Point Cloud Library (PCL)
1.7.0
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Octree double buffer class More...
#include <pcl/octree/octree2buf_base.h>
Public Types | |
typedef Octree2BufBase < LeafContainerT, BranchContainerT > | OctreeT |
typedef BufferedBranchNode < BranchContainerT > | BranchNode |
typedef OctreeLeafNode < LeafContainerT > | LeafNode |
typedef BranchContainerT | BranchContainer |
typedef LeafContainerT | LeafContainer |
typedef OctreeDepthFirstIterator < OctreeT > | Iterator |
typedef const OctreeDepthFirstIterator < OctreeT > | ConstIterator |
typedef OctreeLeafNodeIterator < OctreeT > | LeafNodeIterator |
typedef const OctreeLeafNodeIterator < OctreeT > | ConstLeafNodeIterator |
typedef OctreeDepthFirstIterator < OctreeT > | DepthFirstIterator |
typedef const OctreeDepthFirstIterator < OctreeT > | ConstDepthFirstIterator |
typedef OctreeBreadthFirstIterator < OctreeT > | BreadthFirstIterator |
typedef const OctreeBreadthFirstIterator < OctreeT > | ConstBreadthFirstIterator |
Public Member Functions | |
Iterator | begin (unsigned int max_depth_arg=0) |
const Iterator | end () |
LeafNodeIterator | leaf_begin (unsigned int max_depth_arg=0) |
const LeafNodeIterator | leaf_end () |
DepthFirstIterator | depth_begin (unsigned int maxDepth_arg=0) |
const DepthFirstIterator | depth_end () |
BreadthFirstIterator | breadth_begin (unsigned int max_depth_arg=0) |
const BreadthFirstIterator | breadth_end () |
Octree2BufBase () | |
Empty constructor. More... | |
virtual | ~Octree2BufBase () |
Empty deconstructor. More... | |
Octree2BufBase (const Octree2BufBase &source) | |
Copy constructor. More... | |
Octree2BufBase & | operator= (const Octree2BufBase &source) |
Copy constructor. More... | |
void | setMaxVoxelIndex (unsigned int max_voxel_index_arg) |
Set the maximum amount of voxels per dimension. More... | |
void | setTreeDepth (unsigned int depth_arg) |
Set the maximum depth of the octree. More... | |
unsigned int | getTreeDepth () const |
Get the maximum depth of the octree. More... | |
LeafContainerT * | createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
LeafContainerT * | findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
bool | existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const |
Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
void | removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
std::size_t | getLeafCount () const |
Return the amount of existing leafs in the octree. More... | |
std::size_t | getBranchCount () const |
Return the amount of existing branches in the octree. More... | |
void | deleteTree () |
Delete the octree structure and its leaf nodes. More... | |
void | deletePreviousBuffer () |
Delete octree structure of previous buffer. More... | |
void | deleteCurrentBuffer () |
Delete the octree structure in the current buffer. More... | |
void | switchBuffers () |
Switch buffers and reset current octree structure. More... | |
void | serializeTree (std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false) |
Serialize octree into a binary output vector describing its branch node structure. More... | |
void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg, bool do_XOR_encoding_arg=false) |
Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector. More... | |
void | serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg) |
Outputs a vector of all DataT elements that are stored within the octree leaf nodes. More... | |
void | serializeNewLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg) |
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. More... | |
void | deserializeTree (std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false) |
Deserialize a binary octree description vector and create a corresponding octree structure. More... | |
void | deserializeTree (std::vector< char > &binary_tree_in_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg, bool do_XOR_decoding_arg=false) |
Deserialize a binary octree description and create a corresponding octree structure. More... | |
Protected Member Functions | |
OctreeNode * | getRootNode () const |
Retrieve root node. More... | |
LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |
Find leaf node. More... | |
LeafContainerT * | createLeaf (const OctreeKey &key_arg) |
Create a leaf node. More... | |
bool | existLeaf (const OctreeKey &key_arg) const |
Check for leaf not existance in the octree. More... | |
void | removeLeaf (const OctreeKey &key_arg) |
Remove leaf node from octree. More... | |
bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
Check if branch is pointing to a particular child node. More... | |
OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
Retrieve a child node pointer for child node at child_idx. More... | |
void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
Assign new child node to branch. More... | |
char | getBranchBitPattern (const BranchNode &branch_arg) const |
Generate bit pattern reflecting the existence of child node pointers for current buffer. More... | |
char | getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const |
Generate bit pattern reflecting the existence of child node pointers in specific buffer. More... | |
