PointCloudLibrary

OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.
More...

#include <pcl/outofcore/octree_base_node.h>

Public Types
using	octree_disk = OutofcoreOctreeBase< OutofcoreOctreeDiskContainer< PointT >, PointT >

using	octree_disk_node = OutofcoreOctreeBaseNode< OutofcoreOctreeDiskContainer< PointT >, PointT >

using	AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >

using	node_type_t = pcl::octree::node_type_t

Public Member Functions
	OutofcoreOctreeBaseNode ()
	Empty constructor; sets pointers for children and for bounding boxes to 0. More...

	OutofcoreOctreeBaseNode (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, OutofcoreOctreeBase< ContainerT, PointT > *const tree, const boost::filesystem::path &root_name)
	Create root node and directory. More...

	~OutofcoreOctreeBaseNode ()
	Will recursively delete all children calling recFreeChildrein. More...

virtual void	getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
	gets the minimum and maximum corner of the bounding box represented by this node More...

const boost::filesystem::path &	getPCDFilename () const

const boost::filesystem::path &	getMetadataFilename () const

void	queryFrustum (const double planes[24], std::list< std::string > &file_names)

void	queryFrustum (const double planes[24], std::list< std::string > &file_names, const std::uint32_t query_depth, const bool skip_vfc_check=false)

void	queryFrustum (const double planes[24], const Eigen::Vector3d &eye, const Eigen::Matrix4d &view_projection_matrix, std::list< std::string > &file_names, const std::uint32_t query_depth, const bool skip_vfc_check=false)

virtual void	queryBBIncludes (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::size_t query_depth, AlignedPointTVector &dst)
	Recursively add points that fall into the queried bounding box up to the query_depth. More...

virtual void	queryBBIncludes (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::size_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob)
	Recursively add points that fall into the queried bounding box up to the query_depth. More...

virtual void	queryBBIncludes_subsample (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::uint64_t query_depth, const double percent, AlignedPointTVector &v)
	Recursively add points that fall into the queried bounding box up to the query_depth. More...

virtual void	queryBBIncludes_subsample (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob, double percent=1.0)

virtual void	queryBBIntersects (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const std::uint32_t query_depth, std::list< std::string > &file_names)
	Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_depth only). More...

virtual void	printBoundingBox (const std::size_t query_depth) const
	Write the voxel size to stdout at `query_depth`. More...

virtual std::uint64_t	addDataToLeaf (const AlignedPointTVector &p, const bool skip_bb_check=true)
	add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point More...

virtual std::uint64_t	addDataToLeaf (const std::vector< const PointT * > &p, const bool skip_bb_check=true)

virtual std::uint64_t	addPointCloud (const pcl::PCLPointCloud2::Ptr &input_cloud, const bool skip_bb_check=false)
	Add a single PCLPointCloud2 object into the octree. More...

virtual std::uint64_t	addPointCloud_and_genLOD (const pcl::PCLPointCloud2::Ptr input_cloud)
	Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this method of LOD construction is not multiresolution. More...

virtual std::uint64_t	addDataToLeaf_and_genLOD (const AlignedPointTVector &p, const bool skip_bb_check)
	Recursively add points to the leaf and children subsampling LODs on the way down. More...

void	writeVPythonVisual (std::ofstream &file)
	Write a python visual script to file. More...

virtual int	read (pcl::PCLPointCloud2::Ptr &output_cloud)

node_type_t	getNodeType () const override

OutofcoreOctreeBaseNode *	deepCopy () const override

virtual std::size_t	getDepth () const

virtual std::size_t	getNumChildren () const
	Returns the total number of children on disk. More...

virtual std::size_t	getNumLoadedChildren () const
	Count loaded chilren. More...

virtual OutofcoreOctreeBaseNode *	getChildPtr (std::size_t index_arg) const
	Returns a pointer to the child in octant index_arg. More...

virtual std::uint64_t	getDataSize () const
	Gets the number of points available in the PCD file. More...

virtual void	clearData ()

Static Public Attributes
const static std::string	node_index_basename = "node"

const static std::string	node_container_basename = "node"

const static std::string	node_index_extension = ".oct_idx"

const static std::string	node_container_extension = ".oct_dat"

const static double	sample_percent_ = .125

Protected Member Functions
	OutofcoreOctreeBaseNode (const boost::filesystem::path &directory_path, OutofcoreOctreeBaseNode< ContainerT, PointT > *super, bool load_all)
	Load from disk If creating root, path is full name. More...

void	init_root_node (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, OutofcoreOctreeBase< ContainerT, PointT > *const tree, const boost::filesystem::path &rootname)
	Create root node and directory. More...

	OutofcoreOctreeBaseNode (const OutofcoreOctreeBaseNode &rval)
	no copy construction right now More...

