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pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT > Class Template Reference
Module octree

Octree pointcloud point vector class More...

#include <pcl/octree/octree_pointcloud_pointvector.h>

Inheritance diagram for pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >:
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Collaboration diagram for pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >:
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List of all members.

Public Types

typedef
OctreePointCloudPointVector
< PointT, LeafT, OctreeBase
< int, LeafT > > 		SingleBuffer
typedef
OctreePointCloudPointVector
< PointT, LeafT,
Octree2BufBase< int, LeafT > > 		DoubleBuffer
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, 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

 OctreePointCloudPointVector (const double resolution_arg)
 Constructor.
virtual ~OctreePointCloudPointVector ()
 Empty class constructor.
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 = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >

Octree pointcloud point vector class

Note:
This pointcloud octree class generate an octrees from a point cloud (zero-copy). Every leaf node contains a list of point indices of the dataset given by setInputCloud.
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 65 of file octree_pointcloud_pointvector.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 = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef OctreePointCloudPointVector<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >::DoubleBuffer

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

Definition at line 71 of file octree_pointcloud_pointvector.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 = 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 = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::PointCloud [inherited]

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

Definition at line 92 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::PointCloudConstPtr [inherited]

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

Definition at line 94 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::PointCloudPtr [inherited]

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

Definition at line 93 of file octree_pointcloud.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 = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
typedef OctreePointCloudPointVector<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >::SingleBuffer

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

Definition at line 70 of file octree_pointcloud_pointvector.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >::OctreePointCloudPointVector ( const double  resolution_arg) [inline]

Constructor.

Parameters:
resolution_arg,:octree resolution at lowest octree level

Definition at line 76 of file octree_pointcloud_pointvector.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
virtual pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >::~OctreePointCloudPointVector ( ) [inline, virtual]

Empty class constructor.

Definition at line 83 of file octree_pointcloud_pointvector.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_argindex of point to be added
[in]indices_argpointer 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_argpoint to be added
[in]cloud_argpointer 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_argpoint to be added
[in]cloud_argpointer to input point cloud dataset (given by setInputCloud)
[in]indices_argpointer 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_argX coordinate of lower bounding box corner
[in]minY_argY coordinate of lower bounding box corner
[in]minZ_argZ coordinate of lower bounding box corner
[in]maxX_argX coordinate of upper bounding box corner
[in]maxY_argY coordinate of upper bounding box corner
[in]maxZ_argZ 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_argX coordinate of upper bounding box corner
[in]maxY_argY coordinate of upper bounding box corner
[in]maxZ_argZ 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_argside 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_argpoint 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_argindex 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]originorigin of the line segment
[in]endend of the line segment
[out]voxel_center_listresults are written to this vector of PointT elements
[in]precisiondetermines 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_argX coordinate of lower bounding box corner
[in]minY_argY coordinate of lower bounding box corner
[in]minZ_argZ coordinate of lower bounding box corner
[in]maxX_argX coordinate of upper bounding box corner
[in]maxY_argY coordinate of upper bounding box corner
[in]maxZ_argZ 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_argresults 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_argdepth/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_argdepth/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_argpoint 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_argX coordinate of point to be checked
[in]pointY_argY coordinate of point to be checked
[in]pointZ_argZ 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_argpoint 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]epsprecision (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_argthe const boost shared pointer to a PointCloud message
[in]indices_argthe 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 = 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_argside 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:
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