Octree pointcloud search class More...
#include <pcl/octree/octree_search.h>
Inheritance diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >:
Classes | |
| class | prioBranchQueueEntry |
| Priority queue entry for branch nodes More... | |
| class | prioPointQueueEntry |
| Priority queue entry for point candidates More... | |
Public Member Functions | |
| OctreePointCloudSearch (const double resolution) | |
| Constructor. More... | |
| bool | voxelSearch (const PointT &point, std::vector< int > &point_idx_data) |
| Search for neighbors within a voxel at given point. More... | |
| bool | voxelSearch (const int index, std::vector< int > &point_idx_data) |
| Search for neighbors within a voxel at given point referenced by a point index. More... | |
| int | nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
| Search for k-nearest neighbors at the query point. More... | |
| int | nearestKSearch (const PointT &p_q, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
| Search for k-nearest neighbors at given query point. More... | |
| int | nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
| Search for k-nearest neighbors at query point. More... | |
| void | approxNearestSearch (const PointCloud &cloud, int query_index, int &result_index, float &sqr_distance) |
| Search for approx. More... | |
| void | approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance) |
| Search for approx. More... | |
| void | approxNearestSearch (int query_index, int &result_index, float &sqr_distance) |
| Search for approx. More... | |
| int | radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) |
| Search for all neighbors of query point that are within a given radius. More... | |
| int | radiusSearch (const PointT &p_q, const double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all neighbors of query point that are within a given radius. More... | |
| int | radiusSearch (int index, const double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all neighbors of query point that are within a given radius. More... | |
| int | getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxel_center_list, int max_voxel_count=0) const |
| Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction). More... | |
| int | getIntersectedVoxelIndices (Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector< int > &k_indices, int max_voxel_count=0) const |
| Get indices of all voxels that are intersected by a ray (origin, direction). More... | |
| int | boxSearch (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, std::vector< int > &k_indices) const |
| Search for points within rectangular search area Points exactly on the edges of the search rectangle are included. More... | |
| Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty > | |
| OctreePointCloud (const double resolution_arg) | |
| Octree pointcloud constructor. More... | |
| void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set. More... | |
| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... | |
| PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... | |
| void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches. More... | |
| double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches. More... | |
| void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution. More... | |
| double | getResolution () const |
| Get octree voxel resolution. More... | |
| unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More... | |
| void | addPointsFromInputCloud () |
| Add points from input point cloud to octree. More... | |
| void | addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree. More... | |
| void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud. More... | |
| void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud. More... | |
| bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist. More... | |
| bool | isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const |
| Check if voxel at given point coordinates exist. More... | |
| bool | isVoxelOccupiedAtPoint (const int &point_idx_arg) const |
| Check if voxel at given point from input cloud exist. More... | |
| void | deleteTree () |
| Delete the octree structure and its leaf nodes. More... | |
| int | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels. More... | |
| int | getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2) |
| Get a PointT vector of centers of voxels intersected by a line segment. More... | |
| void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point. More... | |
| void | deleteVoxelAtPoint (const int &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud. More... | |
| void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More... | |
| void | defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More... | |
| void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree. More... | |
| void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree. More... | |
| void | getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const |
| Get bounding box for octree. More... | |
| double | getVoxelSquaredDiameter (unsigned int tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth. More... | |
| double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth. More... | |
| double | getVoxelSquaredSideLen (unsigned int tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth. More... | |
| double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level. More... | |
| void | getVoxelBounds (const OctreeIteratorBase< OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator. More... | |
| void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure. More... | |
| Public Member Functions inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > | |
| Iterator | begin (unsigned int max_depth_arg=0u) |
| const Iterator | end () |
