Octree class More...

#include <pcl/octree/octree_lowmemory_base.h>

Classes
class	OctreeBranch
	Octree branch class.
class	OctreeKey
	Octree key class
Public Types
typedef OctreeNodeIterator < DataT, LeafT, OctreeLowMemBase >	Iterator
typedef const OctreeNodeIterator< DataT, LeafT, OctreeLowMemBase >	ConstIterator
typedef OctreeLeafNodeIterator < DataT, LeafT, OctreeLowMemBase >	LeafNodeIterator
typedef const OctreeLeafNodeIterator< DataT, LeafT, OctreeLowMemBase >	ConstLeafNodeIterator
Public Member Functions
	OctreeLowMemBase ()
	Empty constructor.
virtual	~OctreeLowMemBase ()
	Empty deconstructor.
void	setMaxVoxelIndex (unsigned int maxVoxelIndex_arg)
	Set the maximum amount of voxels per dimension.
void	setTreeDepth (unsigned int depth_arg)
	Set the maximum depth of the octree.
unsigned int	getTreeDepth ()
	Get the maximum depth of the octree.
void	add (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg, const DataT &data_arg)
	Add a const DataT element to leaf node at (idxX, idxY, idxZ).
bool	get (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg, DataT &data_arg) const
	Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).
bool	existLeaf (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg) const
	Check for the existence of leaf node at (idxX, idxY, idxZ).
void	removeLeaf (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg)
	Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).
unsigned int	getLeafCount () const
	Return the amount of existing leafs in the octree.
unsigned int	getBranchCount () const
	Return the amount of existing branches in the octree.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, bool doXOREncoding_arg=false)
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &dataVector_arg, bool doXOREncoding_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< DataT > &dataVector_arg)
	Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, bool doXORDecoding_arg=false)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg, bool doXORDecoding_arg=false)
	Deserialize a binary octree description and create a corresponding octree structure.
void	deserializeTreeAndOutputLeafData (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	switchBuffers ()
	Switch buffers interface for compression.
Friends
class	OctreeNodeIterator< DataT, LeafT, OctreeLowMemBase >
class	OctreeLeafNodeIterator< DataT, LeafT, OctreeLowMemBase >

Detailed Description

template<typename DataT, typename LeafT = OctreeLeafDataT<DataT>>
class pcl::octree::OctreeLowMemBase< DataT, LeafT >

Octree class

Note:: The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).; All leaf nodes are addressed by integer indices.; Note: The tree depth equates to the bit length of the voxel indices.

Author:: Julius Kammerl (julius@kammerl.de)

Definition at line 63 of file octree_lowmemory_base.h.

Member Typedef Documentation

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

typedef const OctreeNodeIterator<DataT, LeafT, OctreeLowMemBase> pcl::octree::OctreeLowMemBase< DataT, LeafT >::ConstIterator

Definition at line 73 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

typedef const OctreeLeafNodeIterator<DataT, LeafT, OctreeLowMemBase> pcl::octree::OctreeLowMemBase< DataT, LeafT >::ConstLeafNodeIterator

Definition at line 77 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

typedef OctreeNodeIterator<DataT, LeafT, OctreeLowMemBase> pcl::octree::OctreeLowMemBase< DataT, LeafT >::Iterator

Definition at line 72 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

typedef OctreeLeafNodeIterator<DataT, LeafT, OctreeLowMemBase> pcl::octree::OctreeLowMemBase< DataT, LeafT >::LeafNodeIterator

Definition at line 76 of file octree_lowmemory_base.h.

Constructor & Destructor Documentation

template<typename DataT , typename LeafT >

pcl::octree::OctreeLowMemBase< DataT, LeafT >::OctreeLowMemBase ( )

Empty constructor.

Definition at line 57 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

pcl::octree::OctreeLowMemBase< DataT, LeafT >::~OctreeLowMemBase ( ) [virtual]

Empty deconstructor.

Definition at line 72 of file octree_lowmemory_base.hpp.

Member Function Documentation

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::add	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg,
		const DataT &	data_arg
	)

Add a const DataT element to leaf node at (idxX, idxY, idxZ).

If leaf node does not exist, it is created and added to the octree.

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.
data_arg,:	const reference to DataT object to be added.

Definition at line 117 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::deleteTree ( )

Delete the octree structure and its leaf nodes.

Definition at line 194 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		bool	doXORDecoding_arg = `false`
	)

Deserialize a binary octree description vector and create a corresponding octree structure.

Leaf nodes are initialized with getDataTByKey(..).

Parameters:

binaryTreeIn_arg,:	reference to input vector for reading binary tree structure.
doXORDecoding_arg,:	dummy argument to be consistent with the octree compression interface. As only a single octree is managed in memory, no XOR encoding is performed.

Definition at line 264 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg,
		bool	doXORDecoding_arg = `false`
	)

Deserialize a binary octree description and create a corresponding octree structure.

