 Octree pointcloud density class More... #include <pcl/octree/octree_pointcloud_density.h>          
  
 Public Member Functions 
 

OctreePointCloudDensity (const double resolution_arg)
 
 

OctreePointCloudDensity class constructor. More...

   
 

~OctreePointCloudDensity ()
 
 
Empty class deconstructor. More...

   

uindex_t 

getVoxelDensityAtPoint (const PointT &point_arg) const
 
 
Get the amount of points within a leaf node voxel which is addressed by a point. More...

   
 Public Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty >
 
 

OctreePointCloud (const double resolution_arg)
 
 
Octree pointcloud constructor. More...

   
void 

setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
 
 
Provide a pointer to the input data set. More...

   
const IndicesConstPtr 

getIndices () const
 
 
Get a pointer to the vector of indices used. More...

   

PointCloudConstPtr 

getInputCloud () const
 
 
Get a pointer to the input point cloud dataset. More...

   
void 

setEpsilon (double eps)
 
 
Set the search epsilon precision (error bound) for nearest neighbors searches. More...

   
double 

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

   
void 

setResolution (double resolution_arg)
 
 
Set/change the octree voxel resolution. More...

   
double 

getResolution () const
 
 
Get octree voxel resolution. More...

   

uindex_t 

getTreeDepth () const
 
 
Get the maximum depth of the octree. More...

   
void 

addPointsFromInputCloud ()
 
 
Add points from input point cloud to octree. More...

   
void 

addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg)
 
 
Add point at given index from input point cloud to octree. More...

   
void 

addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
 
 
Add point simultaneously to octree and input point cloud. More...

   
void 

addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
 
 
Add point simultaneously to octree and input point cloud. More...

   
bool 

isVoxelOccupiedAtPoint (const PointT &point_arg) const
 
 
Check if voxel at given point exist. More...

   
bool 

isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const
 
 
Check if voxel at given point coordinates exist. More...

   
bool 

isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const
 
 
Check if voxel at given point from input cloud exist. More...

   
void 

deleteTree ()
 
 
Delete the octree structure and its leaf nodes. More...

   

uindex_t 

getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
 
 
Get a PointT vector of centers of all occupied voxels. More...

   

uindex_t 

getApproxIntersectedVoxelCentersBySegment (const Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Vector3f &origin, const Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2)
 
 
Get a PointT vector of centers of voxels intersected by a line segment. More...

   
void 

deleteVoxelAtPoint (const PointT &point_arg)
 
 
Delete leaf node / voxel at given point. More...

   
void 

deleteVoxelAtPoint (const index_t &point_idx_arg)
 
 
Delete leaf node / voxel at given point from input cloud. More...

   
void 

defineBoundingBox ()
 
 
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...

   
void 

defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)
 
 
Define bounding box for octree. More...

   
void 

defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
 
 
Define bounding box for octree. More...

   
void 

defineBoundingBox (const double cubeLen_arg)
 
 
Define bounding box cube for octree. More...

   
void 

getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const
 
 
Get bounding box for octree. More...

   
double 

getVoxelSquaredDiameter (uindex_t tree_depth_arg) const
 
 
Calculates the squared diameter of a voxel at given tree depth. More...

   
double 

getVoxelSquaredDiameter () const
 
 
Calculates the squared diameter of a voxel at leaf depth. More...

   
double 

getVoxelSquaredSideLen (uindex_t tree_depth_arg) const
 
 
Calculates the squared voxel cube side length at given tree depth. More...

   
double 

getVoxelSquaredSideLen () const
 
 
Calculates the squared voxel cube side length at leaf level. More...

   
void 

getVoxelBounds (const OctreeIteratorBase< OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty > > &iterator, Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Vector3f &min_pt, Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Vector3f &max_pt) const
 
 
Generate bounds of the current voxel of an octree iterator. More...

   
void 

enableDynamicDepth (st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t maxObjsPerLeaf)
 
 
Enable dynamic octree structure. More...

