That's a very specialized and simple octree class. More...
#include <pcl/recognition/ransac_based/orr_octree.h>
Classes |
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| class | Node |
Public Types |
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| using | PointCloudIn = pcl::PointCloud< pcl::PointXYZ > |
| using | PointCloudOut = pcl::PointCloud< pcl::PointXYZ > |
| using | PointCloudN = pcl::PointCloud< pcl::Normal > |
Public Member Functions |
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| ORROctree () | |
| virtual | ~ORROctree () |
| void | clear () |
| void | build (const PointCloudIn &points, float voxel_size, const PointCloudN *normals=nullptr, float enlarge_bounds=0.00001f) |
| Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'. More... |
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| void | build (const float *bounds, float voxel_size) |
| Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'. More... |
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| ORROctree::Node * | createLeaf (float x, float y, float z) |
| Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. More... |
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| void | getFullLeavesIntersectedBySphere (const float *p, float radius, std::list< ORROctree::Node * > &out) const |
| This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'. More... |
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| ORROctree::Node * | getRandomFullLeafOnSphere (const float *p, float radius) const |
| Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'. More... |
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| ORROctree::Node * | getLeaf (int i, int j, int k) |
| Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. More... |
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| ORROctree::Node * | getLeaf (float x, float y, float z) |
| Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists. More... |
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| void | deleteBranch (Node *node) |
| Deletes the branch 'node' is part of. More... |
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| std::vector< ORROctree::Node * > & | getFullLeaves () |
| Returns a vector with all octree leaves which contain at least one point. More... |
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| const std::vector< ORROctree::Node * > & | getFullLeaves () const |
| void | getFullLeavesPoints (PointCloudOut &out) const |
| void | getNormalsOfFullLeaves (PointCloudN &out) const |
| ORROctree::Node * | getRoot () |
| const float * | getBounds () const |
| void | getBounds (float b[6]) const |
| float | getVoxelSize () const |
| void | insertNeighbors (Node *node) |
Protected Attributes |
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| float | voxel_size_ |
| float | bounds_ [6] |
| int | tree_levels_ |
| Node * | root_ |
| std::vector< Node * > | full_leaves_ |
Detailed Description
That's a very specialized and simple octree class.
That's the way it is intended to be, that's why no templates and stuff like this.
Definition at line 68 of file orr_octree.h.
Member Typedef Documentation
PointCloudIn
Definition at line 71 of file orr_octree.h.
PointCloudN
Definition at line 73 of file orr_octree.h.
PointCloudOut
Definition at line 72 of file orr_octree.h.
Constructor & Destructor Documentation
ORROctree()
| pcl::recognition::ORROctree::ORROctree | ( | ) |
~ORROctree()
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inlinevirtual |
Definition at line 273 of file orr_octree.h.
Member Function Documentation
build() [1/2]
| void pcl::recognition::ORROctree::build | ( | const float * | bounds, |
| float | voxel_size | ||
| ) |
Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'.
build() [2/2]
| void pcl::recognition::ORROctree::build | ( | const PointCloudIn & | points, |
| float | voxel_size, | ||
| const PointCloudN * | normals = nullptr, |
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| float | enlarge_bounds = 0.00001f |
||
| ) |
Creates an octree which encloses 'points' and with leaf size equal to 'voxel_size'.
'enlarge_bounds' makes sure that no points from the input will lie on the octree boundary by enlarging the bounds by that factor. For example, enlarge_bounds = 1 means that the bounds will be enlarged by 100%. The default value is fine.
clear()
| void pcl::recognition::ORROctree::clear | ( | ) |
createLeaf()
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inline |
Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet.
The method returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and method just returns a pointer to the leaf.
Definition at line 295 of file orr_octree.h.
References pcl::recognition::ORROctree::Node::createChildren(), pcl::recognition::ORROctree::Node::getCenter(), pcl::recognition::ORROctree::Node::getChild(), pcl::recognition::ORROctree::Node::getData(), and pcl::recognition::ORROctree::Node::setData().
deleteBranch()
| void pcl::recognition::ORROctree::deleteBranch | ( | Node * | node | ) |
Deletes the branch 'node' is part of.
getBounds() [1/2]
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inline |
Definition at line 422 of file orr_octree.h.
getBounds() [2/2]
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inline |
Definition at line 428 of file orr_octree.h.
getFullLeaves() [1/2]
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inline |
Returns a vector with all octree leaves which contain at least one point.
Definition at line 407 of file orr_octree.h.
getFullLeaves() [2/2]
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inline |
Definition at line 410 of file orr_octree.h.
getFullLeavesIntersectedBySphere()
| void pcl::recognition::ORROctree::getFullLeavesIntersectedBySphere | ( | const float * | p, |
| float | radius, | ||
| std::list< ORROctree::Node * > & | out | ||
| ) | const |
This method returns a super set of the full leavess which are intersected by the sphere with radius 'radius' and centered at 'p'.
Pointers to the intersected full leaves are saved in 'out'. The method computes a super set in the sense that in general not all leaves saved in 'out' are really intersected by the sphere. The intersection test is based on the leaf radius (since its faster than checking all leaf corners and sides), so we report more leaves than we should, but still, this is a fair approximation.
getFullLeavesPoints()
| void pcl::recognition::ORROctree::getFullLeavesPoints | ( | PointCloudOut & | out | ) | const |
getLeaf() [1/2]
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inline |
Returns a pointer to the leaf containing p = (x, y, z) or NULL if no such leaf exists.
Definition at line 368 of file orr_octree.h.
References pcl::recognition::ORROctree::Node::getCenter(), pcl::recognition::ORROctree::Node::getChild(), and pcl::recognition::ORROctree::Node::hasChildren().
getLeaf() [2/2]
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inline |
Since the leaves are aligned in a rectilinear grid, each leaf has a unique id.
The method returns the leaf with id [i, j, k] or NULL is no such leaf exists.
Definition at line 356 of file orr_octree.h.
getNormalsOfFullLeaves()
| void pcl::recognition::ORROctree::getNormalsOfFullLeaves | ( | PointCloudN & | out | ) | const |
getRandomFullLeafOnSphere()
| ORROctree::Node* pcl::recognition::ORROctree::getRandomFullLeafOnSphere | ( | const float * | p, |
| float | radius | ||
| ) | const |
Randomly chooses and returns a full leaf that is intersected by the sphere with center 'p' and 'radius'.
Returns NULL if no leaf is intersected by that sphere.
getRoot()
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inline |
Definition at line 419 of file orr_octree.h.
getVoxelSize()
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inline |
Definition at line 434 of file orr_octree.h.
insertNeighbors()
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inline |
Definition at line 437 of file orr_octree.h.
References pcl::recognition::ORROctree::Node::getCenter(), and pcl::recognition::ORROctree::Node::makeNeighbors().
Member Data Documentation
bounds_
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protected |
Definition at line 475 of file orr_octree.h.
full_leaves_
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protected |
Definition at line 478 of file orr_octree.h.
root_
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protected |
Definition at line 477 of file orr_octree.h.
tree_levels_
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protected |
Definition at line 476 of file orr_octree.h.
voxel_size_
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protected |
Definition at line 475 of file orr_octree.h.
The documentation for this class was generated from the following file:
- pcl/recognition/ransac_based/orr_octree.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1recognition_1_1_o_r_r_octree.html
