Point Cloud Library (PCL)  1.14.1-dev
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pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT > Class Template Reference

Octree double buffer class More...

#include <pcl/octree/octree2buf_base.h>

+ Inheritance diagram for pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >:
+ Collaboration diagram for pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >:

Public Types

using OctreeT = Octree2BufBase< LeafContainerT, BranchContainerT >
 
using BranchNode = BufferedBranchNode< BranchContainerT >
 
using LeafNode = OctreeLeafNode< LeafContainerT >
 
using BranchContainer = BranchContainerT
 
using LeafContainer = LeafContainerT
 
using Iterator = OctreeDepthFirstIterator< OctreeT >
 
using ConstIterator = const OctreeDepthFirstIterator< OctreeT >
 
using LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >
 
using ConstDepthFirstIterator = const OctreeDepthFirstIterator< OctreeT >
 
using BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >
 
using ConstBreadthFirstIterator = const OctreeBreadthFirstIterator< OctreeT >
 
using LeafNodeBreadthIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >
 
using ConstLeafNodeBreadthIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT >
 

Public Member Functions

Iterator begin (uindex_t max_depth_arg=0)
 
const Iterator end ()
 
LeafNodeDepthFirstIterator leaf_depth_begin (uindex_t max_depth_arg=0)
 
const LeafNodeDepthFirstIterator leaf_depth_end ()
 
DepthFirstIterator depth_begin (uindex_t maxDepth_arg=0)
 
const DepthFirstIterator depth_end ()
 
BreadthFirstIterator breadth_begin (uindex_t max_depth_arg=0)
 
const BreadthFirstIterator breadth_end ()
 
LeafNodeBreadthIterator leaf_breadth_begin (uindex_t max_depth_arg=0u)
 
const LeafNodeBreadthIterator leaf_breadth_end ()
 
 Octree2BufBase ()
 Empty constructor. More...
 
virtual ~Octree2BufBase ()
 Empty deconstructor. More...
 
 Octree2BufBase (const Octree2BufBase &source)
 Copy constructor. More...
 
Octree2BufBaseoperator= (const Octree2BufBase &source)
 Copy constructor. More...
 
void setMaxVoxelIndex (uindex_t max_voxel_index_arg)
 Set the maximum amount of voxels per dimension. More...
 
void setTreeDepth (uindex_t depth_arg)
 Set the maximum depth of the octree. More...
 
uindex_t getTreeDepth () const
 Get the maximum depth of the octree. More...
 
LeafContainerT * createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
 Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
LeafContainerT * findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
 Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
bool existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
 Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...
 
void removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t 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

OctreeNodegetRootNode () 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 if leaf doesn't exist 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...
 
OctreeNodegetBranchChildPtr (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...
 
BranchNodecreateBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Fetch and add a new branch child to a branch class in current buffer. More...
 
LeafNodecreateLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Fetch and add a new leaf child to a branch class. More...
 
uindex_t createLeafRecursive (const OctreeKey &key_arg, uindex_t 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, uindex_t 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, uindex_t 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, uindex_t 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...
 
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_ {0}
 Amount of leaf nodes
More...
 
std::size_t branch_count_ {1}
 Amount of branch nodes
More...
 
BranchNoderoot_node_
 Pointer to root branch node of octree
More...
 
uindex_t depth_mask_ {0}
 Depth mask based on octree depth
More...
 
OctreeKey max_key_
 key range More...
 
unsigned char buffer_selector_ {0}
 Currently active octree buffer
More...
 
bool tree_dirty_flag_ {false}
 flags indicating if unused branches and leafs might exist in previous buffer
More...
 
uindex_t octree_depth_ {0}
 Octree depth. More...
 
bool dynamic_depth_enabled_ {false}
 Enable dynamic_depth. More...
 

