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typedef OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloud | PointCloud |
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typedef OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloudPtr | PointCloudPtr |
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typedef OctreePointCloud< PointT, LeafT, BranchT, OctreeT >::PointCloudConstPtr | PointCloudConstPtr |
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typedef boost::shared_ptr< OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT > > | Ptr |
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typedef boost::shared_ptr< const OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT > > | ConstPtr |
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typedef OctreeT::LeafNode | LeafNode |
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typedef OctreeT::BranchNode | BranchNode |
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typedef OctreePointCloudCompression< PointT, LeafT, BranchT, Octree2BufBase< LeafT, BranchT > > | RealTimeStreamCompression |
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typedef OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeBase< LeafT, BranchT > > | SinglePointCloudCompressionLowMemory |
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typedef OctreeT | Base |
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typedef OctreeT::LeafNode | LeafNode |
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typedef OctreeT::BranchNode | BranchNode |
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typedef OctreeDepthFirstIterator< OctreeT > | Iterator |
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typedef const OctreeDepthFirstIterator< OctreeT > | ConstIterator |
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typedef OctreeLeafNodeIterator< OctreeT > | LeafNodeIterator |
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typedef const OctreeLeafNodeIterator< OctreeT > | ConstLeafNodeIterator |
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typedef OctreeDepthFirstIterator< OctreeT > | DepthFirstIterator |
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typedef const OctreeDepthFirstIterator< OctreeT > | ConstDepthFirstIterator |
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typedef OctreeBreadthFirstIterator< OctreeT > | BreadthFirstIterator |
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typedef const OctreeBreadthFirstIterator< OctreeT > | ConstBreadthFirstIterator |
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typedef boost::shared_ptr< std::vector< int > > | IndicesPtr |
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typedef boost::shared_ptr< const std::vector< int > > | IndicesConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
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typedef boost::shared_ptr< PointCloud > | PointCloudPtr |
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typedef boost::shared_ptr< const PointCloud > | PointCloudConstPtr |
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typedef OctreePointCloud< PointT, LeafT, BranchT, OctreeBase< LeafT > > | SingleBuffer |
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typedef boost::shared_ptr< OctreePointCloud< PointT, LeafT, BranchT, OctreeT > > | Ptr |
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typedef boost::shared_ptr< const OctreePointCloud< PointT, LeafT, BranchT, OctreeT > > | ConstPtr |
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typedef std::vector< PointT, Eigen::aligned_allocator< PointT > > | AlignedPointTVector |
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typedef std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > > | AlignedPointXYZVector |
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| OctreePointCloudCompression (compression_Profiles_e compressionProfile_arg=MED_RES_ONLINE_COMPRESSION_WITH_COLOR, bool showStatistics_arg=false, const double pointResolution_arg=0.001, const double octreeResolution_arg=0.01, bool doVoxelGridDownDownSampling_arg=false, const unsigned int iFrameRate_arg=30, bool doColorEncoding_arg=true, const unsigned char colorBitResolution_arg=6) |
| Constructor. More...
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virtual | ~OctreePointCloudCompression () |
| Empty deconstructor. More...
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void | initialization () |
| Initialize globals. More...
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virtual void | addPointIdx (const int pointIdx_arg) |
| Add point at index from input pointcloud dataset to octree. More...
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void | setOutputCloud (const PointCloudPtr &cloud_arg) |
| Provide a pointer to the output data set. More...
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PointCloudPtr | getOutputCloud () const |
| Get a pointer to the output point cloud dataset. More...
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void | encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressed_tree_data_out_arg) |
| Encode point cloud to output stream. More...
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void | decodePointCloud (std::istream &compressed_tree_data_in_arg, PointCloudPtr &cloud_arg) |
| Decode point cloud from input stream. More...
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| OctreePointCloud (const double resolution_arg) |
| Octree pointcloud constructor. More...
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virtual | ~OctreePointCloud () |
| Empty deconstructor. More...
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void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set. More...
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More...
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PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches. More...
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double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches. More...
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void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution. More...
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double | getResolution () const |
| Get octree voxel resolution. More...
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unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More...
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void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. More...
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void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree. More...
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud. More...
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud. More...
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bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. More...
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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...
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bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
| Check if voxel at given point from input cloud exist. More...
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void | deleteTree () |
| Delete the octree structure and its leaf nodes. More...
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int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. More...
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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...
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void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point. More...
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void | deleteVoxelAtPoint (const int &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud. More...
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void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...
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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...
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void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More...
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void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree. More...
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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...
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double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. More...
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double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth. More...
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double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. More...
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double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level. More...
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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. More...
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void | enableDynamicDepth (size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. More...
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void | writeFrameHeader (std::ostream &compressed_tree_data_out_arg) |
| Write frame information to output stream. More...
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void | readFrameHeader (std::istream &compressed_tree_data_in_arg) |
| Read frame information to output stream. More...
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void | syncToHeader (std::istream &compressed_tree_data_in_arg) |
| Synchronize to frame header. More...
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void | entropyEncoding (std::ostream &compressed_tree_data_out_arg) |
| Apply entropy encoding to encoded information and output to binary stream. More...
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void | entropyDecoding (std::istream &compressed_tree_data_in_arg) |
| Entropy decoding of input binary stream and output to information vectors. More...
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virtual void | serializeTreeCallback (LeafT &leaf_arg, const OctreeKey &key_arg) |
| Encode leaf node information during serialization. More...
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virtual void | deserializeTreeCallback (LeafT &, const OctreeKey &key_arg) |
| Decode leaf nodes information during deserialization. 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...
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const PointT & | getPointByIndex (const unsigned int index_arg) const |
| Get point at index from input pointcloud dataset. More...
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LeafT * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. More...
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void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. More...
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void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. More...
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bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. More...
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void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More...
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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...
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virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. More...
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void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. More...
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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...
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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...
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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...
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template<typename PointT, typename LeafT = OctreeContainerPointIndices, typename BranchT = OctreeContainerEmpty, typename OctreeT = Octree2BufBase<LeafT, BranchT>>
class pcl::io::OctreePointCloudCompression< PointT, LeafT, BranchT, OctreeT >
Octree pointcloud compression class
- Note
- This class enables compression and decompression of point cloud data based on octree data structures.
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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 74 of file octree_pointcloud_compression.h.