char | getBranchXORBitPattern (const BranchNode &branch_arg) const |
Generate XOR bit pattern reflecting differences between the two octree buffers. More... | |
bool | hasBranchChanges (const BranchNode &branch_arg) const |
Test if branch changed between previous and current buffer. More... | |
void | deleteBranchChild (BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg) |
Delete child node and all its subchilds from octree in specific buffer. More... | |
void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
Delete child node and all its subchilds from octree in current buffer. More... | |
void | deleteBranch (BranchNode &branch_arg) |
Delete branch and all its subchilds from octree (both buffers) More... | |
BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
Fetch and add a new branch child to a branch class in current buffer. More... | |
LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
Fetch and add a new leaf child to a branch class. More... | |
unsigned int | createLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false) |
Create a leaf node at octree key. More... | |
void | findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const |
Recursively search for a given leaf node and return a pointer. More... | |
bool | deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg) |
Recursively search and delete leaf node. More... | |
void | serializeTreeRecursive (BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false) |
Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content. More... | |
void | deserializeTreeRecursive (BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false) |
Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization. More... | |
virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) |
Callback executed for every leaf node data during serialization. More... | |
virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |
Callback executed for every leaf node data during deserialization. More... | |
void | treeCleanUpRecursive (BranchNode *branch_arg) |
Recursively explore the octree and remove unused branch and leaf nodes. More... | |
double | Log2 (double n_arg) |
Helper function to calculate the binary logarithm. More... | |
bool | octreeCanResize () |
Test if octree is able to dynamically change its depth. More... | |
void | printBinary (char data_arg) |
Prints binary representation of a byte - used for debugging. More... | |
Protected Attributes | |
std::size_t | leaf_count_ |
Amount of leaf nodes. More... | |
std::size_t | branch_count_ |
Amount of branch nodes. More... | |
BranchNode * | root_node_ |
Pointer to root branch node of octree. More... | |
unsigned int | depth_mask_ |
Depth mask based on octree depth. More... | |
OctreeKey | max_key_ |
key range More... | |
unsigned char | buffer_selector_ |
Currently active octree buffer. More... | |
bool | tree_dirty_flag_ |
unsigned int | octree_depth_ |
Octree depth. More... | |
bool | dynamic_depth_enabled_ |
Enable dynamic_depth. More... | |
Friends | |
class | OctreeIteratorBase< OctreeT > |
class | OctreeDepthFirstIterator< OctreeT > |
class | OctreeBreadthFirstIterator< OctreeT > |
class | OctreeLeafNodeIterator< OctreeT > |
Octree double buffer class
Definition at line 227 of file octree2buf_base.h.
typedef BranchContainerT pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchContainer |
Definition at line 243 of file octree2buf_base.h.
typedef BufferedBranchNode<BranchContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchNode |
Definition at line 240 of file octree2buf_base.h.
typedef OctreeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BreadthFirstIterator |
Definition at line 262 of file octree2buf_base.h.
typedef const OctreeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstBreadthFirstIterator |
Definition at line 266 of file octree2buf_base.h.
typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstDepthFirstIterator |
Definition at line 260 of file octree2buf_base.h.
typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstIterator |
Definition at line 248 of file octree2buf_base.h.
typedef const OctreeLeafNodeIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator |
Definition at line 254 of file octree2buf_base.h.
typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::DepthFirstIterator |
Definition at line 256 of file octree2buf_base.h.
typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Iterator |
Definition at line 247 of file octree2buf_base.h.
typedef LeafContainerT pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafContainer |
Definition at line 244 of file octree2buf_base.h.
typedef OctreeLeafNode<LeafContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNode |
Definition at line 241 of file octree2buf_base.h.
typedef OctreeLeafNodeIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeIterator |
Definition at line 250 of file octree2buf_base.h.
typedef Octree2BufBase<LeafContainerT, BranchContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::OctreeT |
Definition at line 232 of file octree2buf_base.h.
pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase | ( | ) |
Empty constructor.
