Point Cloud Library (PCL)
1.7.2
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Octree pointcloud voxel centroid class More...
#include <pcl/octree/octree_pointcloud_voxelcentroid.h>
Public Types | |
typedef boost::shared_ptr < OctreePointCloudVoxelCentroid < PointT, LeafContainerT > > | Ptr |
typedef boost::shared_ptr < const OctreePointCloudVoxelCentroid < PointT, LeafContainerT > > | ConstPtr |
typedef OctreePointCloud < PointT, LeafContainerT, BranchContainerT > | OctreeT |
typedef OctreeT::LeafNode | LeafNode |
typedef OctreeT::BranchNode | BranchNode |
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typedef OctreeT | Base |
typedef OctreeT::LeafNode | LeafNode |
typedef OctreeT::BranchNode | BranchNode |
typedef OctreeDepthFirstIterator < OctreeT > | Iterator |
typedef const OctreeDepthFirstIterator < OctreeT > | ConstIterator |
typedef OctreeLeafNodeIterator < OctreeT > | LeafNodeIterator |
typedef const OctreeLeafNodeIterator < OctreeT > | ConstLeafNodeIterator |
typedef OctreeDepthFirstIterator < OctreeT > | DepthFirstIterator |
typedef const OctreeDepthFirstIterator < OctreeT > | ConstDepthFirstIterator |
typedef OctreeBreadthFirstIterator < OctreeT > | BreadthFirstIterator |
typedef const OctreeBreadthFirstIterator < OctreeT > | 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, LeafContainerT, BranchContainerT, OctreeBase < LeafContainerT > > | SingleBuffer |
typedef boost::shared_ptr < OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > | Ptr |
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafContainerT, BranchContainerT, OctreeT > > | ConstPtr |
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > > | AlignedPointTVector |
typedef std::vector< PointXYZ, Eigen::aligned_allocator < PointXYZ > > | AlignedPointXYZVector |
Public Member Functions | |
OctreePointCloudVoxelCentroid (const double resolution_arg) | |
OctreePointCloudVoxelCentroids class constructor. More... | |
virtual | ~OctreePointCloudVoxelCentroid () |
Empty class deconstructor. More... | |
virtual void | addPointIdx (const int pointIdx_arg) |
Add DataT object to leaf node at octree key. More... | |
bool | getVoxelCentroidAtPoint (const PointT &point_arg, PointT &voxel_centroid_arg) const |
Get centroid for a single voxel addressed by a PointT point. More... | |
bool | getVoxelCentroidAtPoint (const int &point_idx_arg, PointT &voxel_centroid_arg) const |
Get centroid for a single voxel addressed by a PointT point from input cloud. More... | |
size_t | getVoxelCentroids (typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const |
Get PointT vector of centroids for all occupied voxels. More... | |
void | getVoxelCentroidsRecursive (const BranchNode *branch_arg, OctreeKey &key_arg, typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector &voxel_centroid_list_arg) const |
Recursively explore the octree and output a PointT vector of centroids for all occupied voxels. More... | |
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OctreePointCloud (const double resolution_arg) | |
Octree pointcloud constructor. More... | |
virtual | ~OctreePointCloud () |
Empty deconstructor. More... | |
void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
Provide a pointer to the input data set. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
void | setEpsilon (double eps) |
Set the search epsilon precision (error bound) for nearest neighbors searches. More... | |
double | getEpsilon () const |
Get the search epsilon precision (error bound) for nearest neighbors searches. More... | |
void | setResolution (double resolution_arg) |
Set/change the octree voxel resolution. More... | |
double | getResolution () const |
Get octree voxel resolution. More... | |
unsigned int | getTreeDepth () const |
Get the maximum depth of the octree. More... | |
void | addPointsFromInputCloud () |
Add points from input point cloud to octree. More... | |
void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
Add point at given index from input point cloud to octree. More... | |
void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
Add point simultaneously to octree and input point cloud. More... | |
void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
Add point simultaneously to octree and input point cloud. More... | |
bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
Check if voxel at given point exist. More... | |
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... | |
bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
Check if voxel at given point from input cloud exist. More... | |
void | deleteTree () |
Delete the octree structure and its leaf nodes. More... | |
int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
Get a PointT vector of centers of all occupied voxels. More... | |
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... | |
void | deleteVoxelAtPoint (const PointT &point_arg) |
Delete leaf node / voxel at given point. More... | |
void | deleteVoxelAtPoint (const int &point_idx_arg) |
Delete leaf node / voxel at given point from input cloud. More... | |
void | defineBoundingBox () |
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More... | |
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... | |
void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
Define bounding box for octree. More... | |
void | defineBoundingBox (const double cubeLen_arg) |
Define bounding box cube for octree. More... | |
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... | |
double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
Calculates the squared diameter of a voxel at given tree depth. More... | |
double | getVoxelSquaredDiameter () const |
Calculates the squared diameter of a voxel at leaf depth. More... | |
double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
Calculates the squared voxel cube side length at given tree depth. More... | |