OutofcoreOctreeBaseNode &	operator= (const OutofcoreOctreeBaseNode &rval)
	Operator= is not implemented. More...

virtual std::size_t	countNumChildren () const
	Counts the number of child directories on disk; used to update num_children_. More...

virtual std::size_t	countNumLoadedChildren () const
	Counts the number of loaded chilren by testing the `children_` array; used to update num_loaded_chilren_ internally. More...

void	saveIdx (bool recursive)
	Save node's metadata to file. More...

void	randomSample (const AlignedPointTVector &p, AlignedPointTVector &insertBuff, const bool skip_bb_check)
	Randomly sample point data. More...

void	subdividePoints (const AlignedPointTVector &p, std::vector< AlignedPointTVector > &c, const bool skip_bb_check)
	Subdivide points to pass to child nodes. More...

void	subdividePoint (const PointT &point, std::vector< AlignedPointTVector > &c)
	Subdivide a single point into a specific child node. More...

std::uint64_t	addDataAtMaxDepth (const AlignedPointTVector &p, const bool skip_bb_check=true)
	Add data to the leaf when at max depth of tree. More...

std::uint64_t	addDataAtMaxDepth (const pcl::PCLPointCloud2::Ptr input_cloud, const bool skip_bb_check=true)
	Add data to the leaf when at max depth of tree. More...

bool	intersectsWithBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const
	Tests whether the input bounding box intersects with the current node's bounding box. More...

bool	inBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const
	Tests whether the input bounding box falls inclusively within this node's bounding box. More...

bool	pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Vector3d &point)
	Tests whether `point` falls within the input bounding box. More...

bool	pointInBoundingBox (const PointT &p) const
	Tests if specified point is within bounds of current node's bounding box. More...

void	createChild (const std::size_t idx)
	Creates child node `idx`. More...

void	saveMetadataToFile (const boost::filesystem::path &path)
	Write JSON metadata for this node to file. More...

void	recFreeChildren ()
	Method which recursively free children of this node. More...

std::uint64_t	size () const
	Number of points in the payload. More...

void	flushToDiskRecursive ()

void	loadFromFile (const boost::filesystem::path &path, OutofcoreOctreeBaseNode *super)
	Loads the nodes metadata from the JSON file. More...

void	convertToXYZRecursive ()
	Recursively converts data files to ascii XZY files. More...

	OutofcoreOctreeBaseNode (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, const char dir, OutofcoreOctreeBaseNode< ContainerT, PointT > super)
	Private constructor used for children. More...

void	copyAllCurrentAndChildPointsRec (std::list< PointT > &v)
	Copies points from this and all children into a single point container (std::list) More...

void	copyAllCurrentAndChildPointsRec_sub (std::list< PointT > &v, const double percent)

bool	hasUnloadedChildren () const
	Returns whether or not a node has unloaded children data. More...

virtual void	loadChildren (bool recursive)
	Load nodes child data creating new nodes for each. More...

void	getOccupiedVoxelCentersRecursive (AlignedPointTVector &voxel_centers, const std::size_t query_depth)
	Gets a vector of occupied voxel centers. More...

void	getOccupiedVoxelCentersRecursive (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers, const std::size_t query_depth)
	Gets a vector of occupied voxel centers. More...

void	sortOctantIndices (const pcl::PCLPointCloud2::Ptr &input_cloud, std::vector< pcl::Indices > &indices, const Eigen::Vector3d &mid_xyz)
	Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This could be overloaded with a parallelized implementation. More...

void	enlargeToCube (Eigen::Vector3d &bb_min, Eigen::Vector3d &bb_max)
	Enlarges the shortest two sidelengths of the bounding box to a cubic shape; operation is done in place. More...

Static Protected Member Functions
static bool	pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const PointT &p)
	Tests whether `p` falls within the input bounding box. More...

static bool	pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const double x, const double y, const double z)
	Tests whether `x`, `y`, and `z` fall within the input bounding box. More...

Protected Attributes
OutofcoreOctreeBase< ContainerT, PointT > *	m_tree_
	The tree we belong to. More...

OutofcoreOctreeBaseNode *	root_node_
	The root node of the tree we belong to. More...

OutofcoreOctreeBaseNode *	parent_
	super-node More...

std::size_t	depth_
	Depth in the tree, root is 0, root's children are 1, ... More...

std::vector< OutofcoreOctreeBaseNode * >	children_
	The children of this node. More...

std::uint64_t	num_children_
	Number of children on disk. More...

std::uint64_t	num_loaded_children_
	Number of loaded children this node has. More...

std::shared_ptr< ContainerT >	payload_
	what holds the points. More...

OutofcoreOctreeNodeMetadata::Ptr	node_metadata_

Static Protected Attributes
static std::mutex	rng_mutex_
	Random number generator mutex. More...

static std::mt19937	rng_
	Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator. More...

const static std::string	pcd_extension = ".pcd"
	Extension for this class to find the pcd files on disk. More...