Friends

class OctreeIteratorBase< OctreeT >
 
class OctreeDepthFirstIterator< OctreeT >
 
class OctreeBreadthFirstIterator< OctreeT >
 
class OctreeLeafNodeDepthFirstIterator< OctreeT >
 
class OctreeLeafNodeBreadthFirstIterator< OctreeT >
 

Detailed Description

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >

Octree double buffer class

This octree implementation keeps two separate octree structures in memory which allows for differentially comparison of the octree structures (change detection, differential encoding).

Note
The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).
All leaf nodes are addressed by integer indices.
The tree depth equates to the bit length of the voxel indices.
Author
Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 222 of file octree2buf_base.h.

Member Typedef Documentation

◆ BranchContainer

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchContainer = BranchContainerT

Definition at line 237 of file octree2buf_base.h.

◆ BranchNode

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchNode = BufferedBranchNode<BranchContainerT>

Definition at line 234 of file octree2buf_base.h.

◆ BreadthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BreadthFirstIterator = OctreeBreadthFirstIterator<OctreeT>

Definition at line 292 of file octree2buf_base.h.

◆ ConstBreadthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstBreadthFirstIterator = const OctreeBreadthFirstIterator<OctreeT>

Definition at line 293 of file octree2buf_base.h.

◆ ConstDepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstDepthFirstIterator = const OctreeDepthFirstIterator<OctreeT>

Definition at line 279 of file octree2buf_base.h.

◆ ConstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstIterator = const OctreeDepthFirstIterator<OctreeT>

Definition at line 242 of file octree2buf_base.h.

◆ ConstLeafNodeBreadthIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeBreadthIterator = const OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 307 of file octree2buf_base.h.

◆ ConstLeafNodeDepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 263 of file octree2buf_base.h.

◆ ConstLeafNodeIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 259 of file octree2buf_base.h.

◆ DepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::DepthFirstIterator = OctreeDepthFirstIterator<OctreeT>

Definition at line 278 of file octree2buf_base.h.

◆ Iterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Iterator = OctreeDepthFirstIterator<OctreeT>

Definition at line 241 of file octree2buf_base.h.

◆ LeafContainer

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafContainer = LeafContainerT

Definition at line 238 of file octree2buf_base.h.

◆ LeafNode

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNode = OctreeLeafNode<LeafContainerT>

Definition at line 235 of file octree2buf_base.h.

◆ LeafNodeBreadthIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeBreadthIterator = OctreeLeafNodeBreadthFirstIterator<OctreeT>

Definition at line 306 of file octree2buf_base.h.

◆ LeafNodeDepthFirstIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 262 of file octree2buf_base.h.

◆ LeafNodeIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeIterator = OctreeLeafNodeDepthFirstIterator<OctreeT>

Definition at line 258 of file octree2buf_base.h.

◆ OctreeT

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::OctreeT = Octree2BufBase<LeafContainerT, BranchContainerT>

Definition at line 225 of file octree2buf_base.h.

Constructor & Destructor Documentation

◆ Octree2BufBase() [1/2]

template<typename LeafContainerT , typename BranchContainerT >
pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase

Empty constructor.

Definition at line 46 of file octree2buf_base.hpp.

◆ ~Octree2BufBase()

template<typename LeafContainerT , typename BranchContainerT >
pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::~Octree2BufBase
virtual

Empty deconstructor.

Definition at line 52 of file octree2buf_base.hpp.

◆ Octree2BufBase() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase ( const Octree2BufBase< LeafContainerT, BranchContainerT > &  source)
inline

Copy constructor.

Definition at line 330 of file octree2buf_base.h.

Member Function Documentation

◆ begin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
Iterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::begin ( uindex_t  max_depth_arg = 0)
inline

Definition at line 244 of file octree2buf_base.h.

◆ branchHasChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branchHasChild ( const BranchNode branch_arg,
unsigned char  child_idx_arg 
) const
inlineprotected

Check if branch is pointing to a particular child node.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node
Returns
"true" if pointer to child node exists; "false" otherwise

Definition at line 606 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ breadth_begin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
BreadthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::breadth_begin ( uindex_t  max_depth_arg = 0)
inline

Definition at line 295 of file octree2buf_base.h.