Leaf nodes are initialized with DataT elements from the dataVector.

Parameters:

binaryTreeIn_arg,:	reference to inpvectoream for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that provides DataT objects for initializing leaf nodes.
doXORDecoding_arg,:	dummy argument to be consistent with the octree compression interface. As only a single octree is managed in memory, no XOR encoding is performed.

Definition at line 285 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::deserializeTreeAndOutputLeafData	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg
	)

Deserialize a binary octree description vector and create a corresponding octree structure.

Leaf nodes are initialized with getDataTByKey(..). Generated DataT objects are copied to output vector.

Parameters:

binaryTreeIn_arg,:	reference to input vector for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that receives a copy of generated DataT objects.

Definition at line 313 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

bool pcl::octree::OctreeLowMemBase< DataT, LeafT >::existLeaf	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg
	)		const

Check for the existence of leaf node at (idxX, idxY, idxZ).

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.

Returns:: "true" if leaf node search is successful, otherwise it returns "false".

Definition at line 164 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

bool pcl::octree::OctreeLowMemBase< DataT, LeafT >::get	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg,
		DataT &	data_arg
	)		const

Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).

It returns false if leaf node does not exist.

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.
data_arg,:	reference to DataT object that contains content of leaf node if search was successful.

Returns:: "true" if leaf node search is successful, otherwise it returns "false".

Definition at line 138 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

unsigned int pcl::octree::OctreeLowMemBase< DataT, LeafT >::getBranchCount ( ) const [inline]

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 157 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

unsigned int pcl::octree::OctreeLowMemBase< DataT, LeafT >::getLeafCount ( ) const [inline]

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 148 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

unsigned int pcl::octree::OctreeLowMemBase< DataT, LeafT >::getTreeDepth ( ) [inline]

Get the maximum depth of the octree.

Returns:: depth_arg: maximum depth of octree

Definition at line 102 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::removeLeaf	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg
	)

Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).

Parameters:

idxX_arg,:	index of leaf node in the X axis.
idxY_arg,:	index of leaf node in the Y axis.
idxZ_arg,:	index of leaf node in the Z axis.

Definition at line 179 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::serializeLeafs ( std::vector< DataT > & dataVector_arg )

Outputs a vector of all DataT elements that are stored within the octree leaf nodes.

Parameters:

dataVector_arg,: reference to DataT vector that receives a copy of all DataT objects in the octree.

Definition at line 247 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		bool	doXOREncoding_arg = `false`
	)

Serialize octree into a binary output vector describing its branch node structure.

Parameters:

binaryTreeOut_arg,:	reference to output vector for writing binary tree structure.
doXOREncoding_arg,:	dummy argument to be consistent with the octree compression interface. As only a single octree is managed in memory, no XOR encoding is performed.

Definition at line 212 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		std::vector< DataT > &	dataVector_arg,
		bool	doXOREncoding_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.

Parameters:

binaryTreeOut_arg,:	reference to output vector for writing binary tree structure.
dataVector_arg,:	reference of DataT vector that receives a copy of all DataT objects in the octree
doXOREncoding_arg,:	dummy argument to be consistent with the octree compression interface. As only a single octree is managed in memory, no XOR encoding is performed.

Definition at line 228 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::setMaxVoxelIndex ( unsigned int maxVoxelIndex_arg )

Set the maximum amount of voxels per dimension.

Parameters:

maxVoxelIndex_arg,: maximum amount of voxels per dimension

Definition at line 83 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT >

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::setTreeDepth ( unsigned int depth_arg )

Set the maximum depth of the octree.

Parameters:

depth_arg,: maximum depth of octree

Definition at line 101 of file octree_lowmemory_base.hpp.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

void pcl::octree::OctreeLowMemBase< DataT, LeafT >::switchBuffers ( ) [inline]

Switch buffers interface for compression.

As this octree implementation manages only a single buffer, it just deletes the current octree.

Definition at line 214 of file octree_lowmemory_base.h.

Friends And Related Function Documentation

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

friend class OctreeLeafNodeIterator< DataT, LeafT, OctreeLowMemBase > [friend]

Definition at line 67 of file octree_lowmemory_base.h.

template<typename DataT , typename LeafT = OctreeLeafDataT<DataT>>

friend class OctreeNodeIterator< DataT, LeafT, OctreeLowMemBase > [friend]

Definition at line 66 of file octree_lowmemory_base.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/octree/include/pcl/octree/octree_lowmemory_base.h
/builddir/build/BUILD/PCL-1.4.0-Source/octree/include/pcl/octree/impl/octree_lowmemory_base.hpp

Classes

Public Types

Public Member Functions

Friends

Detailed Description

template<typename DataT, typename LeafT = OctreeLeafDataT<DataT>> class pcl::octree::OctreeLowMemBase< DataT, LeafT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

template<typename DataT, typename LeafT = OctreeLeafDataT<DataT>>
class pcl::octree::OctreeLowMemBase< DataT, LeafT >