Friends
class	OutofcoreOctreeBase< ContainerT, PointT >

OutofcoreOctreeBaseNode< ContainerT, PointT > *	makenode_norec (const boost::filesystem::path &path, OutofcoreOctreeBaseNode< ContainerT, PointT > *super)
	Non-class function which creates a single child leaf; used with queryBBIntersects_noload to avoid loading the data from disk. More...

void	queryBBIntersects_noload (const boost::filesystem::path &rootnode, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name)
	Non-class method which performs a bounding box query without loading any of the point cloud data from disk. More...

void	queryBBIntersects_noload (OutofcoreOctreeBaseNode< ContainerT, PointT > *current, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name)
	Non-class method overload. More...

Detailed Description

Note: Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/

Author: Jacob Schloss ( jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net)

Definition at line 62 of file octree_base_node.h.

Member Typedef Documentation

AlignedPointTVector

using pcl::outofcore::OutofcoreOctreeBaseNode::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >

Definition at line 113 of file octree_base_node.h.

node_type_t

using pcl::outofcore::OutofcoreOctreeBaseNode::node_type_t = pcl::octree::node_type_t

Definition at line 115 of file octree_base_node.h.

octree_disk

using pcl::outofcore::OutofcoreOctreeBaseNode::octree_disk = OutofcoreOctreeBase<OutofcoreOctreeDiskContainer < PointT > , PointT >

Definition at line 110 of file octree_base_node.h.

octree_disk_node

using pcl::outofcore::OutofcoreOctreeBaseNode::octree_disk_node = OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer < PointT > , PointT >

Definition at line 111 of file octree_base_node.h.

Constructor & Destructor Documentation

OutofcoreOctreeBaseNode() [1/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( )

Empty constructor; sets pointers for children and for bounding boxes to 0.

Definition at line 92 of file octree_base_node.hpp.

References node_metadata_.

OutofcoreOctreeBaseNode() [2/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode	(	const Eigen::Vector3d &	bb_min,
		const Eigen::Vector3d &	bb_max,
		OutofcoreOctreeBase< ContainerT, PointT > *const	tree,
		const boost::filesystem::path &	root_name
	)

Create root node and directory.

Definition at line 183 of file octree_base_node.hpp.

References init_root_node(), and node_metadata_.

~OutofcoreOctreeBaseNode()

pcl::outofcore::OutofcoreOctreeBaseNode::~OutofcoreOctreeBaseNode ( )

Will recursively delete all children calling recFreeChildrein.

Definition at line 259 of file octree_base_node.hpp.

OutofcoreOctreeBaseNode() [3/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode	(	const boost::filesystem::path &	directory_path,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super,
		bool	load_all
	)

protected

Load from disk If creating root, path is full name.

If creating any other node, path is dir; throws exception if directory or metadata not found

Parameters

[in]	directory_path	pathname
[in]	super
[in]	load_all

Exceptions

PCLException	if directory is missing
PCLException	if node index is missing

Definition at line 109 of file octree_base_node.hpp.

References countNumChildren(), depth_, getDepth(), loadChildren(), loadFromFile(), node_index_extension, node_metadata_, num_children_, and root_node_.

OutofcoreOctreeBaseNode() [4/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode ( const OutofcoreOctreeBaseNode & rval )

protected

no copy construction right now

OutofcoreOctreeBaseNode() [5/5]

pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode	(	const Eigen::Vector3d &	bb_min,
		const Eigen::Vector3d &	bb_max,
		const char *	dir,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super
	)

protected

Private constructor used for children.

Definition at line 1700 of file octree_base_node.hpp.

References depth_, pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString(), m_tree_, node_container_basename, node_index_basename, node_index_extension, node_metadata_, num_children_, parent_, payload_, pcd_extension, root_node_, and saveIdx().

Member Function Documentation

addDataAtMaxDepth() [1/2]

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataAtMaxDepth	(	const AlignedPointTVector &	p,
		const bool	skip_bb_check = `true`
	)

protected

Add data to the leaf when at max depth of tree.

If skip_bb_check is true, adds to the node regardless of the bounding box it represents; otherwise only adds points that fall within the bounding box

Parameters

[in]	p	vector of points to attempt to add to the tree
[in]	skip_bb_check	if true, doesn't check that points are in the proper bounding box; if false, only adds the points that fall into the bounding box to this node

Returns: number of points successfully added

addDataAtMaxDepth() [2/2]

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataAtMaxDepth	(	const pcl::PCLPointCloud2::Ptr	input_cloud,
		const bool	skip_bb_check = `true`
	)

protected

Add data to the leaf when at max depth of tree.

