Point Cloud Library (PCL) 1.15.0
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octree_pointcloud.h
1/*
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38
39#pragma once
40
41#include <pcl/octree/octree_base.h>
42#include <pcl/point_cloud.h>
43#include <pcl/point_types.h>
44
45#include <vector>
46
47namespace pcl {
48namespace octree {
49
50//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
51/** \brief @b Octree pointcloud class
52 * \note Octree implementation for pointclouds. Only indices are stored by the octree
53 * leaf nodes (zero-copy).
54 * \note The octree pointcloud class needs to be initialized with its voxel resolution.
55 * Its bounding box is automatically adjusted
56 * \note according to the pointcloud dimension or it can be predefined.
57 * \note Note: The tree depth equates to the resolution and the bounding box dimensions
58 * of the octree.
59 * \tparam PointT: type of point used in pointcloud
60 * \tparam LeafContainerT: leaf node container
61 * \tparam BranchContainerT: branch node container
62 * \tparam OctreeT: octree implementation
63 * \ingroup octree
64 * \author Julius Kammerl * (julius@kammerl.de)
65 */
66//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
67template <typename PointT,
68 typename LeafContainerT = OctreeContainerPointIndices,
69 typename BranchContainerT = OctreeContainerEmpty,
70 typename OctreeT = OctreeBase<LeafContainerT, BranchContainerT>>
71
72class OctreePointCloud : public OctreeT {
73public:
74 using Base = OctreeT;
75
76 using LeafNode = typename OctreeT::LeafNode;
78
79 /** \brief Octree pointcloud constructor.
80 * \param[in] resolution_arg octree resolution at lowest octree level
81 */
82 OctreePointCloud(const double resolution_arg);
83
84 // public typedefs
85 using IndicesPtr = shared_ptr<Indices>;
86 using IndicesConstPtr = shared_ptr<const Indices>;
87
91
92 // public typedefs for single/double buffering
94 LeafContainerT,
95 BranchContainerT,
97 // using DoubleBuffer = OctreePointCloud<PointT, LeafContainerT, BranchContainerT,
98 // Octree2BufBase<LeafContainerT> >;
99
100 // Boost shared pointers
101 using Ptr =
102 shared_ptr<OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeT>>;
103 using ConstPtr = shared_ptr<
105
106 // Eigen aligned allocator
107 using AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT>>;
109 std::vector<PointXYZ, Eigen::aligned_allocator<PointXYZ>>;
110
111 /** \brief Provide a pointer to the input data set.
112 * \param[in] cloud_arg the const boost shared pointer to a PointCloud message
113 * \param[in] indices_arg the point indices subset that is to be used from \a cloud -
114 * if 0 the whole point cloud is used
115 */
116 inline void
118 const IndicesConstPtr& indices_arg = IndicesConstPtr())
119 {
120 input_ = cloud_arg;
121 indices_ = indices_arg;
122 }
123
124 /** \brief Get a pointer to the vector of indices used.
125 * \return pointer to vector of indices used.
126 */
127 inline IndicesConstPtr const
129 {
130 return (indices_);
131 }
132
133 /** \brief Get a pointer to the input point cloud dataset.
134 * \return pointer to pointcloud input class.
135 */
136 inline PointCloudConstPtr
138 {
139 return (input_);
140 }
141
142 /** \brief Set the search epsilon precision (error bound) for nearest neighbors
143 * searches.
144 * \param[in] eps precision (error bound) for nearest neighbors searches
145 */
146 inline void
147 setEpsilon(double eps)
148 {
149 epsilon_ = eps;
150 }
151
152 /** \brief Get the search epsilon precision (error bound) for nearest neighbors
153 * searches. */
154 inline double
156 {
157 return (epsilon_);
158 }
159
160 /** \brief Set/change the octree voxel resolution
161 * \param[in] resolution_arg side length of voxels at lowest tree level
162 */
163 inline void
164 setResolution(double resolution_arg)
165 {
166 // octree needs to be empty to change its resolution
167 if (this->leaf_count_ > 0) {
168 PCL_ERROR("[pcl::octree::OctreePointCloud::setResolution] Octree needs to be "
169 "empty to change its resolution(leaf count should must be 0)!\n");
170 return;
171 }
172
173 resolution_ = resolution_arg;
174
176 }
177
178 /** \brief Get octree voxel resolution
179 * \return voxel resolution at lowest tree level
180 */
181 inline double
183 {
184 return (resolution_);
185 }
186
187 /** \brief Get the maximum depth of the octree.
