Point Cloud Library (PCL)
1.7.1
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Octree pointcloud voxel class used for adjacency calculation More...
#include <pcl/octree/octree_pointcloud_adjacency.h>
Public Types | |
typedef OctreeBase < LeafContainerT, BranchContainerT > | OctreeBaseT |
typedef OctreePointCloudAdjacency < PointT, LeafContainerT, BranchContainerT > | OctreeAdjacencyT |
typedef boost::shared_ptr < OctreeAdjacencyT > | Ptr |
typedef boost::shared_ptr < const OctreeAdjacencyT > | ConstPtr |
typedef OctreePointCloud < PointT, LeafContainerT, BranchContainerT, OctreeBaseT > | OctreePointCloudT |
typedef OctreePointCloudT::LeafNode | LeafNode |
typedef OctreePointCloudT::BranchNode | BranchNode |
typedef pcl::PointCloud< PointT > | CloudT |
typedef OctreeDepthFirstIterator < OctreeAdjacencyT > | Iterator |
typedef const OctreeDepthFirstIterator < OctreeAdjacencyT > | ConstIterator |
typedef OctreeLeafNodeIterator < OctreeAdjacencyT > | LeafNodeIterator |
typedef const OctreeLeafNodeIterator < OctreeAdjacencyT > | ConstLeafNodeIterator |
typedef boost::adjacency_list < boost::setS, boost::setS, boost::undirectedS, PointT, float > | VoxelAdjacencyList |
typedef VoxelAdjacencyList::vertex_descriptor | VoxelID |
typedef VoxelAdjacencyList::edge_descriptor | EdgeID |
typedef std::vector < LeafContainerT * > | LeafVectorT |
typedef LeafVectorT::iterator | iterator |
typedef LeafVectorT::const_iterator | const_iterator |
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typedef OctreeT | Base |
typedef OctreeT::LeafNode | LeafNode |
typedef OctreeT::BranchNode | BranchNode |
typedef OctreeDepthFirstIterator < OctreeT > | Iterator |
typedef const OctreeDepthFirstIterator < OctreeT > | ConstIterator |
typedef OctreeLeafNodeIterator < OctreeT > | LeafNodeIterator |
typedef const OctreeLeafNodeIterator < OctreeT > | ConstLeafNodeIterator |
typedef OctreeDepthFirstIterator < OctreeT > | DepthFirstIterator |
typedef const OctreeDepthFirstIterator < OctreeT > | ConstDepthFirstIterator |
typedef OctreeBreadthFirstIterator < OctreeT > | BreadthFirstIterator |
typedef const OctreeBreadthFirstIterator < 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, LeafContainerT, BranchContainerT, OctreeBase < LeafContainerT > > | SingleBuffer |
typedef boost::shared_ptr < OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT > > | Ptr |
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafContainerT, BranchContainerT, OctreeT > > | ConstPtr |
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > > | AlignedPointTVector |
typedef std::vector< PointXYZ, Eigen::aligned_allocator < PointXYZ > > | AlignedPointXYZVector |
Public Member Functions | |
Iterator | depth_begin (unsigned int maxDepth_arg=0) |
const Iterator | depth_end () |
LeafNodeIterator | leaf_begin (unsigned int maxDepth_arg=0) |
const LeafNodeIterator | leaf_end () |
iterator | begin () |
iterator | end () |
size_t | size () const |
OctreePointCloudAdjacency (const double resolution_arg) | |
Constructor. More... | |
virtual | ~OctreePointCloudAdjacency () |
Empty class destructor. More... | |
void | addPointsFromInputCloud () |
Adds points from cloud to the octree. More... | |
LeafContainerT * | getLeafContainerAtPoint (const PointT &point_arg) const |
Gets the leaf container for a given point. More... | |
void | computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph) |
Computes an adjacency graph of voxel relations. More... | |
void | setTransformFunction (boost::function< void(PointT &p)> transform_func) |
Sets a point transform (and inverse) used to transform the space of the input cloud This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for points further from the camera. More... | |
bool | testForOcclusion (const PointT &point_arg, const PointXYZ &camera_pos=PointXYZ(0, 0, 0)) |
Tests whether input point is occluded from specified camera point by other voxels. More... | |
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OctreePointCloud (const double resolution_arg) | |
Octree pointcloud constructor. More... | |
virtual | ~OctreePointCloud () |
Empty deconstructor. More... | |
void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
Provide a pointer to the input data set. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
void | setEpsilon (double eps) |
Set the search epsilon precision (error bound) for nearest neighbors searches. More... | |
double | getEpsilon () const |
Get the search epsilon precision (error bound) for nearest neighbors searches. More... | |
void | setResolution (double resolution_arg) |
Set/change the octree voxel resolution. More... | |
double | getResolution () const |
Get octree voxel resolution. More... | |
unsigned int | getTreeDepth () const |
Get the maximum depth of the octree. More... | |
void | addPointsFromInputCloud () |
Add points from input point cloud to octree. More... | |
void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
Add point at given index from input point cloud to octree. More... | |
void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
Add point simultaneously to octree and input point cloud. More... | |
void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
Add point simultaneously to octree and input point cloud. More... | |
bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
Check if voxel at given point exist. More... | |
bool | isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const |
Check if voxel at given point coordinates exist. More... | |
bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
Check if voxel at given point from input cloud exist. More... | |
void | deleteTree () |
Delete the octree structure and its leaf nodes. More... | |
int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
