Octree pointcloud change detector class More...

#include <pcl/octree/octree_pointcloud_changedetector.h>

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

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

Public Types
typedef Octree2BufBase< int, LeafT, BranchT >	Base
typedef Octree2BufBase< int, LeafT, BranchT >::LeafNode	LeafNode
typedef Octree2BufBase< int, LeafT, BranchT >::BranchNode	BranchNode
typedef OctreeDepthFirstIterator< int, Octree2BufBase< int, LeafT, BranchT > >	Iterator
typedef const OctreeDepthFirstIterator< int, Octree2BufBase< int, LeafT, BranchT > >	ConstIterator
typedef OctreeLeafNodeIterator < int, Octree2BufBase< int, LeafT, BranchT > >	LeafNodeIterator
typedef const OctreeLeafNodeIterator< int, Octree2BufBase< int, LeafT, BranchT > >	ConstLeafNodeIterator
typedef OctreeDepthFirstIterator< int, Octree2BufBase< int, LeafT, BranchT > >	DepthFirstIterator
typedef const OctreeDepthFirstIterator< int, Octree2BufBase< int, LeafT, BranchT > >	ConstDepthFirstIterator
typedef OctreeBreadthFirstIterator < int, Octree2BufBase< int, LeafT, BranchT > >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < int, Octree2BufBase< int, LeafT, BranchT > >	ConstBreadthFirstIterator
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef OctreePointCloud < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer
typedef OctreePointCloud < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer
typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, Octree2BufBase< int, LeafT, BranchT > > >	Ptr
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, Octree2BufBase< int, LeafT, BranchT > > >	ConstPtr
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
typedef Octree2BufBase< int, LeafT, BranchT >	OctreeT
Public Member Functions
	OctreePointCloudChangeDetector (const double resolution_arg)
	Constructor.
virtual	~OctreePointCloudChangeDetector ()
	Empty class constructor.
int	getPointIndicesFromNewVoxels (std::vector< int > &indicesVector_arg, const int minPointsPerLeaf_arg=0)
	Get a indices from all leaf nodes that did not exist in previous buffer.
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
double	getResolution () const
	Get octree voxel resolution.
unsigned int	getTreeDepth () const
	Get the maximum depth of the octree.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (const int pointIdx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
bool	isVoxelOccupiedAtPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg) const
	Check if voxel at given point coordinates exist.
bool	isVoxelOccupiedAtPoint (const int &pointIdx_arg) const
	Check if voxel at given point from input cloud exist.
void	deleteTree (bool freeMemory_arg=false)
	Delete the octree structure and its leaf nodes.
int	getOccupiedVoxelCenters (AlignedPointTVector &voxelCenterList_arg) const
	Get a PointT vector of centers of all occupied voxels.
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.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const int &pointIdx_arg)
	Delete leaf node / voxel at given point from input cloud.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
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.
void	defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
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.
double	getVoxelSquaredDiameter (unsigned int treeDepth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (unsigned int treeDepth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.
void	getVoxelBounds (OctreeIteratorBase< int, Octree2BufBase< int, LeafT, BranchT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
	Generate bounds of the current voxel of an octree iterator.
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.
void	addData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, const int &data_arg)
	Add a const DataT element to leaf node at (idxX, idxY, idxZ).
bool	getData (unsigned int idxX_arg, unsigned int idxY_arg, unsigned int idxZ_arg, int &data_arg) const
	Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).
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	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< int > &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< int > &dataVector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
void	serializeNewLeafs (std::vector< int > &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< int > &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 PointT, typename LeafT = OctreeContainerDataTVector<int>, typename BranchT = OctreeContainerEmpty<int>>
class pcl::octree::OctreePointCloudChangeDetector< PointT, LeafT, BranchT >

Octree pointcloud change detector class

Note:: This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices; The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.; typename: PointT: type of point used in pointcloud

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

Definition at line 65 of file octree_pointcloud_changedetector.h.

