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

Octree class. More...

#include <pcl/octree/octree_base.h>

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

Public Types

using OctreeT = OctreeBase< LeafContainerT, BranchContainerT >
 
using BranchNode = OctreeBranchNode< BranchContainerT >
 
using LeafNode = OctreeLeafNode< LeafContainerT >
 
using BranchContainer = BranchContainerT
 
using LeafContainer = LeafContainerT
 
using Iterator = OctreeDepthFirstIterator< OctreeT >
 
using ConstIterator = OctreeDepthFirstIterator< const OctreeT >
 
using LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using ConstLeafNodeIterator = OctreeLeafNodeDepthFirstIterator< const OctreeT >
 
using LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >
 
using ConstLeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< const OctreeT >
 
using DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >
 
using ConstDepthFirstIterator = OctreeDepthFirstIterator< const OctreeT >
 
using BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >
 
using ConstBreadthFirstIterator = OctreeBreadthFirstIterator< const OctreeT >
 
using FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >
 
using ConstFixedDepthIterator = OctreeFixedDepthIterator< const OctreeT >
 
using LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >
 
using ConstLeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< const OctreeT >
 

Public Member Functions

Iterator begin (uindex_t max_depth_arg=0u)
 
ConstIterator begin (uindex_t max_depth_arg=0u) const
 
ConstIterator cbegin (uindex_t max_depth_arg=0u) const
 
const Iterator end ()
 
const ConstIterator end () const
 
const ConstIterator cend () const
 
LeafNodeDepthFirstIterator leaf_depth_begin (uindex_t max_depth_arg=0u)
 
ConstLeafNodeDepthFirstIterator leaf_depth_begin (uindex_t max_depth_arg=0u) const
 
const LeafNodeDepthFirstIterator leaf_depth_end ()
 
const ConstLeafNodeDepthFirstIterator leaf_depth_end () const
 
DepthFirstIterator depth_begin (uindex_t max_depth_arg=0u)
 
ConstDepthFirstIterator depth_begin (uindex_t max_depth_arg=0u) const
 
const DepthFirstIterator depth_end ()
 
const ConstDepthFirstIterator depth_end () const
 
BreadthFirstIterator breadth_begin (uindex_t max_depth_arg=0u)
 
ConstBreadthFirstIterator breadth_begin (uindex_t max_depth_arg=0u) const
 
const BreadthFirstIterator breadth_end ()
 
const ConstBreadthFirstIterator breadth_end () const
 
FixedDepthIterator fixed_depth_begin (uindex_t fixed_depth_arg=0u)
 
ConstFixedDepthIterator fixed_depth_begin (uindex_t fixed_depth_arg=0u) const
 
const FixedDepthIterator fixed_depth_end ()
 
const ConstFixedDepthIterator fixed_depth_end () const
 
LeafNodeBreadthFirstIterator leaf_breadth_begin (uindex_t max_depth_arg=0u)
 
ConstLeafNodeBreadthFirstIterator leaf_breadth_begin (uindex_t max_depth_arg=0u) const
 
const LeafNodeBreadthFirstIterator leaf_breadth_end ()
 
const ConstLeafNodeBreadthFirstIterator leaf_breadth_end () const
 
 OctreeBase ()
 Empty constructor. More...
 
virtual ~OctreeBase ()
 Empty deconstructor. More...
 
 OctreeBase (const OctreeBase &source)
 Copy constructor. More...
 
OctreeBaseoperator= (const OctreeBase &source)
 Copy operator. More...
 
void setMaxVoxelIndex (uindex_t max_voxel_index_arg)
 Set the maximum amount of voxels per dimension. More...
 
void setTreeDepth (uindex_t max_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) const
 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
 idx_x_arg 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 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) const
 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) const
 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< LeafContainerT * > &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< LeafContainerT * > &leaf_container_vector_arg)
 Deserialize a binary octree description and create a corresponding octree structure. More...
 

Protected Member Functions

LeafContainerT * createLeaf (const OctreeKey &key_arg)
 Create a leaf node. More...
 
LeafContainerT * 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...
 
OctreeNodegetRootNode () 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...
 
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. 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...
 
BranchNodecreateBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Create and add a new branch child to a branch class. More...
 
LeafNodecreateLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 Create 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)
 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 (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *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, uindex_t 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< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg)
 Recursive method for deserializing octree structure. More...
 
virtual void serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
 Callback executed for every leaf node during serialization. More...
 
virtual void deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
 Callback executed for every leaf node during deserialization. More...
 
bool octreeCanResize () const
 Test if octree is able to dynamically change its depth. 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...
 
uindex_t octree_depth_ {0}
 Octree depth. More...
 
bool dynamic_depth_enabled_ {false}
 Enable dynamic_depth. More...
 