If skip_bb_check is true, adds to the node regardless of the bounding box it represents; otherwise only adds points that fall within the bounding box

Parameters

[in] input_cloud PCLPointCloud2 points to attempt to add to the tree;

Warning: PCLPointCloud2 inserted into the tree must have x,y,z fields, and must be of same type of any other points inserted in the tree

Parameters

[in] skip_bb_check (default true) if true, doesn't check that points are in the proper bounding box; if false, only adds the points that fall into the bounding box to this node

Returns: number of points successfully added

addDataToLeaf() [1/2]

virtual std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf	(	const AlignedPointTVector &	p,
		const bool	skip_bb_check = `true`
	)

virtual

add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point

Parameters

[in]	p	vector of points to add to the leaf
[in]	skip_bb_check	whether to check if the point's coordinates fall within the bounding box

addDataToLeaf() [2/2]

virtual std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf	(	const std::vector< const PointT * > &	p,
		const bool	skip_bb_check = `true`
	)

virtual

addDataToLeaf_and_genLOD()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf_and_genLOD	(	const AlignedPointTVector &	p,
		const bool	skip_bb_check
	)

virtual

Recursively add points to the leaf and children subsampling LODs on the way down.

Note: rng_mutex_ lock occurs

Definition at line 802 of file octree_base_node.hpp.

addPointCloud()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addPointCloud	(	const pcl::PCLPointCloud2::Ptr &	input_cloud,
		const bool	skip_bb_check = `false`
	)

virtual

Add a single PCLPointCloud2 object into the octree.

Parameters

[in]	input_cloud
[in]	skip_bb_check	(default = false)

Definition at line 495 of file octree_base_node.hpp.

References pcl::copyPointCloud().

addPointCloud_and_genLOD()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::addPointCloud_and_genLOD ( const pcl::PCLPointCloud2::Ptr input_cloud )

virtual

Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this method of LOD construction is not multiresolution.

Rather, there are no redundant data.

Definition at line 702 of file octree_base_node.hpp.

References pcl::copyPointCloud(), pcl::FilterIndices< pcl::PCLPointCloud2 >::filter(), pcl::PCLBase< pcl::PCLPointCloud2 >::setIndices(), pcl::PCLBase< pcl::PCLPointCloud2 >::setInputCloud(), pcl::FilterIndices< pcl::PCLPointCloud2 >::setNegative(), and pcl::RandomSample< pcl::PCLPointCloud2 >::setSample().

clearData()

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::clearData ( )

inlinevirtual

Definition at line 302 of file octree_base_node.h.

References payload_.

convertToXYZRecursive()

void pcl::outofcore::OutofcoreOctreeBaseNode::convertToXYZRecursive ( )

protected

Recursively converts data files to ascii XZY files.

Definition at line 1943 of file octree_base_node.hpp.

copyAllCurrentAndChildPointsRec()

void pcl::outofcore::OutofcoreOctreeBaseNode::copyAllCurrentAndChildPointsRec ( std::list< PointT > & v )

protected

Copies points from this and all children into a single point container (std::list)

Definition at line 1752 of file octree_base_node.hpp.

copyAllCurrentAndChildPointsRec_sub()

void pcl::outofcore::OutofcoreOctreeBaseNode::copyAllCurrentAndChildPointsRec_sub	(	std::list< PointT > &	v,
		const double	percent
	)

protected

Definition at line 1775 of file octree_base_node.hpp.

countNumChildren()

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::countNumChildren ( ) const

protectedvirtual

Counts the number of child directories on disk; used to update num_children_.

Definition at line 268 of file octree_base_node.hpp.

Referenced by getNumChildren(), and OutofcoreOctreeBaseNode().

countNumLoadedChildren()

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::countNumLoadedChildren ( ) const

protectedvirtual

Counts the number of loaded chilren by testing the children_ array; used to update num_loaded_chilren_ internally.

Definition at line 1909 of file octree_base_node.hpp.

Referenced by getNumLoadedChildren().

createChild()

void pcl::outofcore::OutofcoreOctreeBaseNode::createChild ( const std::size_t idx )

protected

Creates child node idx.

Parameters

[in] idx Index (0-7) of the child node

Definition at line 860 of file octree_base_node.hpp.

deepCopy()

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode::deepCopy ( ) const

inlineoverride

Definition at line 264 of file octree_base_node.h.

enlargeToCube()

void pcl::outofcore::OutofcoreOctreeBaseNode::enlargeToCube	(	Eigen::Vector3d &	bb_min,
		Eigen::Vector3d &	bb_max
	)

protected

Enlarges the shortest two sidelengths of the bounding box to a cubic shape; operation is done in place.

flushToDiskRecursive()

void pcl::outofcore::OutofcoreOctreeBaseNode::flushToDiskRecursive ( )

protected

Definition at line 1964 of file octree_base_node.hpp.

getBoundingBox()

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::getBoundingBox	(	Eigen::Vector3d &	min_bb,
		Eigen::Vector3d &	max_bb
	)		const

inlinevirtual

gets the minimum and maximum corner of the bounding box represented by this node

Parameters

[out]	min_bb	returns the minimum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
[out]	max_bb	returns the maximum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z

Definition at line 140 of file octree_base_node.h.

