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typedef OctreeBase< LeafContainerT, BranchContainerT > | OctreeBaseT |
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typedef OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT > | OctreeAdjacencyT |
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typedef boost::shared_ptr< OctreeAdjacencyT > | Ptr |
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typedef boost::shared_ptr< const OctreeAdjacencyT > | ConstPtr |
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typedef OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBaseT > | OctreePointCloudT |
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typedef OctreePointCloudT::LeafNode | LeafNode |
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typedef OctreePointCloudT::BranchNode | BranchNode |
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typedef pcl::PointCloud< PointT > | CloudT |
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typedef OctreeDepthFirstIterator< OctreeAdjacencyT > | Iterator |
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typedef const OctreeDepthFirstIterator< OctreeAdjacencyT > | ConstIterator |
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typedef OctreeLeafNodeIterator< OctreeAdjacencyT > | LeafNodeIterator |
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typedef const OctreeLeafNodeIterator< OctreeAdjacencyT > | ConstLeafNodeIterator |
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typedef boost::adjacency_list< boost::setS, boost::setS, boost::undirectedS, PointT, float > | VoxelAdjacencyList |
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typedef VoxelAdjacencyList::vertex_descriptor | VoxelID |
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typedef VoxelAdjacencyList::edge_descriptor | EdgeID |
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typedef std::vector< LeafContainerT * > | LeafVectorT |
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typedef LeafVectorT::iterator | iterator |
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typedef LeafVectorT::const_iterator | const_iterator |
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typedef OctreeBase< LeafContainerT, BranchContainerT > | Base |
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typedef OctreeBase< LeafContainerT, BranchContainerT >::LeafNode | LeafNode |
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typedef OctreeBase< LeafContainerT, BranchContainerT >::BranchNode | BranchNode |
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typedef OctreeDepthFirstIterator< OctreeBase< LeafContainerT, BranchContainerT > > | Iterator |
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typedef const OctreeDepthFirstIterator< OctreeBase< LeafContainerT, BranchContainerT > > | ConstIterator |
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typedef OctreeLeafNodeIterator< OctreeBase< LeafContainerT, BranchContainerT > > | LeafNodeIterator |
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typedef const OctreeLeafNodeIterator< OctreeBase< LeafContainerT, BranchContainerT > > | ConstLeafNodeIterator |
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typedef OctreeDepthFirstIterator< OctreeBase< LeafContainerT, BranchContainerT > > | DepthFirstIterator |
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typedef const OctreeDepthFirstIterator< OctreeBase< LeafContainerT, BranchContainerT > > | ConstDepthFirstIterator |
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typedef OctreeBreadthFirstIterator< OctreeBase< LeafContainerT, BranchContainerT > > | BreadthFirstIterator |
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typedef const OctreeBreadthFirstIterator< OctreeBase< LeafContainerT, BranchContainerT > > | ConstBreadthFirstIterator |
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typedef boost::shared_ptr< std::vector< int > > | IndicesPtr |
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typedef boost::shared_ptr< const std::vector< int > > | IndicesConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
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typedef boost::shared_ptr< PointCloud > | PointCloudPtr |
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typedef boost::shared_ptr< const PointCloud > | PointCloudConstPtr |
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typedef OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > > | SingleBuffer |
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typedef boost::shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > > | Ptr |
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typedef boost::shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > > | ConstPtr |
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typedef std::vector< PointT, Eigen::aligned_allocator< PointT > > | AlignedPointTVector |
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typedef std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > > | AlignedPointXYZVector |
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typedef OctreeBase< LeafContainerT, BranchContainerT > | OctreeT |
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typedef OctreeBranchNode< BranchContainerT > | BranchNode |
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typedef OctreeLeafNode< LeafContainerT > | LeafNode |
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typedef BranchContainerT | BranchContainer |
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typedef LeafContainerT | LeafContainer |
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typedef OctreeDepthFirstIterator< OctreeT > | Iterator |
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typedef const OctreeDepthFirstIterator< OctreeT > | ConstIterator |
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typedef OctreeLeafNodeIterator< OctreeT > | LeafNodeIterator |
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typedef const OctreeLeafNodeIterator< OctreeT > | ConstLeafNodeIterator |
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typedef OctreeDepthFirstIterator< OctreeT > | DepthFirstIterator |
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typedef const OctreeDepthFirstIterator< OctreeT > | ConstDepthFirstIterator |
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typedef OctreeBreadthFirstIterator< OctreeT > | BreadthFirstIterator |
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typedef const OctreeBreadthFirstIterator< OctreeT > | ConstBreadthFirstIterator |
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Iterator | depth_begin (unsigned int maxDepth_arg=0) |
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const Iterator | depth_end () |
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LeafNodeIterator | leaf_begin (unsigned int maxDepth_arg=0) |
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const LeafNodeIterator | leaf_end () |
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iterator | begin () |
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iterator | end () |
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size_t | size () const |
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| OctreePointCloudAdjacency (const double resolution_arg) |
| Constructor. More...