| LeafNodeDepthFirstIterator | leaf_depth_begin (unsigned int max_depth_arg=0u) |
| const LeafNodeDepthFirstIterator | leaf_depth_end () |
| DepthFirstIterator | depth_begin (unsigned int max_depth_arg=0u) |
| const DepthFirstIterator | depth_end () |
| BreadthFirstIterator | breadth_begin (unsigned int max_depth_arg=0u) |
| const BreadthFirstIterator | breadth_end () |
| FixedDepthIterator | fixed_depth_begin (unsigned int fixed_depth_arg=0u) |
| const FixedDepthIterator | fixed_depth_end () |
| LeafNodeBreadthFirstIterator | leaf_breadth_begin (unsigned int max_depth_arg=0u) |
| const LeafNodeBreadthFirstIterator | leaf_breadth_end () |
| OctreeBase () | |
| Empty constructor. More... | |
| OctreeBase (const OctreeBase &source) | |
| Copy constructor. More... | |
| virtual | ~OctreeBase () |
| Empty deconstructor. More... | |
| OctreeBase & | operator= (const OctreeBase &source) |
| Copy operator. More... | |
| void | setMaxVoxelIndex (unsigned int max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension. More... | |
| void | setTreeDepth (unsigned int max_depth_arg) |
| Set the maximum depth of the octree. More... | |
| unsigned int | getTreeDepth () const |
| Get the maximum depth of the octree. More... | |
| OctreeContainerPointIndices * | 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... | |
| OctreeContainerPointIndices * | 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 |
| idx_x_arg 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 branch nodes in the octree. More... | |
| void | deleteTree () |
| Delete the octree structure and its leaf nodes. More... | |
| void | serializeTree (std::vector< char > &binary_tree_out_arg) |
| Serialize octree into a binary output vector describing its branch node structure. More... | |
| void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More... | |
| void | serializeLeafs (std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More... | |
| void | deserializeTree (std::vector< char > &binary_tree_input_arg) |
| Deserialize a binary octree description vector and create a corresponding octree structure. More... | |
| void | deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) |
| Deserialize a binary octree description and create a corresponding octree structure. More... | |
Protected Member Functions | |
| float | pointSquaredDist (const PointT &point_a, const PointT &point_b) const |
| Helper function to calculate the squared distance between two points. More... | |
| void | getNeighborsWithinRadiusRecursive (const PointT &point, const double radiusSquared, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn) const |
| Recursive search method that explores the octree and finds neighbors within a given radius. More... | |
| double | getKNearestNeighborRecursive (const PointT &point, unsigned int K, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, const double squared_search_radius, std::vector< prioPointQueueEntry > &point_candidates) const |
| Recursive search method that explores the octree and finds the K nearest neighbors. More... | |
| void | approxNearestSearchRecursive (const PointT &point, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, int &result_index, float &sqr_distance) |
| Recursive search method that explores the octree and finds the approximate nearest neighbor. More... | |
| int | getIntersectedVoxelCentersRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, AlignedPointTVector &voxel_center_list, int max_voxel_count) const |
| Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers. More... | |
| void | boxSearchRecursive (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, std::vector< int > &k_indices) const |
| Recursive search method that explores the octree and finds points within a rectangular search area. More... | |
| int | getIntersectedVoxelIndicesRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, std::vector< int > &k_indices, int max_voxel_count) const |
| Recursively search the tree for all intersected leaf nodes and return a vector of indices. More... | |
| void | initIntersectedVoxel (Eigen::Vector3f &origin, Eigen::Vector3f &direction, double &min_x, double &min_y, double &min_z, double &max_x, double &max_y, double &max_z, unsigned char &a) const |
| Initialize raytracing algorithm. More... | |
| int | getFirstIntersectedNode (double min_x, double min_y, double min_z, double mid_x, double mid_y, double mid_z) const |
| Find first child node ray will enter. More... | |
| int | getNextIntersectedNode (double x, double y, double z, int a, int b, int c) const |
| Get the next visited node given the current node upper bounding box corner. More... | |
| Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty > | |
| virtual void | addPointIdx (const int point_idx_arg) |
| Add point at index from input pointcloud dataset to octree. More... | |
| void | expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, unsigned int depth_mask) |
| Add point at index from input pointcloud dataset to octree. More... | |
| const PointT & | getPointByIndex (const unsigned int index_arg) const |
| Get point at index from input pointcloud dataset. More... | |
| OctreeContainerPointIndices * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point. More... | |
| void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box. More... | |
| void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits. More... | |
| bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree. More... | |
| void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More... | |
| void | genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point. More... | |
| virtual bool | genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index. More... | |
| void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel. More... | |
