Octree pointcloud compression class More...

#include <pcl/compression/octree_pointcloud_compression.h>

Inheritance diagram for pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >:

Collaboration diagram for pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >:

Public Types
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::PointCloud	PointCloud
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::PointCloudPtr	PointCloudPtr
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::PointCloudConstPtr	PointCloudConstPtr
typedef OctreePointCloud < PointT, LeafT, OctreeT > ::OctreeKey	OctreeKey
typedef OctreeT::OctreeLeaf	OctreeLeaf
typedef PointCloudCompression < PointT, LeafT, Octree2BufBase< int, LeafT > >	RealTimeStreamCompression
typedef PointCloudCompression < PointT, LeafT, OctreeLowMemBase< int, LeafT > >	SinglePointCloudCompressionLowMemory
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef OctreePointCloud < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer
typedef OctreePointCloud < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer
typedef OctreePointCloud < PointT, LeafT, OctreeLowMemBase< int, LeafT > >	LowMem
typedef boost::shared_ptr < OctreePointCloud< PointT, LeafT, OctreeT > >	Ptr
typedef boost::shared_ptr < const OctreePointCloud < PointT, LeafT, OctreeT > >	ConstPtr
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
Public Member Functions
	PointCloudCompression (compression_Profiles_e compressionProfile_arg=MED_RES_ONLINE_COMPRESSION_WITH_COLOR, bool showStatistics_arg=false, const double pointResolution_arg=0.001, const double octreeResolution_arg=0.01, bool doVoxelGridDownDownSampling_arg=false, const unsigned int iFrameRate_arg=30, bool doColorEncoding_arg=true, const unsigned char colorBitResolution_arg=6)
	Constructor.
virtual	~PointCloudCompression ()
	Empty deconstructor.
void	setOutputCloud (const PointCloudPtr &cloud_arg)
	Provide a pointer to the output data set.
PointCloudPtr	getOutputCloud ()
	Get a pointer to the output point cloud dataset.
void	encodePointCloud (const PointCloudConstPtr &cloud_arg, std::ostream &compressedTreeDataOut_arg)
	Encode point cloud to output stream.
void	decodePointCloud (std::istream &compressedTreeDataIn_arg, PointCloudPtr &cloud_arg)
	Decode point cloud from input stream.
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
IndicesConstPtr const	getIndices ()
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
double	getEpsilon ()
	Get the search epsilon precision (error bound) for nearest neighbors searches.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
double	getResolution ()
	Get octree voxel resolution.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (const int pointIdx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
bool	isVoxelOccupiedAtPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg) const
	Check if voxel at given point coordinates exist.
bool	isVoxelOccupiedAtPoint (const int &pointIdx_arg) const
	Check if voxel at given point from input cloud exist.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
int	getOccupiedVoxelCenters (AlignedPointTVector &voxelCenterList_arg) const
	Get a PointT vector of centers of all occupied voxels.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const int &pointIdx_arg)
	Delete leaf node / voxel at given point from input cloud.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
void	defineBoundingBox (const double minX_arg, const double minY_arg, const double minZ_arg, const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
void	getBoundingBox (double &minX_arg, double &minY_arg, double &minZ_arg, double &maxX_arg, double &maxY_arg, double &maxZ_arg) const
	Get bounding box for octree.
double	getVoxelSquaredDiameter (unsigned int treeDepth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (unsigned int treeDepth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>
class pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >

Octree pointcloud compression class

Note:: This class enables compression and decompression of point cloud data based on octree data structures.; typename: PointT: type of point used in pointcloud

Author:: Julius Kammerl (julius@kammerl.de)

Definition at line 73 of file octree_pointcloud_compression.h.

Member Typedef Documentation

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::AlignedPointTVector [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 108 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const OctreePointCloud<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::ConstPtr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 105 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::DoubleBuffer [inherited]

Reimplemented in pcl::octree::OctreePointCloudDensity< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudSinglePoint< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 100 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::IndicesConstPtr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 92 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::IndicesPtr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 91 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeLowMemBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::LowMem [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 101 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::OctreeKey pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::OctreeKey

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 83 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef OctreeT::OctreeLeaf pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::OctreeLeaf

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 84 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::PointCloud pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::PointCloud

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 79 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudConstPtr pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::PointCloudConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 81 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef OctreePointCloud<PointT, LeafT, OctreeT>::PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::PointCloudPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 80 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<OctreePointCloud<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::Ptr [inherited]

Reimplemented in pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 104 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef PointCloudCompression<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::RealTimeStreamCompression

Definition at line 86 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloud<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::SingleBuffer [inherited]

Reimplemented in pcl::octree::OctreePointCloudDensity< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudOccupancy< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudPointVector< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudSinglePoint< PointT, LeafT, OctreeT >, pcl::octree::OctreePointCloudVoxelCentroid< PointT, LeafT, OctreeT >, and pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >.

