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 >:

Public Member Functions
	OctreePointCloudChangeDetector (const double resolution_arg)
	Constructor.
virtual	~OctreePointCloudChangeDetector ()
	Empty class constructor.
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.
Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor.
virtual	~OctreePointCloud ()
	Empty deconstructor.
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.
unsigned int	getTreeDepth () const
	Get the maximum depth of the octree.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (const int 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.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
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.
bool	isVoxelOccupiedAtPoint (const int &point_idx_arg) const
	Check if voxel at given point from input cloud exist.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
int	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels.
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.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const int &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
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.
void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube 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 (unsigned int tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (unsigned int tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.
void	getVoxelBounds (OctreeIteratorBase< Octree2BufBase< LeafContainerT, BranchContainerT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
	Generate bounds of the current voxel of an octree iterator.
void	enableDynamicDepth (size_t maxObjsPerLeaf)
	Enable dynamic octree structure.
Public Member Functions inherited from pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >
Iterator	begin (unsigned int max_depth_arg=0)
const Iterator	end ()
LeafNodeIterator	leaf_begin (unsigned int max_depth_arg=0)
const LeafNodeIterator	leaf_end ()
DepthFirstIterator	depth_begin (unsigned int maxDepth_arg=0)
const DepthFirstIterator	depth_end ()
BreadthFirstIterator	breadth_begin (unsigned int max_depth_arg=0)
const BreadthFirstIterator	breadth_end ()
	Octree2BufBase ()
	Empty constructor.
virtual	~Octree2BufBase ()
	Empty deconstructor.
	Octree2BufBase (const Octree2BufBase &source)
	Copy constructor.
Octree2BufBase &	operator= (const Octree2BufBase &source)
	Copy constructor.
void	setMaxVoxelIndex (unsigned int max_voxel_index_arg)
	Set the maximum amount of voxels per dimension.
void	setTreeDepth (unsigned int depth_arg)
	Set the maximum depth of the octree.
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).
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).
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).
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).
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	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	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.
void	serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
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.
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.
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.

Additional Inherited Members
Public Types inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >
typedef Octree2BufBase < LeafContainerT, BranchContainerT >	Base
typedef Octree2BufBase < LeafContainerT, BranchContainerT >::LeafNode	LeafNode
typedef Octree2BufBase < LeafContainerT, BranchContainerT >::BranchNode	BranchNode
typedef OctreeDepthFirstIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	Iterator
typedef const OctreeDepthFirstIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	ConstIterator
typedef OctreeLeafNodeIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	LeafNodeIterator
typedef const OctreeLeafNodeIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	ConstLeafNodeIterator
typedef OctreeDepthFirstIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	DepthFirstIterator
typedef const OctreeDepthFirstIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	ConstDepthFirstIterator
typedef OctreeBreadthFirstIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < Octree2BufBase < LeafContainerT, BranchContainerT > >	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, Octree2BufBase< LeafContainerT, BranchContainerT > > >	Ptr
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > > >	ConstPtr
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
typedef std::vector< PointXYZ, Eigen::aligned_allocator < PointXYZ > >	AlignedPointXYZVector
Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >
virtual void	addPointIdx (const int 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, unsigned int depth_mask)
	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.
LeafContainerT *	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.
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.
virtual bool	genOctreeKeyForDataT (const int &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, unsigned int 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, 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.
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.
Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, Octree2BufBase< LeafContainerT, BranchContainerT > >
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.

Detailed Description

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

The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.

typename: 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.

Constructor & Destructor Documentation

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudChangeDetector ( const double  resolution_arg )

inline

Constructor.

Parameters

resolution_arg,:

octree resolution at lowest octree level

Definition at line 73 of file octree_pointcloud_changedetector.h.

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

virtual pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudChangeDetector ( )

inlinevirtual

Empty class constructor.

Definition at line 80 of file octree_pointcloud_changedetector.h.

Member Function Documentation

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

std::size_t pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::getPointIndicesFromNewVoxels ( std::vector< int > &  indicesVector_arg, const int  minPointsPerLeaf_arg = 0  )

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 89 of file octree_pointcloud_changedetector.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs().

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The documentation for this class was generated from the following file:

• /tmp/buildd/pcl-1.7.2/octree/include/pcl/octree/octree_pointcloud_changedetector.h