References node_metadata_.

getChildPtr()

OutofcoreOctreeBaseNode< ContainerT, PointT > * pcl::outofcore::OutofcoreOctreeBaseNode::getChildPtr ( std::size_t index_arg ) const

virtual

Returns a pointer to the child in octant index_arg.

Definition at line 1893 of file octree_base_node.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::getBranchChildPtr().

getDataSize()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::getDataSize ( ) const

virtual

Gets the number of points available in the PCD file.

Definition at line 1901 of file octree_base_node.hpp.

getDepth()

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::getDepth ( ) const

inlinevirtual

Definition at line 272 of file octree_base_node.h.

References depth_.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::buildLODRecursive(), pcl::outofcore::OutofcoreBreadthFirstIterator< PointT, ContainerT >::operator++(), and OutofcoreOctreeBaseNode().

getMetadataFilename()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeBaseNode::getMetadataFilename ( ) const

inline

Definition at line 153 of file octree_base_node.h.

References node_metadata_.

getNodeType()

node_type_t pcl::outofcore::OutofcoreOctreeBaseNode::getNodeType ( ) const

inlineoverride

Definition at line 253 of file octree_base_node.h.

References pcl::octree::BRANCH_NODE, getNumChildren(), and pcl::octree::LEAF_NODE.

Referenced by pcl::outofcore::OutofcoreBreadthFirstIterator< PointT, ContainerT >::operator++().

getNumChildren()

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::getNumChildren ( ) const

inlinevirtual

Returns the total number of children on disk.

Definition at line 279 of file octree_base_node.h.

References countNumChildren().

Referenced by getNodeType().

getNumLoadedChildren()

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::getNumLoadedChildren ( ) const

inlinevirtual

Count loaded chilren.

Definition at line 287 of file octree_base_node.h.

References countNumLoadedChildren().

getOccupiedVoxelCentersRecursive() [1/2]

void pcl::outofcore::OutofcoreOctreeBaseNode::getOccupiedVoxelCentersRecursive	(	AlignedPointTVector &	voxel_centers,
		const std::size_t	query_depth
	)

protected

Gets a vector of occupied voxel centers.

Parameters

[out]	voxel_centers
[in]	query_depth

Definition at line 968 of file octree_base_node.hpp.

getOccupiedVoxelCentersRecursive() [2/2]

void pcl::outofcore::OutofcoreOctreeBaseNode::getOccupiedVoxelCentersRecursive	(	std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	voxel_centers,
		const std::size_t	query_depth
	)

protected

Gets a vector of occupied voxel centers.

Parameters

[out]	voxel_centers
[in]	query_depth

Definition at line 1312 of file octree_base_node.hpp.

getPCDFilename()

const boost::filesystem::path& pcl::outofcore::OutofcoreOctreeBaseNode::getPCDFilename ( ) const

inline

Definition at line 147 of file octree_base_node.h.

References node_metadata_.

hasUnloadedChildren()

bool pcl::outofcore::OutofcoreOctreeBaseNode::hasUnloadedChildren ( ) const

protected

Returns whether or not a node has unloaded children data.

Definition at line 301 of file octree_base_node.hpp.

inBoundingBox()

bool pcl::outofcore::OutofcoreOctreeBaseNode::inBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb
	)		const

inlineprotected

Tests whether the input bounding box falls inclusively within this node's bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box

Returns: bool True if the input bounding box falls inclusively within the boundaries of this node's bounding box

Definition at line 1822 of file octree_base_node.hpp.

init_root_node()

void pcl::outofcore::OutofcoreOctreeBaseNode::init_root_node	(	const Eigen::Vector3d &	bb_min,
		const Eigen::Vector3d &	bb_max,
		OutofcoreOctreeBase< ContainerT, PointT > *const	tree,
		const boost::filesystem::path &	rootname
	)

protected

Create root node and directory.

Initializes the root node and performs initial filesystem checks for the octree; throws OctreeException::OCT_BAD_PATH if root directory is an existing file

Parameters

bb_min	triple of x,y,z minima for bounding box
bb_max	triple of x,y,z maxima for bounding box
tree	address of the tree data structure that will hold this initial root node
rootname	Root directory for location of on-disk octree storage; if directory doesn't exist, it is created; if "rootname" is an existing file,

Exceptions

PCLException if the specified path already exists

Definition at line 202 of file octree_base_node.hpp.

References pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString().