| void | genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const |
| Generate a point at center of octree voxel at given tree level. More... | |
| void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of an octree voxel using octree key and tree depth arguments. More... | |
| int | getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const |
| Recursively search the tree for all leaf nodes and return a vector of voxel centers. More... | |
| Protected Member Functions inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > | |
| OctreeContainerPointIndices * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node. More... | |
| OctreeContainerPointIndices * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node. More... | |
| bool | existLeaf (const OctreeKey &key_arg) const |
| Check for existence of a leaf node in the octree. More... | |
| void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree. More... | |
| OctreeNode * | getRootNode () const |
| Retrieve root node. 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. More... | |
| void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree. More... | |
| void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree. More... | |
| BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new branch child to a branch class. More... | |
| LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create 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) |
| Create a leaf node at octree key. More... | |
| void | findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, OctreeContainerPointIndices *&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 (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< OctreeContainerPointIndices * > *leaf_container_vector_arg) const |
| Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. More... | |
| void | deserializeTreeRecursive (BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< OctreeContainerPointIndices * >::const_iterator *leaf_container_vector_it_end_arg) |
| Recursive method for deserializing octree structure. More... | |
| virtual void | serializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) const |
| Callback executed for every leaf node during serialization. More... | |
| virtual void | deserializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) |
| Callback executed for every leaf node during deserialization. More... | |
| bool | octreeCanResize () |
| Test if octree is able to dynamically change its depth. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty > | |
| PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset. More... | |
| IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches. More... | |
| double | resolution_ |
| Octree resolution. More... | |
| double | min_x_ |
| double | max_x_ |
| double | min_y_ |
| double | max_y_ |
| double | min_z_ |
| double | max_z_ |
| bool | bounding_box_defined_ |
| Flag indicating if octree has defined bounding box. More... | |
| std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch. More... | |
| Protected Attributes inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > | |
| 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... | |
| unsigned int | octree_depth_ |
| Octree depth. More... | |
| bool | dynamic_depth_enabled_ |
| Enable dynamic_depth. More... | |
| OctreeKey | max_key_ |
| key range More... | |
Detailed Description
template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >
Octree pointcloud search class
- Note
- This class provides several methods for spatial neighbor search based on octree structure
- Template Parameters
-
PointT type of point used in pointcloud
Definition at line 57 of file octree_search.h.
Member Typedef Documentation
◆ AlignedPointTVector
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> > |
Definition at line 75 of file octree_search.h.
◆ BranchNode
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::BranchNode = typename OctreeT::BranchNode |
Definition at line 79 of file octree_search.h.
◆ ConstPtr
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::ConstPtr = shared_ptr< const OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> > |
Definition at line 72 of file octree_search.h.
◆ IndicesConstPtr
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::IndicesConstPtr = shared_ptr<const std::vector<int> > |
Definition at line 62 of file octree_search.h.
◆ IndicesPtr
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::IndicesPtr = shared_ptr<std::vector<int> > |
Definition at line 61 of file octree_search.h.
◆ LeafNode
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::LeafNode = typename OctreeT::LeafNode |
Definition at line 78 of file octree_search.h.
◆ OctreeT
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::OctreeT = OctreePointCloud<PointT, LeafContainerT, BranchContainerT> |
Definition at line 77 of file octree_search.h.
◆ PointCloud
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloud = pcl::PointCloud<PointT> |
Definition at line 64 of file octree_search.h.
◆ PointCloudConstPtr
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr = typename PointCloud::ConstPtr |
Definition at line 66 of file octree_search.h.
◆ PointCloudPtr
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr = typename PointCloud::Ptr |
Definition at line 65 of file octree_search.h.
◆ Ptr
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
| using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::Ptr = shared_ptr<OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> > |
Definition at line 70 of file octree_search.h.
Constructor & Destructor Documentation
◆ OctreePointCloudSearch()
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Constructor.
- Parameters
-
[in] resolution octree resolution at lowest octree level
Definition at line 84 of file octree_search.h.