188 * \return depth_arg: maximum depth of octree
189 * */
190 inline uindex_t
192 {
193 return this->octree_depth_;
194 }
195
196 /** \brief Add points from input point cloud to octree. */
197 void
199
200 /** \brief Add point at given index from input point cloud to octree. Index will be
201 * also added to indices vector.
202 * \param[in] point_idx_arg index of point to be added
203 * \param[in] indices_arg pointer to indices vector of the dataset (given by \a
204 * setInputCloud)
205 */
206 void
207 addPointFromCloud(uindex_t point_idx_arg, IndicesPtr indices_arg);
208
209 /** \brief Add point simultaneously to octree and input point cloud.
210 * \param[in] point_arg point to be added
211 * \param[in] cloud_arg pointer to input point cloud dataset (given by \a
212 * setInputCloud)
213 */
214 void
215 addPointToCloud(const PointT& point_arg, PointCloudPtr cloud_arg);
216
217 /** \brief Add point simultaneously to octree and input point cloud. A corresponding
218 * index will be added to the indices vector.
219 * \param[in] point_arg point to be added
220 * \param[in] cloud_arg pointer to input point cloud dataset (given by \a
221 * setInputCloud)
222 * \param[in] indices_arg pointer to indices vector of the dataset (given by \a
223 * setInputCloud)
224 */
225 void
226 addPointToCloud(const PointT& point_arg,
227 PointCloudPtr cloud_arg,
228 IndicesPtr indices_arg);
229
230 /** \brief Check if voxel at given point exist.
231 * \param[in] point_arg point to be checked
232 * \return "true" if voxel exist; "false" otherwise
233 */
234 bool
235 isVoxelOccupiedAtPoint(const PointT& point_arg) const;
236
237 /** \brief Delete the octree structure and its leaf nodes.
238 * */
239 void
241 {
242 // reset bounding box
243 min_x_ = max_x_ = min_y_ = max_y_ = min_z_ = max_z_ = 0;
244 this->bounding_box_defined_ = false;
245
247 }
248
249 /** \brief Check if voxel at given point coordinates exist.
250 * \param[in] point_x_arg X coordinate of point to be checked
251 * \param[in] point_y_arg Y coordinate of point to be checked
252 * \param[in] point_z_arg Z coordinate of point to be checked
253 * \return "true" if voxel exist; "false" otherwise
254 */
255 bool
256 isVoxelOccupiedAtPoint(const double point_x_arg,
257 const double point_y_arg,
258 const double point_z_arg) const;
259
260 /** \brief Check if voxel at given point from input cloud exist.
261 * \param[in] point_idx_arg point to be checked
262 * \return "true" if voxel exist; "false" otherwise
263 */
264 bool
265 isVoxelOccupiedAtPoint(const index_t& point_idx_arg) const;
266
267 /** \brief Get a PointT vector of centers of all occupied voxels.
268 * \param[out] voxel_center_list_arg results are written to this vector of PointT
269 * elements
270 * \return number of occupied voxels
271 */
273 getOccupiedVoxelCenters(AlignedPointTVector& voxel_center_list_arg) const;
274
275 /** \brief Get a PointT vector of centers of voxels intersected by a line segment.
276 * This returns a approximation of the actual intersected voxels by walking
277 * along the line with small steps. Voxels are ordered, from closest to
278 * furthest w.r.t. the origin.
279 * \param[in] origin origin of the line segment
280 * \param[in] end end of the line segment
281 * \param[out] voxel_center_list results are written to this vector of PointT elements
282 * \param[in] precision determines the size of the steps: step_size =
283 * octree_resolution x precision
284 * \return number of intersected voxels
285 */
287 getApproxIntersectedVoxelCentersBySegment(const Eigen::Vector3f& origin,
288 const Eigen::Vector3f& end,
289 AlignedPointTVector& voxel_center_list,
290 float precision = 0.2);
291
292 /** \brief Delete leaf node / voxel at given point
293 * \param[in] point_arg point addressing the voxel to be deleted.
294 */
295 void
296 deleteVoxelAtPoint(const PointT& point_arg);
297
298 /** \brief Delete leaf node / voxel at given point from input cloud
299 * \param[in] point_idx_arg index of point addressing the voxel to be deleted.
300 */
301 void
302 deleteVoxelAtPoint(const index_t& point_idx_arg);
303
304 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
305 // Bounding box methods
306 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
307
308 /** \brief Investigate dimensions of pointcloud data set and define corresponding
309 * bounding box for octree. */
310 void
312
313 /** \brief Define bounding box for octree
314 * \note Bounding box cannot be changed once the octree contains elements.
315 * \param[in] min_x_arg X coordinate of lower bounding box corner
316 * \param[in] min_y_arg Y coordinate of lower bounding box corner
317 * \param[in] min_z_arg Z coordinate of lower bounding box corner
318 * \param[in] max_x_arg X coordinate of upper bounding box corner
319 * \param[in] max_y_arg Y coordinate of upper bounding box corner
320 * \param[in] max_z_arg Z coordinate of upper bounding box corner
321 */
322 void
323 defineBoundingBox(const double min_x_arg,
324 const double min_y_arg,
325 const double min_z_arg,
326 const double max_x_arg,
327 const double max_y_arg,
328 const double max_z_arg);
329
330 /** \brief Define bounding box for octree
331 * \note Lower bounding box point is set to (0, 0, 0)
332 * \note Bounding box cannot be changed once the octree contains elements.
333 * \param[in] max_x_arg X coordinate of upper bounding box corner
334 * \param[in] max_y_arg Y coordinate of upper bounding box corner
335 * \param[in] max_z_arg Z coordinate of upper bounding box corner
336 */
337 void
338 defineBoundingBox(const double max_x_arg,
339 const double max_y_arg,
340 const double max_z_arg);
341
342 /** \brief Define bounding box cube for octree
343 * \note Lower bounding box corner is set to (0, 0, 0)
344 * \note Bounding box cannot be changed once the octree contains elements.
345 * \param[in] cubeLen_arg side length of bounding box cube.
346 */
347 void
348 defineBoundingBox(const double cubeLen_arg);
349
350 /** \brief Get bounding box for octree
351 * \note Bounding box cannot be changed once the octree contains elements.
352 * \param[in] min_x_arg X coordinate of lower bounding box corner
353 * \param[in] min_y_arg Y coordinate of lower bounding box corner
354 * \param[in] min_z_arg Z coordinate of lower bounding box corner
355 * \param[in] max_x_arg X coordinate of upper bounding box corner
356 * \param[in] max_y_arg Y coordinate of upper bounding box corner
357 * \param[in] max_z_arg Z coordinate of upper bounding box corner
358 */
359 void
360 getBoundingBox(double& min_x_arg,
361 double& min_y_arg,
362 double& min_z_arg,
363 double& max_x_arg,
364 double& max_y_arg,
365 double& max_z_arg) const;
366
367 /** \brief Calculates the squared diameter of a voxel at given tree depth
368 * \param[in] tree_depth_arg depth/level in octree
369 * \return squared diameter
370 */
371 double
372 getVoxelSquaredDiameter(uindex_t tree_depth_arg) const;
373
374 /** \brief Calculates the squared diameter of a voxel at leaf depth
375 * \return squared diameter
376 */
377 inline double
379 {
381 }
382
383 /** \brief Calculates the squared voxel cube side length at given tree depth
384 * \param[in] tree_depth_arg depth/level in octree
385 * \return squared voxel cube side length
386 */
387 double
388 getVoxelSquaredSideLen(uindex_t tree_depth_arg) const;
389
390 /** \brief Calculates the squared voxel cube side length at leaf level
391 * \return squared voxel cube side length
392 */
393 inline double
395 {
397 }
398
399 /** \brief Generate bounds of the current voxel of an octree iterator
400 * \param[in] iterator: octree iterator
401 * \param[out] min_pt lower bound of voxel
402 * \param[out] max_pt upper bound of voxel
403 */
404 inline void
406 Eigen::Vector3f& min_pt,
407 Eigen::Vector3f& max_pt) const
408 {
410 iterator.getCurrentOctreeDepth(),
411 min_pt,
412 max_pt);
413 }
414
415 /** \brief Enable dynamic octree structure
416 * \note Leaf nodes are kept as close to the root as possible and are only expanded
417 * if the number of DataT objects within a leaf node exceeds a fixed limit.
