This code defines the octree used for point storage at Urban Robotics. More...
#include <pcl/outofcore/octree_base.h>
Public Member Functions |
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OutofcoreOctreeBase (const boost::filesystem::path &root_node_name, const bool load_all) | |
Load an existing tree. More... |
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OutofcoreOctreeBase (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const double resolution_arg, const boost::filesystem::path &root_node_name, const std::string &coord_sys) | |
Create a new tree. More... |
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OutofcoreOctreeBase (const std::uint64_t max_depth, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::filesystem::path &root_node_name, const std::string &coord_sys) | |
Create a new tree; will not overwrite existing tree of same name. More... |
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virtual | ~OutofcoreOctreeBase () |
std::uint64_t | addDataToLeaf (const AlignedPointTVector &p) |
Recursively add points to the tree. More... |
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std::uint64_t | addPointCloud (PointCloudConstPtr point_cloud) |
Copies the points from the point_cloud falling within the bounding box of the octree to the out-of-core octree; this is an interface to addDataToLeaf and can be used multiple times. More... |
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std::uint64_t | addPointCloud (pcl::PCLPointCloud2::Ptr &input_cloud, const bool skip_bb_check=false) |
Recursively copies points from input_cloud into the leaf nodes of the out-of-core octree, and stores them to disk. More... |
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std::uint64_t | addPointCloud_and_genLOD (pcl::PCLPointCloud2::Ptr &input_cloud) |
Recursively add points to the tree. More... |
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std::uint64_t | addPointCloud (pcl::PCLPointCloud2::Ptr &input_cloud) |
std::uint64_t | addPointCloud_and_genLOD (PointCloudConstPtr point_cloud) |
std::uint64_t | addDataToLeaf_and_genLOD (AlignedPointTVector &p) |
Recursively add points to the tree subsampling LODs on the way. More... |
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void | queryFrustum (const double *planes, std::list< std::string > &file_names) const |
void | queryFrustum (const double *planes, std::list< std::string > &file_names, const std::uint32_t query_depth) const |
void | queryFrustum (const double *planes, const Eigen::Vector3d &eye, const Eigen::Matrix4d &view_projection_matrix, std::list< std::string > &file_names, const std::uint32_t query_depth) const |
void | queryBBIntersects (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name) const |
Get a list of file paths at query_depth that intersect with your bounding box specified by min and max . More... |
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void | queryBBIncludes (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint64_t query_depth, AlignedPointTVector &dst) const |
Get Points in BB, only points inside BB. More... |
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void | queryBBIncludes (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob) const |
Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 object in dst_blob . More... |
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void | queryBBIncludes_subsample (const Eigen::Vector3d &min, const Eigen::Vector3d &max, std::uint64_t query_depth, const double percent, AlignedPointTVector &dst) const |
Returns a random subsample of points within the given bounding box at query_depth . More... |
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virtual void | queryBoundingBox (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob, double percent=1.0) |
Query all points falling within the input bounding box at query_depth and return a PCLPointCloud2 object in dst_blob . More... |
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virtual void | queryBoundingBox (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, std::list< std::string > &filenames) const |
Returns list of pcd files from nodes whose bounding boxes intersect with the input bounding box. More... |
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bool | getBoundingBox (Eigen::Vector3d &min, Eigen::Vector3d &max) const |
Get the overall bounding box of the outofcore octree; this is the same as the bounding box of the root_node_ node. More... |
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std::uint64_t | getNumPointsAtDepth (const std::uint64_t &depth_index) const |
Get number of points at specified LOD. More... |
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std::uint64_t | queryBoundingBoxNumPoints (const Eigen::Vector3d &min, const Eigen::Vector3d &max, const int query_depth, bool load_from_disk=true) |
Queries the number of points in a bounding box. More... |
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const std::vector< std::uint64_t > & | getNumPointsVector () const |
Get number of points at each LOD. More... |
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std::uint64_t | getDepth () const |
Get number of LODs, which is the height of the tree. More... |
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std::uint64_t | getTreeDepth () const |
bool | getBinDimension (double &x, double &y) const |
Computes the expected voxel dimensions at the leaves. More... |
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double | getVoxelSideLength (const std::uint64_t &depth) const |
gets the side length of an (assumed) perfect cubic voxel. More... |
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double | getVoxelSideLength () const |
Gets the smallest (assumed) cubic voxel side lengths. More... |
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const std::string & | getCoordSystem () const |
Get coordinate system tag from the JSON metadata file. More... |
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void | buildLOD () |
Generate multi-resolution LODs for the tree, which are a uniform random sampling all child leafs below the node. More... |
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void | printBoundingBox (const std::size_t query_depth) const |
Prints size of BBox to stdout. More... |
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void | printBoundingBox (OutofcoreNodeType &node) const |
Prints the coordinates of the bounding box of the node to stdout. More... |
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void | printBoundingBox () const |
Prints size of the bounding boxes to stdou. More... |
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void | getOccupiedVoxelCenters (AlignedPointTVector &voxel_centers, std::size_t query_depth) const |
Returns the voxel centers of all existing voxels at query_depth . More... |
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void | getOccupiedVoxelCenters (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers, std::size_t query_depth) const |
Returns the voxel centers of all existing voxels at query_depth . More... |
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void | getOccupiedVoxelCenters (AlignedPointTVector &voxel_centers) const |
Gets the voxel centers of all occupied/existing leaves of the tree. More... |
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void | getOccupiedVoxelCenters (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers) const |
Returns the voxel centers of all occupied/existing leaves of the tree. More... |
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void | convertToXYZ () |
Save each .bin file as an XYZ file. More... |
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void | writeVPythonVisual (const boost::filesystem::path filename) |
Write a python script using the vpython module containing all the bounding boxes. More... |
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OutofcoreNodeType * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char childIdx_arg) const |
pcl::Filter< pcl::PCLPointCloud2 >::Ptr | getLODFilter () |
const pcl::Filter< pcl::PCLPointCloud2 >::ConstPtr | getLODFilter () const |
void | setLODFilter (const pcl::Filter< pcl::PCLPointCloud2 >::Ptr &filter_arg) |
Sets the filter to use when building the levels of depth. More... |
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double | getSamplePercent () const |
Returns the sample_percent_ used when constructing the LOD. More... |
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void | setSamplePercent (const double sample_percent_arg) |
Sets the sampling percent for constructing LODs. More... |
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Protected Member Functions |
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void | init (const std::uint64_t &depth, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const boost::filesystem::path &root_name, const std::string &coord_sys) |
OutofcoreOctreeBase (OutofcoreOctreeBase &rval) | |
OutofcoreOctreeBase (const OutofcoreOctreeBase &rval) | |
OutofcoreOctreeBase & | operator= (OutofcoreOctreeBase &rval) |
OutofcoreOctreeBase & | operator= (const OutofcoreOctreeBase &rval) |
OutofcoreNodeType * | getRootNode () |
void | DeAllocEmptyNodeCache (OutofcoreNodeType *current) |
flush empty nodes only More... |
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void | saveToFile () |
Write octree definition ".octree" (defined by octree_extension_) to disk. More... |
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void | buildLODRecursive (const std::vector< BranchNode * > ¤t_branch) |
recursive portion of lod builder More... |
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void | incrementPointsInLOD (std::uint64_t depth, std::uint64_t inc) |
Increment current depths (LOD for branch nodes) point count; called by addDataAtMaxDepth in OutofcoreOctreeBaseNode. More... |
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bool | checkExtension (const boost::filesystem::path &path_name) |
Auxiliary function to validate path_name extension is .octree. More... |
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void | flushToDisk () |
Flush all nodes' cache. More... |
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void | flushToDiskLazy () |
Flush all non leaf nodes' cache. More... |
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void | DeAllocEmptyNodeCache () |
Flush empty nodes only. More... |
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Protected Attributes |
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OutofcoreNodeType * | root_node_ |
Pointer to the root node of the octree data structure. More... |
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std::shared_timed_mutex | read_write_mutex_ |
shared mutex for controlling read/write access to disk More... |
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OutofcoreOctreeBaseMetadata::Ptr | metadata_ |
Static Protected Attributes |
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const static std::string | TREE_EXTENSION_ = ".octree" |
defined as ".octree" to append to treepath files More... |
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const static int | OUTOFCORE_VERSION_ = static_cast<int>(3) |
const static std::uint64_t | LOAD_COUNT_ = static_cast<std::uint64_t>(2e9) |
Friends |
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class | OutofcoreOctreeBaseNode< ContainerT, PointT > |
class | pcl::outofcore::OutofcoreIteratorBase< PointT, ContainerT > |
Detailed Description
template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
class pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >
This code defines the octree used for point storage at Urban Robotics.
- Note
- Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob with any questions. .sch loss@ urba nrobo tics .nethttp://www.urbanrobotics.net/. This code was integrated for the Urban Robotics Code Sprint (URCS) by Stephen Fox ( foxst). Additional development notes can be found at ephe nd@gm ail. comhttp://www.pointclouds.org/blog/urcs/.
The primary purpose of this class is an interface to the recursive traversal (recursion handled by pcl::outofcore::OutofcoreOctreeBaseNode) of the in-memory/top-level octree structure. The metadata in each node can be loaded entirely into main memory, from which the tree can be traversed recursively in this state. This class provides an the interface for:
- Point/Region insertion methods
- Frustrum/box/region queries
- Parameterization of resolution, container type, etc...
For lower-level node access, there is a Depth-First iterator for traversing the trees with direct access to the nodes. This can be used for implementing other algorithms, and other iterators can be written in a similar fashion.
The format of the octree is stored on disk in a hierarchical octree structure, where .oct_idx are the JSON-based node metadata files managed by pcl::outofcore::OutofcoreOctreeNodeMetadata, and .octree is the JSON-based octree metadata file managed by pcl::outofcore::OutofcoreOctreeBaseMetadata. Children of each node live in up to eight subdirectories named from 0 to 7, where a metadata and optionally a pcd file will exist. The PCD files are stored in compressed binary PCD format, containing all of the fields existing in the PCLPointCloud2 objects originally inserted into the out of core object.
A brief outline of the out of core octree can be seen below. The files in [brackets] exist only when the LOD are built.
At this point in time, there is not support for multiple trees existing in a single directory hierarchy.
tree_name/ tree_name.oct_idx tree_name.octree [tree_name-uuid.pcd] 0/ tree_name.oct_idx [tree_name-uuid.pcd] 0/ ... 1/ ... ... 0/ tree_name.oct_idx tree_name.pcd 1/ ... 7/
Definition at line 150 of file octree_base.h.
Member Typedef Documentation
AlignedPointTVector
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> > |
Definition at line 189 of file octree_base.h.
BranchNode
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::BranchNode = OutofcoreOctreeBaseNode<ContainerT, PointT> |
Definition at line 166 of file octree_base.h.
BreadthFirstConstIterator
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::BreadthFirstConstIterator = const OutofcoreBreadthFirstIterator<PointT, ContainerT> |
Definition at line 173 of file octree_base.h.
BreadthFirstIterator
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::BreadthFirstIterator = OutofcoreBreadthFirstIterator<PointT, ContainerT> |
Definition at line 172 of file octree_base.h.
ConstIterator
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::ConstIterator = const OutofcoreDepthFirstIterator<PointT, ContainerT> |
Definition at line 170 of file octree_base.h.
ConstPtr
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::ConstPtr = shared_ptr<const OutofcoreOctreeBase<ContainerT, PointT> > |
Definition at line 179 of file octree_base.h.
DepthFirstConstIterator
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DepthFirstConstIterator = const OutofcoreDepthFirstIterator<PointT, ContainerT> |
Definition at line 176 of file octree_base.h.
DepthFirstIterator
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::DepthFirstIterator = OutofcoreDepthFirstIterator<PointT, ContainerT> |
Definition at line 175 of file octree_base.h.
IndicesConstPtr
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::IndicesConstPtr = shared_ptr<const pcl::Indices> |
Definition at line 184 of file octree_base.h.
IndicesPtr
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::IndicesPtr = shared_ptr<pcl::Indices> |
Definition at line 183 of file octree_base.h.
Iterator
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::Iterator = OutofcoreDepthFirstIterator<PointT, ContainerT> |
Definition at line 169 of file octree_base.h.
LeafNode
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::LeafNode = OutofcoreOctreeBaseNode<ContainerT, PointT> |
Definition at line 167 of file octree_base.h.
octree_disk
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_disk = OutofcoreOctreeBase<OutofcoreOctreeDiskContainer<PointT>, PointT > |
Definition at line 158 of file octree_base.h.
octree_disk_node
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_disk_node = OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer<PointT>, PointT > |
Definition at line 159 of file octree_base.h.
octree_ram
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_ram = OutofcoreOctreeBase<OutofcoreOctreeRamContainer<PointT>, PointT> |
Definition at line 161 of file octree_base.h.
octree_ram_node
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::octree_ram_node = OutofcoreOctreeBaseNode<OutofcoreOctreeRamContainer<PointT>, PointT> |
Definition at line 162 of file octree_base.h.
OutofcoreNodeType
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreNodeType = OutofcoreOctreeBaseNode<ContainerT, PointT> |
Definition at line 164 of file octree_base.h.
PointCloud
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 181 of file octree_base.h.
PointCloudConstPtr
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 187 of file octree_base.h.
PointCloudPtr
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 186 of file octree_base.h.
Ptr
using pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::Ptr = shared_ptr<OutofcoreOctreeBase<ContainerT, PointT> > |
Definition at line 178 of file octree_base.h.
Constructor & Destructor Documentation
OutofcoreOctreeBase() [1/5]
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase | ( | const boost::filesystem::path & | root_node_name, |
const bool | load_all | ||
) |
Load an existing tree.
If load_all is set, the BB and point count for every node is loaded, otherwise only the root node is actually created, and the rest will be generated on insertion or query.
- Parameters
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root_node_name Path to the top-level tree/tree.oct_idx metadata file load_all Load entire tree metadata (does not load any points from disk)
- Exceptions
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PCLException for bad extension (root node metadata must be .oct_idx extension)
Definition at line 77 of file octree_base.hpp.
OutofcoreOctreeBase() [2/5]
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase | ( | const Eigen::Vector3d & | min, |
const Eigen::Vector3d & | max, | ||
const double | resolution_arg, | ||
const boost::filesystem::path & | root_node_name, | ||
const std::string & | coord_sys | ||
) |
Create a new tree.
Create a new tree rootname with specified bounding box; will remove and overwrite existing tree with the same name
Computes the depth of the tree based on desired leaf , then calls the other constructor.
- Parameters
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min Bounding box min max Bounding box max resolution_arg Node dimension in meters (assuming your point data is in meters) root_node_name must end in ".oct_idx" coord_sys Coordinate system which is stored in the JSON metadata
- Exceptions
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PCLException if root file extension does not match pcl::outofcore::OutofcoreOctreeBaseNode::node_index_extension
Definition at line 105 of file octree_base.hpp.
OutofcoreOctreeBase() [3/5]
pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::OutofcoreOctreeBase | ( | const std::uint64_t | max_depth, |
const Eigen::Vector3d & | min, | ||
const Eigen::Vector3d & | max, | ||
const boost::filesystem::path & | root_node_name, | ||
const std::string & | coord_sys | ||
) |
Create a new tree; will not overwrite existing tree of same name.
Create a new tree rootname with specified bounding box; will not overwrite an existing tree
- Parameters
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max_depth Specifies a fixed number of LODs to generate, which is the depth of the tree min Bounding box min max Bounding box max
- Note
- Bounding box of the tree must be set before inserting any points. The tree cannot be resized at this time.
- Parameters
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root_node_name must end in ".oct_idx" coord_sys Coordinate system which is stored in the JSON metadata
- Exceptions
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PCLException if the parent directory has existing children (detects an existing tree) PCLException if file extension is not ".oct_idx"
Definition at line 127 of file octree_base.hpp.
~OutofcoreOctreeBase()
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Definition at line 189 of file octree_base.hpp.
OutofcoreOctreeBase() [4/5]
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OutofcoreOctreeBase() [5/5]
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Member Function Documentation
addDataToLeaf()
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf | ( | const AlignedPointTVector & | p | ) |
Recursively add points to the tree.
- Note
- shared read_write_mutex lock occurs
Definition at line 208 of file octree_base.hpp.
addDataToLeaf_and_genLOD()
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addDataToLeaf_and_genLOD | ( | AlignedPointTVector & | p | ) |
Recursively add points to the tree subsampling LODs on the way.
shared read_write_mutex lock occurs
Definition at line 270 of file octree_base.hpp.
addPointCloud() [1/3]
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud | ( | pcl::PCLPointCloud2::Ptr & | input_cloud | ) |
addPointCloud() [2/3]
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud | ( | pcl::PCLPointCloud2::Ptr & | input_cloud, |
const bool | skip_bb_check = false |
||
) |
Recursively copies points from input_cloud into the leaf nodes of the out-of-core octree, and stores them to disk.
- Parameters
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[in] input_cloud The cloud of points to be inserted into the out-of-core octree. Note if multiple PCLPointCloud2 objects are added to the tree, this assumes that they all have exactly the same fields. [in] skip_bb_check (default=false) whether to skip the bounding box check on insertion. Note the bounding box check is never skipped in the current implementation.
- Returns
- Number of points successfully copied from the point cloud to the octree
Definition at line 232 of file octree_base.hpp.
addPointCloud() [3/3]
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud | ( | PointCloudConstPtr | point_cloud | ) |
Copies the points from the point_cloud falling within the bounding box of the octree to the out-of-core octree; this is an interface to addDataToLeaf and can be used multiple times.
- Parameters
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point_cloud Pointer to the point cloud data to copy to the outofcore octree; Assumes templated PointT matches for each.
- Returns
- Number of points successfully copied from the point cloud to the octree.
Definition at line 224 of file octree_base.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::addPointCloud().
addPointCloud_and_genLOD() [1/2]
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud_and_genLOD | ( | pcl::PCLPointCloud2::Ptr & | input_cloud | ) |
Recursively add points to the tree.
Recursively add points to the tree. 1/8 of the remaining points at each LOD are stored at each internal node of the octree until either (a) runs out of points, in which case the leaf is not at the maximum depth of the tree, or (b) a larger set of points falls in the leaf at the maximum depth. Note unlike the old implementation, multiple copies of the same point will not be added at multiple LODs as it walks the tree. Once the point is added to the octree, it is no longer propagated further down the tree.
- Parameters
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[in] input_cloud The input cloud of points which will be copied into the sorted nodes of the out-of-core octree
- Returns
- The total number of points added to the out-of-core octree.
Definition at line 254 of file octree_base.hpp.
addPointCloud_and_genLOD() [2/2]
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::addPointCloud_and_genLOD | ( | PointCloudConstPtr | point_cloud | ) |
Definition at line 243 of file octree_base.hpp.
buildLOD()
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::buildLOD |
Generate multi-resolution LODs for the tree, which are a uniform random sampling all child leafs below the node.
Definition at line 562 of file octree_base.hpp.
buildLODRecursive()
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recursive portion of lod builder
Definition at line 594 of file octree_base.hpp.
checkExtension()
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Auxiliary function to validate path_name extension is .octree.
- Returns
- 0 if bad; 1 if extension is .oct_idx
Definition at line 700 of file octree_base.hpp.
convertToXYZ()
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::convertToXYZ |
Save each .bin file as an XYZ file.
Definition at line 461 of file octree_base.hpp.
DeAllocEmptyNodeCache() [1/2]
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Flush empty nodes only.
Definition at line 470 of file octree_base.hpp.
DeAllocEmptyNodeCache() [2/2]
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flush empty nodes only
flushToDisk()
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Flush all nodes' cache.
Definition at line 445 of file octree_base.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::flushToDisk().
flushToDiskLazy()
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Flush all non leaf nodes' cache.
Definition at line 453 of file octree_base.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::flushToDiskLazy().
getBinDimension()
bool pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBinDimension | ( | double & | x, |
double & | y | ||
) | const |
Computes the expected voxel dimensions at the leaves.
Definition at line 527 of file octree_base.hpp.
getBoundingBox()
bool pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBoundingBox | ( | Eigen::Vector3d & | min, |
Eigen::Vector3d & | max | ||
) | const |
Get the overall bounding box of the outofcore octree; this is the same as the bounding box of the root_node_
node.
- Parameters
-
min max
Definition at line 362 of file octree_base.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getBoundingBox().
getBranchChildPtr()
OutofcoreOctreeBaseNode< ContainerT, PointT > * pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBranchChildPtr | ( | const BranchNode & | branch_arg, |
unsigned char | childIdx_arg | ||
) | const |
Definition at line 496 of file octree_base.hpp.
getCoordSystem()
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Get coordinate system tag from the JSON metadata file.