Member Function Documentation
◆ approxNearestSearch() [1/3]
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Search for approx.
nearest neighbor at the query point.
- Parameters
-
[in] cloud the point cloud data [in] query_index the index in cloud representing the query point [out] result_index the resultant index of the neighbor point [out] sqr_distance the resultant squared distance to the neighboring point
- Returns
- number of neighbors found
Definition at line 165 of file octree_search.h.
◆ approxNearestSearch() [2/3]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch | ( | const PointT & | p_q, |
| int & | result_index, | ||
| float & | sqr_distance | ||
| ) |
Search for approx.
nearest neighbor at the query point.
- Parameters
-
[in] p_q the given query point [out] result_index the resultant index of the neighbor point [out] sqr_distance the resultant squared distance to the neighboring point
Definition at line 134 of file octree_search.hpp.
◆ approxNearestSearch() [3/3]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch | ( | int | query_index, |
| int & | result_index, | ||
| float & | sqr_distance | ||
| ) |
Search for approx.
nearest neighbor at the query point.
- Parameters
-
[in] query_index index representing the query point in the dataset given by setInputCloud. If indices were given in setInputCloud, index will be the position in the indices vector. [out] result_index the resultant index of the neighbor point [out] sqr_distance the resultant squared distance to the neighboring point
- Returns
- number of neighbors found
Definition at line 152 of file octree_search.hpp.
◆ approxNearestSearchRecursive()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Recursive search method that explores the octree and finds the approximate nearest neighbor.
- Parameters
-
[in] point query point [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [out] result_index result index is written to this reference [out] sqr_distance squared distance to search
Definition at line 423 of file octree_search.hpp.
◆ boxSearch()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::boxSearch | ( | const Eigen::Vector3f & | min_pt, |
| const Eigen::Vector3f & | max_pt, | ||
| std::vector< int > & | k_indices | ||
| ) | const |
Search for points within rectangular search area Points exactly on the edges of the search rectangle are included.
- Parameters
-
[in] min_pt lower corner of search area [in] max_pt upper corner of search area [out] k_indices the resultant point indices
- Returns
- number of points found within search area
Definition at line 205 of file octree_search.hpp.
Referenced by pcl::applyMorphologicalOperator().
◆ boxSearchRecursive()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Recursive search method that explores the octree and finds points within a rectangular search area.
- Parameters
-
[in] min_pt lower corner of search area [in] max_pt upper corner of search area [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [out] k_indices the resultant point indices
Definition at line 519 of file octree_search.hpp.
◆ getFirstIntersectedNode()
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inlineprotected |
Find first child node ray will enter.
- Parameters
-
[in] min_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] mid_x octree nodes X coordinate of bounding box mid line [in] mid_y octree nodes Y coordinate of bounding box mid line [in] mid_z octree nodes Z coordinate of bounding box mid line
- Returns
- the first child node ray will enter
Definition at line 583 of file octree_search.h.
◆ getIntersectedVoxelCenters()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelCenters | ( | Eigen::Vector3f | origin, |
| Eigen::Vector3f | direction, | ||
| AlignedPointTVector & | voxel_center_list, | ||
| int | max_voxel_count = 0 |
||
| ) | const |
Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).
- Parameters
-
[in] origin ray origin [in] direction ray direction vector [out] voxel_center_list results are written to this vector of PointT elements [in] max_voxel_count stop raycasting when this many voxels intersected (0: disable)
- Returns
- number of intersected voxels
Definition at line 595 of file octree_search.hpp.
◆ getIntersectedVoxelCentersRecursive()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers.
This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf
- Parameters
-
[in] min_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] max_x octree nodes X coordinate of upper bounding box corner [in] max_y octree nodes Y coordinate of upper bounding box corner [in] max_z octree nodes Z coordinate of upper bounding box corner [in] a [in] node current octree node to be explored [in] key octree key addressing a leaf node. [out] voxel_center_list results are written to this vector of PointT elements [in] max_voxel_count stop raycasting when this many voxels intersected (0: disable)
- Returns
- number of voxels found
Definition at line 665 of file octree_search.hpp.