Member Typedef Documentation

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::AlignedPointTVector [inherited]

Definition at line 132 of file octree_pointcloud.h.

typedef Octree2BufBase< int, LeafT, BranchT > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::Base [inherited]

Definition at line 89 of file octree_pointcloud.h.

typedef Octree2BufBase< int, LeafT, BranchT > ::BranchNode pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::BranchNode [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 92 of file octree_pointcloud.h.

typedef OctreeBreadthFirstIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::BreadthFirstIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 103 of file octree_pointcloud.h.

typedef const OctreeBreadthFirstIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::ConstBreadthFirstIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 104 of file octree_pointcloud.h.

typedef const OctreeDepthFirstIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::ConstDepthFirstIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 102 of file octree_pointcloud.h.

typedef const OctreeDepthFirstIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::ConstIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 96 of file octree_pointcloud.h.

typedef const OctreeLeafNodeIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::ConstLeafNodeIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 99 of file octree_pointcloud.h.

typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafT, Octree2BufBase< int, LeafT, BranchT > > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::ConstPtr [inherited]

Definition at line 129 of file octree_pointcloud.h.

typedef OctreeDepthFirstIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::DepthFirstIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 101 of file octree_pointcloud.h.

typedef OctreePointCloud<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::DoubleBuffer [inherited]

Definition at line 125 of file octree_pointcloud.h.

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::IndicesConstPtr [inherited]

Definition at line 117 of file octree_pointcloud.h.

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::IndicesPtr [inherited]

Definition at line 116 of file octree_pointcloud.h.

typedef OctreeDepthFirstIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::Iterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 95 of file octree_pointcloud.h.

typedef Octree2BufBase< int, LeafT, BranchT > ::LeafNode pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::LeafNode [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 91 of file octree_pointcloud.h.

typedef OctreeLeafNodeIterator<int, Octree2BufBase< int, LeafT, BranchT > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::LeafNodeIterator [inherited]

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 98 of file octree_pointcloud.h.

typedef Octree2BufBase<int , LeafT, BranchT> pcl::octree::Octree2BufBase< int , LeafT, BranchT >::OctreeT [inherited]

Definition at line 183 of file octree2buf_base.h.

typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::PointCloud [inherited]

Definition at line 119 of file octree_pointcloud.h.

typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::PointCloudConstPtr [inherited]

Definition at line 121 of file octree_pointcloud.h.

typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::PointCloudPtr [inherited]

Definition at line 120 of file octree_pointcloud.h.

typedef boost::shared_ptr<OctreePointCloud<PointT, LeafT, Octree2BufBase< int, LeafT, BranchT > > > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::Ptr [inherited]

Definition at line 128 of file octree_pointcloud.h.

typedef OctreePointCloud<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::SingleBuffer [inherited]

Definition at line 124 of file octree_pointcloud.h.

Constructor & Destructor Documentation

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

pcl::octree::OctreePointCloudChangeDetector< PointT, LeafT, BranchT >::OctreePointCloudChangeDetector ( const double resolution_arg ) [inline]

Constructor.

Parameters:

resolution_arg,: octree resolution at lowest octree level

Definition at line 75 of file octree_pointcloud_changedetector.h.

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

virtual pcl::octree::OctreePointCloudChangeDetector< PointT, LeafT, BranchT >::~OctreePointCloudChangeDetector ( ) [inline, virtual]

Empty class constructor.

Definition at line 82 of file octree_pointcloud_changedetector.h.

Member Function Documentation

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

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

If leaf node does not exist, it is 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.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::addPointFromCloud	(	const int	pointIdx_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

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

Index will be also added to indices vector.

Parameters:

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::addPointsFromInputCloud ( ) [inherited]

Add points from input point cloud to octree.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

Parameters:

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::defineBoundingBox ( ) [inherited]

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::defineBoundingBox	(	const double	minX_arg,
		const double	minY_arg,
		const double	minZ_arg,
		const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

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

Parameters:

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::defineBoundingBox	(	const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

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

Parameters:

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::defineBoundingBox ( const double cubeLen_arg ) [inherited]

Define bounding box cube for octree.