Get a PointT vector of centers of all occupied voxels. More... | |
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. More... | |
void | deleteVoxelAtPoint (const PointT &point_arg) |
Delete leaf node / voxel at given point. More... | |
void | deleteVoxelAtPoint (const int &point_idx_arg) |
Delete leaf node / voxel at given point from input cloud. More... | |
void | defineBoundingBox () |
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More... | |
void | defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg) |
Define bounding box for octree. More... | |
void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
Define bounding box for octree. More... | |
void | defineBoundingBox (const double cubeLen_arg) |
Define bounding box cube for octree. More... | |
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. More... | |
double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
Calculates the squared diameter of a voxel at given tree depth. More... | |
double | getVoxelSquaredDiameter () const |
Calculates the squared diameter of a voxel at leaf depth. More... | |
double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
Calculates the squared voxel cube side length at given tree depth. More... | |
double | getVoxelSquaredSideLen () const |
Calculates the squared voxel cube side length at leaf level. More... | |
void | getVoxelBounds (OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) |
Generate bounds of the current voxel of an octree iterator. More... | |
void | enableDynamicDepth (size_t maxObjsPerLeaf) |
Enable dynamic octree structure. More... | |
Protected Member Functions | |
virtual void | addPointIdx (const int pointIdx_arg) |
Add point at index from input pointcloud dataset to octree. More... | |
void | computeNeighbors (OctreeKey &key_arg, LeafContainerT *leaf_container) |
Fills in the neighbors fields for new voxels. More... | |
void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
Generates octree key for specified point (uses transform if provided) More... | |
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void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask) |
Add point at index from input pointcloud dataset to octree. More... | |
const PointT & | getPointByIndex (const unsigned int index_arg) const |
Get point at index from input pointcloud dataset. More... | |
LeafContainerT * | findLeafAtPoint (const PointT &point_arg) const |
Find octree leaf node at a given point. More... | |
void | getKeyBitSize () |
Define octree key setting and octree depth based on defined bounding box. More... | |
void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
Grow the bounding box/octree until point fits. More... | |
bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
Checks if given point is within the bounding box of the octree. More... | |
void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
Generate octree key for voxel at a given point. More... | |
void | genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const |
Generate octree key for voxel at a given point. More... | |
virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
Virtual method for generating octree key for a given point index. More... | |
void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
Generate a point at center of leaf node voxel. More... | |
void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const |
Generate a point at center of octree voxel at given tree level. More... | |
void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int 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. More... | |
int | 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. More... | |
Additional Inherited Members | |
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PointCloudConstPtr | input_ |
Pointer to input point cloud dataset. More... | |
IndicesConstPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
double | epsilon_ |
Epsilon precision (error bound) for nearest neighbors searches. More... | |
double | resolution_ |
Octree resolution. More... | |
double | min_x_ |
double | max_x_ |
double | min_y_ |
double | max_y_ |
double | min_z_ |
double | max_z_ |
bool | bounding_box_defined_ |
Flag indicating if octree has defined bounding box. More... | |
std::size_t | max_objs_per_leaf_ |
Amount of DataT objects per leafNode before expanding branch. More... | |
Octree pointcloud voxel class used for adjacency calculation
J. Papon, A. Abramov, M. Schoeler, F. Woergoetter Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013
Definition at line 83 of file octree_pointcloud_adjacency.h.
typedef OctreePointCloudT::BranchNode pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::BranchNode |
Definition at line 96 of file octree_pointcloud_adjacency.h.
typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::CloudT |
Definition at line 98 of file octree_pointcloud_adjacency.h.
typedef LeafVectorT::const_iterator pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::const_iterator |
Definition at line 130 of file octree_pointcloud_adjacency.h.
typedef const OctreeDepthFirstIterator<OctreeAdjacencyT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::ConstIterator |
Definition at line 112 of file octree_pointcloud_adjacency.h.
typedef const OctreeLeafNodeIterator< OctreeAdjacencyT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::ConstLeafNodeIterator |
Definition at line 118 of file octree_pointcloud_adjacency.h.
typedef boost::shared_ptr<const OctreeAdjacencyT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::ConstPtr |
Definition at line 92 of file octree_pointcloud_adjacency.h.
typedef VoxelAdjacencyList::edge_descriptor pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::EdgeID |
Definition at line 124 of file octree_pointcloud_adjacency.h.