Definition at line 48 of file octree2buf_base.hpp.
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Empty deconstructor.
Definition at line 63 of file octree2buf_base.hpp.
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Copy constructor.
Definition at line 278 of file octree2buf_base.h.
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Definition at line 249 of file octree2buf_base.h.
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Check if branch is pointing to a particular child node.
branch_arg,: | reference to octree branch class |
child_idx_arg,: | index to child node |
Definition at line 527 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Definition at line 267 of file octree2buf_base.h.
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Definition at line 268 of file octree2buf_base.h.
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Fetch and add a new branch child to a branch class in current buffer.
branch_arg,: | reference to octree branch class |
child_idx_arg,: | index to child node |
Definition at line 714 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg,: | index of leaf node in the X axis. |
idx_y_arg,: | index of leaf node in the Y axis. |
idx_z_arg,: | index of leaf node in the Z axis. |
Definition at line 116 of file octree2buf_base.hpp.
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Create a leaf node.
key_arg,: | octree key addressing a leaf node. |
Definition at line 482 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.
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Fetch and add a new leaf child to a branch class.
branch_arg,: | reference to octree branch class |
child_idx_arg,: | index to child node |
Definition at line 731 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
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Create a leaf node at octree key.
If leaf node does already exist, it is returned.
key_arg,: | reference to an octree key |
depth_mask_arg,: | depth mask used for octree key analysis and for branch depth indicator |
branch_arg,: | current branch node |
return_leaf_arg,: | return pointer to leaf container |
parent_of_leaf_arg,: | return pointer to parent of leaf node |
branch_reset_arg,: | Reset pointer array of current branch |
Definition at line 323 of file octree2buf_base.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf().
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Delete branch and all its subchilds from octree (both buffers)
branch_arg,: | reference to octree branch class |
Definition at line 684 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().
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Delete child node and all its subchilds from octree in specific buffer.
branch_arg,: | reference to octree branch class |
buffer_selector_arg,: | buffer selector |
child_idx_arg,: | index to child node |
Definition at line 637 of file octree2buf_base.h.
References pcl::octree::BRANCH_NODE, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().
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Delete child node and all its subchilds from octree in current buffer.
branch_arg,: | reference to octree branch class |
child_idx_arg,: | index to child node |
Definition at line 676 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().
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Delete the octree structure in the current buffer.
Definition at line 392 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
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Recursively search and delete leaf node.
key_arg,: | reference to an octree key |
depth_mask_arg,: | depth mask used for octree key analysis and branch depth indicator |
branch_arg,: | current branch node |
Definition at line 474 of file octree2buf_base.hpp.
References pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::hasChild().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().
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Delete octree structure of previous buffer.
Definition at line 386 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree | ( | ) |
Delete the octree structure and its leaf nodes.
Definition at line 149 of file octree2buf_base.hpp.
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Definition at line 261 of file octree2buf_base.h.
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Definition at line 262 of file octree2buf_base.h.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree | ( | std::vector< char > & | binary_tree_in_arg, |
bool | do_XOR_decoding_arg = false |
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Deserialize a binary octree description vector and create a corresponding octree structure.
Leaf nodes are initialized with getDataTByKey(..).
binary_tree_in_arg,: | reference to input vector for reading binary tree structure. |
do_XOR_decoding_arg,: | select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 247 of file octree2buf_base.hpp.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree | ( | std::vector< char > & | binary_tree_in_arg, |
std::vector< LeafContainerT * > & | leaf_container_vector_arg, | ||
bool | do_XOR_decoding_arg = false |
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Deserialize a binary octree description and create a corresponding octree structure.
