Point Cloud Library (PCL)
1.10.0
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41 #include <pcl/octree/octree_base.h>
43 #include <pcl/point_cloud.h>
68 template<
typename PointT,
typename LeafContainerT = OctreeContainerPointIndices,
69 typename BranchContainerT = OctreeContainerEmpty,
70 typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT> >
152 assert( this->leaf_count_ == 0);
172 return this->octree_depth_;
216 OctreeT::deleteTree ();
226 isVoxelOccupiedAtPoint (
const double point_x_arg,
const double point_y_arg,
const double point_z_arg)
const;
254 const Eigen::Vector3f& origin,
const Eigen::Vector3f& end,
287 defineBoundingBox (
const double min_x_arg,
const double min_y_arg,
const double min_z_arg,
288 const double max_x_arg,
const double max_y_arg,
const double max_z_arg);
298 defineBoundingBox (
const double max_x_arg,
const double max_y_arg,
const double max_z_arg);
318 getBoundingBox (
double& min_x_arg,
double& min_y_arg,
double& min_z_arg,
319 double& max_x_arg,
double& max_y_arg,
double& max_z_arg)
const;
371 assert(this->leaf_count_==0);
414 return (this->findLeaf (key));
437 return (! ( (point_idx_arg.x <
min_x_) || (point_idx_arg.y <
min_y_)
438 || (point_idx_arg.z <
min_z_) || (point_idx_arg.x >=
max_x_)
439 || (point_idx_arg.y >=
max_y_) || (point_idx_arg.z >=
max_z_)));
457 genOctreeKeyforPoint (
const double point_x_arg,
const double point_y_arg,
const double point_z_arg,
484 unsigned int tree_depth_arg,
PointT& point_arg)
const;
494 unsigned int tree_depth_arg, Eigen::Vector3f &min_pt,
495 Eigen::Vector3f &max_pt)
const;
545 #ifdef PCL_NO_PRECOMPILE
546 #include <pcl/octree/impl/octree_pointcloud.hpp>
double getVoxelSquaredDiameter() const
Calculates the squared diameter of a voxel at leaf depth.
This file defines compatibility wrappers for low level I/O functions.
std::size_t max_objs_per_leaf_
Amount of DataT objects per leafNode before expanding branch.
shared_ptr< Indices > IndicesPtr
void deleteVoxelAtPoint(const PointT &point_arg)
Delete leaf node / voxel at given point.
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
int getOccupiedVoxelCenters(AlignedPointTVector &voxel_center_list_arg) const
Get a PointT vector of centers of all occupied voxels.
bool isPointWithinBoundingBox(const PointT &point_idx_arg) const
Checks if given point is within the bounding box of the octree.
typename PointCloud::ConstPtr PointCloudConstPtr
double resolution_
Octree resolution.
void getKeyBitSize()
Define octree key setting and octree depth based on defined bounding box.
void deleteTree()
Delete the octree structure and its leaf nodes.
virtual bool genOctreeKeyForDataT(const int &data_arg, OctreeKey &key_arg) const
Virtual method for generating octree key for a given point index.
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.
void addPointsFromInputCloud()
Add points from input point cloud to octree.
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.
LeafContainerT * findLeafAtPoint(const PointT &point_arg) const
Find octree leaf node at a given point.
PointCloud represents the base class in PCL for storing collections of 3D points.
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
void addPointToCloud(const PointT &point_arg, PointCloudPtr cloud_arg)
Add point simultaneously to octree and input point cloud.
void defineBoundingBox()
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
A point structure representing Euclidean xyz coordinates, and the RGB color.
virtual void addPointIdx(const int point_idx_arg)
Add point at index from input pointcloud dataset to octree.
const PointT & getPointByIndex(const unsigned int index_arg) const
Get point at index from input pointcloud dataset.
Abstract octree leaf class
void setInputCloud(const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
Provide a pointer to the input data set.
bool bounding_box_defined_
Flag indicating if octree has defined bounding box.
const IndicesConstPtr getIndices() const
Get a pointer to the vector of indices used.
shared_ptr< const std::vector< int > > IndicesConstPtr
void setEpsilon(double eps)
Set the search epsilon precision (error bound) for nearest neighbors searches.
Abstract octree branch class
double getEpsilon() const
Get the search epsilon precision (error bound) for nearest neighbors searches.
Abstract octree iterator class
typename PointCloud::Ptr PointCloudPtr
typename OctreeT::BranchNode BranchNode
double getVoxelSquaredSideLen() const
Calculates the squared voxel cube side length at leaf level.
shared_ptr< const OctreePointCloud< PointT, LeafTWrap, BranchTWrap, OctreeBase< LeafTWrap, BranchTWrap > > > ConstPtr
shared_ptr< OctreePointCloud< PointT, LeafTWrap, BranchTWrap, OctreeBase< LeafTWrap, BranchTWrap > > > Ptr
bool isVoxelOccupiedAtPoint(const PointT &point_arg) const
Check if voxel at given point exist.
void addPointFromCloud(const int point_idx_arg, IndicesPtr indices_arg)
Add point at given index from input point cloud to octree.
double epsilon_
Epsilon precision (error bound) for nearest neighbors searches.
shared_ptr< PointCloud< PointT > > Ptr
IndicesConstPtr indices_
A pointer to the vector of point indices to use.
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.
void genLeafNodeCenterFromOctreeKey(const OctreeKey &key_arg, PointT &point_arg) const
Generate a point at center of leaf node voxel.
void setResolution(double resolution_arg)
Set/change the octree voxel resolution.
unsigned int getTreeDepth() const
Get the maximum depth of the octree.
shared_ptr< const PointCloud< PointT > > ConstPtr
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.
unsigned int getCurrentOctreeDepth() const
Get the current depth level of octree.
double getResolution() const
Get octree voxel resolution.
shared_ptr< std::vector< int > > IndicesPtr
PointCloudConstPtr getInputCloud() const
Get a pointer to the input point cloud dataset.
void getVoxelBounds(const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
Generate bounds of the current voxel of an octree iterator.
std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > > AlignedPointXYZVector
void enableDynamicDepth(std::size_t maxObjsPerLeaf)
Enable dynamic octree structure.
std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
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.
OctreePointCloud(const double resolution_arg)
Octree pointcloud constructor.
PointCloudConstPtr input_
Pointer to input point cloud dataset.
typename OctreeT::LeafNode LeafNode
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.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
const OctreeKey & getCurrentOctreeKey() const
Get octree key for the current iterator octree node.