Octree Branch with state More...

#include <pcl/octree/octree_base_state.h>

Inheritance diagram for pcl::octree::OctreeBaseWithState< DataT, LeafT >:

Collaboration diagram for pcl::octree::OctreeBaseWithState< DataT, LeafT >:

Classes
class	OctreeLeafBranch
	Octree leaf branch class.
Public Types
typedef OctreeBase< DataT, LeafT, OctreeBranchWithState >	Base
typedef Base::OctreeBranch	OctreeBranch
typedef OctreeDepthFirstIterator < DataT, LeafT, OctreeBase >	Iterator
typedef const OctreeDepthFirstIterator < DataT, LeafT, OctreeBase >	ConstIterator
typedef OctreeLeafNodeIterator < DataT, LeafT, OctreeBase >	LeafNodeIterator
typedef const OctreeLeafNodeIterator< DataT, LeafT, OctreeBase >	ConstLeafNodeIterator
typedef OctreeDepthFirstIterator < DataT, LeafT, OctreeBase >	DepthFirstIterator
typedef const OctreeDepthFirstIterator < DataT, LeafT, OctreeBase >	ConstDepthFirstIterator
typedef OctreeBreadthFirstIterator < DataT, LeafT, OctreeBase >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < DataT, LeafT, OctreeBase >	ConstBreadthFirstIterator
Public Member Functions
	OctreeBaseWithState ()
	Constructor.
	~OctreeBaseWithState ()
	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 () const
	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 (bool freeMemory_arg=false)
	Delete the octree structure and its leaf nodes.
void	serializeTree (std::vector< char > &binaryTreeOut_arg)
	Serialize octree into a binary output vector describing its branch node structure.
void	serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &dataVector_arg)
	Serialize octree into a binary output vector describing its branch node structure 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)
	Deserialize a binary octree description vector and create a corresponding octree structure.
void	deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg)
	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.

Detailed Description

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

Octree Branch with state

Note:: Octree Branch that stores a state; Used for occlusion estimation in octrees

Author:: Christian Potthast (potth.nosp@m.ast@.nosp@m.usc.e.nosp@m.du)

Definition at line 74 of file octree_base_state.h.

Member Typedef Documentation

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

typedef OctreeBase<DataT, LeafT, OctreeBranchWithState> pcl::octree::OctreeBaseWithState< DataT, LeafT >::Base

Definition at line 78 of file octree_base_state.h.

typedef OctreeBreadthFirstIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::BreadthFirstIterator [inherited]

Definition at line 86 of file octree_base.h.

typedef const OctreeBreadthFirstIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::ConstBreadthFirstIterator [inherited]

Definition at line 87 of file octree_base.h.

typedef const OctreeDepthFirstIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::ConstDepthFirstIterator [inherited]

Definition at line 85 of file octree_base.h.

typedef const OctreeDepthFirstIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::ConstIterator [inherited]

Definition at line 79 of file octree_base.h.

typedef const OctreeLeafNodeIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::ConstLeafNodeIterator [inherited]

Definition at line 82 of file octree_base.h.

typedef OctreeDepthFirstIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::DepthFirstIterator [inherited]

Definition at line 84 of file octree_base.h.

typedef OctreeDepthFirstIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::Iterator [inherited]

Definition at line 78 of file octree_base.h.

typedef OctreeLeafNodeIterator<DataT, LeafT, OctreeBase> pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::LeafNodeIterator [inherited]

Definition at line 81 of file octree_base.h.

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

typedef Base::OctreeBranch pcl::octree::OctreeBaseWithState< DataT, LeafT >::OctreeBranch

Reimplemented from pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >.

Definition at line 80 of file octree_base_state.h.

Constructor & Destructor Documentation

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

pcl::octree::OctreeBaseWithState< DataT, LeafT >::OctreeBaseWithState ( ) [inline]

Constructor.

Definition at line 83 of file octree_base_state.h.

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

pcl::octree::OctreeBaseWithState< DataT, LeafT >::~OctreeBaseWithState ( ) [inline]

Empty deconstructor.

Definition at line 86 of file octree_base_state.h.

Member Function Documentation

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::add	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg,
		const DataT &	data_arg
	)		`[inherited]`

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.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::deleteTree ( bool freeMemory_arg = false ) [inherited]

Delete the octree structure and its leaf nodes.

Parameters:

freeMemory_arg,: if "true", allocated octree nodes are deleted, otherwise they are pushed to the octree node pool

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::deserializeTree ( std::vector< char > & binaryTreeIn_arg ) [inherited]

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.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::deserializeTree	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg
	)		`[inherited]`

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 input vector for reading binary tree structure.
dataVector_arg,:	reference to DataT vector that provides DataT objects for initializing leaf nodes.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::deserializeTreeAndOutputLeafData	(	std::vector< char > &	binaryTreeIn_arg,
		std::vector< DataT > &	dataVector_arg
	)		`[inherited]`

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.

bool pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::existLeaf	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg
	)		const `[inherited]`

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".

bool pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::get	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg,
		DataT &	data_arg
	)		const `[inherited]`

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".

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

Return the amount of existing branches in the octree.

Returns:: amount of branch nodes.

Definition at line 178 of file octree_base.h.

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

Return the amount of existing leafs in the octree.

Returns:: amount of registered leaf nodes.

Definition at line 169 of file octree_base.h.

unsigned int pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::getTreeDepth ( ) const [inline, inherited]

Get the maximum depth of the octree.

Returns:: depth_arg: maximum depth of octree

Definition at line 123 of file octree_base.h.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::removeLeaf	(	const unsigned int	idxX_arg,
		const unsigned int	idxY_arg,
		const unsigned int	idxZ_arg
	)		`[inherited]`

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.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::serializeLeafs ( std::vector< DataT > & dataVector_arg ) [inherited]

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.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::serializeTree ( std::vector< char > & binaryTreeOut_arg ) [inherited]

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

Parameters:

binaryTreeOut_arg,: reference to output vector for writing binary tree structure.

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::serializeTree	(	std::vector< char > &	binaryTreeOut_arg,
		std::vector< DataT > &	dataVector_arg
	)		`[inherited]`

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

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::setMaxVoxelIndex ( unsigned int maxVoxelIndex_arg ) [inherited]

Set the maximum amount of voxels per dimension.

Parameters:

maxVoxelIndex_arg,: maximum amount of voxels per dimension

void pcl::octree::OctreeBase< DataT, LeafT, OctreeBranchWithState >::setTreeDepth ( unsigned int depth_arg ) [inherited]

Set the maximum depth of the octree.

Parameters:

depth_arg,: maximum depth of octree

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

/builddir/build/BUILD/PCL-1.5.1-Source/octree/include/pcl/octree/octree_base_state.h

Classes

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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