Definition at line 99 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

typedef PointCloudCompression<PointT, LeafT, OctreeLowMemBase<int, LeafT> > pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::SinglePointCloudCompressionLowMemory

Definition at line 87 of file octree_pointcloud_compression.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::PointCloudCompression	(	compression_Profiles_e	compressionProfile_arg = `MED_RES_ONLINE_COMPRESSION_WITH_COLOR`,
		bool	showStatistics_arg = `false`,
		const double	pointResolution_arg = `0.001`,
		const double	octreeResolution_arg = `0.01`,
		bool	doVoxelGridDownDownSampling_arg = `false`,
		const unsigned int	iFrameRate_arg = `30`,
		bool	doColorEncoding_arg = `true`,
		const unsigned char	colorBitResolution_arg = `6`
	)		`[inline]`

Constructor.

Parameters:

compressionProfile_arg,:	define compression profile
octreeResolution_arg,:	octree resolution at lowest octree level
pointResolution_arg,:	precision of point coordinates
doVoxelGridDownDownSampling_arg,:	voxel grid filtering
iFrameRate_arg,:	i-frame encoding rate
doColorEncoding_arg,:	enable/disable color coding
colorBitResolution_arg,:	color bit depth
showStatistics_arg,:	output compression statistics

Definition at line 99 of file octree_pointcloud_compression.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

virtual pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::~PointCloudCompression ( ) [inline, virtual]

Empty deconstructor.

Definition at line 149 of file octree_pointcloud_compression.h.

Member Function Documentation

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointFromCloud	(	const int	pointIdx_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point at given index from input point cloud to octree.

Index will be also added to indices vector.

Parameters:

pointIdx_arg	index of point to be added
indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 114 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointsFromInputCloud ( ) [inherited]

Add points from input point cloud to octree.

Definition at line 74 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

Parameters:

point_arg	point to be added
cloud_arg	pointer to input point cloud dataset (given by setInputCloud)

Definition at line 129 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters:

point_arg	point to be added
cloud_arg	pointer to input point cloud dataset (given by setInputCloud)
indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 141 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::decodePointCloud	(	std::istream &	compressedTreeDataIn_arg,
		PointCloudPtr &	cloud_arg
	)

Decode point cloud from input stream.

Parameters:

compressedTreeDataIn_arg,:	binary input stream containing compressed data
cloud_arg,:	reference to decoded point cloud

Definition at line 175 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox ( ) [inherited]

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

Definition at line 244 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox	(	const double	minX_arg,
		const double	minY_arg,
		const double	minZ_arg,
		const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

Note:: Bounding box cannot be changed once the octree contains elements.

Parameters:

minX_arg	X coordinate of lower bounding box corner
minY_arg	Y coordinate of lower bounding box corner
minZ_arg	Z coordinate of lower bounding box corner
maxX_arg	X coordinate of upper bounding box corner
maxY_arg	Y coordinate of upper bounding box corner
maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 281 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox	(	const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

Note:: Lower bounding box point is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters:

maxX_arg	X coordinate of upper bounding box corner
maxY_arg	Y coordinate of upper bounding box corner
maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 320 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox ( const double cubeLen_arg ) [inherited]

Define bounding box cube for octree.

Note:: Lower bounding box corner is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters:

cubeLen_arg side length of bounding box cube.

Definition at line 358 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteTree ( ) [inline, inherited]

Delete the octree structure and its leaf nodes.

Definition at line 215 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteVoxelAtPoint ( const PointT & point_arg ) [inherited]

Delete leaf node / voxel at given point.

Parameters:

point_arg point addressing the voxel to be deleted.

Definition at line 201 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteVoxelAtPoint ( const int & pointIdx_arg ) [inherited]

Delete leaf node / voxel at given point from input cloud.

Parameters:

pointIdx_arg index of point addressing the voxel to be deleted.