   
 Public Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty >
 

Iterator 

begin (uindex_t max_depth_arg=0u)
   
const Iterator 

end ()
   

LeafNodeDepthFirstIterator 

leaf_depth_begin (uindex_t max_depth_arg=0u)
   
const LeafNodeDepthFirstIterator 

leaf_depth_end ()
   

DepthFirstIterator 

depth_begin (uindex_t max_depth_arg=0u)
   
const DepthFirstIterator 

depth_end ()
   

BreadthFirstIterator 

breadth_begin (uindex_t max_depth_arg=0u)
   
const BreadthFirstIterator 

breadth_end ()
   

FixedDepthIterator 

fixed_depth_begin (uindex_t fixed_depth_arg=0u)
   
const FixedDepthIterator 

fixed_depth_end ()
   

LeafNodeBreadthFirstIterator 

leaf_breadth_begin (uindex_t max_depth_arg=0u)
   
const LeafNodeBreadthFirstIterator 

leaf_breadth_end ()
   
 

OctreeBase ()
 
 
Empty constructor. More...

   
 

OctreeBase (const OctreeBase &source)
 
 
Copy constructor. More...

   
virtual 

~OctreeBase ()
 
 
Empty deconstructor. More...

   

OctreeBase & 

operator= (const OctreeBase &source)
 
 
Copy operator. More...

   
void 

setMaxVoxelIndex (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...

   

OctreePointCloudDensityContainer * 

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...

   

OctreePointCloudDensityContainer * 

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
 
 
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...

   
st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t 

getLeafCount () const
 
 
Return the amount of existing leafs in the octree. More...

   
st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_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 (st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char > &binary_tree_out_arg)
 
 
Serialize octree into a binary output vector describing its branch node structure. More...

   
void 

serializeTree (st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char > &binary_tree_out_arg, st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< OctreePointCloudDensityContainer * > &leaf_container_vector_arg)
 
 
Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More...

   
void 

serializeLeafs (st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< OctreePointCloudDensityContainer * > &leaf_container_vector_arg)
 
 
Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More...

   
void 

deserializeTree (st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char > &binary_tree_input_arg)
 
 
Deserialize a binary octree description vector and create a corresponding octree structure. More...

   
void 

deserializeTree (st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char > &binary_tree_input_arg, st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< OctreePointCloudDensityContainer * > &leaf_container_vector_arg)
 
 
Deserialize a binary octree description and create a corresponding octree structure. More...

   
 
 Additional Inherited Members 
 Public Types inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty >
 
using 

Base = OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty >
   
using 

LeafNode = typename OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty > 8b7c:f320:99b9:690f:4595:cd17:293a:c069LeafNode

   
using 

BranchNode = typename OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty > 8b7c:f320:99b9:690f:4595:cd17:293a:c069ranchNode

   
using 

IndicesPtr = shared_ptr< Indices >
   
using 

IndicesConstPtr = shared_ptr< const Indices >
   
using 

PointCloud = pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069PointCloud< PointT >
   
using 

PointCloudPtr = typename PointClou8b7c:f320:99b9:690f:4595:cd17:293a:c069Ptr

   
using 

PointCloudConstPtr = typename PointClou8b7c:f320:99b9:690f:4595:cd17:293a:c069ConstPtr

   
using 

SingleBuffer = OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty, OctreeBase< OctreePointCloudDensityContainer > >
   
using 

Ptr = shared_ptr< OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty, OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty > > >
   
using 

ConstPtr = shared_ptr< const OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty, OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty > > >
   
using 

AlignedPointTVector = st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< PointT, Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069ligned_allocator< PointT > >
   
using 

AlignedPointXYZVector = st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< PointXYZ, Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069ligned_allocator< PointXYZ > >
   
 Public Types inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty >
 
using 

OctreeT = OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty >
   
using 

BranchNode = OctreeBranchNode< OctreeContainerEmpty >
   
using 

LeafNode = OctreeLeafNode< OctreePointCloudDensityContainer >
   
using 

BranchContainer = OctreeContainerEmpty

   
using 

LeafContainer = OctreePointCloudDensityContainer

   
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 

FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >
   
using 

ConstFixedDepthIterator = const OctreeFixedDepthIterator< OctreeT >
   
using 

LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >
   
using 

ConstLeafNodeBreadthFirstIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT >
   
 Protected Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty >
 
virtual void 

addPointIdx (uindex_t point_idx_arg)
 
 
Add point at index from input pointcloud dataset to octree. More...

   
void 

expandLeafNode (LeafNode *leaf_node, BranchNode *parent_branch, unsigned char child_idx, uindex_t depth_mask)
 
 
Add point at index from input pointcloud dataset to octree. More...

   
const PointT & 

getPointByIndex (uindex_t index_arg) const
 
 
Get point at index from input pointcloud dataset. More...

   

OctreePointCloudDensityContainer * 

findLeafAtPoint (const PointT &point_arg) const
 
 
Find octree leaf node at a given point. More...

   
void 

getKeyBitSize ()
 
 
Define octree key setting and octree depth based on defined bounding box. More...

   
void 

adoptBoundingBoxToPoint (const PointT &point_idx_arg)
 
 
Grow the bounding box/octree until point fits. More...

   
bool 

isPointWithinBoundingBox (const PointT &point_idx_arg) const
 
 
Checks if given point is within the bounding box of the octree. More...

   
void 

genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
 
 
Generate octree key for voxel at a given point. More...

   
void 

genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const
 
 
Generate octree key for voxel at a given point. More...

   
virtual bool 

genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const
 
 
Virtual method for generating octree key for a given point index. More...

   
void 

genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
 
 
Generate a point at center of leaf node voxel. More...

   
void 

genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const
 
 
Generate a point at center of octree voxel at given tree level. More...

   
void 

genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Vector3f &min_pt, Eigen8b7c:f320:99b9:690f:4595:cd17:293a:c069Vector3f &max_pt) const
 
 
Generate bounds of an octree voxel using octree key and tree depth arguments. More...

   

uindex_t 

getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const
 
 
Recursively search the tree for all leaf nodes and return a vector of voxel centers. More...

   
 Protected Member Functions inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty >
 

OctreePointCloudDensityContainer * 

createLeaf (const OctreeKey &key_arg)
 
 
Create a leaf node. More...

   

OctreePointCloudDensityContainer * 

findLeaf (const OctreeKey &key_arg) const
 
 
Find leaf node. More...

   
bool 

existLeaf (const OctreeKey &key_arg) const
 
 
Check for existence of a leaf node in the octree. More...

   
void 

removeLeaf (const OctreeKey &key_arg)
 
 
Remove leaf node from octree. More...

   

OctreeNode * 

getRootNode () const
 
 
Retrieve root node. More...

   
bool 

branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
 
 
Check if branch is pointing to a particular child node. More...

   

OctreeNode * 

getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
 
 
Retrieve a child node pointer for child node at child_idx. More...

   
void 

setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
 
 
Assign new child node to branch. More...

   
char 

getBranchBitPattern (const BranchNode &branch_arg) const
 
 
Generate bit pattern reflecting the existence of child node pointers. More...

   
void 

deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 
 
Delete child node and all its subchilds from octree. More...

   
void 

deleteBranch (BranchNode &branch_arg)
 
 
Delete branch and all its subchilds from octree. More...

   

BranchNode * 

createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 
 
Create and add a new branch child to a branch class. More...

   

LeafNode * 

createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
 
 
Create and add a new leaf child to a branch class. More...

   

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, OctreePointCloudDensityContainer *&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, st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char > *binary_tree_out_arg, typename st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< OctreePointCloudDensityContainer * > *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 st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char >8b7c:f320:99b9:690f:4595:cd17:293a:c069onst_iterator &binary_tree_input_it_arg, typename st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< char >8b7c:f320:99b9:690f:4595:cd17:293a:c069onst_iterator &binary_tree_input_it_end_arg, typename st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< OctreePointCloudDensityContainer * >8b7c:f320:99b9:690f:4595:cd17:293a:c069onst_iterator *leaf_container_vector_it_arg, typename st8b7c:f320:99b9:690f:4595:cd17:293a:c069vector< OctreePointCloudDensityContainer * >8b7c:f320:99b9:690f:4595:cd17:293a:c069onst_iterator *leaf_container_vector_it_end_arg)
 
 
Recursive method for deserializing octree structure. More...

   
virtual void 

serializeTreeCallback (OctreePointCloudDensityContainer &, const OctreeKey &) const
 
 
Callback executed for every leaf node during serialization. More...

   
virtual void 

deserializeTreeCallback (OctreePointCloudDensityContainer &, const OctreeKey &)
 
 
Callback executed for every leaf node during deserialization. More...

   
bool 

octreeCanResize ()
 
 
Test if octree is able to dynamically change its depth. More...

   
 Protected Attributes inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty >
 

PointCloudConstPtr 
input_
 
 
Pointer to input point cloud dataset. More...

   

IndicesConstPtr 
indices_
 
 
A pointer to the vector of point indices to use. More...

   
double 
epsilon_
 
 
Epsilon precision (error bound) for nearest neighbors searches. More...

   
double 
resolution_
 
 
Octree resolution. More...

   
double 
min_x_
   
double 
max_x_
   
double 
min_y_
   
double 
max_y_
   
double 
min_z_
   
double 
max_z_
   
bool 
bounding_box_defined_
 
 
Flag indicating if octree has defined bounding box. More...

   
st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t 
max_objs_per_leaf_
 
 
Amount of DataT objects per leafNode before expanding branch. More...

   
 Protected Attributes inherited from pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreeBase< OctreePointCloudDensityContainer, OctreeContainerEmpty >
 
st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t 
leaf_count_
 
 
Amount of leaf nodes  More...

   
st8b7c:f320:99b9:690f:4595:cd17:293a:c069size_t 
branch_count_
 
 
Amount of branch nodes  More...

   

BranchNode * 
root_node_
 
 
Pointer to root branch node of octree  More...

   

uindex_t 
depth_mask_
 
 
Depth mask based on octree depth  More...

   

uindex_t 
octree_depth_
 
 
Octree depth. More...

   
bool 
dynamic_depth_enabled_
 
 
Enable dynamic_depth. More...

   

OctreeKey 
max_key_
 
 
key range More...

    Detailed Description 
template<typename PointT, typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty> class pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudDensity< PointT, LeafContainerT, BranchContainerT > Octree pointcloud density class  
Note
This class generate an octrees from a point cloud (zero-copy). Only the amount of points that fall into the leaf node voxel are stored.   The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined. 
 
Template Parameters
  
PointT
type of point used in pointcloud
    
Author
Julius Kammerl (littlewilliam@example.net@littlewilliam@example.net@m..de) 
 Definition at line 113 of file octree_pointcloud_density.h. 
Constructor & Destructor Documentation  OctreePointCloudDensity()    template<typename PointT , typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty>       
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudDensity< PointT, LeafContainerT, BranchContainerT >8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudDensity  ( const double  resolution_arg
)      inline    
 OctreePointCloudDensity class constructor.  
Parameters
  
resolution_arg
octree resolution at lowest octree level 
    Definition at line 119 of file octree_pointcloud_density.h.    ~OctreePointCloudDensity()    template<typename PointT , typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty>       
pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudDensity< PointT, LeafContainerT, BranchContainerT >8b7c:f320:99b9:690f:4595:cd17:293a:c069~OctreePointCloudDensity  ( 
)      inline    
 Empty class deconstructor.  Definition at line 125 of file octree_pointcloud_density.h.   Member Function Documentation  getVoxelDensityAtPoint()    template<typename PointT , typename LeafContainerT = OctreePointCloudDensityContainer, typename BranchContainerT = OctreeContainerEmpty>       
uindex_t pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudDensity< PointT, LeafContainerT, BranchContainerT >8b7c:f320:99b9:690f:4595:cd17:293a:c069getVoxelDensityAtPoint  ( const PointT &  point_arg
)  const     inline    
 Get the amount of points within a leaf node voxel which is addressed by a point.  
Parameters
  
[in]
point_arg
a point addressing a voxel 
    
Returns
amount of points that fall within leaf node voxel 
 Definition at line 133 of file octree_pointcloud_density.h. References pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloud< PointT, OctreePointCloudDensityContainer, OctreeContainerEmpty >8b7c:f320:99b9:690f:4595:cd17:293a:c069indLeafAtPoint(), and pcl8b7c:f320:99b9:690f:4595:cd17:293a:c069octr8b7c:f320:99b9:690f:4595:cd17:293a:c069OctreePointCloudDensityContainer8b7c:f320:99b9:690f:4595:cd17:293a:c069getPointCounter().   The documentation for this class was generated from the following file: pcl/octree/octree_pointcloud_density.h
  

    © 2009–2012, Willow Garage, Inc.
{'path': 'public/docs/point_cloud_library/classpcl_1_1octree_1_1_octree_point_cloud_density.html', 'source': 'DevDocs.IO'}