Octree pointcloud occupancy class More...

#include <pcl/octree/octree_pointcloud_occupancy.h>

Inheritance diagram for pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >:

Collaboration diagram for pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >:

Public Types
typedef OctreePointCloudOccupancy < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer
typedef OctreePointCloudOccupancy < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::PointCloud	PointCloud
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::PointCloudPtr	PointCloudPtr
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::PointCloudConstPtr	PointCloudConstPtr
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::OctreeKey	OctreeKey
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef OctreePointCloud < PointT, LeafT, OctreeLowMemBase< int, LeafT > >	LowMem
typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, OctreeT > >	Ptr
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, OctreeT > >	ConstPtr
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
typedef OctreeT::OctreeLeaf	OctreeLeaf
Public Member Functions
	OctreePointCloudOccupancy (const double resolution_arg)
	Constructor.
virtual	~OctreePointCloudOccupancy ()
	Empty class constructor.
void	setOccupiedVoxelAtPoint (const PointT &point_arg)
	Set occupied voxel at point.
void	setOccupiedVoxelsAtPointsFromCloud (PointCloudPtr cloud_arg)
	Set occupied voxels at all points from point cloud.
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
IndicesConstPtr const	getIndices ()
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud ()
	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 ()
	Get the search epsilon precision (error bound) for nearest neighbors searches.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
double	getResolution ()
	Get octree voxel resolution.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (const int pointIdx_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 pointX_arg, const double pointY_arg, const double pointZ_arg) const
	Check if voxel at given point coordinates exist.
bool	isVoxelOccupiedAtPoint (const int &pointIdx_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 &voxelCenterList_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 &pointIdx_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 minX_arg, const double minY_arg, const double minZ_arg, const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
void	getBoundingBox (double &minX_arg, double &minY_arg, double &minZ_arg, double &maxX_arg, double &maxY_arg, double &maxZ_arg) const
	Get bounding box for octree.
double	getVoxelSquaredDiameter (unsigned int treeDepth_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 treeDepth_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.

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >

Octree pointcloud occupancy class

Note:: This pointcloud octree class generate an octrees from a point cloud (zero-copy). No information is stored at the lead nodes. It can be used of occupancy checks.; 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 (julius@kammerl.de)

Definition at line 64 of file octree_pointcloud_occupancy.h.

Member Typedef Documentation

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::AlignedPointTVector [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 106 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::ConstPtr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 103 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloudOccupancy<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::DoubleBuffer

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 71 of file octree_pointcloud_occupancy.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::IndicesConstPtr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 90 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::IndicesPtr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 89 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeLowMemBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::LowMem [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 99 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::OctreeKey pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::OctreeKey

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 78 of file octree_pointcloud_occupancy.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreeT::OctreeLeaf pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::OctreeLeaf [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >, and pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >.

Definition at line 361 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::PointCloud pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::PointCloud

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 74 of file octree_pointcloud_occupancy.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudConstPtr pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::PointCloudConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 76 of file octree_pointcloud_occupancy.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudPtr pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::PointCloudPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 75 of file octree_pointcloud_occupancy.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<OctreePointCloud<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::Ptr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 102 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloudOccupancy<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::SingleBuffer

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 70 of file octree_pointcloud_occupancy.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::OctreePointCloudOccupancy ( const double resolution_arg ) [inline]

Constructor.

Parameters:

resolution_arg,: octree resolution at lowest octree level

Definition at line 83 of file octree_pointcloud_occupancy.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

virtual pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::~OctreePointCloudOccupancy ( ) [inline, virtual]

Empty class constructor.

Definition at line 90 of file octree_pointcloud_occupancy.h.

Member Function Documentation

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointFromCloud	(	const int	pointIdx_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point at given index from input point cloud to octree.

Index will be also added to indices vector.

Parameters:

[in]	pointIdx_arg	index of point to be added
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 100 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointsFromInputCloud ( ) [inherited]

Add points from input point cloud to octree.

Definition at line 65 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)

Definition at line 109 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 120 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox ( ) [inherited]

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

Definition at line 266 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox	(	const double	minX_arg,
		const double	minY_arg,
		const double	minZ_arg,
		const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

Note:: Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 301 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox	(	const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

Note:: Lower bounding box point is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 338 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox ( const double cubeLen_arg ) [inherited]

Define bounding box cube for octree.

Note:: Lower bounding box corner is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters:

[in] cubeLen_arg side length of bounding box cube.

Definition at line 373 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteTree ( ) [inline, inherited]

Delete the octree structure and its leaf nodes.