Definition at line 214 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::encodePointCloud	(	const PointCloudConstPtr &	cloud_arg,
		std::ostream &	compressedTreeDataOut_arg
	)

Encode point cloud to output stream.

Parameters:

cloud_arg,:	point cloud to be compressed
compressedTreeDataOut_arg,:	binary output stream containing compressed data

Definition at line 60 of file octree_pointcloud_compression.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getBoundingBox	(	double &	minX_arg,
		double &	minY_arg,
		double &	minZ_arg,
		double &	maxX_arg,
		double &	maxY_arg,
		double &	maxZ_arg
	)		const `[inherited]`

Get bounding box for octree.

Note:: Bounding box cannot be changed once the octree contains elements.

Parameters:

minX_arg	X coordinate of lower bounding box corner
minY_arg	Y coordinate of lower bounding box corner
minZ_arg	Z coordinate of lower bounding box corner
maxX_arg	X coordinate of upper bounding box corner
maxY_arg	Y coordinate of upper bounding box corner
maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 393 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getEpsilon ( ) [inline, inherited]

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 155 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Returns:: pointer to vector of indices used.

Definition at line 130 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Returns:: pointer to pointcloud input class.

Definition at line 139 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getOccupiedVoxelCenters ( AlignedPointTVector & voxelCenterList_arg ) const [inherited]

Get a PointT vector of centers of all occupied voxels.

Parameters:

voxelCenterList_arg results are written to this vector of PointT elements

Returns:: number of occupied voxels

Definition at line 227 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

PointCloudPtr pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::getOutputCloud ( ) [inline]

Get a pointer to the output point cloud dataset.

Returns:: pointer to pointcloud output class.

Definition at line 169 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getResolution ( ) [inline, inherited]

Get octree voxel resolution.

Returns:: voxel resolution at lowest tree level

Definition at line 175 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredDiameter ( ) const [inline, inherited]

Calculates the squared diameter of a voxel at leaf depth.

Returns:: squared diameter

Definition at line 325 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredDiameter ( unsigned int treeDepth_arg ) const [inherited]

Calculates the squared diameter of a voxel at given tree depth.

Parameters:

treeDepth_arg depth/level in octree

Returns:: squared diameter

Definition at line 743 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredSideLen ( ) const [inline, inherited]

Calculates the squared voxel cube side length at leaf level.

Returns:: squared voxel cube side length

Definition at line 341 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredSideLen ( unsigned int treeDepth_arg ) const [inherited]

Calculates the squared voxel cube side length at given tree depth.

Parameters:

treeDepth_arg depth/level in octree

Returns:: squared voxel cube side length

Definition at line 727 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint ( const PointT & point_arg ) const [inherited]

Check if voxel at given point exist.

Parameters:

point_arg point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 157 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint ( const int & pointIdx_arg ) const [inherited]

Check if voxel at given point from input cloud exist.

Parameters:

pointIdx_arg point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 172 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg
	)		const `[inherited]`

Check if voxel at given point coordinates exist.

Parameters:

pointX_arg	X coordinate of point to be checked
pointY_arg	Y coordinate of point to be checked
pointZ_arg	Z coordinate of point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 186 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setEpsilon ( double eps ) [inline, inherited]

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters:

eps	precision (error bound) for nearest neighbors searches

Definition at line 148 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = `IndicesConstPtr ()`
	)		`[inline, inherited]`

Provide a pointer to the input data set.

Parameters:

cloud_arg	the const boost shared pointer to a PointCloud message
indices_arg	the point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 115 of file octree_pointcloud.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>

void pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >::setOutputCloud ( const PointCloudPtr & cloud_arg ) [inline]

Provide a pointer to the output data set.

Parameters:

cloud_arg,: the boost shared pointer to a PointCloud message

Definition at line 157 of file octree_pointcloud_compression.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setResolution ( double resolution_arg ) [inline, inherited]

Set/change the octree voxel resolution.

Parameters:

resolution_arg side length of voxels at lowest tree level

Definition at line 164 of file octree_pointcloud.h.

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

/builddir/build/BUILD/PCL-1.3.1-Source/io/include/pcl/compression/octree_pointcloud_compression.h
/builddir/build/BUILD/PCL-1.3.1-Source/io/include/pcl/compression/impl/octree_pointcloud_compression.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >> class pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = Octree2BufBase<int, OctreeLeafDataTVector<int> >>
class pcl::octree::PointCloudCompression< PointT, LeafT, OctreeT >