Referenced by OutofcoreOctreeBaseNode().

intersectsWithBoundingBox()

bool pcl::outofcore::OutofcoreOctreeBaseNode::intersectsWithBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb
	)		const

inlineprotected

Tests whether the input bounding box intersects with the current node's bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box

Returns: bool True if any portion of the bounding box intersects with this node's bounding box; false otherwise

Definition at line 1800 of file octree_base_node.hpp.

loadChildren()

void pcl::outofcore::OutofcoreOctreeBaseNode::loadChildren ( bool recursive )

protectedvirtual

Load nodes child data creating new nodes for each.

Definition at line 308 of file octree_base_node.hpp.

Referenced by OutofcoreOctreeBaseNode().

loadFromFile()

void pcl::outofcore::OutofcoreOctreeBaseNode::loadFromFile	(	const boost::filesystem::path &	path,
		OutofcoreOctreeBaseNode *	super
	)

protected

Loads the nodes metadata from the JSON file.

Definition at line 1925 of file octree_base_node.hpp.

Referenced by OutofcoreOctreeBaseNode().

operator=()

OutofcoreOctreeBaseNode& pcl::outofcore::OutofcoreOctreeBaseNode::operator= ( const OutofcoreOctreeBaseNode & rval )

protected

Operator= is not implemented.

pointInBoundingBox() [1/4]

static bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const double	x,
		const double	y,
		const double	z
	)

staticprotected

Tests whether x, y, and z fall within the input bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box
	x
	y
	z

pointInBoundingBox() [2/4]

bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const Eigen::Vector3d &	point
	)

protected

Tests whether point falls within the input bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box
[in]	point	The test point

pointInBoundingBox() [3/4]

bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const PointT &	p
	)

inlinestaticprotected

Tests whether p falls within the input bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box
[in]	p	The point to be tested

Definition at line 1844 of file octree_base_node.hpp.

pointInBoundingBox() [4/4]

bool pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox ( const PointT & p ) const

inlineprotected

Tests if specified point is within bounds of current node's bounding box.

Definition at line 923 of file octree_base_node.hpp.

printBoundingBox()

void pcl::outofcore::OutofcoreOctreeBaseNode::printBoundingBox ( const std::size_t query_depth ) const

virtual

Write the voxel size to stdout at query_depth.

Parameters

[in] query_depth The depth at which to print the size of the voxel/bounding boxes

Definition at line 940 of file octree_base_node.hpp.

queryBBIncludes() [1/2]

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::size_t	query_depth,
		AlignedPointTVector &	dst
	)

virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters

[in]	min_bb	the minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	max_bb	the maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	query_depth	the maximum depth to query in the octree for points within the bounding box
[out]	dst	destion of points returned by the queries

queryBBIncludes() [2/2]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::size_t	query_depth,
		const pcl::PCLPointCloud2::Ptr &	dst_blob
	)

virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters

[in]	min_bb	the minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	max_bb	the maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	query_depth	the maximum depth to query in the octree for points within the bounding box
[out]	dst_blob	destion of points returned by the queries

Definition at line 1375 of file octree_base_node.hpp.

References pcl::concatenate(), pcl::copyPointCloud(), pcl::fromPCLPointCloud2(), pcl::getPointsInBox(), pcl::PointCloud< PointT >::height, pcl::utils::ignore(), and pcl::PointCloud< PointT >::width.

queryBBIncludes_subsample() [1/2]

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes_subsample	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::uint64_t	query_depth,
		const double	percent,
		AlignedPointTVector &	v
	)

virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters

[in]	min_bb	the minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	max_bb	the maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	query_depth
	percent
[out]	v	std::list of points returned by the query

queryBBIncludes_subsample() [2/2]

virtual void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes_subsample	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::uint64_t	query_depth,
		const pcl::PCLPointCloud2::Ptr &	dst_blob,
		double	percent = `1.0`
	)

virtual

queryBBIntersects()

void pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIntersects	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const std::uint32_t	query_depth,
		std::list< std::string > &	file_names
	)

virtual

Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_depth only).

Definition at line 1335 of file octree_base_node.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::queryBoundingBox().

queryFrustum() [1/3]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryFrustum	(	const double	planes[24],
		const Eigen::Vector3d &	eye,
		const Eigen::Matrix4d &	view_projection_matrix,
		std::list< std::string > &	file_names,
		const std::uint32_t	query_depth,
		const bool	skip_vfc_check = `false`
	)

queryFrustum() [2/3]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryFrustum	(	const double	planes[24],
		std::list< std::string > &	file_names
	)

Definition at line 1045 of file octree_base_node.hpp.

queryFrustum() [3/3]

void pcl::outofcore::OutofcoreOctreeBaseNode::queryFrustum	(	const double	planes[24],
		std::list< std::string > &	file_names,
		const std::uint32_t	query_depth,
		const bool	skip_vfc_check = `false`
	)

randomSample()

void pcl::outofcore::OutofcoreOctreeBaseNode::randomSample	(	const AlignedPointTVector &	p,
		AlignedPointTVector &	insertBuff,
		const bool	skip_bb_check
	)

protected

Randomly sample point data.