Definition at line 470 of file octree_base.h.
getDepth()
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Get number of LODs, which is the height of the tree.
Definition at line 435 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getTreeDepth(), pcl::outofcore::OutofcoreIteratorBase< pcl::PointXYZ, OutofcoreOctreeDiskContainer< pcl::PointXYZ > >::reset(), and pcl::outofcore::OutofcoreIteratorBase< pcl::PointXYZ, OutofcoreOctreeDiskContainer< pcl::PointXYZ > >::setMaxDepth().
getLODFilter() [1/2]
const pcl::Filter< pcl::PCLPointCloud2 >::ConstPtr pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getLODFilter |
Definition at line 503 of file octree_base.hpp.
getLODFilter() [2/2]
const pcl::Filter<pcl::PCLPointCloud2>::ConstPtr pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getLODFilter | ( | ) | const |
getNumPointsAtDepth()
|
inline |
Get number of points at specified LOD.
- Parameters
-
[in] depth_index the level of detail at which we want the number of points (0 is root, 1, 2,...)
- Returns
- number of points in the tree at depth
Definition at line 406 of file octree_base.h.
getNumPointsVector()
|
inline |
Get number of points at each LOD.
- Returns
- vector of number of points in each LOD indexed by each level of depth, 0 to the depth of the tree.
Definition at line 427 of file octree_base.h.
getOccupiedVoxelCenters() [1/4]
|
inline |
Gets the voxel centers of all occupied/existing leaves of the tree.
Definition at line 516 of file octree_base.h.
getOccupiedVoxelCenters() [2/4]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters | ( | AlignedPointTVector & | voxel_centers, |
std::size_t | query_depth | ||
) | const |
Returns the voxel centers of all existing voxels at query_depth
.
- Parameters
-
[out] voxel_centers Vector of PointXYZ voxel centers for nodes that exist at that depth [in] query_depth the depth of the tree at which to retrieve occupied/existing voxels
Definition at line 384 of file octree_base.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getOccupiedVoxelCenters().
getOccupiedVoxelCenters() [3/4]
|
inline |
Returns the voxel centers of all occupied/existing leaves of the tree.
- Parameters
-
[out] voxel_centers std::vector of the centers of all occupied leaves of the octree
Definition at line 525 of file octree_base.h.
getOccupiedVoxelCenters() [4/4]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getOccupiedVoxelCenters | ( | std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > & | voxel_centers, |
std::size_t | query_depth | ||
) | const |
Returns the voxel centers of all existing voxels at query_depth
.
- Parameters
-
[out] voxel_centers Vector of PointXYZ voxel centers for nodes that exist at that depth [in] query_depth the depth of the tree at which to retrieve occupied/existing voxels
Definition at line 400 of file octree_base.hpp.
getRootNode()
|
inlineprotected |
Definition at line 585 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreIteratorBase< pcl::PointXYZ, OutofcoreOctreeDiskContainer< pcl::PointXYZ > >::reset().
getSamplePercent()
|
inline |
Returns the sample_percent_ used when constructing the LOD.
Definition at line 557 of file octree_base.h.
getTreeDepth()
|
inline |
Definition at line 441 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreDepthFirstIterator< PointT, ContainerT >::OutofcoreDepthFirstIterator().
getVoxelSideLength() [1/2]
|
inline |
Gets the smallest (assumed) cubic voxel side lengths.
The smallest voxels are located at the max depth of the tree.
- Returns
- The side length of a the cubic voxel located at the leaves
Definition at line 462 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getVoxelSideLength().
getVoxelSideLength() [2/2]
double pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getVoxelSideLength | ( | const std::uint64_t & | depth | ) | const |
gets the side length of an (assumed) perfect cubic voxel.
- Note
- If the initial bounding box specified in constructing the octree is not square, then this method does not return a sensible value
- Returns
- the side length of the cubic voxel size at the specified depth
Definition at line 551 of file octree_base.hpp.
incrementPointsInLOD()
|
inlineprotected |
Increment current depths (LOD for branch nodes) point count; called by addDataAtMaxDepth in OutofcoreOctreeBaseNode.