418 * \param maxObjsPerLeaf: maximum number of DataT objects per leaf
419 * */
420 inline void
421 enableDynamicDepth(std::size_t maxObjsPerLeaf)
422 {
423 if (this->leaf_count_ > 0) {
424 PCL_ERROR("[pcl::octree::OctreePointCloud::enableDynamicDepth] Leaf count should "
425 "must be 0!\n");
426 return;
427 }
428 max_objs_per_leaf_ = maxObjsPerLeaf;
429
431 }
432
433protected:
434 /** \brief Add point at index from input pointcloud dataset to octree
435 * \param[in] point_idx_arg the index representing the point in the dataset given by
436 * \a setInputCloud to be added
437 */
438 virtual void
439 addPointIdx(uindex_t point_idx_arg);
440
441 /** \brief Add point at index from input pointcloud dataset to octree
442 * \param[in] leaf_node to be expanded
443 * \param[in] parent_branch parent of leaf node to be expanded
444 * \param[in] child_idx child index of leaf node (in parent branch)
445 * \param[in] depth_mask of leaf node to be expanded
446 */
447 void
448 expandLeafNode(LeafNode* leaf_node,
449 BranchNode* parent_branch,
450 unsigned char child_idx,
451 uindex_t depth_mask);
452
453 /** \brief Get point at index from input pointcloud dataset
454 * \param[in] index_arg index representing the point in the dataset given by \a
455 * setInputCloud
456 * \return PointT from input pointcloud dataset
457 */
458 const PointT&
459 getPointByIndex(uindex_t index_arg) const;
460
461 /** \brief Find octree leaf node at a given point
462 * \param[in] point_arg query point
463 * \return pointer to leaf node. If leaf node does not exist, pointer is 0.
464 */
465 LeafContainerT*
466 findLeafAtPoint(const PointT& point_arg) const
467 {
468 OctreeKey key;
469
470 // generate key for point
471 this->genOctreeKeyforPoint(point_arg, key);
472
473 return (this->findLeaf(key));
474 }
475
476 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
477 // Protected octree methods based on octree keys
478 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
479
480 /** \brief Define octree key setting and octree depth based on defined bounding box.
481 */
482 void
484
485 /** \brief Grow the bounding box/octree until point fits
486 * \param[in] point_idx_arg point that should be within bounding box;
487 */
488 void
489 adoptBoundingBoxToPoint(const PointT& point_idx_arg);
490
491 /** \brief Checks if given point is within the bounding box of the octree
492 * \param[in] point_idx_arg point to be checked for bounding box violations
493 * \return "true" - no bound violation
494 */
495 inline bool
496 isPointWithinBoundingBox(const PointT& point_idx_arg) const
497 {
498 return (!((point_idx_arg.x < min_x_) || (point_idx_arg.y < min_y_) ||
499 (point_idx_arg.z < min_z_) || (point_idx_arg.x >= max_x_) ||
500 (point_idx_arg.y >= max_y_) || (point_idx_arg.z >= max_z_)));
501 }
502
503 /** \brief Generate octree key for voxel at a given point
504 * \param[in] point_arg the point addressing a voxel
505 * \param[out] key_arg write octree key to this reference
506 */
507 void
508 genOctreeKeyforPoint(const PointT& point_arg, OctreeKey& key_arg) const;
509
510 /** \brief Generate octree key for voxel at a given point
511 * \param[in] point_x_arg X coordinate of point addressing a voxel
512 * \param[in] point_y_arg Y coordinate of point addressing a voxel
513 * \param[in] point_z_arg Z coordinate of point addressing a voxel
514 * \param[out] key_arg write octree key to this reference
515 */
516 void
517 genOctreeKeyforPoint(const double point_x_arg,
518 const double point_y_arg,
519 const double point_z_arg,
520 OctreeKey& key_arg) const;
521
522 /** \brief Virtual method for generating octree key for a given point index.
523 * \note This method enables to assign indices to leaf nodes during octree
524 * deserialization.
525 * \param[in] data_arg index value representing a point in the dataset given by \a
526 * setInputCloud
527 * \param[out] key_arg write octree key to this reference \return "true" - octree keys
528 * are assignable
529 */
530 virtual bool
531 genOctreeKeyForDataT(const index_t& data_arg, OctreeKey& key_arg) const;
532
533 /** \brief Generate a point at center of leaf node voxel
534 * \param[in] key_arg octree key addressing a leaf node.