Definition at line 559 of file octree_base_node.hpp.

References pcl::outofcore::pointInBoundingBox().

read()

int pcl::outofcore::OutofcoreOctreeBaseNode::read ( pcl::PCLPointCloud2::Ptr & output_cloud )

virtual

Definition at line 1885 of file octree_base_node.hpp.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::buildLODRecursive().

recFreeChildren()

void pcl::outofcore::OutofcoreOctreeBaseNode::recFreeChildren ( )

protected

Method which recursively free children of this node.

Definition at line 332 of file octree_base_node.hpp.

saveIdx()

void pcl::outofcore::OutofcoreOctreeBaseNode::saveIdx ( bool recursive )

protected

Save node's metadata to file.

Parameters

[in] recursive if false, save only this node's metadata to file; if true, recursively save all children's metadata to files as well

Definition at line 284 of file octree_base_node.hpp.

Referenced by OutofcoreOctreeBaseNode().

saveMetadataToFile()

void pcl::outofcore::OutofcoreOctreeBaseNode::saveMetadataToFile ( const boost::filesystem::path & path )

protected

Write JSON metadata for this node to file.

size()

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::size ( ) const

inlineprotected

Number of points in the payload.

Definition at line 467 of file octree_base_node.h.

References payload_.

sortOctantIndices()

void pcl::outofcore::OutofcoreOctreeBaseNode::sortOctantIndices	(	const pcl::PCLPointCloud2::Ptr &	input_cloud,
		std::vector< pcl::Indices > &	indices,
		const Eigen::Vector3d &	mid_xyz
	)

protected

Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This could be overloaded with a parallelized implementation.

Definition at line 1976 of file octree_base_node.hpp.

References pcl::getFieldIndex(), and pcl::outofcore::pointInBoundingBox().

subdividePoint()

void pcl::outofcore::OutofcoreOctreeBaseNode::subdividePoint	(	const PointT &	point,
		std::vector< AlignedPointTVector > &	c
	)

protected

Subdivide a single point into a specific child node.

Definition at line 692 of file octree_base_node.hpp.

subdividePoints()

void pcl::outofcore::OutofcoreOctreeBaseNode::subdividePoints	(	const AlignedPointTVector &	p,
		std::vector< AlignedPointTVector > &	c,
		const bool	skip_bb_check
	)

protected

Subdivide points to pass to child nodes.

Definition at line 670 of file octree_base_node.hpp.

References pcl::outofcore::pointInBoundingBox().

writeVPythonVisual()

void pcl::outofcore::OutofcoreOctreeBaseNode::writeVPythonVisual ( std::ofstream & file )

Write a python visual script to file.

Parameters

[in] file output file stream to write the python visual script

Definition at line 1864 of file octree_base_node.hpp.

Friends And Related Function Documentation

makenode_norec

OutofcoreOctreeBaseNode<ContainerT, PointT>* makenode_norec	(	const boost::filesystem::path &	path,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super
	)

friend

Non-class function which creates a single child leaf; used with queryBBIntersects_noload to avoid loading the data from disk.

OutofcoreOctreeBase< ContainerT, PointT >

friend class OutofcoreOctreeBase< ContainerT, PointT >

friend

Definition at line 97 of file octree_base_node.h.

queryBBIntersects_noload [1/2]

void queryBBIntersects_noload	(	const boost::filesystem::path &	rootnode,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::uint32_t	query_depth,
		std::list< std::string > &	bin_name
	)

friend

Non-class method which performs a bounding box query without loading any of the point cloud data from disk.

queryBBIntersects_noload [2/2]

void queryBBIntersects_noload	(	OutofcoreOctreeBaseNode< ContainerT, PointT > *	current,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::uint32_t	query_depth,
		std::list< std::string > &	bin_name
	)

friend

Non-class method overload.

Member Data Documentation

children_

std::vector<OutofcoreOctreeBaseNode*> pcl::outofcore::OutofcoreOctreeBaseNode::children_

protected

The children of this node.

Definition at line 540 of file octree_base_node.h.

depth_

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode::depth_

protected

Depth in the tree, root is 0, root's children are 1, ...

Definition at line 538 of file octree_base_node.h.

Referenced by getDepth(), and OutofcoreOctreeBaseNode().

m_tree_

OutofcoreOctreeBase<ContainerT, PointT>* pcl::outofcore::OutofcoreOctreeBaseNode::m_tree_

protected

The tree we belong to.