◆ breadth_end()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const BreadthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::breadth_end ( )
inline

Definition at line 300 of file octree2buf_base.h.

◆ createBranchChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
BranchNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createBranchChild ( BranchNode branch_arg,
unsigned char  child_idx_arg 
)
inlineprotected

Fetch and add a new branch child to a branch class in current buffer.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node
Returns
pointer of new branch child to this reference

Definition at line 791 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ createLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
LeafContainerT* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf ( const OctreeKey key_arg)
inlineprotected

Create a leaf node.

Note
If the leaf node at the given octree node does not exist, it will be created and added to the tree.
Parameters
key_argoctree key addressing a leaf node.
Returns
pointer to an existing or created leaf container.

Definition at line 559 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_.

◆ createLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf ( uindex_t  idx_x_arg,
uindex_t  idx_y_arg,
uindex_t  idx_z_arg 
)

Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Note
If leaf node already exist, this method returns the existing node
Parameters
idx_x_argindex of leaf node in the X axis.
idx_y_argindex of leaf node in the Y axis.
idx_z_argindex of leaf node in the Z axis.
Returns
pointer to new leaf node container.

Definition at line 123 of file octree2buf_base.hpp.

◆ createLeafChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
LeafNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafChild ( BranchNode branch_arg,
unsigned char  child_idx_arg 
)
inlineprotected

Fetch and add a new leaf child to a branch class.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node
Returns
pointer of new leaf child to this reference

Definition at line 807 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ createLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >
uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive ( const OctreeKey key_arg,
uindex_t  depth_mask_arg,
BranchNode branch_arg,
LeafNode *&  return_leaf_arg,
BranchNode *&  parent_of_leaf_arg,
bool  branch_reset_arg = false 
)
protected

Create a leaf node at octree key.

If leaf node does already exist, it is returned.

Parameters
key_argreference to an octree key
depth_mask_argdepth mask used for octree key analysis and for branch depth indicator
branch_argcurrent branch node
return_leaf_argreturn pointer to leaf container
parent_of_leaf_argreturn pointer to parent of leaf node
branch_reset_argReset pointer array of current branch
Returns
depth mask at which leaf node was created/found

Definition at line 360 of file octree2buf_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainer(), 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().

◆ deleteBranch()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch ( BranchNode branch_arg)
inlineprotected

◆ deleteBranchChild() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild ( BranchNode branch_arg,
unsigned char  buffer_selector_arg,
unsigned char  child_idx_arg 
)
inlineprotected

◆ deleteBranchChild() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild ( BranchNode branch_arg,
unsigned char  child_idx_arg 
)
inlineprotected

Delete child node and all its subchilds from octree in current buffer.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node

Definition at line 756 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

◆ deleteCurrentBuffer()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteCurrentBuffer ( )
inline

◆ deleteLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive ( const OctreeKey key_arg,
uindex_t  depth_mask_arg,
BranchNode branch_arg 
)
protected

Recursively search and delete leaf node.

Parameters
key_argreference to an octree key
depth_mask_argdepth mask used for octree key analysis and branch depth indicator
branch_argcurrent branch node
Returns
"true" if branch does not contain any childs; "false" otherwise. This indicates if current branch can be deleted.

Definition at line 507 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().

◆ deletePreviousBuffer()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deletePreviousBuffer ( )
inline

◆ deleteTree()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree

Delete the octree structure and its leaf nodes.

Definition at line 165 of file octree2buf_base.hpp.

◆ depth_begin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
DepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_begin ( uindex_t  maxDepth_arg = 0)
inline

Definition at line 281 of file octree2buf_base.h.

◆ depth_end()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const DepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_end ( )
inline

Definition at line 286 of file octree2buf_base.h.

◆ deserializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::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.

Leaf nodes are initialized with getDataTByKey(..).

Parameters
binary_tree_in_argreference to input vector for reading binary tree structure.
do_XOR_decoding_argselect if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 273 of file octree2buf_base.hpp.

◆ deserializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
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 
)

Deserialize a binary octree description and create a corresponding octree structure.

Leaf nodes are initialized with DataT elements from the dataVector.

Parameters
binary_tree_in_argreference to inpvectoream for reading binary tree structure.
leaf_container_vector_argvector of pointers to all LeafContainerT objects in the octree
do_XOR_decoding_argselect if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 302 of file octree2buf_base.hpp.

◆ deserializeTreeCallback()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
virtual void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback ( LeafContainerT &  ,
const OctreeKey  
)
inlineprotectedvirtual

Callback executed for every leaf node data during deserialization.

Definition at line 931 of file octree2buf_base.h.

◆ deserializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive ( BranchNode branch_arg,
uindex_t  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 
)
protected

Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.

Parameters
branch_argcurrent branch node
depth_mask_argdepth mask used for octree key analysis and branch depth indicator
key_argreference to an octree key
binary_tree_in_it_argiterator of binary input data
binary_tree_in_it_end_arg
leaf_container_vector_it_argiterator pointing to leaf container pointers to be added to a leaf node
leaf_container_vector_it_end_argiterator pointing to leaf container pointers pointing to last object in input container.
branch_reset_argReset pointer array of current branch
do_XOR_decoding_argselect if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 644 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().

◆ end()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const Iterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::end ( )
inline

Definition at line 249 of file octree2buf_base.h.

◆ existLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf ( const OctreeKey key_arg) const
inlineprotected

Check if leaf doesn't exist in the octree.

Parameters
key_argoctree key addressing a leaf node.
Returns
"true" if leaf node is found; "false" otherwise

Definition at line 577 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf().

◆ existLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf ( uindex_t  idx_x_arg,
uindex_t  idx_y_arg,
uindex_t  idx_z_arg 
) const

Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Parameters
idx_x_argindex of leaf node in the X axis.
idx_y_argindex of leaf node in the Y axis.
idx_z_argindex of leaf node in the Z axis.
Returns
"true" if leaf node search is successful, otherwise it returns "false".

Definition at line 137 of file octree2buf_base.hpp.

◆ findLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
LeafContainerT* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf ( const OctreeKey key_arg) const
inlineprotected

Find leaf node.

Parameters
key_argoctree key addressing a leaf node.
Returns
pointer to leaf container. If leaf node is not found, this pointer returns 0.

Definition at line 545 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_.

◆ findLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf ( uindex_t  idx_x_arg,
uindex_t  idx_y_arg,
uindex_t  idx_z_arg 
)

Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Note
If leaf node already exist, this method returns the existing node
Parameters
idx_x_argindex of leaf node in the X axis.
idx_y_argindex of leaf node in the Y axis.
idx_z_argindex of leaf node in the Z axis.
Returns
pointer to leaf node container if found, null pointer otherwise.

Definition at line 109 of file octree2buf_base.hpp.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf().

◆ findLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeafRecursive ( const OctreeKey key_arg,
uindex_t  depth_mask_arg,
BranchNode branch_arg,
LeafContainerT *&  result_arg 
) const
protected

Recursively search for a given leaf node and return a pointer.

Note
If leaf node does not exist, a 0 pointer is returned.
Parameters
key_argreference to an octree key
depth_mask_argdepth mask used for octree key analysis and for branch depth indicator
branch_argcurrent branch node
result_argpointer to leaf container class

Definition at line 471 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().

◆ getBranchBitPattern() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern ( const BranchNode branch_arg) const
inlineprotected

Generate bit pattern reflecting the existence of child node pointers for current buffer.

Parameters
branch_argreference to octree branch class
Returns
a single byte with 8 bits of child node information

Definition at line 642 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ getBranchBitPattern() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern ( const BranchNode branch_arg,
unsigned char  bufferSelector_arg 
) const
inlineprotected

Generate bit pattern reflecting the existence of child node pointers in specific buffer.