typedef OctreeDepthFirstIterator<OctreeAdjacencyT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::Iterator |
Definition at line 111 of file octree_pointcloud_adjacency.h.
typedef LeafVectorT::iterator pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::iterator |
Definition at line 129 of file octree_pointcloud_adjacency.h.
typedef OctreePointCloudT::LeafNode pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafNode |
Definition at line 95 of file octree_pointcloud_adjacency.h.
typedef OctreeLeafNodeIterator<OctreeAdjacencyT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafNodeIterator |
Definition at line 114 of file octree_pointcloud_adjacency.h.
typedef std::vector<LeafContainerT*> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafVectorT |
Definition at line 127 of file octree_pointcloud_adjacency.h.
typedef OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT > pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreeAdjacencyT |
Definition at line 90 of file octree_pointcloud_adjacency.h.
typedef OctreeBase<LeafContainerT, BranchContainerT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreeBaseT |
Definition at line 88 of file octree_pointcloud_adjacency.h.
typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT,OctreeBaseT > pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudT |
Definition at line 94 of file octree_pointcloud_adjacency.h.
typedef boost::shared_ptr<OctreeAdjacencyT> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::Ptr |
Definition at line 91 of file octree_pointcloud_adjacency.h.
typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float> pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::VoxelAdjacencyList |
Definition at line 120 of file octree_pointcloud_adjacency.h.
typedef VoxelAdjacencyList::vertex_descriptor pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::VoxelID |
Definition at line 123 of file octree_pointcloud_adjacency.h.
pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudAdjacency | ( | const double | resolution_arg | ) |
Constructor.
[in] | resolution_arg | octree resolution at lowest octree level (voxel size) |
Definition at line 45 of file octree_pointcloud_adjacency.hpp.
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Empty class destructor.
Definition at line 144 of file octree_pointcloud_adjacency.h.
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Add point at index from input pointcloud dataset to octree.
[in] | pointIdx_arg | the index representing the point in the dataset given by setInputCloud to be added |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.
Definition at line 141 of file octree_pointcloud_adjacency.hpp.
References pcl::isFinite().
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud | ( | ) |
Adds points from cloud to the octree.
Definition at line 54 of file octree_pointcloud_adjacency.hpp.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud(), pcl::octree::OctreeIteratorBase< OctreeT >::getCurrentOctreeKey(), and pcl::octree::OctreeIteratorBase< OctreeT >::getLeafContainer().
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Definition at line 131 of file octree_pointcloud_adjacency.h.
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Fills in the neighbors fields for new voxels.
[in] | key_arg | Key of the voxel to check neighbors for |
[in] | leaf_container | Pointer to container of the leaf to check neighbors for |
Definition at line 170 of file octree_pointcloud_adjacency.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeVoxelAdjacencyGraph | ( | VoxelAdjacencyList & | voxel_adjacency_graph | ) |
Computes an adjacency graph of voxel relations.
[out] | voxel_adjacency_graph | Boost Graph Library Adjacency graph of the voxel touching relationships - vertices are pointT, edges represent touching, and edge lengths are the distance between the points |
Definition at line 213 of file octree_pointcloud_adjacency.hpp.
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Definition at line 113 of file octree_pointcloud_adjacency.h.
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Definition at line 114 of file octree_pointcloud_adjacency.h.
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Definition at line 132 of file octree_pointcloud_adjacency.h.
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Generates octree key for specified point (uses transform if provided)
[in] | point_arg | Point to generate key for |
[out] | key_arg | Resulting octree key |
Definition at line 118 of file octree_pointcloud_adjacency.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
LeafContainerT * pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::getLeafContainerAtPoint | ( | const PointT & | point_arg | ) | const |
Gets the leaf container for a given point.
[in] | point_arg | Point to search for |
Definition at line 198 of file octree_pointcloud_adjacency.hpp.
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Definition at line 119 of file octree_pointcloud_adjacency.h.
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Definition at line 120 of file octree_pointcloud_adjacency.h.
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Sets a point transform (and inverse) used to transform the space of the input cloud This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for points further from the camera.
[in] | transform_func | A boost:function pointer to the transform to be used. The transform must have one parameter (a point) which it modifies in place |
Definition at line 174 of file octree_pointcloud_adjacency.h.
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Definition at line 134 of file octree_pointcloud_adjacency.h.
bool pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::testForOcclusion | ( | const PointT & | point_arg, |
const PointXYZ & | camera_pos = PointXYZ (0,0,0) |
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Tests whether input point is occluded from specified camera point by other voxels.
[in] | point_arg | Point to test for |
[in] | camera_pos | Position of camera, defaults to origin |
Definition at line 260 of file octree_pointcloud_adjacency.hpp.
References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
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Definition at line 107 of file octree_pointcloud_adjacency.h.
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Definition at line 106 of file octree_pointcloud_adjacency.h.
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Definition at line 105 of file octree_pointcloud_adjacency.h.
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Definition at line 108 of file octree_pointcloud_adjacency.h.