pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > Class Template Reference
Octree pointcloud change detector class More...
#include <pcl/octree/octree_pointcloud_changedetector.h>
Inheritance diagram for pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >:
Collaboration diagram for pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >:
Public Member Functions | |
| OctreePointCloudChangeDetector (const double resolution_arg) | |
| Constructor. | |
| std::size_t | getPointIndicesFromNewVoxels (Indices &indicesVector_arg, const uindex_t minPointsPerLeaf_arg=0) |
| Get a indices from all leaf nodes that did not exist in previous buffer. | |
| Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > | |
| OctreePointCloud (const double resolution_arg) | |
| Octree pointcloud constructor. | |
| 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. | |
| uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree. | |
| void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. | |
| void | addPointFromCloud (uindex_t point_idx_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. | |
| bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. | |
| void | deleteTree () |
| Delete the octree structure and its leaf nodes. | |
| uindex_t | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. | |
| uindex_t | 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 | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. | |
| 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. | |
| double | getVoxelSquaredDiameter (uindex_t tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. | |
| double | getVoxelSquaredSideLen (uindex_t tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. | |
| void | getVoxelBounds (const OctreeIteratorBase< Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator. | |
| void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. | |
| Public Member Functions inherited from pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > | |
| Iterator | begin (uindex_t max_depth_arg=0) |
| const Iterator | end () |
| LeafNodeDepthFirstIterator | leaf_depth_begin (uindex_t max_depth_arg=0) |
| const LeafNodeDepthFirstIterator | leaf_depth_end () |
| DepthFirstIterator | depth_begin (uindex_t maxDepth_arg=0) |
| const DepthFirstIterator | depth_end () |
| BreadthFirstIterator | breadth_begin (uindex_t max_depth_arg=0) |
| const BreadthFirstIterator | breadth_end () |
| LeafNodeBreadthIterator | leaf_breadth_begin (uindex_t max_depth_arg=0u) |
| const LeafNodeBreadthIterator | leaf_breadth_end () |
| Octree2BufBase () | |
| Empty constructor. | |
| virtual | ~Octree2BufBase () |
| Empty deconstructor. | |
| Octree2BufBase & | operator= (const Octree2BufBase &source) |
| Copy constructor. | |
| void | setMaxVoxelIndex (uindex_t max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension. | |
| void | setTreeDepth (uindex_t depth_arg) |
| Set the maximum depth of the octree. | |
| uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree. | |
| OctreeContainerPointIndices * | createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |
| OctreeContainerPointIndices * | findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |
| bool | existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const |
| Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). | |
| void | removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_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 () |
| 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 > &binary_tree_out_arg, bool do_XOR_encoding_arg=false) |
| Serialize octree into a binary output vector describing its branch node structure. | |
| void | serializeLeafs (std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Outputs a vector of all DataT elements that are stored within the octree leaf nodes. | |
| void | serializeNewLeafs (std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. | |
| void | deserializeTree (std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false) |
| Deserialize a binary octree description vector and create a corresponding octree structure. | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > | |
| virtual void | addPointIdx (uindex_t point_idx_arg) |
| Add point at index from input pointcloud dataset to octree. | |
| void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, uindex_t depth_mask) |
| Add point at index from input pointcloud dataset to octree. | |
| const PointT & | getPointByIndex (uindex_t index_arg) const |
| Get point at index from input pointcloud dataset. | |
| OctreeContainerPointIndices * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. | |
| void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. | |
| void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. | |
| bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. | |
| void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. | |
| virtual bool | genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. | |
| void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. | |
| void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const |
| Generate a point at center of octree voxel at given tree level. | |
| void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t 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. | |
| uindex_t | 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. | |
| Protected Member Functions inherited from pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > | |
| OctreeNode * | getRootNode () const |
| Retrieve root node. | |
| bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Check if branch is pointing to a particular child node. | |
| OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Retrieve a child node pointer for child node at child_idx. | |
| void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
| Assign new child node to branch. | |
| char | getBranchBitPattern (const BranchNode &branch_arg) const |
| Generate bit pattern reflecting the existence of child node pointers for current buffer. | |
| char | getBranchXORBitPattern (const BranchNode &branch_arg) const |
| Generate XOR bit pattern reflecting differences between the two octree buffers. | |
| bool | hasBranchChanges (const BranchNode &branch_arg) const |
| Test if branch changed between previous and current buffer. | |
| void | deleteBranchChild (BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree in specific buffer. | |
| void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree (both buffers) | |
| BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Fetch and add a new branch child to a branch class in current buffer. | |
| LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Fetch and add a new leaf child to a branch class. | |
| uindex_t | createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false) |
| Create a leaf node at octree key. | |
| void | findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, OctreeContainerPointIndices *&result_arg) const |
| Recursively search for a given leaf node and return a pointer. | |
| bool | deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg) |
| Recursively search and delete leaf node. | |
| void | serializeTreeRecursive (BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< OctreeContainerPointIndices * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false) |
| Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content. | |
| void | deserializeTreeRecursive (BranchNode *branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_end_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false) |
| Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization. | |
| virtual void | serializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) |
| Callback executed for every leaf node data during serialization. | |
| virtual void | deserializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) |
| Callback executed for every leaf node data during deserialization. | |
| void | treeCleanUpRecursive (BranchNode *branch_arg) |
| Recursively explore the octree and remove unused branch and leaf nodes. | |
| bool | octreeCanResize () |
| Test if octree is able to dynamically change its depth. | |
| void | printBinary (char data_arg) |
| Prints binary representation of a byte - used for debugging. | |
| Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > > | |
| PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. | |
| IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. | |
| double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches. | |
| double | resolution_ |
| Octree resolution. | |
| 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. | |
| std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch. | |
| Protected Attributes inherited from pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty > | |
| std::size_t | leaf_count_ |
| Amount of leaf nodes. | |
| std::size_t | branch_count_ |
| Amount of branch nodes. | |
| BranchNode * | root_node_ |
| Pointer to root branch node of octree. | |
| uindex_t | depth_mask_ |
| Depth mask based on octree depth. | |
| OctreeKey | max_key_ |
| key range | |
| unsigned char | buffer_selector_ |
| Currently active octree buffer. | |
| bool | tree_dirty_flag_ |
| flags indicating if unused branches and leafs might exist in previous buffer | |
| uindex_t | octree_depth_ |
| Octree depth. | |
| bool | dynamic_depth_enabled_ |
| Enable dynamic_depth. | |
Detailed Description
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >
class pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >
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.
- Template Parameters
-
PointT type of point used in pointcloud
Definition at line 63 of file octree_pointcloud_changedetector.h.
Member Typedef Documentation
◆ ConstPtr
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::ConstPtr |
Initial value:
shared_ptr<
OctreePointCloudChangeDetector(const double resolution_arg)
Constructor.
Definition octree_pointcloud_changedetector.h:80
Definition at line 74 of file octree_pointcloud_changedetector.h.
◆ Ptr
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::Ptr |
Initial value:
Definition at line 72 of file octree_pointcloud_changedetector.h.
Constructor & Destructor Documentation
◆ OctreePointCloudChangeDetector()
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Constructor.
- Parameters
-
resolution_arg octree resolution at lowest octree level
Definition at line 80 of file octree_pointcloud_changedetector.h.
Member Function Documentation
◆ getPointIndicesFromNewVoxels()
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
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 94 of file octree_pointcloud_changedetector.h.
References pcl::octree::Octree2BufBase< OctreeContainerPointIndices, OctreeContainerEmpty >::serializeNewLeafs().
The documentation for this class was generated from the following file:
- pcl/octree/octree_pointcloud_changedetector.h