OctreeKey max_key_
 key range More...
 

Friends

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

Detailed Description

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

Octree class.

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 62 of file octree_base.h.

Member Typedef Documentation

◆ BranchContainer

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

Definition at line 69 of file octree_base.h.

◆ BranchNode

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::BranchNode = OctreeBranchNode<BranchContainerT>

Definition at line 66 of file octree_base.h.

◆ BreadthFirstIterator

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

Definition at line 222 of file octree_base.h.

◆ ConstBreadthFirstIterator

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

Definition at line 223 of file octree_base.h.

◆ ConstDepthFirstIterator

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

Definition at line 193 of file octree_base.h.

◆ ConstFixedDepthIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::ConstFixedDepthIterator = OctreeFixedDepthIterator<const OctreeT>

Definition at line 253 of file octree_base.h.

◆ ConstIterator

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

Definition at line 115 of file octree_base.h.

◆ ConstLeafNodeBreadthFirstIterator

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

Definition at line 281 of file octree_base.h.

◆ ConstLeafNodeDepthFirstIterator

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

Definition at line 162 of file octree_base.h.

◆ ConstLeafNodeIterator

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

Definition at line 158 of file octree_base.h.

◆ DepthFirstIterator

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

Definition at line 192 of file octree_base.h.

◆ FixedDepthIterator

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
using pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::FixedDepthIterator = OctreeFixedDepthIterator<OctreeT>

Definition at line 252 of file octree_base.h.

◆ Iterator

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

Definition at line 114 of file octree_base.h.

◆ LeafContainer

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

Definition at line 70 of file octree_base.h.

◆ LeafNode

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

Definition at line 67 of file octree_base.h.

◆ LeafNodeBreadthFirstIterator

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

Definition at line 280 of file octree_base.h.

◆ LeafNodeDepthFirstIterator

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

Definition at line 161 of file octree_base.h.

◆ LeafNodeIterator

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

Definition at line 157 of file octree_base.h.

◆ OctreeT

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

Definition at line 64 of file octree_base.h.

Constructor & Destructor Documentation

◆ OctreeBase() [1/2]

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

Empty constructor.

Definition at line 48 of file octree_base.hpp.

◆ ~OctreeBase()

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

Empty deconstructor.

Definition at line 54 of file octree_base.hpp.

◆ OctreeBase() [2/2]

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

Copy constructor.

Definition at line 317 of file octree_base.h.

Member Function Documentation

◆ begin() [1/2]

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

◆ begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::begin ( uindex_t  max_depth_arg = 0u) const
inline

◆ branchHasChild()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
bool pcl::octree::OctreeBase< 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 542 of file octree_base.h.

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

◆ breadth_begin() [1/2]

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

◆ breadth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
ConstBreadthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::breadth_begin ( uindex_t  max_depth_arg = 0u) const
inline

◆ breadth_end() [1/2]

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

Definition at line 240 of file octree_base.h.

◆ breadth_end() [2/2]

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

Definition at line 246 of file octree_base.h.

◆ cbegin()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::cbegin ( uindex_t  max_depth_arg = 0u) const
inline

◆ cend()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const ConstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::cend ( ) const
inline

Definition at line 148 of file octree_base.h.

◆ createBranchChild()

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

Create and add a new branch child to a branch class.

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 640 of file octree_base.h.

◆ createLeaf() [1/2]

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

◆ createLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
LeafContainerT * pcl::octree::OctreeBase< 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 129 of file octree_base.hpp.

Referenced by pcl::octree::OctreePointCloudOccupancy< PointT, LeafContainerT, BranchContainerT >::setOccupiedVoxelAtPoint().

◆ createLeafChild()

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

Create 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 654 of file octree_base.h.

◆ createLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >
uindex_t pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeafRecursive ( const OctreeKey key_arg,
uindex_t  depth_mask_arg,
BranchNode branch_arg,
LeafNode *&  return_leaf_arg,
BranchNode *&  parent_of_leaf_arg 
)
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 node
parent_of_leaf_argreturn pointer to parent of leaf node
Returns
depth mask at which leaf node was created

Definition at line 295 of file octree_base.hpp.

References pcl::octree::OctreeKey::getChildIdxWithDepthMask().

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf().

◆ deleteBranch()

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

Delete branch and all its subchilds from octree.