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virtual | ~OctreePointCloudAdjacency () |
| Empty class destructor. More...
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void | addPointsFromInputCloud () |
| Adds points from cloud to the octree. More...
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LeafContainerT * | getLeafContainerAtPoint (const PointT &point_arg) const |
| Gets the leaf container for a given point. More...
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void | computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph) |
| Computes an adjacency graph of voxel relations. More...
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void | setTransformFunction (boost::function< void(PointT &p)> transform_func) |
| Sets a point transform (and inverse) used to transform the space of the input cloud This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for points further from the camera. More...
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bool | testForOcclusion (const PointT &point_arg, const PointXYZ &camera_pos=PointXYZ(0, 0, 0)) |
| Tests whether input point is occluded from specified camera point by other voxels. More...
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| OctreePointCloud (const double resolution_arg) |
| Octree pointcloud constructor. More...
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virtual | ~OctreePointCloud () |
| Empty deconstructor. 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 (OctreeIteratorBase< OctreeBase< LeafContainerT, BranchContainerT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) |
| Generate bounds of the current voxel of an octree iterator. More...
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void | enableDynamicDepth (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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DepthFirstIterator | depth_begin (unsigned int max_depth_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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| OctreeBase () |
| Empty constructor. More...
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virtual | ~OctreeBase () |
| Empty deconstructor. More...
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| OctreeBase (const OctreeBase &source) |
| Copy constructor. More...
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OctreeBase & | operator= (const OctreeBase &source) |
| Copy operator. 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 max_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 |
| idx_x_arg 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 branch nodes in the octree. More...
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void | deleteTree () |
| Delete the octree structure and its leaf nodes. More...
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void | serializeTree (std::vector< char > &binary_tree_out_arg) |
| 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) |
| Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT 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 LeafContainerT elements that are stored within the octree leaf nodes. More...
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void | deserializeTree (std::vector< char > &binary_tree_input_arg) |
| Deserialize a binary octree description vector and create a corresponding octree structure. More...
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void | deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg) |
| Deserialize a binary octree description and create a corresponding octree structure. More...
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virtual void | addPointIdx (const int pointIdx_arg) |
| Add point at index from input pointcloud dataset to octree. More...
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void | computeNeighbors (OctreeKey &key_arg, LeafContainerT *leaf_container) |
| Fills in the neighbors fields for new voxels. More...
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void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generates octree key for specified point (uses transform if provided) 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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LeafContainerT * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node. More...
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LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node. More...
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bool | existLeaf (const OctreeKey &key_arg) const |
| Check for existance of a leaf node in the octree. More...
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void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree. More...
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OctreeNode * | getRootNode () const |
| Retrieve root node. 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. More...
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void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree. More...
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void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree. More...
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BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new branch child to a branch class. More...
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LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create 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) |
| 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 (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const |
| Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. 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_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_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) |
| Recursive method for deserializing octree structure. More...
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virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) const |
| Callback executed for every leaf node during serialization. More...
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virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |
| Callback executed for every leaf node during deserialization. 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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template<typename PointT, typename LeafContainerT = OctreePointCloudAdjacencyContainer <PointT>, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >
Octree pointcloud voxel class used for adjacency calculation
- Note
- This pointcloud octree class generate an octree from a point cloud (zero-copy).
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The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
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This class maintains adjacency information for its voxels
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The OctreePointCloudAdjacencyContainer can be used to store data in leaf nodes
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An optional transform function can be provided which changes how the voxel grid is computed - this can be used to, for example, make voxel bins larger as they increase in distance from the origin (camera)
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See SupervoxelClustering for an example of how to provide a transform function
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If used in academic work, please cite:
J. Papon, A. Abramov, M. Schoeler, F. Woergoetter Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013
- Author
- Jeremie Papon (jpapo.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)
Definition at line 83 of file octree_pointcloud_adjacency.h.