Leaf nodes are initialized with DataT elements from the dataVector.
binary_tree_in_arg,: | reference to inpvectoream for reading binary tree structure. |
leaf_container_vector_arg,: | vector of pointers to all LeafContainerT objects in the octree |
do_XOR_decoding_arg,: | select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 269 of file octree2buf_base.hpp.
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Callback executed for every leaf node data during deserialization.
Definition at line 839 of file octree2buf_base.h.
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Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.
branch_arg,: | current branch node |
depth_mask_arg,: | depth mask used for octree key analysis and branch depth indicator |
key_arg,: | reference to an octree key |
binary_tree_in_it_arg | iterator of binary input data |
leaf_container_vector__it_end_arg | end iterator of binary input data |
leaf_container_vector_it_arg,: | iterator pointing to leaf containter pointers to be added to a leaf node |
leaf_container_vector_it_end_arg,: | iterator pointing to leaf containter pointers pointing to last object in input container. |
branch_reset_arg,: | Reset pointer array of current branch |
do_XOR_decoding_arg,: | select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 629 of file octree2buf_base.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), pcl::octree::OctreeKey::pushBranch(), and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
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Definition at line 250 of file octree2buf_base.h.
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg,: | index of leaf node in the X axis. |
idx_y_arg,: | index of leaf node in the Y axis. |
idx_z_arg,: | index of leaf node in the Z axis. |
Definition at line 127 of file octree2buf_base.hpp.
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Check for leaf not existance in the octree.
key_arg,: | octree key addressing a leaf node. |
Definition at line 498 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf().
LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg,: | index of leaf node in the X axis. |
idx_y_arg,: | index of leaf node in the Y axis. |
idx_z_arg,: | index of leaf node in the Z axis. |
Definition at line 105 of file octree2buf_base.hpp.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf().
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Find leaf node.
key_arg,: | octree key addressing a leaf node. |
Definition at line 469 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeafRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.
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Recursively search for a given leaf node and return a pointer.
key_arg,: | reference to an octree key |
depth_mask_arg,: | depth mask used for octree key analysis and for branch depth indicator |
branch_arg,: | current branch node |
result_arg,: | pointer to leaf container class |
Definition at line 439 of file octree2buf_base.hpp.
References pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::hasChild().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf().
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Generate bit pattern reflecting the existence of child node pointers for current buffer.
branch_arg,: | reference to octree branch class |
Definition at line 560 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Generate bit pattern reflecting the existence of child node pointers in specific buffer.
branch_arg,: | reference to octree branch class |
bufferSelector_arg,: | buffer selector |
Definition at line 581 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Retrieve a child node pointer for child node at child_idx.
branch_arg,: | reference to octree branch class |
child_idx_arg,: | index to child node |
Definition at line 539 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Return the amount of existing branches in the octree.
Definition at line 375 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_.
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Generate XOR bit pattern reflecting differences between the two octree buffers.
branch_arg,: | reference to octree branch class |
Definition at line 602 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::hasBranchChanges().
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Return the amount of existing leafs in the octree.
Definition at line 367 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_.
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Retrieve root node.
Definition at line 459 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.
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Get the maximum depth of the octree.
Definition at line 322 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_.
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Test if branch changed between previous and current buffer.
branch_arg,: | reference to octree branch class |
Definition at line 627 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern().
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Definition at line 255 of file octree2buf_base.h.
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Definition at line 256 of file octree2buf_base.h.
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Helper function to calculate the binary logarithm.
n_arg,: | some value |
Definition at line 858 of file octree2buf_base.h.
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Test if octree is able to dynamically change its depth.
This is required for adaptive bounding box adjustment.
Definition at line 866 of file octree2buf_base.h.
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Copy constructor.
Definition at line 293 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
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Prints binary representation of a byte - used for debugging.
data_arg | - byte to be printed to stdout |
Definition at line 874 of file octree2buf_base.h.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg,: | index of leaf node in the X axis. |
idx_y_arg,: | index of leaf node in the Y axis. |
idx_z_arg,: | index of leaf node in the Z axis. |
Definition at line 138 of file octree2buf_base.hpp.