Definition at line 532 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

node_container_basename

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_container_basename = "node"

static

Definition at line 118 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

node_container_extension

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_container_extension = ".oct_dat"

static

Definition at line 120 of file octree_base_node.h.

node_index_basename

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_index_basename = "node"

static

Definition at line 117 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

node_index_extension

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::node_index_extension = ".oct_idx"

static

Definition at line 119 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

node_metadata_

OutofcoreOctreeNodeMetadata::Ptr pcl::outofcore::OutofcoreOctreeBaseNode::node_metadata_

protected

Definition at line 568 of file octree_base_node.h.

Referenced by getBoundingBox(), getMetadataFilename(), getPCDFilename(), and OutofcoreOctreeBaseNode().

num_children_

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::num_children_

protected

Number of children on disk.

This is only changed when a new node is created

Definition at line 543 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

num_loaded_children_

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode::num_loaded_children_

protected

Number of loaded children this node has.

"Loaded" means child OctreeBaseNodes have been allocated, and their metadata files have been loaded into memory. num_loaded_children_ <= num_children_

Definition at line 551 of file octree_base_node.h.

parent_

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode::parent_

protected

super-node

Definition at line 536 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

payload_

std::shared_ptr<ContainerT> pcl::outofcore::OutofcoreOctreeBaseNode::payload_

protected

what holds the points.

currently a custom class, but in theory you could use an stl container if you rewrote some of this class. I used to use deques for this...

Definition at line 556 of file octree_base_node.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, pcl::PointXYZRGB >::buildLODRecursive(), clearData(), OutofcoreOctreeBaseNode(), and size().

pcd_extension

const std::string pcl::outofcore::OutofcoreOctreeBaseNode::pcd_extension = ".pcd"

staticprotected

Extension for this class to find the pcd files on disk.

Definition at line 566 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

rng_

std::mt19937 pcl::outofcore::OutofcoreOctreeBaseNode::rng_

staticprotected

Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator.

Definition at line 563 of file octree_base_node.h.

rng_mutex_

std::mutex pcl::outofcore::OutofcoreOctreeBaseNode::rng_mutex_

staticprotected

Random number generator mutex.

Definition at line 559 of file octree_base_node.h.

root_node_

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode::root_node_

protected

The root node of the tree we belong to.

Definition at line 534 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

sample_percent_

const double pcl::outofcore::OutofcoreOctreeBaseNode::sample_percent_ = .125

static

Definition at line 121 of file octree_base_node.h.

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

pcl/outofcore/octree_base_node.h
pcl/outofcore/impl/octree_base_node.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_node.html

Name	PointCloudLibrary
Version
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Last Updated	2021-12-29T19:25:09Z

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

AlignedPointTVector

node_type_t

octree_disk

octree_disk_node

Constructor & Destructor Documentation

OutofcoreOctreeBaseNode() [1/5]

OutofcoreOctreeBaseNode() [2/5]

~OutofcoreOctreeBaseNode()

OutofcoreOctreeBaseNode() [3/5]

OutofcoreOctreeBaseNode() [4/5]

OutofcoreOctreeBaseNode() [5/5]

Member Function Documentation

addDataAtMaxDepth() [1/2]

addDataAtMaxDepth() [2/2]

addDataToLeaf() [1/2]

addDataToLeaf() [2/2]

addDataToLeaf_and_genLOD()

addPointCloud()

addPointCloud_and_genLOD()

clearData()

convertToXYZRecursive()

copyAllCurrentAndChildPointsRec()

copyAllCurrentAndChildPointsRec_sub()

countNumChildren()

countNumLoadedChildren()

createChild()

deepCopy()

enlargeToCube()

flushToDiskRecursive()

getBoundingBox()

getChildPtr()

getDataSize()

getDepth()

getMetadataFilename()

getNodeType()

getNumChildren()

getNumLoadedChildren()

getOccupiedVoxelCentersRecursive() [1/2]

getOccupiedVoxelCentersRecursive() [2/2]

getPCDFilename()

hasUnloadedChildren()

inBoundingBox()

init_root_node()

intersectsWithBoundingBox()

loadChildren()

loadFromFile()

operator=()

pointInBoundingBox() [1/4]

pointInBoundingBox() [2/4]

pointInBoundingBox() [3/4]

pointInBoundingBox() [4/4]

printBoundingBox()

queryBBIncludes() [1/2]

queryBBIncludes() [2/2]

queryBBIncludes_subsample() [1/2]

queryBBIncludes_subsample() [2/2]

queryBBIntersects()

queryFrustum() [1/3]

queryFrustum() [2/3]

queryFrustum() [3/3]

randomSample()

read()

recFreeChildren()

saveIdx()

saveMetadataToFile()

size()

sortOctantIndices()

subdividePoint()

subdividePoints()

writeVPythonVisual()