Definition at line 686 of file octree_base.hpp.
init()
|
protected |
Definition at line 140 of file octree_base.hpp.
operator=() [1/2]
|
protected |
operator=() [2/2]
|
protected |
printBoundingBox() [1/3]
|
inline |
Prints size of the bounding boxes to stdou.
Definition at line 495 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::printBoundingBox().
printBoundingBox() [2/3]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::printBoundingBox | ( | const std::size_t | query_depth | ) | const |
Prints size of BBox to stdout.
Definition at line 375 of file octree_base.hpp.
printBoundingBox() [3/3]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::printBoundingBox | ( | OutofcoreNodeType & | node | ) | const |
Prints the coordinates of the bounding box of the node to stdout.
queryBBIncludes() [1/2]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes | ( | const Eigen::Vector3d & | min, |
const Eigen::Vector3d & | max, | ||
const std::uint64_t | query_depth, | ||
AlignedPointTVector & | dst | ||
) | const |
Get Points in BB, only points inside BB.
The query processes the data at each node, filtering points that fall out of the query bounds, and returns a single, concatenated point cloud.
- Parameters
-
[in] min The minimum corner of the bounding box for querying [in] max The maximum corner of the bounding box for querying [in] query_depth The depth from which point data will be taken
- Note
- If the LODs of the tree have not been built, you must specify the maximum depth in order to retrieve any data
- Parameters
-
[out] dst The destination vector of points
Definition at line 313 of file octree_base.hpp.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::queryBoundingBox().
queryBBIncludes() [2/2]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes | ( | const Eigen::Vector3d & | min, |
const Eigen::Vector3d & | max, | ||
const std::uint64_t | query_depth, | ||
const pcl::PCLPointCloud2::Ptr & | dst_blob | ||
) | const |
Query all points falling within the input bounding box at query_depth
and return a PCLPointCloud2 object in dst_blob
.
- Parameters
-
[in] min The minimum corner of the input bounding box. [in] max The maximum corner of the input bounding box. [in] query_depth The query depth at which to search for points; only points at this depth are returned [out] dst_blob Storage location for the points satisfying the query.
Definition at line 324 of file octree_base.hpp.
queryBBIncludes_subsample()
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIncludes_subsample | ( | const Eigen::Vector3d & | min, |
const Eigen::Vector3d & | max, | ||
std::uint64_t | query_depth, | ||
const double | percent, | ||
AlignedPointTVector & | dst | ||
) | const |
Returns a random subsample of points within the given bounding box at query_depth
.
- Parameters
-
[in] min The minimum corner of the boudning box to query. [out] max The maximum corner of the bounding box to query. [in] query_depth The depth in the tree at which to look for the points. Only returns points within the given bounding box at the specified query_depth
.percent [out] dst The destination in which to return the points.
Definition at line 338 of file octree_base.hpp.
queryBBIntersects()
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBBIntersects | ( | const Eigen::Vector3d & | min, |
const Eigen::Vector3d & | max, | ||
const std::uint32_t | query_depth, | ||
std::list< std::string > & | bin_name | ||
) | const |
Get a list of file paths at query_depth that intersect with your bounding box specified by min
and max
.
When querying with this method, you may be stuck with extra data (some outside of your query bounds) that reside in the files.
- Parameters
-
[in] min The minimum corner of the bounding box [in] max The maximum corner of the bounding box [in] query_depth 0 is root, (this->depth) is full [out] bin_name List of paths to point data files (PCD currently) which satisfy the query
Definition at line 416 of file octree_base.hpp.
queryBoundingBox() [1/2]
|
virtual |
Query all points falling within the input bounding box at query_depth
and return a PCLPointCloud2 object in dst_blob
.
If the optional argument for filter is given, points are processed by that filter before returning.
- Parameters
-
[in] min The minimum corner of the input bounding box. [in] max The maximum corner of the input bounding box. [in] query_depth The depth of tree at which to query; only points at this depth are returned [out] dst_blob The destination in which points within the bounding box are stored. [in] percent optional sampling percentage which is applied after each time data are read from disk
Definition at line 347 of file octree_base.hpp.
queryBoundingBox() [2/2]
|
inlinevirtual |
Returns list of pcd files from nodes whose bounding boxes intersect with the input bounding box.