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Remove leaf node from octree.
key_arg,: | octree key addressing a leaf node. |
Definition at line 506 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs | ( | std::vector< LeafContainerT * > & | leaf_container_vector_arg | ) |
Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
leaf_container_vector_arg,: | vector of pointers to all LeafContainerT objects in the octree |
Definition at line 230 of file octree2buf_base.hpp.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs | ( | std::vector< LeafContainerT * > & | leaf_container_vector_arg | ) |
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.
leaf_container_vector_arg,: | vector of pointers to all LeafContainerT objects in the octree |
Definition at line 306 of file octree2buf_base.hpp.
Referenced by pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::getPointIndicesFromNewVoxels().
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree | ( | std::vector< char > & | binary_tree_out_arg, |
bool | do_XOR_encoding_arg = false |
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Serialize octree into a binary output vector describing its branch node structure.
binary_tree_out_arg,: | reference to output vector for writing binary tree structure. |
do_XOR_encoding_arg,: | select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 192 of file octree2buf_base.hpp.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree | ( | std::vector< char > & | binary_tree_out_arg, |
std::vector< LeafContainerT * > & | leaf_container_vector_arg, | ||
bool | do_XOR_encoding_arg = false |
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Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector.
binary_tree_out_arg,: | reference to output vector for writing binary tree structure. |
leaf_container_vector_arg,: | pointer to all LeafContainerT objects in the octree |
do_XOR_encoding_arg,: | select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 209 of file octree2buf_base.hpp.
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Callback executed for every leaf node data during serialization.
Definition at line 832 of file octree2buf_base.h.
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Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content.
branch_arg,: | current branch node |
key_arg,: | reference to an octree key |
binary_tree_out_arg,: | binary output vector |
leaf_container_vector_arg,: | vector to return pointers to all leaf container in the tree. |
do_XOR_encoding_arg,: | select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree |
new_leafs_filter_arg,: | execute callback only for leaf nodes that did not exist in preceding buffer |
Definition at line 530 of file octree2buf_base.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), and pcl::octree::OctreeKey::pushBranch().
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Assign new child node to branch.
branch_arg,: | reference to octree branch class |
child_idx_arg,: | index to child node |
new_child_arg,: | pointer to new child node |
Definition at line 551 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex | ( | unsigned int | max_voxel_index_arg | ) |
Set the maximum amount of voxels per dimension.
max_voxel_index_arg,: | maximum amount of voxels per dimension |
Definition at line 72 of file octree2buf_base.hpp.
References pcl::octree::OctreeKey::maxDepth.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth | ( | unsigned int | depth_arg | ) |
Set the maximum depth of the octree.
depth_arg,: | maximum depth of octree |
Definition at line 89 of file octree2buf_base.hpp.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers | ( | ) |
Switch buffers and reset current octree structure.
Definition at line 166 of file octree2buf_base.hpp.
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Recursively explore the octree and remove unused branch and leaf nodes.
branch_arg,: | current branch node |
Definition at line 790 of file octree2buf_base.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), and pcl::octree::LEAF_NODE.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer().
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Definition at line 237 of file octree2buf_base.h.
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Definition at line 236 of file octree2buf_base.h.
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Definition at line 235 of file octree2buf_base.h.
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Definition at line 238 of file octree2buf_base.h.
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Amount of branch nodes.
Definition at line 895 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchCount(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().
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Currently active octree buffer.
Definition at line 907 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branchHasChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchChildPtr(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setBranchChildPtr().
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Depth mask based on octree depth.
Definition at line 901 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().
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Enable dynamic_depth.
Definition at line 917 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().
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Amount of leaf nodes.
Definition at line 892 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getLeafCount(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().
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key range
Definition at line 904 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().
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Octree depth.
Definition at line 913 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getTreeDepth(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().
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Pointer to root branch node of octree.
Definition at line 898 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getRootNode(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().
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Definition at line 910 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().