Octree pointcloud voxel centroid class More...

#include <pcl/octree/octree_pointcloud_voxelcentroid.h>

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

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

Public Types
typedef OctreePointCloudVoxelCentroid < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer
typedef OctreePointCloudVoxelCentroid < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer
typedef OctreeT	Base
typedef OctreeT::OctreeLeaf	OctreeLeaf
typedef OctreeDepthFirstIterator< int, LeafT, OctreeT >	Iterator
typedef const OctreeDepthFirstIterator< int, LeafT, OctreeT >	ConstIterator
typedef OctreeLeafNodeIterator < int, LeafT, OctreeT >	LeafNodeIterator
typedef const OctreeLeafNodeIterator< int, LeafT, OctreeT >	ConstLeafNodeIterator
typedef OctreeDepthFirstIterator< int, LeafT, OctreeT >	DepthFirstIterator
typedef const OctreeDepthFirstIterator< int, LeafT, OctreeT >	ConstDepthFirstIterator
typedef OctreeBreadthFirstIterator < int, LeafT, OctreeT >	BreadthFirstIterator
typedef const OctreeBreadthFirstIterator < int, LeafT, OctreeT >	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, 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
Public Member Functions
	OctreePointCloudVoxelCentroid (const double resolution_arg)
	OctreePointCloudVoxelCentroids class constructor.
virtual	~OctreePointCloudVoxelCentroid ()
	Empty class deconstructor.
unsigned int	getVoxelCentroids (std::vector< PointT, Eigen::aligned_allocator< PointT > > &voxelCentroidList_arg)
	Get PointT vector of centroids for all occupied voxels.
bool	getVoxelCentroidAtPoint (const PointT &point_arg, PointT &voxelCentroid_arg)
	Get centroid for a single voxel addressed by a PointT point.
bool	getVoxelCentroidAtPoint (const int &pointIdx_arg, PointT &voxelCentroid_arg)
	Get centroid for a single voxel addressed by a PointT point from input cloud.
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 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.
void	getVoxelBounds (OctreeIteratorBase< int, LeafT, OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt)
	Generate bounds of the current voxel of an octree iterator.

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >

Octree pointcloud voxel centroid class

Note:: This class generate an octrees from a point cloud (zero-copy). It provides a vector of centroids for all occupied voxels. .; 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_voxelcentroid.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 128 of file octree_pointcloud.h.

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

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

Definition at line 86 of file octree_pointcloud.h.

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

typedef OctreeBreadthFirstIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::BreadthFirstIterator [inherited]

Definition at line 98 of file octree_pointcloud.h.

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

typedef const OctreeBreadthFirstIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::ConstBreadthFirstIterator [inherited]

Definition at line 99 of file octree_pointcloud.h.

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

typedef const OctreeDepthFirstIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::ConstDepthFirstIterator [inherited]

Definition at line 97 of file octree_pointcloud.h.

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

typedef const OctreeDepthFirstIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::ConstIterator [inherited]

Definition at line 91 of file octree_pointcloud.h.

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

typedef const OctreeLeafNodeIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::ConstLeafNodeIterator [inherited]

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

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

Definition at line 125 of file octree_pointcloud.h.

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

typedef OctreeDepthFirstIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::DepthFirstIterator [inherited]

Definition at line 96 of file octree_pointcloud.h.

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

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

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

Definition at line 69 of file octree_pointcloud_voxelcentroid.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 112 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 111 of file octree_pointcloud.h.

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

typedef OctreeDepthFirstIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::Iterator [inherited]

Definition at line 90 of file octree_pointcloud.h.

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

typedef OctreeLeafNodeIterator<int, LeafT, OctreeT> pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::LeafNodeIterator [inherited]

Definition at line 93 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 121 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 87 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 114 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 116 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 115 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 124 of file octree_pointcloud.h.

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

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

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

Definition at line 68 of file octree_pointcloud_voxelcentroid.h.

Constructor & Destructor Documentation

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

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

OctreePointCloudVoxelCentroids class constructor.

Parameters:

resolution_arg,: octree resolution at lowest octree level

Definition at line 74 of file octree_pointcloud_voxelcentroid.h.

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

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

Empty class deconstructor.

Definition at line 81 of file octree_pointcloud_voxelcentroid.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 98 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 107 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 118 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 264 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 293 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 331 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 366 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 247 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 168 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 180 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 205 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 398 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 ( ) const [inline, inherited]

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

Definition at line 175 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 ( ) const [inline, inherited]

Get a pointer to the vector of indices used.

Returns:: pointer to vector of indices used.

Definition at line 150 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 ( ) const [inline, inherited]

Get a pointer to the input point cloud dataset.

Returns:: pointer to pointcloud input class.

Definition at line 159 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 191 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 ( ) const [inline, inherited]

Get octree voxel resolution.

Returns:: voxel resolution at lowest tree level

Definition at line 198 of file octree_pointcloud.h.

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

unsigned int pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getTreeDepth ( ) const [inline, inherited]

Get the maximum depth of the octree.

Returns:: depth_arg: maximum depth of octree

Definition at line 207 of file octree_pointcloud.h.

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

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelBounds	(	OctreeIteratorBase< int, LeafT, OctreeT > &	iterator,
		Eigen::Vector3f &	min_pt,
		Eigen::Vector3f &	max_pt
	)		`[inline, inherited]`

Generate bounds of the current voxel of an octree iterator.

Parameters:

[in]	iterator,:	octree iterator
[out]	min_pt	lower bound of voxel
[out]	max_pt	upper bound of voxel

Definition at line 401 of file octree_pointcloud.h.

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

bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::getVoxelCentroidAtPoint	(	const PointT &	point_arg,
		PointT &	voxelCentroid_arg
	)		`[inline]`

Get centroid for a single voxel addressed by a PointT point.

Parameters:

point_arg,:	point addressing a voxel in octree
voxelCentroid_arg,:	centroid is written to this PointT reference

Returns:: "true" if voxel is found; "false" otherwise

Definition at line 171 of file octree_pointcloud_voxelcentroid.h.

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

bool pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::getVoxelCentroidAtPoint	(	const int &	pointIdx_arg,
		PointT &	voxelCentroid_arg
	)		`[inline]`

Get centroid for a single voxel addressed by a PointT point from input cloud.

Parameters:

pointIdx_arg,:	point index from input cloud addressing a voxel in octree
voxelCentroid_arg,:	centroid is written to this PointT reference

Returns:: "true" if voxel is found; "false" otherwise

Definition at line 217 of file octree_pointcloud_voxelcentroid.h.

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

unsigned int pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >::getVoxelCentroids ( std::vector< PointT, Eigen::aligned_allocator< PointT > > & voxelCentroidList_arg ) [inline]

Get PointT vector of centroids for all occupied voxels.

Parameters:

voxelCentroidList_arg,: results are written to this vector of PointT elements

Returns:: number of occupied voxels

Definition at line 90 of file octree_pointcloud_voxelcentroid.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 706 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 373 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 691 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 389 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 131 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 155 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 144 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 168 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 135 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_arg side length of voxels at lowest tree level

Definition at line 184 of file octree_pointcloud.h.

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

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

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>> class pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >