Point Cloud Library (PCL)  1.3.1
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pcl::octree::Octree2BufBase Class Reference

Octree double buffer class More...

#include <pcl/octree/octree2buf_base.h>

List of all members.

Classes

class  OctreeBranch
 Octree branch class. More...
class  OctreeKey
 Octree key class More...

Public Types

typedef OctreeNodeIterator
< DataT, LeafT, Octree2BufBase
Iterator
typedef const
OctreeNodeIterator< DataT,
LeafT, Octree2BufBase
ConstIterator
typedef OctreeLeafNodeIterator
< DataT, LeafT, Octree2BufBase
LeafNodeIterator
typedef const
OctreeLeafNodeIterator< DataT,
LeafT, Octree2BufBase
ConstLeafNodeIterator

Public Member Functions

 Octree2BufBase ()
 Empty constructor.
virtual ~Octree2BufBase ()
 Empty deconstructor.
void setMaxVoxelIndex (unsigned int maxVoxelIndex_arg)
 Set the maximum amount of voxels per dimension.
void setTreeDepth (unsigned int depth_arg)
 Set the maximum depth of the octree.
unsigned int getTreeDepth ()
 Get the maximum depth of the octree.
void add (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg, const DataT &data_arg)
 Add a const DataT element to leaf node at (idxX, idxY, idxZ).
bool get (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg, DataT &data_arg) const
 Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).
bool existLeaf (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg) const
 Check for the existence of leaf node at (idxX, idxY, idxZ).
void removeLeaf (const unsigned int idxX_arg, const unsigned int idxY_arg, const unsigned int idxZ_arg)
 Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).
unsigned int getLeafCount () const
 Return the amount of existing leafs in the octree.
unsigned int getBranchCount () const
 Return the amount of existing branches in the octree.
void deleteTree (bool freeMemory_arg=false)
 Delete the octree structure and its leaf nodes.
void deletePreviousBuffer ()
 Delete octree structure of previous buffer.
void deleteCurrentBuffer ()
 Delete the octree structure in the current buffer.
void switchBuffers ()
 Switch buffers and reset current octree structure.
void serializeTree (std::vector< char > &binaryTreeOut_arg, bool doXOREncoding_arg=false)
 Serialize octree into a binary output vector describing its branch node structure.
void serializeTree (std::vector< char > &binaryTreeOut_arg, std::vector< DataT > &dataVector_arg, bool doXOREncoding_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.
void serializeLeafs (std::vector< DataT > &dataVector_arg)
 Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
void serializeNewLeafs (std::vector< DataT > &dataVector_arg, const int minPointsPerLeaf_arg=0)
 Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.
void deserializeTree (std::vector< char > &binaryTreeIn_arg, bool doXORDecoding_arg=false)
 Deserialize a binary octree description vector and create a corresponding octree structure.
void deserializeTree (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg, bool doXORDecoding_arg=false)
 Deserialize a binary octree description and create a corresponding octree structure.
void deserializeTreeAndOutputLeafData (std::vector< char > &binaryTreeIn_arg, std::vector< DataT > &dataVector_arg, bool doXORDecoding_arg=false)
 Deserialize a binary octree description vector and create a corresponding octree structure.

Friends

class OctreeNodeIterator< DataT, LeafT, Octree2BufBase >
class OctreeLeafNodeIterator< DataT, LeafT, Octree2BufBase >

Detailed Description

Octree double buffer class

Note:
This octree implementation keeps two separate octree structures in memory. This enables to create octree structures at high rate due to an advanced memory management.
Furthermore, it allows for detecting and differentially compare the adjacent octree structures.
The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined).
All leaf nodes are addressed by integer indices.
Note: The tree depth equates to the bit length of the voxel indices.
Author:
Julius Kammerl (julius@kammerl.de)

Member Typedef Documentation

Definition at line 77 of file octree2buf_base.h.

Definition at line 81 of file octree2buf_base.h.

Definition at line 76 of file octree2buf_base.h.

Definition at line 80 of file octree2buf_base.h.


Constructor & Destructor Documentation

pcl::octree::Octree2BufBase::Octree2BufBase ( )

Empty constructor.

Definition at line 51 of file octree2buf_base.hpp.

pcl::octree::Octree2BufBase::~Octree2BufBase ( ) [virtual]

Empty deconstructor.

Definition at line 68 of file octree2buf_base.hpp.


Member Function Documentation

void pcl::octree::Octree2BufBase::add ( const unsigned int  idxX_arg,
const unsigned int  idxY_arg,
const unsigned int  idxZ_arg,
const DataT &  data_arg 
)

Add a const DataT element to leaf node at (idxX, idxY, idxZ).

If leaf node does not exist, it is added to the octree.

Parameters:
idxX_arg,:index of leaf node in the X axis.
idxY_arg,:index of leaf node in the Y axis.
idxZ_arg,:index of leaf node in the Z axis.
data_arg,:const reference to DataT object that is fed to the lead node.

Definition at line 113 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::deleteCurrentBuffer ( ) [inline]

Delete the octree structure in the current buffer.

Definition at line 181 of file octree2buf_base.h.

void pcl::octree::Octree2BufBase::deletePreviousBuffer ( ) [inline]

Delete octree structure of previous buffer.

Definition at line 174 of file octree2buf_base.h.

void pcl::octree::Octree2BufBase::deleteTree ( bool  freeMemory_arg = false)

Delete the octree structure and its leaf nodes.

Parameters:
freeMemory_arg,:if "true", allocated octree nodes are deleted, otherwise they are pushed to the octree node pool

Definition at line 186 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::deserializeTree ( std::vector< char > &  binaryTreeIn_arg,
bool  doXORDecoding_arg = false 
)

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

Leaf nodes are initialized with getDataTByKey(..).

Parameters:
binaryTreeIn_arg,:reference to input vector for reading binary tree structure.
doXORDecoding_arg,:select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 296 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::deserializeTree ( std::vector< char > &  binaryTreeIn_arg,
std::vector< DataT > &  dataVector_arg,
bool  doXORDecoding_arg = false 
)

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

Leaf nodes are initialized with DataT elements from the dataVector.

Parameters:
binaryTreeIn_arg,:reference to inpvectoream for reading binary tree structure.
dataVector_arg,:reference to DataT vector that provides DataT objects for initializing leaf nodes.
doXORDecoding_arg,:select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 320 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::deserializeTreeAndOutputLeafData ( std::vector< char > &  binaryTreeIn_arg,
std::vector< DataT > &  dataVector_arg,
bool  doXORDecoding_arg = false 
)

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

Leaf nodes are initialized with getDataTByKey(..). Generated DataT objects are copied to output vector.

Parameters:
binaryTreeIn_arg,:reference to input vector for reading binary tree structure.
dataVector_arg,:reference to DataT vector that receives a copy of generated DataT objects.
doXORDecoding_arg,:select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 351 of file octree2buf_base.hpp.

bool pcl::octree::Octree2BufBase::existLeaf ( const unsigned int  idxX_arg,
const unsigned int  idxY_arg,
const unsigned int  idxZ_arg 
) const

Check for the existence of leaf node at (idxX, idxY, idxZ).

Parameters:
idxX_arg,:index of leaf node in the X axis.
idxY_arg,:index of leaf node in the Y axis.
idxZ_arg,:index of leaf node in the Z axis.
Returns:
"true" if leaf node search is successful, otherwise it returns "false".

Definition at line 156 of file octree2buf_base.hpp.

bool pcl::octree::Octree2BufBase::get ( const unsigned int  idxX_arg,
const unsigned int  idxY_arg,
const unsigned int  idxZ_arg,
DataT &  data_arg 
) const

Retrieve a DataT element from leaf node at (idxX, idxY, idxZ).