Parameters
branch_argreference to octree branch class
bufferSelector_argbuffer selector
Returns
a single byte with 8 bits of child node information

Definition at line 663 of file octree2buf_base.h.

References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ getBranchChildPtr()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
OctreeNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchChildPtr ( const BranchNode branch_arg,
unsigned char  child_idx_arg 
) const
inlineprotected

Retrieve a child node pointer for child node at child_idx.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node
Returns
pointer to octree child node class

Definition at line 618 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

◆ getBranchCount()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchCount ( ) const
inline

Return the amount of existing branches in the octree.

Returns
amount of branch nodes.

Definition at line 429 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_.

◆ getBranchXORBitPattern()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern ( const BranchNode branch_arg) const
inlineprotected

Generate XOR bit pattern reflecting differences between the two octree buffers.

Parameters
branch_argreference to octree branch class
Returns
a single byte with 8 bits of child node XOR difference information

Definition at line 684 of file octree2buf_base.h.

References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::hasBranchChanges().

◆ getLeafCount()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getLeafCount ( ) const
inline

Return the amount of existing leafs in the octree.

Returns
amount of registered leaf nodes.

Definition at line 420 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_.

◆ getRootNode()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
OctreeNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getRootNode ( ) const
inlineprotected

Retrieve root node.

Definition at line 534 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.

◆ getTreeDepth()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getTreeDepth ( ) const
inline

Get the maximum depth of the octree.

Returns
depth_arg: maximum depth of octree

Definition at line 374 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_.

◆ hasBranchChanges()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::hasBranchChanges ( const BranchNode branch_arg) const
inlineprotected

Test if branch changed between previous and current buffer.

Parameters
branch_argreference to octree branch class
Returns
"true", if child node information differs between current and previous octree buffer

Definition at line 708 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern().

◆ leaf_breadth_begin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
LeafNodeBreadthIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_breadth_begin ( uindex_t  max_depth_arg = 0u)
inline

◆ leaf_breadth_end()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const LeafNodeBreadthIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_breadth_end ( )
inline

Definition at line 318 of file octree2buf_base.h.

◆ leaf_depth_begin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
LeafNodeDepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_depth_begin ( uindex_t  max_depth_arg = 0)
inline

Definition at line 266 of file octree2buf_base.h.

◆ leaf_depth_end()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const LeafNodeDepthFirstIterator pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_depth_end ( )
inline

Definition at line 272 of file octree2buf_base.h.

◆ octreeCanResize()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octreeCanResize ( )
inlineprotected

Test if octree is able to dynamically change its depth.

This is required for adaptive bounding box adjustment.

Returns
"false" - not resizeable due to XOR serialization

Definition at line 949 of file octree2buf_base.h.

◆ operator=()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
Octree2BufBase& pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator= ( const Octree2BufBase< LeafContainerT, BranchContainerT > &  source)
inline

◆ printBinary()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::printBinary ( char  data_arg)
inlineprotected

Prints binary representation of a byte - used for debugging.

Parameters
data_arg- byte to be printed to stdout

Definition at line 958 of file octree2buf_base.h.

◆ removeLeaf() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf ( const OctreeKey key_arg)
inlineprotected

◆ removeLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf ( uindex_t  idx_x_arg,
uindex_t  idx_y_arg,
uindex_t  idx_z_arg 
)

Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).

Parameters
idx_x_argindex of leaf node in the X axis.
idx_y_argindex of leaf node in the Y axis.
idx_z_argindex of leaf node in the Z axis.

Definition at line 151 of file octree2buf_base.hpp.

◆ serializeLeafs()

template<typename LeafContainerT , typename BranchContainerT >
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.

Parameters
leaf_container_vector_argvector of pointers to all LeafContainerT objects in the octree

Definition at line 253 of file octree2buf_base.hpp.

◆ serializeNewLeafs()

template<typename LeafContainerT , typename BranchContainerT >
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.

