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using | Ptr = shared_ptr< OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > > |
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using | ConstPtr = shared_ptr< const OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT > > |
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using | Base = Octree2BufBase< LeafContainerT, BranchContainerT > |
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using | LeafNode = typename Octree2BufBase< LeafContainerT, BranchContainerT > ::LeafNode |
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using | BranchNode = typename Octree2BufBase< LeafContainerT, BranchContainerT > ::BranchNode |
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using | IndicesPtr = shared_ptr< std::vector< int > > |
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using | IndicesConstPtr = shared_ptr< const std::vector< int > > |
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using | PointCloud = pcl::PointCloud< PointT > |
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using | PointCloudPtr = typename PointCloud::Ptr |
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using | PointCloudConstPtr = typename PointCloud::ConstPtr |
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using | SingleBuffer = OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > > |
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using | Ptr = shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > > > |
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using | ConstPtr = shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > > > |
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using | AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > > |
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using | AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > > |
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using | OctreeT = Octree2BufBase< LeafContainerT, BranchContainerT > |
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using | BranchNode = BufferedBranchNode< BranchContainerT > |
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using | LeafNode = OctreeLeafNode< LeafContainerT > |
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using | BranchContainer = BranchContainerT |
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using | LeafContainer = LeafContainerT |
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using | Iterator = OctreeDepthFirstIterator< OctreeT > |
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using | ConstIterator = const OctreeDepthFirstIterator< OctreeT > |
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using | LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT > |
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using | ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT > |
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using | LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT > |
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using | ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT > |
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using | DepthFirstIterator = OctreeDepthFirstIterator< OctreeT > |
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using | ConstDepthFirstIterator = const OctreeDepthFirstIterator< OctreeT > |
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using | BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT > |
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using | ConstBreadthFirstIterator = const OctreeBreadthFirstIterator< OctreeT > |
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using | LeafNodeBreadthIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT > |
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using | ConstLeafNodeBreadthIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT > |
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| OctreePointCloudChangeDetector (const double resolution_arg) |
| Constructor. More...
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std::size_t | 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. More...
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| OctreePointCloud (const double resolution_arg) |
| Octree pointcloud constructor. More...
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void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set. More...
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More...
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PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches. More...
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double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches. More...
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void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution. More...
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double | getResolution () const |
| Get octree voxel resolution. More...
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unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More...
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void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. More...
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void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree. More...
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud. More...
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud. More...
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bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. More...
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bool | isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const |
| Check if voxel at given point coordinates exist. More...
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bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
| Check if voxel at given point from input cloud exist. More...
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void | deleteTree () |
| Delete the octree structure and its leaf nodes. More...
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int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. More...
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int | getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2) |
| Get a PointT vector of centers of voxels intersected by a line segment. More...
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void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point. More...
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void | deleteVoxelAtPoint (const int &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud. More...
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void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...
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void | defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More...
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void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More...
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void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree. More...
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void | getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const |
| Get bounding box for octree. More...
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double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. More...
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double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth. More...
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double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. More...
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double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level. More...
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void | getVoxelBounds (const OctreeIteratorBase< Octree2BufBase< LeafContainerT, BranchContainerT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator. More...
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void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. More...
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Iterator | begin (unsigned int max_depth_arg=0) |
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const Iterator | end () |
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LeafNodeIterator | leaf_begin (unsigned int max_depth_arg=0) |
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const LeafNodeIterator | leaf_end () |
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LeafNodeDepthFirstIterator | leaf_depth_begin (unsigned int max_depth_arg=0) |
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const LeafNodeDepthFirstIterator | leaf_depth_end () |
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DepthFirstIterator | depth_begin (unsigned int maxDepth_arg=0) |
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const DepthFirstIterator | depth_end () |
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BreadthFirstIterator | breadth_begin (unsigned int max_depth_arg=0) |
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const BreadthFirstIterator | breadth_end () |
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LeafNodeBreadthIterator | leaf_breadth_begin (unsigned int max_depth_arg=0u) |
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const LeafNodeBreadthIterator | leaf_breadth_end () |
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| Octree2BufBase () |
| Empty constructor. More...
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virtual | ~Octree2BufBase () |
| Empty deconstructor. More...
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| Octree2BufBase (const Octree2BufBase &source) |
| Copy constructor. More...
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Octree2BufBase & | operator= (const Octree2BufBase &source) |
| Copy constructor. More...
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void | setMaxVoxelIndex (unsigned int max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension. More...
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void | setTreeDepth (unsigned int depth_arg) |
| Set the maximum depth of the octree. More...
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unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More...
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LeafContainerT * | createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
| Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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LeafContainerT * | findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
| Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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bool | existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const |
| Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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void | removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
| Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
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std::size_t | getLeafCount () const |
| Return the amount of existing leafs in the octree. More...
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std::size_t | getBranchCount () const |
| Return the amount of existing branches in the octree. More...
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void | deleteTree () |
| Delete the octree structure and its leaf nodes. More...