It returns false if leaf node does not exist.

Parameters:
idxX_arg,:index of leaf node in the X axis.
idxY_arg,:index of leaf node in the Y axis.
idxZ_arg,:index of leaf node in the Z axis.
data_arg,:reference to DataT object that contains content of leaf node if search was successful.
Returns:
"true" if leaf node search is successful, otherwise it returns "false".

Definition at line 131 of file octree2buf_base.hpp.

unsigned int pcl::octree::Octree2BufBase::getBranchCount ( ) const [inline]

Return the amount of existing branches in the octree.

Returns:
amount of branch nodes.

Definition at line 161 of file octree2buf_base.h.

unsigned int pcl::octree::Octree2BufBase::getLeafCount ( ) const [inline]

Return the amount of existing leafs in the octree.

Returns:
amount of registered leaf nodes.

Definition at line 152 of file octree2buf_base.h.

unsigned int pcl::octree::Octree2BufBase::getTreeDepth ( ) [inline]

Get the maximum depth of the octree.

Returns:
depth_arg: maximum depth of octree

Definition at line 106 of file octree2buf_base.h.

void pcl::octree::Octree2BufBase::removeLeaf ( const unsigned int  idxX_arg,
const unsigned int  idxY_arg,
const unsigned int  idxZ_arg 
)

Remove leaf node at (idxX_arg, idxY_arg, idxZ_arg).

Parameters:
idxX_arg,:index of leaf node in the X axis.
idxY_arg,:index of leaf node in the Y axis.
idxZ_arg,:index of leaf node in the Z axis.

Definition at line 171 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::serializeLeafs ( std::vector< DataT > &  dataVector_arg)

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

Parameters:
dataVector_arg,:reference to DataT vector that receives a copy of all DataT objects in the octree.

Definition at line 277 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::serializeNewLeafs ( std::vector< DataT > &  dataVector_arg,
const int  minPointsPerLeaf_arg = 0 
)

Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.

Parameters:
dataVector_arg,:reference to DataT vector that receives a copy of all DataT objects in the octree.
minPointsPerLeaf_arg,:minimum amount of points required within leaf node to become serialized.

Definition at line 378 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::serializeTree ( std::vector< char > &  binaryTreeOut_arg,
bool  doXOREncoding_arg = false 
)

Serialize octree into a binary output vector describing its branch node structure.

Parameters:
binaryTreeOut_arg,:reference to output vector for writing binary tree structure.
doXOREncoding_arg,:select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 234 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::serializeTree ( std::vector< char > &  binaryTreeOut_arg,
std::vector< DataT > &  dataVector_arg,
bool  doXOREncoding_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:
binaryTreeOut_arg,:reference to output vector for writing binary tree structure.
dataVector_arg,:reference of DataT vector that receives a copy of all DataT objects in the octree
doXOREncoding_arg,:select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree

Definition at line 253 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::setMaxVoxelIndex ( unsigned int  maxVoxelIndex_arg)

Set the maximum amount of voxels per dimension.

Parameters:
maxVoxelIndex_arg,:maximum amount of voxels per dimension

Definition at line 80 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::setTreeDepth ( unsigned int  depth_arg)

Set the maximum depth of the octree.

Parameters:
depth_arg,:maximum depth of octree

Definition at line 98 of file octree2buf_base.hpp.

void pcl::octree::Octree2BufBase::switchBuffers ( )

Switch buffers and reset current octree structure.

Definition at line 212 of file octree2buf_base.hpp.


Friends And Related Function Documentation

friend class OctreeLeafNodeIterator< DataT, LeafT, Octree2BufBase > [friend]

Definition at line 71 of file octree2buf_base.h.

friend class OctreeNodeIterator< DataT, LeafT, Octree2BufBase > [friend]

Definition at line 70 of file octree2buf_base.h.


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