth (size_t maxObjsPerLeaf)
	Enable dynamic octree structure.
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).
std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree.
std::size_t	getBranchCount () const
	Return the amount of existing branches in the octree.
void	deleteTree (bool freeMemory_arg=true)
	Delete the octree structure and its leaf nodes.
void	serializeTree (std::vector< char > &binaryTreeOut_arg)
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &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.
void	serializeLeafs (std::vector< DataT > &dataVector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg)
	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::OctreeBase< DataT, LeafT, BranchT >

Octree class.

Note:: 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 64 of file octree_base.h.

Member Typedef Documentation

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

typedef OctreeBranchNode<BranchT> pcl::octree::OctreeBase< DataT, LeafT, BranchT >::BranchNode

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 80 of file octree_base.h.

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

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

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

Definition at line 92 of file octree_base.h.

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

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

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

Definition at line 93 of file octree_base.h.

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

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

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

Definition at line 91 of file octree_base.h.

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

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

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

Definition at line 85 of file octree_base.h.

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

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

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

Definition at line 88 of file octree_base.h.

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

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

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

Definition at line 90 of file octree_base.h.

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

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

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

Definition at line 84 of file octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, OctreeBase< int, LeafT, BranchT > >, pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 81 of file octree_base.h.

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

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

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

Definition at line 87 of file octree_base.h.

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

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

Definition at line 70 of file octree_base.h.

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

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

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, BranchT >.

Definition at line 72 of file octree_base.h.

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

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

Definition at line 69 of file octree_base.h.

Constructor & Destructor Documentation

template<typename DataT , typename LeafT , typename BranchT >

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

Empty constructor.

Definition at line 57 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

Empty deconstructor.

Definition at line 73 of file octree_base.hpp.

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

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

Copy constructor.

Definition at line 104 of file octree_base.h.

Member Function Documentation

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 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.

Definition at line 117 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

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, OctreeBase< int, LeafT, BranchT > >, and pcl::octree::OctreePointCloud< PointT, LeafT, BranchT >.

Definition at line 173 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

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.

Definition at line 249 of file octree_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

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

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.

Definition at line 271 of file octree_base.hpp.

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

void pcl::octree::OctreeBase< DataT, LeafT, BranchT >::enableDynamicDepth ( size_t maxObjsPerLeaf ) [inline]

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.

template<typename DataT , typename LeafT , typename BranchT >

bool pcl::octree::OctreeBase< 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 149 of file octree_base.hpp.

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

std::size_t pcl::octree::OctreeBase< DataT, LeafT, BranchT >::getBranchCount ( ) const [inline]

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 213 of file octree_base.h.

template<typename DataT, typename LeafT , typename BranchT >

bool pcl::octree::OctreeBase< 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 129 of file octree_base.hpp.

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

std::size_t pcl::octree::OctreeBase< DataT, LeafT, BranchT >::getLeafCount ( ) const [inline]

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 204 of file octree_base.h.

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

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

Definition at line 147 of file octree_base.h.

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

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

Copy operator.

Definition at line 119 of file octree_base.h.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 161 of file octree_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 231 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

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

Parameters:

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

Definition at line 194 of file octree_base.hpp.

template<typename DataT, typename LeafT , typename BranchT >

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

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

Definition at line 211 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

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

Set the maximum amount of voxels per dimension.

Parameters:

[in] maxVoxelIndex_arg maximum amount of voxels per dimension

Definition at line 83 of file octree_base.hpp.

template<typename DataT , typename LeafT , typename BranchT >

void pcl::octree::OctreeBase< 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 101 of file octree_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 77 of file octree_base.h.

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

friend class OctreeDepthFirstIterator< DataT, OctreeT > [friend]

Definition at line 76 of file octree_base.h.

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

friend class OctreeIteratorBase< DataT, OctreeT > [friend]

Definition at line 75 of file octree_base.h.

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

friend class OctreeLeafNodeIterator< DataT, OctreeT > [friend]

Definition at line 78 of file octree_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/octree_base.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/octree/include/pcl/octree/impl/octree_base.hpp

Public Types

Public Member Functions

Friends

Detailed Description

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