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void | deletePreviousBuffer () |
| Delete octree structure of previous buffer. More...
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void | deleteCurrentBuffer () |
| Delete the octree structure in the current buffer. More...
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void | switchBuffers () |
| Switch buffers and reset current octree structure. More...
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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. More...
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void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg, bool do_XOR_encoding_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. More...
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void | serializeLeafs (std::vector< LeafContainerT *> &leaf_container_vector_arg) |
| Outputs a vector of all DataT elements that are stored within the octree leaf nodes. More...
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void | serializeNewLeafs (std::vector< LeafContainerT *> &leaf_container_vector_arg) |
| Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. More...
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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. More...
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void | deserializeTree (std::vector< char > &binary_tree_in_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg, bool do_XOR_decoding_arg=false) |
| Deserialize a binary octree description and create a corresponding octree structure. More...
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virtual void | addPointIdx (const int point_idx_arg) |
| Add point at index from input pointcloud dataset to octree. More...
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void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask) |
| Add point at index from input pointcloud dataset to octree. More...
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const PointT & | getPointByIndex (const unsigned int index_arg) const |
| Get point at index from input pointcloud dataset. More...
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LeafContainerT * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. More...
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void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. More...
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void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. More...
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bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. More...
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void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More...
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void | genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More...
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virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. More...
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void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. More...
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void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const |
| Generate a point at center of octree voxel at given tree level. More...
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void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of an octree voxel using octree key and tree depth arguments. More...
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int | getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const |
| Recursively search the tree for all leaf nodes and return a vector of voxel centers. More...
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OctreeNode * | getRootNode () const |
| Retrieve root node. More...
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LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node. More...
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LeafContainerT * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node. More...
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bool | existLeaf (const OctreeKey &key_arg) const |
| Check if leaf doesn't exist in the octree. More...
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void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree. More...
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bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Check if branch is pointing to a particular child node. More...
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OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Retrieve a child node pointer for child node at child_idx. More...
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void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
| Assign new child node to branch. More...
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char | getBranchBitPattern (const BranchNode &branch_arg) const |
| Generate bit pattern reflecting the existence of child node pointers for current buffer. More...
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char | getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const |
| Generate bit pattern reflecting the existence of child node pointers in specific buffer. More...
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char | getBranchXORBitPattern (const BranchNode &branch_arg) const |
| Generate XOR bit pattern reflecting differences between the two octree buffers. More...
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bool | hasBranchChanges (const BranchNode &branch_arg) const |
| Test if branch changed between previous and current buffer. More...
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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. More...
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void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree in current buffer. More...
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void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree (both buffers) More...
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BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Fetch and add a new branch child to a branch class in current buffer. More...
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LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Fetch and add a new leaf child to a branch class. More...
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unsigned int | createLeafRecursive (const OctreeKey &key_arg, unsigned int 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. More...
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void | findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const |
| Recursively search for a given leaf node and return a pointer. More...
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bool | deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg) |
| Recursively search and delete leaf node. More...
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void | serializeTreeRecursive (BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT *> *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. More...
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void | deserializeTreeRecursive (BranchNode *branch_arg, unsigned int 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< LeafContainerT *>::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT *>::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. More...
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virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) |
| Callback executed for every leaf node data during serialization. More...
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virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |
| Callback executed for every leaf node data during deserialization. More...
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void | treeCleanUpRecursive (BranchNode *branch_arg) |
| Recursively explore the octree and remove unused branch and leaf nodes. More...
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double | Log2 (double n_arg) |
| Helper function to calculate the binary logarithm. More...
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bool | octreeCanResize () |
| Test if octree is able to dynamically change its depth. More...
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void | printBinary (char data_arg) |
| Prints binary representation of a byte - used for debugging. More...
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PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. More...
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IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. More...
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double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches. More...
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double | resolution_ |
| Octree resolution. More...
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double | min_x_ |
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double | max_x_ |
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double | min_y_ |
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double | max_y_ |
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double | min_z_ |
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double | max_z_ |
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bool | bounding_box_defined_ |
| Flag indicating if octree has defined bounding box. More...
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std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch. More...
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std::size_t | leaf_count_ |
| Amount of leaf nodes. More...
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std::size_t | branch_count_ |
| Amount of branch nodes. More...
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BranchNode * | root_node_ |
| Pointer to root branch node of octree. More...
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unsigned int | depth_mask_ |
| Depth mask based on octree depth. More...
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OctreeKey | max_key_ |
| key range More...
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unsigned char | buffer_selector_ |
| Currently active octree buffer. More...
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bool | tree_dirty_flag_ |
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unsigned int | octree_depth_ |
| Octree depth. More...
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bool | dynamic_depth_enabled_ |
| Enable dynamic_depth. More...
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template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
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
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The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
- Template Parameters
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PointT | type of point used in pointcloud |
- Author
- Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)
Definition at line 63 of file octree_pointcloud_changedetector.h.