535 * \param[out] point_arg write leaf node voxel center to this point reference
536 */
537 void
538 genLeafNodeCenterFromOctreeKey(const OctreeKey& key_arg, PointT& point_arg) const;
539
540 /** \brief Generate a point at center of octree voxel at given tree level
541 * \param[in] key_arg octree key addressing an octree node.
542 * \param[in] tree_depth_arg octree depth of query voxel
543 * \param[out] point_arg write leaf node center point to this reference
544 */
545 void
547 uindex_t tree_depth_arg,
548 PointT& point_arg) const;
549
550 /** \brief Generate bounds of an octree voxel using octree key and tree depth
551 * arguments
552 * \param[in] key_arg octree key addressing an octree node.
553 * \param[in] tree_depth_arg octree depth of query voxel
554 * \param[out] min_pt lower bound of voxel
555 * \param[out] max_pt upper bound of voxel
556 */
557 void
559 uindex_t tree_depth_arg,
560 Eigen::Vector3f& min_pt,
561 Eigen::Vector3f& max_pt) const;
562
563 /** \brief Recursively search the tree for all leaf nodes and return a vector of voxel
564 * centers.
565 * \param[in] node_arg current octree node to be explored
566 * \param[in] key_arg octree key addressing a leaf node.
567 * \param[out] voxel_center_list_arg results are written to this vector of PointT
568 * elements
569 * \return number of voxels found
570 */
573 const OctreeKey& key_arg,
574 AlignedPointTVector& voxel_center_list_arg) const;
575
576 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
577 // Globals
578 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
579 /** \brief Pointer to input point cloud dataset. */
581
582 /** \brief A pointer to the vector of point indices to use. */
584
585 /** \brief Epsilon precision (error bound) for nearest neighbors searches. */
586 double epsilon_{0.0};
587
588 /** \brief Octree resolution. */
590
591 // Octree bounding box coordinates
592 double min_x_{0.0};
593 double max_x_;
594
595 double min_y_{0.0};
596 double max_y_;
597
598 double min_z_{0.0};
599 double max_z_;
600
601 /** \brief Flag indicating if octree has defined bounding box. */
603
604 /** \brief Amount of DataT objects per leafNode before expanding branch
605 * \note zero indicates a fixed/maximum depth octree structure
606 * **/
607 std::size_t max_objs_per_leaf_{0};
608};
609
610} // namespace octree
611} // namespace pcl
612
613#ifdef PCL_NO_PRECOMPILE
614#include <pcl/octree/impl/octree_pointcloud.hpp>
615#endif
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
std::size_t leaf_count_
Amount of leaf nodes
Definition octree_base.h:78
bool dynamic_depth_enabled_
Enable dynamic_depth.
Definition octree_base.h:93
OctreeBase< LeafContainerT, BranchContainerT > OctreeT
Definition octree_base.h:64
OctreeBranchNode< BranchContainerT > BranchNode
Definition octree_base.h:66
void deleteTree()
Delete the octree structure and its leaf nodes.
const Iterator end()
uindex_t octree_depth_
Octree depth.
Definition octree_base.h:90
LeafContainerT * findLeaf(uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
OctreeLeafNode< LeafContainerT > LeafNode
Definition octree_base.h:67
Abstract octree iterator class
const OctreeKey & getCurrentOctreeKey() const
Get octree key for the current iterator octree node.
uindex_t getCurrentOctreeDepth() const
Get the current depth level of octree.
Octree key class
Definition octree_key.h:54
Octree pointcloud class
double getVoxelSquaredDiameter() const
Calculates the squared diameter of a voxel at leaf depth.
shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > ConstPtr
bool isPointWithinBoundingBox(const PointT &point_idx_arg) const
Checks if given point is within the bounding box of the octree.
void adoptBoundingBoxToPoint(const PointT &point_idx_arg)
Grow the bounding box/octree until point fits.
uindex_t getOccupiedVoxelCenters(AlignedPointTVector &voxel_center_list_arg) const
Get a PointT vector of centers of all occupied voxels.
const PointT & getPointByIndex(uindex_t index_arg) const
Get point at index from input pointcloud dataset.
void deleteTree()
Delete the octree structure and its leaf nodes.
void expandLeafNode(LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, uindex_t depth_mask)
Add point at index from input pointcloud dataset to octree.
std::size_t max_objs_per_leaf_
Amount of DataT objects per leafNode before expanding branch.
void deleteVoxelAtPoint(const PointT &point_arg)
Delete leaf node / voxel at given point.