Parameters
branch_argreference to octree branch class

Definition at line 627 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranchChild().

◆ deleteBranchChild()

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

Delete child node and all its subchilds from octree.

Parameters
branch_argreference to octree branch class
child_idx_argindex to child node

Definition at line 596 of file octree_base.h.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranch(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::OctreeBranchNode< ContainerT >::hasChild(), and pcl::octree::LEAF_NODE.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deleteBranch().

◆ deleteLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >
bool pcl::octree::OctreeBase< 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 current branch contains child(ren); "false" otherwise. If it's true, current branch cannot be deleted.

Definition at line 393 of file octree_base.hpp.

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::removeLeaf().

◆ deleteTree()

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

Delete the octree structure and its leaf nodes.

Definition at line 171 of file octree_base.hpp.

◆ depth_begin() [1/2]

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

◆ depth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
ConstDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_begin ( uindex_t  max_depth_arg = 0u) const
inline

◆ depth_end() [1/2]

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

Definition at line 210 of file octree_base.h.

◆ depth_end() [2/2]

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

Definition at line 216 of file octree_base.h.

◆ deserializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree ( std::vector< char > &  binary_tree_input_arg)

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

Leaf nodes are initialized with getDataTByKey(..).

Parameters
binary_tree_input_argreference to input vector for reading binary tree structure.

Definition at line 238 of file octree_base.hpp.

◆ deserializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTree ( std::vector< char > &  binary_tree_input_arg,
std::vector< LeafContainerT * > &  leaf_container_vector_arg 
)

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

Leaf nodes are initialized with LeafContainerT elements from the dataVector.

Parameters
binary_tree_input_argreference to input vector for reading binary tree structure.
leaf_container_vector_argpointer to container vector.

Definition at line 262 of file octree_base.hpp.

◆ deserializeTreeCallback()

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

Callback executed for every leaf node during deserialization.

Definition at line 762 of file octree_base.h.

◆ deserializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive ( BranchNode branch_arg,
uindex_t  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< LeafContainerT * >::const_iterator *  leaf_container_vector_it_arg,
typename std::vector< LeafContainerT * >::const_iterator *  leaf_container_vector_it_end_arg 
)
protected

Recursive method for deserializing octree structure.

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_input_it_argiterator to binary input vector
binary_tree_input_it_end_argend iterator of binary input vector
leaf_container_vector_it_argiterator pointing to current LeafContainerT object to be added to a leaf node
leaf_container_vector_it_end_argiterator pointing to last object in LeafContainerT input vector.

Definition at line 502 of file octree_base.hpp.

References pcl::octree::OctreeKey::popBranch(), and pcl::octree::OctreeKey::pushBranch().

◆ end() [1/2]

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

Definition at line 136 of file octree_base.h.

◆ end() [2/2]

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

Definition at line 142 of file octree_base.h.

◆ existLeaf() [1/2]

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

Check for existence of a leaf node in the octree.

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

Definition at line 510 of file octree_base.h.

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

◆ existLeaf() [2/2]

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

idx_x_arg 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 143 of file octree_base.hpp.

◆ findLeaf() [1/2]

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

Find leaf node.

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

Definition at line 498 of file octree_base.h.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeafRecursive(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::root_node_.

◆ findLeaf() [2/2]

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

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 115 of file octree_base.hpp.

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

◆ findLeafRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< 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 node class

Definition at line 355 of file octree_base.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeKey::getChildIdxWithDepthMask(), and pcl::octree::OctreeNode::getNodeType().

Referenced by pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf().

◆ fixed_depth_begin() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
FixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_begin ( uindex_t  fixed_depth_arg = 0u)
inline

Definition at line 256 of file octree_base.h.

◆ fixed_depth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
ConstFixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_begin ( uindex_t  fixed_depth_arg = 0u) const
inline

Definition at line 262 of file octree_base.h.

◆ fixed_depth_end() [1/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const FixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_end ( )
inline

Definition at line 268 of file octree_base.h.

◆ fixed_depth_end() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
const ConstFixedDepthIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::fixed_depth_end ( ) const
inline

Definition at line 274 of file octree_base.h.

◆ getBranchBitPattern()

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

Generate bit pattern reflecting the existence of child node pointers.

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

Definition at line 577 of file octree_base.h.

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

◆ getBranchChildPtr()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
OctreeNode* pcl::octree::OctreeBase< 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 554 of file octree_base.h.

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

◆ getBranchCount()

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

Return the amount of existing branch nodes in the octree.