Parameters
leaf_container_vector_argvector of pointers to all LeafContainerT objects in the octree

Definition at line 341 of file octree2buf_base.hpp.

Referenced by pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::getPointIndicesFromNewVoxels().

◆ serializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::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.

Parameters
binary_tree_out_argreference to output vector for writing binary tree structure.
do_XOR_encoding_argselect 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 206 of file octree2buf_base.hpp.

◆ serializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
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 
)

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.

Parameters
binary_tree_out_argreference to output vector for writing binary tree structure.
leaf_container_vector_argpointer to all LeafContainerT objects in the octree
do_XOR_encoding_argselect 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 225 of file octree2buf_base.hpp.

◆ serializeTreeCallback()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
virtual void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeCallback ( LeafContainerT &  ,
const OctreeKey  
)
inlineprotectedvirtual

Callback executed for every leaf node data during serialization.

Definition at line 925 of file octree2buf_base.h.

◆ serializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::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 
)
protected

Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content.

Parameters
branch_argcurrent branch node
key_argreference to an octree key
binary_tree_out_argbinary output vector
leaf_container_vector_argvector to return pointers to all leaf container in the tree.
do_XOR_encoding_argselect 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_argexecute callback only for leaf nodes that did not exist in preceding buffer

Definition at line 559 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(), and pcl::octree::OctreeKey::pushBranch().

◆ setBranchChildPtr()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setBranchChildPtr ( BranchNode branch_arg,
unsigned char  child_idx_arg,
OctreeNode new_child_arg 
)
inlineprotected

Assign new child node to branch.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node
new_child_argpointer to new child node

Definition at line 629 of file octree2buf_base.h.

References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().

◆ setMaxVoxelIndex()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex ( uindex_t  max_voxel_index_arg)

Set the maximum amount of voxels per dimension.

Parameters
max_voxel_index_argmaximum amount of voxels per dimension

Definition at line 62 of file octree2buf_base.hpp.

References pcl::octree::OctreeKey::maxDepth.

◆ setTreeDepth()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth ( uindex_t  depth_arg)

Set the maximum depth of the octree.

Parameters
depth_argmaximum depth of octree

Definition at line 87 of file octree2buf_base.hpp.

◆ switchBuffers()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers

Switch buffers and reset current octree structure.

Definition at line 182 of file octree2buf_base.hpp.

◆ treeCleanUpRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive ( BranchNode branch_arg)
protected

Friends And Related Function Documentation

◆ OctreeBreadthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
friend class OctreeBreadthFirstIterator< OctreeT >
friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeDepthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
friend class OctreeDepthFirstIterator< OctreeT >
friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeIteratorBase< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
friend class OctreeIteratorBase< OctreeT >
friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeLeafNodeBreadthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
friend class OctreeLeafNodeBreadthFirstIterator< OctreeT >
friend

Definition at line 205 of file octree2buf_base.h.

◆ OctreeLeafNodeDepthFirstIterator< OctreeT >

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
friend class OctreeLeafNodeDepthFirstIterator< OctreeT >
friend

Definition at line 205 of file octree2buf_base.h.

Member Data Documentation

◆ branch_count_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_ {1}
protected

◆ buffer_selector_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
unsigned char pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_ {0}
protected

◆ depth_mask_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_ {0}
protected

◆ dynamic_depth_enabled_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_ {false}
protected

Enable dynamic_depth.

Note
Note that this parameter is ignored in octree2buf!

Definition at line 1001 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().

◆ leaf_count_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
std::size_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_ {0}
protected

◆ max_key_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
OctreeKey pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_
protected

◆ octree_depth_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
uindex_t pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_ {0}
protected

◆ root_node_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
BranchNode* pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_
protected

◆ tree_dirty_flag_

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_ {false}
protected

flags indicating if unused branches and leafs might exist in previous buffer

Definition at line 994 of file octree2buf_base.h.

Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf().


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