◆ getIntersectedVoxelIndices()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelIndices | ( | Eigen::Vector3f | origin, |
| Eigen::Vector3f | direction, | ||
| std::vector< int > & | k_indices, | ||
| int | max_voxel_count = 0 |
||
| ) | const |
Get indices of all voxels that are intersected by a ray (origin, direction).
- Parameters
-
[in] origin ray origin [in] direction ray direction vector [out] k_indices resulting point indices from intersected voxels [in] max_voxel_count stop raycasting when this many voxels intersected (0: disable)
- Returns
- number of intersected voxels
Definition at line 631 of file octree_search.hpp.
Referenced by pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().
◆ getIntersectedVoxelIndicesRecursive()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Recursively search the tree for all intersected leaf nodes and return a vector of indices.
This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf
- Parameters
-
[in] min_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] max_x octree nodes X coordinate of upper bounding box corner [in] max_y octree nodes Y coordinate of upper bounding box corner [in] max_z octree nodes Z coordinate of upper bounding box corner [in] a [in] node current octree node to be explored [in] key octree key addressing a leaf node. [out] k_indices resulting indices [in] max_voxel_count stop raycasting when this many voxels intersected (0: disable)
- Returns
- number of voxels found
Definition at line 861 of file octree_search.hpp.
◆ getKNearestNeighborRecursive()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Recursive search method that explores the octree and finds the K nearest neighbors.
- Parameters
-
[in] point query point [in] K amount of nearest neighbors to be found [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [in] squared_search_radius squared search radius distance [out] point_candidates priority queue of nearest neigbor point candidates
- Returns
- squared search radius based on current point candidate set found
Definition at line 224 of file octree_search.hpp.
◆ getNeighborsWithinRadiusRecursive()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Recursive search method that explores the octree and finds neighbors within a given radius.
- Parameters
-
[in] point query point [in] radiusSquared squared search radius [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [out] k_indices vector of indices found to be neighbors of query point [out] k_sqr_distances squared distances of neighbors to query point [in] max_nn maximum of neighbors to be found
Definition at line 336 of file octree_search.hpp.
◆ getNextIntersectedNode()
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inlineprotected |
Get the next visited node given the current node upper bounding box corner.
This function accepts three float values, and three int values. The function returns the ith integer where the ith float value is the minimum of the three float values.
- Parameters
-
[in] x current nodes X coordinate of upper bounding box corner [in] y current nodes Y coordinate of upper bounding box corner [in] z current nodes Z coordinate of upper bounding box corner [in] a next node if exit Plane YZ [in] b next node if exit Plane XZ [in] c next node if exit Plane XY
- Returns
- the next child node ray will enter or 8 if exiting
Definition at line 641 of file octree_search.h.
◆ initIntersectedVoxel()
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inlineprotected |
Initialize raytracing algorithm.
- Parameters
-
origin direction [in] min_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] max_x octree nodes X coordinate of upper bounding box corner [in] max_y octree nodes Y coordinate of upper bounding box corner [in] max_z octree nodes Z coordinate of upper bounding box corner a
Definition at line 524 of file octree_search.h.
◆ nearestKSearch() [1/3]
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Search for k-nearest neighbors at the query point.
- Parameters
-
[in] cloud the point cloud data [in] index the index in cloud representing the query point [in] k the number of neighbors to search for [out] k_indices the resultant indices of the neighboring points (must be resized to k a priori!) [out] k_sqr_distances the resultant squared distances to the neighboring points (must be resized to k a priori!)
- Returns
- number of neighbors found
Definition at line 116 of file octree_search.h.
◆ nearestKSearch() [2/3]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch | ( | const PointT & | p_q, |
| int | k, | ||
| std::vector< int > & | k_indices, | ||
| std::vector< float > & | k_sqr_distances | ||
| ) |
Search for k-nearest neighbors at given query point.
- Parameters
-
[in] p_q the given query point [in] k the number of neighbors to search for [out] k_indices the resultant indices of the neighboring points (must be resized to k a priori!) [out] k_sqr_distances the resultant squared distances to the neighboring points (must be resized to k a priori!)
- Returns
- number of neighbors found
Definition at line 82 of file octree_search.hpp.