Returns
amount of branch nodes.

Definition at line 415 of file octree_base.h.

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

◆ getLeafCount()

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

Return the amount of existing leafs in the octree.

Returns
amount of registered leaf nodes.

Definition at line 406 of file octree_base.h.

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

◆ getRootNode()

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

Retrieve root node.

Definition at line 531 of file octree_base.h.

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

◆ getTreeDepth()

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

Get the maximum depth of the octree.

Returns
depth_arg: maximum depth of octree

Definition at line 359 of file octree_base.h.

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

◆ leaf_breadth_begin() [1/2]

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

◆ leaf_breadth_begin() [2/2]

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

◆ leaf_breadth_end() [1/2]

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

Definition at line 299 of file octree_base.h.

◆ leaf_breadth_end() [2/2]

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

Definition at line 305 of file octree_base.h.

◆ leaf_depth_begin() [1/2]

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

◆ leaf_depth_begin() [2/2]

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
ConstLeafNodeDepthFirstIterator pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin ( uindex_t  max_depth_arg = 0u) const
inline

◆ leaf_depth_end() [1/2]

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

Definition at line 180 of file octree_base.h.

◆ leaf_depth_end() [2/2]

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

Definition at line 186 of file octree_base.h.

◆ octreeCanResize()

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

Test if octree is able to dynamically change its depth.

This is required for adaptive bounding box adjustment.

Returns
"true"

Definition at line 774 of file octree_base.h.

◆ operator=()

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

◆ removeLeaf() [1/2]

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

◆ removeLeaf() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< 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 157 of file octree_base.hpp.

◆ serializeLeafs()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeLeafs ( std::vector< LeafContainerT * > &  leaf_container_vector_arg)

Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.

Parameters
leaf_container_vector_argpointers to LeafContainerT vector that receives a copy of all LeafContainerT objects in the octree.

Definition at line 222 of file octree_base.hpp.

◆ serializeTree() [1/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTree ( std::vector< char > &  binary_tree_out_arg) const

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.

Definition at line 185 of file octree_base.hpp.

◆ serializeTree() [2/2]

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTree ( std::vector< char > &  binary_tree_out_arg,
std::vector< LeafContainerT * > &  leaf_container_vector_arg 
) const

Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT 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

Definition at line 201 of file octree_base.hpp.

◆ serializeTreeCallback()

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

Callback executed for every leaf node during serialization.

Definition at line 756 of file octree_base.h.

◆ serializeTreeRecursive()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive ( const BranchNode branch_arg,
OctreeKey key_arg,
std::vector< char > *  binary_tree_out_arg,
typename std::vector< LeafContainerT * > *  leaf_container_vector_arg 
) const
protected

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

Parameters
branch_argcurrent branch node
key_argreference to an octree key
binary_tree_out_argbinary output vector
leaf_container_vector_argwrites LeafContainerT pointers to this LeafContainerT* vector.

Definition at line 445 of file octree_base.hpp.

◆ setBranchChildPtr()

template<typename LeafContainerT = index_t, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::OctreeBase< 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 565 of file octree_base.h.

◆ setMaxVoxelIndex()

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

Set the maximum amount of voxels per dimension.

Parameters
[in]max_voxel_index_argmaximum amount of voxels per dimension

Definition at line 64 of file octree_base.hpp.

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

◆ setTreeDepth()

template<typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::setTreeDepth ( uindex_t  max_depth_arg)

Set the maximum depth of the octree.

Parameters
max_depth_argmaximum depth of octree

Definition at line 87 of file octree_base.hpp.

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

Friends And Related Function Documentation

◆ OctreeBreadthFirstIterator< const OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeBreadthFirstIterator< OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeDepthFirstIterator< const OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeDepthFirstIterator< OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeFixedDepthIterator< const OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeFixedDepthIterator< OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeIteratorBase< const OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeIteratorBase< OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeLeafNodeBreadthFirstIterator< const OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeLeafNodeBreadthFirstIterator< OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeLeafNodeDepthFirstIterator< const OctreeT >

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

Definition at line 96 of file octree_base.h.

◆ OctreeLeafNodeDepthFirstIterator< OctreeT >

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

Definition at line 96 of file octree_base.h.

Member Data Documentation

◆ branch_count_

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

◆ depth_mask_

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

◆ dynamic_depth_enabled_

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

Enable dynamic_depth.

Definition at line 93 of file octree_base.h.

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

◆ leaf_count_

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

◆ max_key_

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

◆ octree_depth_

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

◆ root_node_

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

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