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

Parameters:

[in] cubeLen_arg side length of bounding box cube.

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

Delete the octree structure in the current buffer.

Definition at line 329 of file octree2buf_base.h.

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

Delete octree structure of previous buffer.

Definition at line 323 of file octree2buf_base.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::deleteTree ( bool freeMemory_arg = false ) [inline, inherited]

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 from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 243 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::deleteVoxelAtPoint ( const PointT & point_arg ) [inherited]

Delete leaf node / voxel at given point.

Parameters:

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::deleteVoxelAtPoint ( const int & pointIdx_arg ) [inherited]

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

Parameters:

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

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

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

Leaf nodes are initialized with getDataTByKey(..).

Parameters:

binaryTreeIn_arg,:	reference to input vector for reading binary tree structure.
doXORDecoding_arg,:	select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

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

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

Leaf nodes are initialized with DataT elements from the dataVector.

Parameters:

binaryTreeIn_arg,:	reference to 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

bool pcl::octree::Octree2BufBase< int , LeafT, BranchT >::existLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)		const `[inherited]`

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

Parameters:

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

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

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getApproxIntersectedVoxelCentersBySegment	(	const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	end,
		AlignedPointTVector &	voxel_center_list,
		float	precision = `0.2`
	)		`[inherited]`

Get a PointT vector of centers of voxels intersected by a line segment.

This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.

Parameters:

[in]	origin	origin of the line segment
[in]	end	end of the line segment
[out]	voxel_center_list	results are written to this vector of PointT elements
[in]	precision	determines the size of the steps: step_size = octree_resolution x precision

Returns:: number of intersected voxels

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getBoundingBox	(	double &	minX_arg,
		double &	minY_arg,
		double &	minZ_arg,
		double &	maxX_arg,
		double &	maxY_arg,
		double &	maxZ_arg
	)		const `[inherited]`

Get bounding box for octree.

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

Parameters:

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

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

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 311 of file octree2buf_base.h.

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

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

It returns false if leaf node does not exist.

Parameters:

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

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

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getEpsilon ( ) const [inline, inherited]

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

Definition at line 172 of file octree_pointcloud.h.

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getIndices ( ) const [inline, inherited]

Get a pointer to the vector of indices used.

Returns:: pointer to vector of indices used.

Definition at line 150 of file octree_pointcloud.h.

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getInputCloud ( ) const [inline, inherited]

Get a pointer to the input point cloud dataset.

Returns:: pointer to pointcloud input class.

Definition at line 158 of file octree_pointcloud.h.

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

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 303 of file octree2buf_base.h.

int pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getOccupiedVoxelCenters ( AlignedPointTVector & voxelCenterList_arg ) const [inherited]

Get a PointT vector of centers of all occupied voxels.

Parameters:

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

Returns:: number of occupied voxels

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

int pcl::octree::OctreePointCloudChangeDetector< PointT, LeafT, BranchT >::getPointIndicesFromNewVoxels	(	std::vector< int > &	indicesVector_arg,
		const int	minPointsPerLeaf_arg = `0`
	)		`[inline]`

Get a indices from all leaf nodes that did not exist in previous buffer.

Parameters:

indicesVector_arg,:	results are written to this vector of int indices
minPointsPerLeaf_arg,:	minimum amount of points required within leaf node to become serialized.

Returns:: number of point indices

Definition at line 91 of file octree_pointcloud_changedetector.h.

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getResolution ( ) const [inline, inherited]

Get octree voxel resolution.

Returns:: voxel resolution at lowest tree level

Definition at line 193 of file octree_pointcloud.h.

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

Get the maximum depth of the octree.