- Parameters
-
[in] min The minimum corner of the input bounding box. [in] max The maximum corner of the input bounding box. query_depth [out] filenames The list of paths to the PCD files which can be loaded and processed.
Definition at line 383 of file octree_base.h.
queryBoundingBoxNumPoints()
std::uint64_t pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryBoundingBoxNumPoints | ( | const Eigen::Vector3d & | min, |
const Eigen::Vector3d & | max, | ||
const int | query_depth, | ||
bool | load_from_disk = true |
||
) |
Queries the number of points in a bounding box.
- Parameters
-
[in] min The minimum corner of the input bounding box [out] max The maximum corner of the input bounding box [in] query_depth The depth of the nodes to restrict the search to (only this depth is searched) [in] load_from_disk (default true) Whether to load PCD files to count exactly the number of points within the bounding box; setting this to false will return an upper bound by just reading the number of points from the PCD header, even if there may be some points in that node do not fall within the query bounding box.
- Returns
- Number of points in the bounding box at depth query_depth
queryFrustum() [1/3]
void pcl::outofcore::OutofcoreOctreeBase< Container, PointT >::queryFrustum | ( | const double * | planes, |
const Eigen::Vector3d & | eye, | ||
const Eigen::Matrix4d & | view_projection_matrix, | ||
std::list< std::string > & | file_names, | ||
const std::uint32_t | query_depth | ||
) | const |
Definition at line 299 of file octree_base.hpp.
queryFrustum() [2/3]
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::queryFrustum | ( | const double * | planes, |
std::list< std::string > & | file_names | ||
) | const |
queryFrustum() [3/3]
void pcl::outofcore::OutofcoreOctreeBase< Container, PointT >::queryFrustum | ( | const double * | planes, |
std::list< std::string > & | file_names, | ||
const std::uint32_t | query_depth | ||
) | const |
Definition at line 290 of file octree_base.hpp.
saveToFile()
|
protected |
Write octree definition ".octree" (defined by octree_extension_) to disk.
Definition at line 200 of file octree_base.hpp.
setLODFilter()
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::setLODFilter | ( | const pcl::Filter< pcl::PCLPointCloud2 >::Ptr & | filter_arg | ) |
Sets the filter to use when building the levels of depth.
Recommended filters are pcl::RandomSample<pcl::PCLPointCloud2> or pcl::VoxelGrid
Definition at line 519 of file octree_base.hpp.
setSamplePercent()
|
inline |
Sets the sampling percent for constructing LODs.
Each LOD gets sample_percent^d points.
- Parameters
-
[in] sample_percent_arg Percentage between 0 and 1.
Definition at line 565 of file octree_base.h.
writeVPythonVisual()
void pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::writeVPythonVisual | ( | const boost::filesystem::path | filename | ) |
Write a python script using the vpython module containing all the bounding boxes.
Definition at line 433 of file octree_base.hpp.
Friends And Related Function Documentation
OutofcoreOctreeBaseNode< ContainerT, PointT >
|
friend |
Definition at line 152 of file octree_base.h.
pcl::outofcore::OutofcoreIteratorBase< PointT, ContainerT >
|
friend |
Definition at line 153 of file octree_base.h.
Member Data Documentation
LOAD_COUNT_
|
staticprotected |
Definition at line 640 of file octree_base.h.
metadata_
|
protected |
Definition at line 632 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getCoordSystem(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getDepth(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getNumPointsAtDepth(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getNumPointsVector(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getOccupiedVoxelCenters(), pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getVoxelSideLength(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::printBoundingBox().
OUTOFCORE_VERSION_
|
staticprotected |
Definition at line 638 of file octree_base.h.
read_write_mutex_
|
mutableprotected |
shared mutex for controlling read/write access to disk
Definition at line 630 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::queryBoundingBox().
root_node_
|
protected |
Pointer to the root node of the octree data structure.
Definition at line 627 of file octree_base.h.
Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getRootNode(), and pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::queryBoundingBox().
TREE_EXTENSION_
|
staticprotected |
defined as ".octree" to append to treepath files
- Note
- this might change
Definition at line 637 of file octree_base.h.
The documentation for this class was generated from the following files:
- pcl/outofcore/octree_base.h
- pcl/outofcore/impl/octree_base.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1outofcore_1_1_outofcore_octree_base.html