double | getVoxelSquaredSideLen () const |
Calculates the squared voxel cube side length at leaf level. More... | |
void | getVoxelBounds (OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) |
Generate bounds of the current voxel of an octree iterator. More... | |
void | enableDynamicDepth (size_t maxObjsPerLeaf) |
Enable dynamic octree structure. More... | |
Additional Inherited Members | |
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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... | |
const PointT & | getPointByIndex (const unsigned int index_arg) const |
Get point at index from input pointcloud dataset. More... | |
LeafContainerT * | findLeafAtPoint (const PointT &point_arg) const |
Find octree leaf node at a given point. More... | |
void | getKeyBitSize () |
Define octree key setting and octree depth based on defined bounding box. More... | |
void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
Grow the bounding box/octree until point fits. More... | |
bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
Checks if given point is within the bounding box of the octree. More... | |
void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
Generate octree key for voxel at a given point. More... | |
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... | |
virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
Virtual method for generating octree key for a given point index. More... | |
void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
Generate a point at center of leaf node voxel. More... | |
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... | |
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... | |
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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PointCloudConstPtr | input_ |
Pointer to input point cloud dataset. More... | |
IndicesConstPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
double | epsilon_ |
Epsilon precision (error bound) for nearest neighbors searches. More... | |
double | resolution_ |
Octree resolution. More... | |
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. More... | |
std::size_t | max_objs_per_leaf_ |
Amount of DataT objects per leafNode before expanding branch. More... | |
Octree pointcloud voxel centroid class
Definition at line 146 of file octree_pointcloud_voxelcentroid.h.
typedef OctreeT::BranchNode pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::BranchNode |
Definition at line 154 of file octree_pointcloud_voxelcentroid.h.
typedef boost::shared_ptr<const OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::ConstPtr |
Definition at line 150 of file octree_pointcloud_voxelcentroid.h.
typedef OctreeT::LeafNode pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::LeafNode |
Definition at line 153 of file octree_pointcloud_voxelcentroid.h.
typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT> pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::OctreeT |
Definition at line 152 of file octree_pointcloud_voxelcentroid.h.
typedef boost::shared_ptr<OctreePointCloudVoxelCentroid<PointT, LeafContainerT> > pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::Ptr |
Definition at line 149 of file octree_pointcloud_voxelcentroid.h.
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inline |
OctreePointCloudVoxelCentroids class constructor.
[in] | resolution_arg | octree resolution at lowest octree level |
Definition at line 159 of file octree_pointcloud_voxelcentroid.h.
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inlinevirtual |
Empty class deconstructor.
Definition at line 166 of file octree_pointcloud_voxelcentroid.h.
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inlinevirtual |
Add DataT object to leaf node at octree key.
pointIdx_arg |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 174 of file octree_pointcloud_voxelcentroid.h.
bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidAtPoint | ( | const PointT & | point_arg, |
PointT & | voxel_centroid_arg | ||
) | const |
Get centroid for a single voxel addressed by a PointT point.
[in] | point_arg | point addressing a voxel in octree |
[out] | voxel_centroid_arg | centroid is written to this PointT reference |
Definition at line 47 of file octree_pointcloud_voxelcentroid.hpp.
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inline |
Get centroid for a single voxel addressed by a PointT point from input cloud.
[in] | point_idx_arg | point index from input cloud addressing a voxel in octree |
[out] | voxel_centroid_arg | centroid is written to this PointT reference |
Definition at line 208 of file octree_pointcloud_voxelcentroid.h.
size_t pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroids | ( | typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector & | voxel_centroid_list_arg | ) | const |
Get PointT vector of centroids for all occupied voxels.
[out] | voxel_centroid_list_arg | results are written to this vector of PointT elements |
Definition at line 69 of file octree_pointcloud_voxelcentroid.hpp.
void pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafContainerT, BranchContainerT >::getVoxelCentroidsRecursive | ( | const BranchNode * | branch_arg, |
OctreeKey & | key_arg, | ||
typename OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector & | voxel_centroid_list_arg | ||
) | const |
Recursively explore the octree and output a PointT vector of centroids for all occupied voxels.
[in] | branch_arg | current branch node |
[in] | key_arg | current key |
[out] | voxel_centroid_list_arg | results are written to this vector of PointT elements |
Definition at line 86 of file octree_pointcloud_voxelcentroid.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::OctreeNode::getNodeType(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), and pcl::octree::OctreeKey::pushBranch().