◆ nearestKSearch() [3/3]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch | ( | int | index, |
| int | k, | ||
| std::vector< int > & | k_indices, | ||
| std::vector< float > & | k_sqr_distances | ||
| ) |
Search for k-nearest neighbors at query point.
- Parameters
-
[in] index index representing the query point in the dataset given by setInputCloud. If indices were given in setInputCloud, index will be the position in the indices vector. [in] k the number of neighbors to search for [out] k_indices the resultant indices of the neighboring points (must be resized to k a priori!) [out] k_sqr_distances the resultant squared distances to the neighboring points (must be resized to k a priori!)
- Returns
- number of neighbors found
Definition at line 125 of file octree_search.hpp.
◆ pointSquaredDist()
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
|
protected |
Helper function to calculate the squared distance between two points.
- Parameters
-
[in] point_a point A [in] point_b point B
- Returns
- squared distance between point A and point B
Definition at line 511 of file octree_search.hpp.
◆ radiusSearch() [1/3]
template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
|
inline |
Search for all neighbors of query point that are within a given radius.
- Parameters
-
[in] cloud the point cloud data [in] index the index in cloud representing the query point [in] radius the radius of the sphere bounding all of p_q's neighbors [out] k_indices the resultant indices of the neighboring points [out] k_sqr_distances the resultant squared distances to the neighboring points [in] max_nn if given, bounds the maximum returned neighbors to this value
- Returns
- number of neighbors found in radius
Definition at line 203 of file octree_search.h.
◆ radiusSearch() [2/3]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch | ( | const PointT & | p_q, |
| const double | radius, | ||
| std::vector< int > & | k_indices, | ||
| std::vector< float > & | k_sqr_distances, | ||
| unsigned int | max_nn = 0 |
||
| ) | const |
Search for all neighbors of query point that are within a given radius.
- Parameters
-
[in] p_q the given query point [in] radius the radius of the sphere bounding all of p_q's neighbors [out] k_indices the resultant indices of the neighboring points [out] k_sqr_distances the resultant squared distances to the neighboring points [in] max_nn if given, bounds the maximum returned neighbors to this value
- Returns
- number of neighbors found in radius
Definition at line 162 of file octree_search.hpp.
◆ radiusSearch() [3/3]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch | ( | int | index, |
| const double | radius, | ||
| std::vector< int > & | k_indices, | ||
| std::vector< float > & | k_sqr_distances, | ||
| unsigned int | max_nn = 0 |
||
| ) | const |
Search for all neighbors of query point that are within a given radius.
- Parameters
-
[in] index index representing the query point in the dataset given by setInputCloud. If indices were given in setInputCloud, index will be the position in the indices vector [in] radius radius of the sphere bounding all of p_q's neighbors [out] k_indices the resultant indices of the neighboring points [out] k_sqr_distances the resultant squared distances to the neighboring points [in] max_nn if given, bounds the maximum returned neighbors to this value
- Returns
- number of neighbors found in radius
Definition at line 191 of file octree_search.hpp.
◆ voxelSearch() [1/2]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| bool pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch | ( | const int | index, |
| std::vector< int > & | point_idx_data | ||
| ) |
Search for neighbors within a voxel at given point referenced by a point index.
- Parameters
-
[in] index the index in input cloud defining the query point [out] point_idx_data the resultant indices of the neighboring voxel points
- Returns
- "true" if leaf node exist; "false" otherwise
Definition at line 73 of file octree_search.hpp.
◆ voxelSearch() [2/2]
template<typename PointT , typename LeafContainerT , typename BranchContainerT >
| bool pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch | ( | const PointT & | point, |
| std::vector< int > & | point_idx_data | ||
| ) |
Search for neighbors within a voxel at given point.
- Parameters
-
[in] point point addressing a leaf node voxel [out] point_idx_data the resultant indices of the neighboring voxel points
- Returns
- "true" if leaf node exist; "false" otherwise
Definition at line 50 of file octree_search.hpp.
Referenced by pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeFeature().
The documentation for this class was generated from the following files:
- pcl/octree/octree_search.h
- pcl/octree/impl/octree_search.hpp