Returns:: depth_arg: maximum depth of octree

Reimplemented from pcl::octree::Octree2BufBase< int, LeafT, BranchT >.

Definition at line 201 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getVoxelBounds	(	OctreeIteratorBase< int, Octree2BufBase< int, LeafT, BranchT > > &	iterator,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt
	)		`[inline, inherited]`

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.

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getVoxelSquaredDiameter ( unsigned int treeDepth_arg ) const [inherited]

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

Parameters:

[in] treeDepth_arg depth/level in octree

Returns:: squared diameter

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getVoxelSquaredDiameter ( ) const [inline, inherited]

Calculates the squared diameter of a voxel at leaf depth.

Returns:: squared diameter

Definition at line 368 of file octree_pointcloud.h.

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getVoxelSquaredSideLen ( unsigned int treeDepth_arg ) const [inherited]

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

Parameters:

[in] treeDepth_arg depth/level in octree

Returns:: squared voxel cube side length

double pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::getVoxelSquaredSideLen ( ) const [inline, inherited]

Calculates the squared voxel cube side length at leaf level.

Returns:: squared voxel cube side length

Definition at line 383 of file octree_pointcloud.h.

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::isVoxelOccupiedAtPoint ( const PointT & point_arg ) const [inherited]

Check if voxel at given point exist.

Parameters:

[in] point_arg point to be checked

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

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::isVoxelOccupiedAtPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg
	)		const `[inherited]`

Check if voxel at given point coordinates exist.

Parameters:

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

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

bool pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::isVoxelOccupiedAtPoint ( const int & pointIdx_arg ) const [inherited]

Check if voxel at given point from input cloud exist.

Parameters:

[in] pointIdx_arg point to be checked

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

void pcl::octree::Octree2BufBase< int , LeafT, BranchT >::removeLeaf	(	unsigned int	idxX_arg,
		unsigned int	idxY_arg,
		unsigned int	idxZ_arg
	)		`[inherited]`

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

Parameters:

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

void pcl::octree::Octree2BufBase< int , LeafT, BranchT >::serializeLeafs ( std::vector< int > & dataVector_arg ) [inherited]

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

Parameters:

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

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

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.

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

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

Parameters:

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

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

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

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::setEpsilon ( double eps ) [inline, inherited]

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

Parameters:

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

Definition at line 166 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = `IndicesConstPtr ()`
	)		`[inline, inherited]`

Provide a pointer to the input data set.

Parameters:

[in]	cloud_arg	the const boost shared pointer to a PointCloud message
[in]	indices_arg	the point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 138 of file octree_pointcloud.h.

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

Set the maximum amount of voxels per dimension.

Parameters:

maxVoxelIndex_arg,: maximum amount of voxels per dimension

void pcl::octree::OctreePointCloud< PointT, LeafT, BranchT, Octree2BufBase< int, LeafT, BranchT > >::setResolution ( double resolution_arg ) [inline, inherited]

Set/change the octree voxel resolution.

Parameters:

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

Definition at line 180 of file octree_pointcloud.h.

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

Set the maximum depth of the octree.

Parameters:

depth_arg,: maximum depth of octree

void pcl::octree::Octree2BufBase< int , LeafT, BranchT >::switchBuffers ( ) [inherited]

Switch buffers and reset current octree structure.

Friends And Related Function Documentation

friend class OctreeBreadthFirstIterator< int , OctreeT > [friend, inherited]

Definition at line 188 of file octree2buf_base.h.

friend class OctreeDepthFirstIterator< int , OctreeT > [friend, inherited]

Definition at line 187 of file octree2buf_base.h.

friend class OctreeIteratorBase< int , OctreeT > [friend, inherited]

Definition at line 186 of file octree2buf_base.h.

friend class OctreeLeafNodeIterator< int , OctreeT > [friend, inherited]

Definition at line 189 of file octree2buf_base.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/octree/include/pcl/octree/octree_pointcloud_changedetector.h

Public Types

Public Member Functions

Friends

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

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