PointCloudConstPtr input_
Pointer to input point cloud dataset.
void genLeafNodeCenterFromOctreeKey(const OctreeKey &key_arg, PointT &point_arg) const
Generate a point at center of leaf node voxel.
PointCloudConstPtr getInputCloud() const
Get a pointer to the input point cloud dataset.
void genVoxelCenterFromOctreeKey(const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const
Generate a point at center of octree voxel at given tree level.
typename PointCloud::Ptr PointCloudPtr
LeafContainerT * findLeafAtPoint(const PointT &point_arg) const
Find octree leaf node at a given point.
void addPointFromCloud(uindex_t point_idx_arg, IndicesPtr indices_arg)
Add point at given index from input point cloud to octree.
IndicesConstPtr indices_
A pointer to the vector of point indices to use.
shared_ptr< Indices > IndicesPtr
void addPointToCloud(const PointT &point_arg, PointCloudPtr cloud_arg)
Add point simultaneously to octree and input point cloud.
uindex_t getTreeDepth() const
Get the maximum depth of the octree.
typename PointCloud::ConstPtr PointCloudConstPtr
void setEpsilon(double eps)
Set the search epsilon precision (error bound) for nearest neighbors searches.
bool bounding_box_defined_
Flag indicating if octree has defined bounding box.
double getEpsilon() const
Get the search epsilon precision (error bound) for nearest neighbors searches.
void defineBoundingBox()
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > Ptr
void genVoxelBoundsFromOctreeKey(const OctreeKey &key_arg, uindex_t tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
Generate bounds of an octree voxel using octree key and tree depth arguments.
void setInputCloud(const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
Provide a pointer to the input data set.
typename OctreeT::LeafNode LeafNode
virtual void addPointIdx(uindex_t point_idx_arg)
Add point at index from input pointcloud dataset to octree.
double getVoxelSquaredSideLen() const
Calculates the squared voxel cube side length at leaf level.
void setResolution(double resolution_arg)
Set/change the octree voxel resolution.
OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > > SingleBuffer
bool isVoxelOccupiedAtPoint(const PointT &point_arg) const
Check if voxel at given point exist.
double epsilon_
Epsilon precision (error bound) for nearest neighbors searches.
double getResolution() const
Get octree voxel resolution.
void enableDynamicDepth(std::size_t maxObjsPerLeaf)
Enable dynamic octree structure.
std::vector< PointT, Eigen::aligned_allocator< PointT > > AlignedPointTVector
void addPointsFromInputCloud()
Add points from input point cloud to octree.
std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > > AlignedPointXYZVector
uindex_t getOccupiedVoxelCentersRecursive(const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const
Recursively search the tree for all leaf nodes and return a vector of voxel centers.
typename OctreeT::BranchNode BranchNode
void getVoxelBounds(const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
Generate bounds of the current voxel of an octree iterator.
IndicesConstPtr const getIndices() const
Get a pointer to the vector of indices used.
void genOctreeKeyforPoint(const PointT &point_arg, OctreeKey &key_arg) const
Generate octree key for voxel at a given point.
shared_ptr< const Indices > IndicesConstPtr
double resolution_
Octree resolution.
void getBoundingBox(double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const
Get bounding box for octree.
uindex_t 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.
virtual bool genOctreeKeyForDataT(const index_t &data_arg, OctreeKey &key_arg) const
Virtual method for generating octree key for a given point index.
void getKeyBitSize()
Define octree key setting and octree depth based on defined bounding box.
Defines all the PCL implemented PointT point type structures.
shared_ptr< const Indices > IndicesConstPtr
Definition pcl_base.h:59
detail::int_type_t< detail::index_type_size, false > uindex_t
Type used for an unsigned index in PCL.
Definition types.h:120
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112
shared_ptr< Indices > IndicesPtr
Definition pcl_base.h:58
A point structure representing Euclidean xyz coordinates, and the RGB color.