Definition at line 214 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteVoxelAtPoint ( const PointT & point_arg ) [inherited]

Delete leaf node / voxel at given point.

Parameters:

[in] point_arg point addressing the voxel to be deleted.

Definition at line 170 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteVoxelAtPoint ( const int & pointIdx_arg ) [inherited]

Delete leaf node / voxel at given point from input cloud.

Parameters:

[in] pointIdx_arg index of point addressing the voxel to be deleted.

Definition at line 182 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getApproxIntersectedVoxelCentersBySegment	(	const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	end,
		AlignedPointTVector &	voxel_center_list,
		float	precision = `0.2`
	)		`[inherited]`

Get a PointT vector of centers of voxels intersected by a line segment.

This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.

Parameters:

[in]	origin	origin of the line segment
[in]	end	end of the line segment
[out]	voxel_center_list	results are written to this vector of PointT elements
[in]	precision	determines the size of the steps: step_size = octree_resolution x precision

Returns:: number of intersected voxels

Definition at line 207 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getBoundingBox	(	double &	minX_arg,
		double &	minY_arg,
		double &	minZ_arg,
		double &	maxX_arg,
		double &	maxY_arg,
		double &	maxZ_arg
	)		const `[inherited]`

Get bounding box for octree.

Note:: Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 405 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getEpsilon ( ) [inline, inherited]

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 153 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Returns:: pointer to vector of indices used.

Definition at line 128 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Returns:: pointer to pointcloud input class.

Definition at line 137 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getOccupiedVoxelCenters ( AlignedPointTVector & voxelCenterList_arg ) const [inherited]

Get a PointT vector of centers of all occupied voxels.

Parameters:

[out] voxelCenterList_arg results are written to this vector of PointT elements

Returns:: number of occupied voxels

Definition at line 193 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getResolution ( ) [inline, inherited]

Get octree voxel resolution.

Returns:: voxel resolution at lowest tree level

Definition at line 174 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredDiameter ( unsigned int treeDepth_arg ) const [inherited]

Calculates the squared diameter of a voxel at given tree depth.

Parameters:

[in] treeDepth_arg depth/level in octree

Returns:: squared diameter

Definition at line 705 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredDiameter ( ) const [inline, inherited]

Calculates the squared diameter of a voxel at leaf depth.

Returns:: squared diameter

Definition at line 340 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredSideLen ( unsigned int treeDepth_arg ) const [inherited]

Calculates the squared voxel cube side length at given tree depth.

Parameters:

[in] treeDepth_arg depth/level in octree

Returns:: squared voxel cube side length

Definition at line 690 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredSideLen ( ) const [inline, inherited]

Calculates the squared voxel cube side length at leaf level.

Returns:: squared voxel cube side length

Definition at line 356 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint ( const PointT & point_arg ) const [inherited]

Check if voxel at given point exist.

Parameters:

[in] point_arg point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 133 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg
	)		const `[inherited]`

Check if voxel at given point coordinates exist.

Parameters:

[in]	pointX_arg	X coordinate of point to be checked
[in]	pointY_arg	Y coordinate of point to be checked
[in]	pointZ_arg	Z coordinate of point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 157 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint ( const int & pointIdx_arg ) const [inherited]

Check if voxel at given point from input cloud exist.

Parameters:

[in] pointIdx_arg point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 146 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setEpsilon ( double eps ) [inline, inherited]

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters:

[in] eps precision (error bound) for nearest neighbors searches

Definition at line 146 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = `IndicesConstPtr ()`
	)		`[inline, inherited]`

Provide a pointer to the input data set.

Parameters:

[in]	cloud_arg	the const boost shared pointer to a PointCloud message
[in]	indices_arg	the point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 113 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::setOccupiedVoxelAtPoint ( const PointT & point_arg ) [inline]

Set occupied voxel at point.

Parameters:

point_arg,: input point

Definition at line 97 of file octree_pointcloud_occupancy.h.

template<typename PointT , typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >::setOccupiedVoxelsAtPointsFromCloud ( PointCloudPtr cloud_arg ) [inline]

Set occupied voxels at all points from point cloud.

Parameters:

cloud_arg,: input point cloud

Definition at line 113 of file octree_pointcloud_occupancy.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setResolution ( double resolution_arg ) [inline, inherited]

Set/change the octree voxel resolution.

Parameters:

[in] resolution_arg side length of voxels at lowest tree level

Definition at line 162 of file octree_pointcloud.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/octree/include/pcl/octree/octree_pointcloud_occupancy.h

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>> class pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename LeafT = OctreeLeafEmpty<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >