OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against. More...

#include <pcl/outofcore/octree_base_node.h>

Inheritance diagram for pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >:

Public Types
using	octree_disk = OutofcoreOctreeBase<OutofcoreOctreeDiskContainer < PointT > , PointT >
using	octree_disk_node = OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer < PointT > , PointT >
using	AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >
using	node_type_t = pcl::octree::node_type_t

Public Member Functions
	OutofcoreOctreeBaseNode ()
	Empty constructor; sets pointers for children and for bounding boxes to 0.
	OutofcoreOctreeBaseNode (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, OutofcoreOctreeBase< ContainerT, PointT > *const tree, const boost::filesystem::path &root_name)
	Create root node and directory.
	~OutofcoreOctreeBaseNode () override
	Will recursively delete all children calling recFreeChildrein.
virtual void	getBoundingBox (Eigen::Vector3d &min_bb, Eigen::Vector3d &max_bb) const
	gets the minimum and maximum corner of the bounding box represented by this node
const boost::filesystem::path &	getPCDFilename () const
const boost::filesystem::path &	getMetadataFilename () const
void	queryFrustum (const double planes[24], std::list< std::string > &file_names)
void	queryFrustum (const double planes[24], std::list< std::string > &file_names, const std::uint32_t query_depth, const bool skip_vfc_check=false)
void	queryFrustum (const double planes[24], const Eigen::Vector3d &eye, const Eigen::Matrix4d &view_projection_matrix, std::list< std::string > &file_names, const std::uint32_t query_depth, const bool skip_vfc_check=false)=delete
virtual void	queryBBIncludes (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::size_t query_depth, AlignedPointTVector &dst)
	Recursively add points that fall into the queried bounding box up to the query_depth.
virtual void	queryBBIncludes (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::size_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob)
	Recursively add points that fall into the queried bounding box up to the query_depth.
virtual void	queryBBIncludes_subsample (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::uint64_t query_depth, const double percent, AlignedPointTVector &v)
	Recursively add points that fall into the queried bounding box up to the query_depth.
virtual void	queryBBIncludes_subsample (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, std::uint64_t query_depth, const pcl::PCLPointCloud2::Ptr &dst_blob, double percent=1.0)
virtual void	queryBBIntersects (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const std::uint32_t query_depth, std::list< std::string > &file_names)
	Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_depth only).
virtual void	printBoundingBox (const std::size_t query_depth) const
	Write the voxel size to stdout at `query_depth`.
virtual std::uint64_t	addDataToLeaf (const AlignedPointTVector &p, const bool skip_bb_check=true)
	add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point
virtual std::uint64_t	addDataToLeaf (const std::vector< const PointT * > &p, const bool skip_bb_check=true)
virtual std::uint64_t	addPointCloud (const pcl::PCLPointCloud2::Ptr &input_cloud, const bool skip_bb_check=false)
	Add a single PCLPointCloud2 object into the octree.
virtual std::uint64_t	addPointCloud_and_genLOD (const pcl::PCLPointCloud2::Ptr input_cloud)
	Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this method of LOD construction is not multiresolution.
virtual std::uint64_t	addDataToLeaf_and_genLOD (const AlignedPointTVector &p, const bool skip_bb_check)
	Recursively add points to the leaf and children subsampling LODs on the way down.
void	writeVPythonVisual (std::ofstream &file)
	Write a python visual script to file.
virtual int	read (pcl::PCLPointCloud2::Ptr &output_cloud)
node_type_t	getNodeType () const override
	Pure virtual method for retrieving the type of octree node (branch or leaf).
OutofcoreOctreeBaseNode *	deepCopy () const override
	Pure virtual method to perform a deep copy of the octree.
virtual std::size_t	getDepth () const
virtual std::size_t	getNumChildren () const
	Returns the total number of children on disk.
virtual std::size_t	getNumLoadedChildren () const
	Count loaded children.
virtual OutofcoreOctreeBaseNode *	getChildPtr (std::size_t index_arg) const
	Returns a pointer to the child in octant index_arg.
virtual std::uint64_t	getDataSize () const
	Gets the number of points available in the PCD file.
virtual void	clearData ()
Public Member Functions inherited from pcl::octree::OctreeNode
	OctreeNode ()=default
virtual	~OctreeNode ()=default

Static Public Attributes
static const std::string	node_index_basename
static const std::string	node_container_basename
static const std::string	node_index_extension
static const std::string	node_container_extension
static const double	sample_percent_

Protected Member Functions
	OutofcoreOctreeBaseNode (const boost::filesystem::path &directory_path, OutofcoreOctreeBaseNode< ContainerT, PointT > *super, bool load_all)
	Load from disk If creating root, path is full name.
void	init_root_node (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, OutofcoreOctreeBase< ContainerT, PointT > *const tree, const boost::filesystem::path &rootname)
	Create root node and directory.
	OutofcoreOctreeBaseNode (const OutofcoreOctreeBaseNode &rval)
	no copy construction right now
OutofcoreOctreeBaseNode &	operator= (const OutofcoreOctreeBaseNode &rval)
	Operator= is not implemented.
virtual std::size_t	countNumChildren () const
	Counts the number of child directories on disk; used to update num_children_.
virtual std::size_t	countNumLoadedChildren () const
	Counts the number of loaded children by testing the `children_` array; used to update num_loaded_children_ internally.
void	saveIdx (bool recursive)
	Save node's metadata to file.
void	randomSample (const AlignedPointTVector &p, AlignedPointTVector &insertBuff, const bool skip_bb_check)
	Randomly sample point data.
void	subdividePoints (const AlignedPointTVector &p, std::vector< AlignedPointTVector > &c, const bool skip_bb_check)
	Subdivide points to pass to child nodes.
void	subdividePoint (const PointT &point, std::vector< AlignedPointTVector > &c)
	Subdivide a single point into a specific child node.
std::uint64_t	addDataAtMaxDepth (const AlignedPointTVector &p, const bool skip_bb_check=true)
	Add data to the leaf when at max depth of tree.
std::uint64_t	addDataAtMaxDepth (const pcl::PCLPointCloud2::Ptr input_cloud, const bool skip_bb_check=true)
	Add data to the leaf when at max depth of tree.
bool	intersectsWithBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const
	Tests whether the input bounding box intersects with the current node's bounding box.
bool	inBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb) const
	Tests whether the input bounding box falls inclusively within this node's bounding box.
bool	pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const Eigen::Vector3d &point)
	Tests whether `point` falls within the input bounding box.
bool	pointInBoundingBox (const PointT &p) const
	Tests if specified point is within bounds of current node's bounding box.
void	createChild (const std::size_t idx)
	Creates child node `idx`.
void	saveMetadataToFile (const boost::filesystem::path &path)
	Write JSON metadata for this node to file.
void	recFreeChildren ()
	Method which recursively free children of this node.
std::uint64_t	size () const
	Number of points in the payload.
void	flushToDiskRecursive ()
void	loadFromFile (const boost::filesystem::path &path, OutofcoreOctreeBaseNode *super)
	Loads the nodes metadata from the JSON file.
void	convertToXYZRecursive ()
	Recursively converts data files to ascii XZY files.
	OutofcoreOctreeBaseNode (const Eigen::Vector3d &bb_min, const Eigen::Vector3d &bb_max, const char dir, OutofcoreOctreeBaseNode< ContainerT, PointT > super)
	Private constructor used for children.
void	copyAllCurrentAndChildPointsRec (std::list< PointT > &v)
	Copies points from this and all children into a single point container (std::list).
void	copyAllCurrentAndChildPointsRec_sub (std::list< PointT > &v, const double percent)
bool	hasUnloadedChildren () const
	Returns whether or not a node has unloaded children data.
virtual void	loadChildren (bool recursive)
	Load nodes child data creating new nodes for each.
void	getOccupiedVoxelCentersRecursive (AlignedPointTVector &voxel_centers, const std::size_t query_depth)
	Gets a vector of occupied voxel centers.
void	getOccupiedVoxelCentersRecursive (std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &voxel_centers, const std::size_t query_depth)
	Gets a vector of occupied voxel centers.
void	sortOctantIndices (const pcl::PCLPointCloud2::Ptr &input_cloud, std::vector< pcl::Indices > &indices, const Eigen::Vector3d &mid_xyz)
	Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This could be overloaded with a parallelized implementation.
void	enlargeToCube (Eigen::Vector3d &bb_min, Eigen::Vector3d &bb_max)
	Enlarges the shortest two sidelengths of the bounding box to a cubic shape; operation is done in place.

Static Protected Member Functions
static bool	pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const PointT &p)
	Tests whether `p` falls within the input bounding box.
static bool	pointInBoundingBox (const Eigen::Vector3d &min_bb, const Eigen::Vector3d &max_bb, const double x, const double y, const double z)
	Tests whether `x`, `y`, and `z` fall within the input bounding box.

Protected Attributes
OutofcoreOctreeBase< ContainerT, PointT > *	m_tree_
	The tree we belong to.
OutofcoreOctreeBaseNode *	root_node_
	The root node of the tree we belong to.
OutofcoreOctreeBaseNode *	parent_
	super-node
std::size_t	depth_
	Depth in the tree, root is 0, root's children are 1, ...
std::vector< OutofcoreOctreeBaseNode * >	children_
	The children of this node.
std::uint64_t	num_children_
	Number of children on disk.
std::uint64_t	num_loaded_children_
	Number of loaded children this node has.
std::shared_ptr< ContainerT >	payload_
	what holds the points.
OutofcoreOctreeNodeMetadata::Ptr	node_metadata_

Static Protected Attributes
static std::mutex	rng_mutex_
	Random number generator mutex.
static std::mt19937	rng_
	Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator.
static const std::string	pcd_extension
	Extension for this class to find the pcd files on disk.

Friends
class	OutofcoreOctreeBase< ContainerT, PointT >
OutofcoreOctreeBaseNode< ContainerT, PointT > *	makenode_norec (const boost::filesystem::path &path, OutofcoreOctreeBaseNode< ContainerT, PointT > *super)
	Non-class function which creates a single child leaf; used with queryBBIntersects_noload to avoid loading the data from disk.
void	queryBBIntersects_noload (const boost::filesystem::path &rootnode, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name)
	Non-class method which performs a bounding box query without loading any of the point cloud data from disk.
void	queryBBIntersects_noload (OutofcoreOctreeBaseNode< ContainerT, PointT > *current, const Eigen::Vector3d &min, const Eigen::Vector3d &max, const std::uint32_t query_depth, std::list< std::string > &bin_name)
	Non-class method overload.

Detailed Description

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>
class pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >

OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree, with accessors to its data via the pcl::outofcore::OutofcoreOctreeDiskContainer class or pcl::outofcore::OutofcoreOctreeRamContainer class, whichever it is templated against.

Note: Code was adapted from the Urban Robotics out of core octree implementation. Contact Jacob Schloss jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net with any questions. http://www.urbanrobotics.net/

Author: Jacob Schloss (jacob.nosp@m..sch.nosp@m.loss@.nosp@m.urba.nosp@m.nrobo.nosp@m.tics.nosp@m..net)

Definition at line 95 of file octree_base_node.h.

Member Typedef Documentation

◆ AlignedPointTVector

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

using pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >

Definition at line 113 of file octree_base_node.h.

◆ node_type_t

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

using pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::node_type_t = pcl::octree::node_type_t

Definition at line 115 of file octree_base_node.h.

◆ octree_disk

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

using pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::octree_disk = OutofcoreOctreeBase<OutofcoreOctreeDiskContainer < PointT > , PointT >

Definition at line 110 of file octree_base_node.h.

◆ octree_disk_node

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

using pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::octree_disk_node = OutofcoreOctreeBaseNode<OutofcoreOctreeDiskContainer < PointT > , PointT >

Definition at line 111 of file octree_base_node.h.

Constructor & Destructor Documentation

◆ OutofcoreOctreeBaseNode() [1/5]

template<typename ContainerT, typename PointT>

pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::OutofcoreOctreeBaseNode ( )

Empty constructor; sets pointers for children and for bounding boxes to 0.

Definition at line 99 of file octree_base_node.hpp.

References children_, depth_, m_tree_, node_metadata_, num_children_, num_loaded_children_, parent_, payload_, and root_node_.

Referenced by createChild(), loadChildren(), loadFromFile(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), and recFreeChildren().

◆ OutofcoreOctreeBaseNode() [2/5]

template<typename ContainerT, typename PointT>

pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::OutofcoreOctreeBaseNode	(	const Eigen::Vector3d &	bb_min,
		const Eigen::Vector3d &	bb_max,
		OutofcoreOctreeBase< ContainerT, PointT > *const	tree,
		const boost::filesystem::path &	root_name )

Create root node and directory.

Definition at line 190 of file octree_base_node.hpp.

References children_, depth_, init_root_node(), m_tree_, node_metadata_, num_children_, num_loaded_children_, parent_, payload_, and root_node_.

◆ ~OutofcoreOctreeBaseNode()

template<typename ContainerT, typename PointT>

pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::~OutofcoreOctreeBaseNode ( )

override

Will recursively delete all children calling recFreeChildrein.

Definition at line 265 of file octree_base_node.hpp.

References recFreeChildren().

◆ OutofcoreOctreeBaseNode() [3/5]

template<typename ContainerT, typename PointT>

pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::OutofcoreOctreeBaseNode	(	const boost::filesystem::path &	directory_path,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super,
		bool	load_all )

protected

Load from disk If creating root, path is full name.

If creating any other node, path is dir; throws exception if directory or metadata not found

Parameters

[in]	directory_path	pathname
[in]	super
[in]	load_all

Exceptions

PCLException	if directory is missing
PCLException	if node index is missing

Definition at line 116 of file octree_base_node.hpp.

References children_, countNumChildren(), depth_, getDepth(), loadChildren(), loadFromFile(), m_tree_, node_index_extension, node_metadata_, num_children_, num_loaded_children_, OutofcoreOctreeBaseNode(), parent_, payload_, and root_node_.

◆ OutofcoreOctreeBaseNode() [4/5]

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::OutofcoreOctreeBaseNode ( const OutofcoreOctreeBaseNode< ContainerT, PointT > & rval )

protected

no copy construction right now

◆ OutofcoreOctreeBaseNode() [5/5]

template<typename ContainerT, typename PointT>

pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::OutofcoreOctreeBaseNode	(	const Eigen::Vector3d &	bb_min,
		const Eigen::Vector3d &	bb_max,
		const char *	dir,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super )

protected

Private constructor used for children.

Definition at line 1703 of file octree_base_node.hpp.

References children_, depth_, pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString(), m_tree_, node_container_basename, node_index_basename, node_index_extension, node_metadata_, num_children_, num_loaded_children_, OutofcoreOctreeBaseNode(), parent_, payload_, pcd_extension, root_node_, and saveIdx().

Member Function Documentation

◆ addDataAtMaxDepth() [1/2]

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addDataAtMaxDepth	(	const AlignedPointTVector &	p,
		const bool	skip_bb_check = true )

protected

Add data to the leaf when at max depth of tree.

If skip_bb_check is true, adds to the node regardless of the bounding box it represents; otherwise only adds points that fall within the bounding box

Parameters

[in]	p	vector of points to attempt to add to the tree
[in]	skip_bb_check	if true, doesn't check that points are in the proper bounding box; if false, only adds the points that fall into the bounding box to this node

Returns: number of points successfully added

Definition at line 620 of file octree_base_node.hpp.

References depth_, payload_, pointInBoundingBox(), and root_node_.

Referenced by addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud(), and addPointCloud_and_genLOD().

◆ addDataAtMaxDepth() [2/2]

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addDataAtMaxDepth	(	const pcl::PCLPointCloud2::Ptr	input_cloud,
		const bool	skip_bb_check = true )

protected

Add data to the leaf when at max depth of tree.

If skip_bb_check is true, adds to the node regardless of the bounding box it represents; otherwise only adds points that fall within the bounding box

Parameters

[in] input_cloud PCLPointCloud2 points to attempt to add to the tree;

Warning: PCLPointCloud2 inserted into the tree must have x,y,z fields, and must be of same type of any other points inserted in the tree

Parameters

[in] skip_bb_check (default true) if true, doesn't check that points are in the proper bounding box; if false, only adds the points that fall into the bounding box to this node

Returns: number of points successfully added

Definition at line 657 of file octree_base_node.hpp.

References depth_, payload_, and root_node_.

◆ addDataToLeaf() [1/2]

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addDataToLeaf	(	const AlignedPointTVector &	p,
		const bool	skip_bb_check = true )

virtual

add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point

Parameters

[in]	p	vector of points to add to the leaf
[in]	skip_bb_check	whether to check if the point's coordinates fall within the bounding box

Definition at line 355 of file octree_base_node.hpp.

References addDataAtMaxDepth(), children_, createChild(), depth_, hasUnloadedChildren(), loadChildren(), node_metadata_, pointInBoundingBox(), and root_node_.

◆ addDataToLeaf() [2/2]

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addDataToLeaf	(	const std::vector< const PointT * > &	p,
		const bool	skip_bb_check = true )

virtual

Definition at line 414 of file octree_base_node.hpp.

References children_, createChild(), depth_, hasUnloadedChildren(), loadChildren(), node_metadata_, payload_, pointInBoundingBox(), pcl::outofcore::pointInBoundingBox(), and root_node_.

◆ addDataToLeaf_and_genLOD()

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addDataToLeaf_and_genLOD	(	const AlignedPointTVector &	p,
		const bool	skip_bb_check )

virtual

Recursively add points to the leaf and children subsampling LODs on the way down.

Note: rng_mutex_ lock occurs

Definition at line 808 of file octree_base_node.hpp.

References addDataAtMaxDepth(), children_, createChild(), depth_, hasUnloadedChildren(), loadChildren(), payload_, randomSample(), root_node_, and subdividePoints().

◆ addPointCloud()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud	(	const pcl::PCLPointCloud2::Ptr &	input_cloud,
		const bool	skip_bb_check = false )

virtual

Add a single PCLPointCloud2 object into the octree.

Parameters

[in]	input_cloud
[in]	skip_bb_check	(default = false)

Definition at line 501 of file octree_base_node.hpp.

References addDataAtMaxDepth(), children_, pcl::copyPointCloud(), createChild(), depth_, hasUnloadedChildren(), loadChildren(), node_metadata_, num_children_, root_node_, size(), and sortOctantIndices().

◆ addPointCloud_and_genLOD()

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::addPointCloud_and_genLOD ( const pcl::PCLPointCloud2::Ptr input_cloud )

virtual

Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this method of LOD construction is not multiresolution.

Rather, there are no redundant data.

Definition at line 708 of file octree_base_node.hpp.

References addDataAtMaxDepth(), children_, pcl::copyPointCloud(), createChild(), depth_, pcl::FilterIndices< PointT >::filter(), hasUnloadedChildren(), loadChildren(), node_metadata_, num_children_, payload_, root_node_, pcl::PCLBase< PointT >::setIndices(), pcl::PCLBase< PointT >::setInputCloud(), pcl::FilterIndices< PointT >::setNegative(), pcl::RandomSample< PointT >::setSample(), size(), and sortOctantIndices().

◆ clearData()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

virtual void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::clearData ( )

inlinevirtual

Definition at line 309 of file octree_base_node.h.

◆ convertToXYZRecursive()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::convertToXYZRecursive ( )

protected

Recursively converts data files to ascii XZY files.

Definition at line 1946 of file octree_base_node.hpp.

References children_, hasUnloadedChildren(), loadChildren(), node_metadata_, and payload_.

◆ copyAllCurrentAndChildPointsRec()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::copyAllCurrentAndChildPointsRec ( std::list< PointT > & v )

protected

Copies points from this and all children into a single point container (std::list).

Definition at line 1755 of file octree_base_node.hpp.

References children_, hasUnloadedChildren(), loadChildren(), num_children_, and payload_.

◆ copyAllCurrentAndChildPointsRec_sub()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::copyAllCurrentAndChildPointsRec_sub	(	std::list< PointT > &	v,
		const double	percent )

protected

Definition at line 1778 of file octree_base_node.hpp.

References children_, hasUnloadedChildren(), loadChildren(), num_children_, and payload_.

◆ countNumChildren()

template<typename ContainerT, typename PointT>

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::countNumChildren ( ) const

protectedvirtual

Counts the number of child directories on disk; used to update num_children_.

Definition at line 274 of file octree_base_node.hpp.

References node_metadata_.

Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< OutofcoreOctreeDiskContainer< PointT >, PointT >::getNumChildren(), and OutofcoreOctreeBaseNode().

◆ countNumLoadedChildren()

template<typename ContainerT, typename PointT>

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::countNumLoadedChildren ( ) const

protectedvirtual

Counts the number of loaded children by testing the children_ array; used to update num_loaded_children_ internally.

Definition at line 1912 of file octree_base_node.hpp.

References children_.

Referenced by pcl::outofcore::OutofcoreOctreeBaseNode< OutofcoreOctreeDiskContainer< PointT >, PointT >::getNumLoadedChildren().

◆ createChild()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::createChild ( const std::size_t idx )

protected

Creates child node idx.

Parameters

[in] idx Index (0-7) of the child node

Definition at line 866 of file octree_base_node.hpp.

References children_, node_metadata_, num_children_, and OutofcoreOctreeBaseNode().

Referenced by addDataToLeaf(), addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud(), and addPointCloud_and_genLOD().

◆ deepCopy()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeBaseNode * pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::deepCopy ( ) const

inlineoverridevirtual

Pure virtual method to perform a deep copy of the octree.

Implements pcl::octree::OctreeNode.

Definition at line 271 of file octree_base_node.h.

◆ enlargeToCube()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::enlargeToCube	(	Eigen::Vector3d &	bb_min,
		Eigen::Vector3d &	bb_max )

protected

Enlarges the shortest two sidelengths of the bounding box to a cubic shape; operation is done in place.

◆ flushToDiskRecursive()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::flushToDiskRecursive ( )

protected

Definition at line 1967 of file octree_base_node.hpp.

References children_.

◆ getBoundingBox()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

virtual void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getBoundingBox	(	Eigen::Vector3d &	min_bb,
		Eigen::Vector3d &	max_bb ) const

inlinevirtual

gets the minimum and maximum corner of the bounding box represented by this node

Parameters

[out]	min_bb	returns the minimum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z
[out]	max_bb	returns the maximum corner of the bounding box indexed by 0-->X, 1-->Y, 2-->Z

Definition at line 140 of file octree_base_node.h.

◆ getChildPtr()

template<typename ContainerT, typename PointT>

OutofcoreOctreeBaseNode< ContainerT, PointT > * pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getChildPtr ( std::size_t index_arg ) const

virtual

Returns a pointer to the child in octant index_arg.

Definition at line 1896 of file octree_base_node.hpp.

References children_.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::getBranchChildPtr().

◆ getDataSize()

template<typename ContainerT, typename PointT>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getDataSize ( ) const

virtual

Gets the number of points available in the PCD file.

Definition at line 1904 of file octree_base_node.hpp.

References payload_.

◆ getDepth()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getDepth ( ) const

inlinevirtual

Definition at line 279 of file octree_base_node.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< OutofcoreOctreeDiskContainer< pcl::PointXYZ >, pcl::PointXYZRGB >::flushToDiskLazy(), pcl::outofcore::OutofcoreBreadthFirstIterator< PointT, ContainerT >::operator++(), and OutofcoreOctreeBaseNode().

◆ getMetadataFilename()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const boost::filesystem::path & pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getMetadataFilename ( ) const

inline

Definition at line 153 of file octree_base_node.h.

◆ getNodeType()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

node_type_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getNodeType ( ) const

inlineoverridevirtual

Pure virtual method for retrieving the type of octree node (branch or leaf).

Implements pcl::octree::OctreeNode.

Definition at line 260 of file octree_base_node.h.

Referenced by pcl::outofcore::OutofcoreBreadthFirstIterator< PointT, ContainerT >::operator++().

◆ getNumChildren()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getNumChildren ( ) const

inlinevirtual

Returns the total number of children on disk.

Definition at line 286 of file octree_base_node.h.

Referenced by hasUnloadedChildren(), loadChildren(), queryBBIncludes(), queryBBIncludes_subsample(), queryBBIntersects(), and queryFrustum().

◆ getNumLoadedChildren()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

virtual std::size_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getNumLoadedChildren ( ) const

inlinevirtual

Count loaded children.

Definition at line 294 of file octree_base_node.h.

Referenced by hasUnloadedChildren().

◆ getOccupiedVoxelCentersRecursive() [1/2]

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getOccupiedVoxelCentersRecursive	(	AlignedPointTVector &	voxel_centers,
		const std::size_t	query_depth )

protected

Gets a vector of occupied voxel centers.

Parameters

[out]	voxel_centers
[in]	query_depth

Definition at line 974 of file octree_base_node.hpp.

References children_, depth_, node_metadata_, and num_children_.

◆ getOccupiedVoxelCentersRecursive() [2/2]

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getOccupiedVoxelCentersRecursive	(	std::vector< Eigen::Vector3d, Eigen::aligned_allocator< Eigen::Vector3d > > &	voxel_centers,
		const std::size_t	query_depth )

protected

Gets a vector of occupied voxel centers.

Parameters

[out]	voxel_centers
[in]	query_depth

Definition at line 1319 of file octree_base_node.hpp.

References children_, depth_, node_metadata_, and num_children_.

◆ getPCDFilename()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const boost::filesystem::path & pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::getPCDFilename ( ) const

inline

Definition at line 147 of file octree_base_node.h.

◆ hasUnloadedChildren()

template<typename ContainerT, typename PointT>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::hasUnloadedChildren ( ) const

protected

Returns whether or not a node has unloaded children data.

Definition at line 307 of file octree_base_node.hpp.

References getNumChildren(), and getNumLoadedChildren().

Referenced by addDataToLeaf(), addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud(), addPointCloud_and_genLOD(), convertToXYZRecursive(), copyAllCurrentAndChildPointsRec(), copyAllCurrentAndChildPointsRec_sub(), queryBBIncludes(), queryBBIncludes(), queryBBIncludes_subsample(), queryBBIncludes_subsample(), queryBBIntersects(), and queryFrustum().

◆ inBoundingBox()

template<typename ContainerT, typename PointT>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::inBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb ) const

inlineprotected

Tests whether the input bounding box falls inclusively within this node's bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box

Returns: bool True if the input bounding box falls inclusively within the boundaries of this node's bounding box

Definition at line 1825 of file octree_base_node.hpp.

References node_metadata_.

Referenced by queryBBIncludes(), queryBBIncludes(), queryBBIncludes_subsample(), and queryBBIncludes_subsample().

◆ init_root_node()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::init_root_node	(	const Eigen::Vector3d &	bb_min,
		const Eigen::Vector3d &	bb_max,
		OutofcoreOctreeBase< ContainerT, PointT > *const	tree,
		const boost::filesystem::path &	rootname )

protected

Create root node and directory.

Initializes the root node and performs initial filesystem checks for the octree; throws OctreeException::OCT_BAD_PATH if root directory is an existing file

Parameters

bb_min	triple of x,y,z minima for bounding box
bb_max	triple of x,y,z maxima for bounding box
tree	address of the tree data structure that will hold this initial root node
rootname	Root directory for location of on-disk octree storage; if directory doesn't exist, it is created; if "rootname" is an existing file,

Exceptions

PCLException if the specified path already exists

Definition at line 209 of file octree_base_node.hpp.

References depth_, pcl::outofcore::OutofcoreOctreeDiskContainer< PointT >::getRandomUUIDString(), m_tree_, node_container_basename, node_metadata_, num_children_, parent_, payload_, pcd_extension, and root_node_.

Referenced by OutofcoreOctreeBaseNode().

◆ intersectsWithBoundingBox()

template<typename ContainerT, typename PointT>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::intersectsWithBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb ) const

inlineprotected

Tests whether the input bounding box intersects with the current node's bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box

Returns: bool True if any portion of the bounding box intersects with this node's bounding box; false otherwise

Definition at line 1803 of file octree_base_node.hpp.

References node_metadata_.

Referenced by queryBBIncludes(), queryBBIncludes(), queryBBIncludes_subsample(), queryBBIncludes_subsample(), and queryBBIntersects().

◆ loadChildren()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::loadChildren ( bool recursive )

protectedvirtual

Load nodes child data creating new nodes for each.

Definition at line 314 of file octree_base_node.hpp.

References children_, getNumChildren(), node_metadata_, num_loaded_children_, and OutofcoreOctreeBaseNode().

Referenced by addDataToLeaf(), addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud(), addPointCloud_and_genLOD(), convertToXYZRecursive(), copyAllCurrentAndChildPointsRec(), copyAllCurrentAndChildPointsRec_sub(), OutofcoreOctreeBaseNode(), queryBBIncludes(), queryBBIncludes(), queryBBIncludes_subsample(), queryBBIncludes_subsample(), queryBBIntersects(), and queryFrustum().

◆ loadFromFile()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::loadFromFile	(	const boost::filesystem::path &	path,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super )

protected

Loads the nodes metadata from the JSON file.

Definition at line 1928 of file octree_base_node.hpp.

References node_metadata_, num_children_, OutofcoreOctreeBaseNode(), parent_, payload_, and recFreeChildren().

Referenced by OutofcoreOctreeBaseNode().

◆ operator=()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeBaseNode & pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::operator= ( const OutofcoreOctreeBaseNode< ContainerT, PointT > & rval )

protected

Operator= is not implemented.

◆ pointInBoundingBox() [1/4]

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::pointInBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const double	x,
		const double	y,
		const double	z )

staticprotected

Tests whether x, y, and z fall within the input bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box
	x
	y
	z

◆ pointInBoundingBox() [2/4]

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::pointInBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const Eigen::Vector3d &	point )

protected

Tests whether point falls within the input bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box
[in]	point	The test point

Referenced by addDataAtMaxDepth(), addDataToLeaf(), addDataToLeaf(), queryBBIncludes(), queryBBIncludes_subsample(), and sortOctantIndices().

◆ pointInBoundingBox() [3/4]

template<typename ContainerT, typename PointT>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::pointInBoundingBox	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const PointT &	p )

inlinestaticprotected

Tests whether p falls within the input bounding box.

Parameters

[in]	min_bb	The minimum corner of the input bounding box
[in]	max_bb	The maximum corner of the input bounding box
[in]	p	The point to be tested

Definition at line 1847 of file octree_base_node.hpp.

◆ pointInBoundingBox() [4/4]

template<typename ContainerT, typename PointT>

bool pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::pointInBoundingBox ( const PointT & p ) const

inlineprotected

Tests if specified point is within bounds of current node's bounding box.

Definition at line 929 of file octree_base_node.hpp.

References node_metadata_.

◆ printBoundingBox()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::printBoundingBox ( const std::size_t query_depth ) const

virtual

Write the voxel size to stdout at query_depth.

Parameters

[in] query_depth The depth at which to print the size of the voxel/bounding boxes

Definition at line 946 of file octree_base_node.hpp.

References children_, depth_, node_metadata_, and num_children_.

◆ queryBBIncludes() [1/2]

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::size_t	query_depth,
		AlignedPointTVector &	dst )

virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters

[in]	min_bb	the minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	max_bb	the maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	query_depth	the maximum depth to query in the octree for points within the bounding box
[out]	dst	destion of points returned by the queries

Definition at line 1496 of file octree_base_node.hpp.

References children_, depth_, getNumChildren(), hasUnloadedChildren(), inBoundingBox(), intersectsWithBoundingBox(), loadChildren(), payload_, and pointInBoundingBox().

◆ queryBBIncludes() [2/2]

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::size_t	query_depth,
		const pcl::PCLPointCloud2::Ptr &	dst_blob )

virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters

[in]	min_bb	the minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	max_bb	the maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	query_depth	the maximum depth to query in the octree for points within the bounding box
[out]	dst_blob	destion of points returned by the queries

Definition at line 1378 of file octree_base_node.hpp.

References children_, pcl::concatenate(), pcl::copyPointCloud(), depth_, pcl::fromPCLPointCloud2(), pcl::getPointsInBox(), hasUnloadedChildren(), pcl::PointCloud< PointT >::height, pcl::utils::ignore(), inBoundingBox(), intersectsWithBoundingBox(), loadChildren(), num_children_, payload_, and pcl::PointCloud< PointT >::width.

◆ queryBBIncludes_subsample() [1/2]

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::uint64_t	query_depth,
		const double	percent,
		AlignedPointTVector &	v )

virtual

Recursively add points that fall into the queried bounding box up to the query_depth.

Parameters

[in]	min_bb	the minimum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	max_bb	the maximum corner of the bounding box, indexed by X,Y,Z coordinates
[in]	query_depth
	percent
[out]	v	std::list of points returned by the query

Definition at line 1635 of file octree_base_node.hpp.

References children_, depth_, hasUnloadedChildren(), inBoundingBox(), intersectsWithBoundingBox(), loadChildren(), num_children_, payload_, and pointInBoundingBox().

◆ queryBBIncludes_subsample() [2/2]

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIncludes_subsample	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		std::uint64_t	query_depth,
		const pcl::PCLPointCloud2::Ptr &	dst_blob,
		double	percent = 1.0 )

virtual

Definition at line 1567 of file octree_base_node.hpp.

References children_, pcl::concatenate(), depth_, pcl::FilterIndices< PointT >::filter(), getNumChildren(), hasUnloadedChildren(), inBoundingBox(), intersectsWithBoundingBox(), loadChildren(), payload_, pcl::PCLBase< PointT >::setIndices(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::RandomSample< PointT >::setSample().

◆ queryBBIntersects()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryBBIntersects	(	const Eigen::Vector3d &	min_bb,
		const Eigen::Vector3d &	max_bb,
		const std::uint32_t	query_depth,
		std::list< std::string > &	file_names )

virtual

Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_depth only).

Definition at line 1342 of file octree_base_node.hpp.

References children_, depth_, getNumChildren(), hasUnloadedChildren(), intersectsWithBoundingBox(), loadChildren(), node_metadata_, and payload_.

◆ queryFrustum() [1/3]

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::queryFrustum	(	const double	planes[24],
		const Eigen::Vector3d &	eye,
		const Eigen::Matrix4d &	view_projection_matrix,
		std::list< std::string > &	file_names,
		const std::uint32_t	query_depth,
		const bool	skip_vfc_check = false )

delete

Warning: This function is only available if the visualization module is available and the preprocessor symbol PCL_VISUALIZATION_AVAILABLE is defined.

◆ queryFrustum() [2/3]

template<typename Container, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< Container, PointT >::queryFrustum	(	const double	planes[24],
		std::list< std::string > &	file_names )

Definition at line 1051 of file octree_base_node.hpp.

References m_tree_, and queryFrustum().

Referenced by queryFrustum().

◆ queryFrustum() [3/3]

template<typename Container, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< Container, PointT >::queryFrustum	(	const double	planes[24],
		std::list< std::string > &	file_names,
		const std::uint32_t	query_depth,
		const bool	skip_vfc_check = false )

Definition at line 1057 of file octree_base_node.hpp.

References children_, depth_, getNumChildren(), hasUnloadedChildren(), loadChildren(), node_metadata_, and payload_.

◆ randomSample()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::randomSample	(	const AlignedPointTVector &	p,
		AlignedPointTVector &	insertBuff,
		const bool	skip_bb_check )

protected

Randomly sample point data.

Definition at line 565 of file octree_base_node.hpp.

References depth_, pcl::outofcore::pointInBoundingBox(), rng_, rng_mutex_, root_node_, and sample_percent_.

Referenced by addDataToLeaf_and_genLOD().

◆ read()

template<typename ContainerT, typename PointT>

int pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::read ( pcl::PCLPointCloud2::Ptr & output_cloud )

virtual

Definition at line 1888 of file octree_base_node.hpp.

References payload_.

◆ recFreeChildren()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::recFreeChildren ( )

protected

Method which recursively free children of this node.

Definition at line 338 of file octree_base_node.hpp.

References children_, num_children_, and OutofcoreOctreeBaseNode().

Referenced by loadFromFile(), and ~OutofcoreOctreeBaseNode().

◆ saveIdx()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::saveIdx ( bool recursive )

protected

Save node's metadata to file.

Parameters

[in] recursive if false, save only this node's metadata to file; if true, recursively save all children's metadata to files as well

Definition at line 290 of file octree_base_node.hpp.

References children_, and node_metadata_.

Referenced by OutofcoreOctreeBaseNode().

◆ saveMetadataToFile()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::saveMetadataToFile ( const boost::filesystem::path & path )

protected

Write JSON metadata for this node to file.

◆ size()

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::size ( ) const

inlineprotected

Number of points in the payload.

Definition at line 474 of file octree_base_node.h.

Referenced by addPointCloud(), and addPointCloud_and_genLOD().

◆ sortOctantIndices()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::sortOctantIndices	(	const pcl::PCLPointCloud2::Ptr &	input_cloud,
		std::vector< pcl::Indices > &	indices,
		const Eigen::Vector3d &	mid_xyz )

protected

Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This could be overloaded with a parallelized implementation.

Definition at line 1979 of file octree_base_node.hpp.

References pcl::getFieldIndex(), and pointInBoundingBox().

Referenced by addPointCloud(), and addPointCloud_and_genLOD().

◆ subdividePoint()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::subdividePoint	(	const PointT &	point,
		std::vector< AlignedPointTVector > &	c )

protected

Subdivide a single point into a specific child node.

Definition at line 698 of file octree_base_node.hpp.

References node_metadata_.

Referenced by subdividePoints().

◆ subdividePoints()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::subdividePoints	(	const AlignedPointTVector &	p,
		std::vector< AlignedPointTVector > &	c,
		const bool	skip_bb_check )

protected

Subdivide points to pass to child nodes.

Definition at line 676 of file octree_base_node.hpp.

References pcl::outofcore::pointInBoundingBox(), and subdividePoint().

Referenced by addDataToLeaf_and_genLOD().

◆ writeVPythonVisual()

template<typename ContainerT, typename PointT>

void pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::writeVPythonVisual ( std::ofstream & file )

Write a python visual script to file.

Parameters

[in] file output file stream to write the python visual script

Definition at line 1867 of file octree_base_node.hpp.

References children_, node_metadata_, and num_children_.

◆ makenode_norec

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeBaseNode< ContainerT, PointT > * makenode_norec	(	const boost::filesystem::path &	path,
		OutofcoreOctreeBaseNode< ContainerT, PointT > *	super )

friend

Non-class function which creates a single child leaf; used with queryBBIntersects_noload to avoid loading the data from disk.

◆ OutofcoreOctreeBase< ContainerT, PointT >

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

friend class OutofcoreOctreeBase< ContainerT, PointT >

friend

Definition at line 77 of file octree_base_node.h.

◆ queryBBIntersects_noload [1/2]

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

void queryBBIntersects_noload	(	const boost::filesystem::path &	rootnode,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::uint32_t	query_depth,
		std::list< std::string > &	bin_name )

friend

Non-class method which performs a bounding box query without loading any of the point cloud data from disk.

◆ queryBBIntersects_noload [2/2]

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

void queryBBIntersects_noload	(	OutofcoreOctreeBaseNode< ContainerT, PointT > *	current,
		const Eigen::Vector3d &	min,
		const Eigen::Vector3d &	max,
		const std::uint32_t	query_depth,
		std::list< std::string > &	bin_name )

friend

Non-class method overload.

Member Data Documentation

◆ children_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::vector<OutofcoreOctreeBaseNode*> pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::children_

protected

◆ depth_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::size_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::depth_

protected

Depth in the tree, root is 0, root's children are 1, ...

Definition at line 545 of file octree_base_node.h.

Referenced by addDataAtMaxDepth(), addDataAtMaxDepth(), addDataToLeaf(), addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud(), addPointCloud_and_genLOD(), getOccupiedVoxelCentersRecursive(), getOccupiedVoxelCentersRecursive(), init_root_node(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), printBoundingBox(), queryBBIncludes(), queryBBIncludes(), queryBBIncludes_subsample(), queryBBIncludes_subsample(), queryBBIntersects(), queryFrustum(), and randomSample().

◆ m_tree_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeBase<ContainerT, PointT>* pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::m_tree_

protected

The tree we belong to.

Definition at line 539 of file octree_base_node.h.

Referenced by init_root_node(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), and queryFrustum().

◆ node_container_basename

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const std::string pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::node_container_basename

static

Definition at line 118 of file octree_base_node.h.

Referenced by init_root_node(), and OutofcoreOctreeBaseNode().

◆ node_container_extension

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const std::string pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::node_container_extension

static

Definition at line 120 of file octree_base_node.h.

◆ node_index_basename

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const std::string pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::node_index_basename

static

Definition at line 117 of file octree_base_node.h.

Referenced by OutofcoreOctreeBaseNode().

◆ node_index_extension

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const std::string pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::node_index_extension

static

Definition at line 119 of file octree_base_node.h.

Referenced by pcl::outofcore::OutofcoreOctreeBase< ContainerT, PointT >::checkExtension(), OutofcoreOctreeBaseNode(), and OutofcoreOctreeBaseNode().

◆ node_metadata_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeNodeMetadata::Ptr pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::node_metadata_

protected

◆ num_children_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::num_children_

protected

Number of children on disk.

This is only changed when a new node is created

Definition at line 550 of file octree_base_node.h.

Referenced by addPointCloud(), addPointCloud_and_genLOD(), copyAllCurrentAndChildPointsRec(), copyAllCurrentAndChildPointsRec_sub(), createChild(), getOccupiedVoxelCentersRecursive(), getOccupiedVoxelCentersRecursive(), init_root_node(), loadFromFile(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), printBoundingBox(), queryBBIncludes(), queryBBIncludes_subsample(), recFreeChildren(), and writeVPythonVisual().

◆ num_loaded_children_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::uint64_t pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::num_loaded_children_

protected

Number of loaded children this node has.

"Loaded" means child OctreeBaseNodes have been allocated, and their metadata files have been loaded into memory. num_loaded_children_ <= num_children_

Definition at line 558 of file octree_base_node.h.

Referenced by loadChildren(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), and OutofcoreOctreeBaseNode().

◆ parent_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::parent_

protected

super-node

Definition at line 543 of file octree_base_node.h.

Referenced by init_root_node(), loadFromFile(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), and OutofcoreOctreeBaseNode().

◆ payload_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::shared_ptr<ContainerT> pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::payload_

protected

what holds the points.

currently a custom class, but in theory you could use an stl container if you rewrote some of this class. I used to use deques for this...

Definition at line 563 of file octree_base_node.h.

Referenced by addDataAtMaxDepth(), addDataAtMaxDepth(), addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud_and_genLOD(), convertToXYZRecursive(), copyAllCurrentAndChildPointsRec(), copyAllCurrentAndChildPointsRec_sub(), pcl::outofcore::OutofcoreOctreeBase< OutofcoreOctreeDiskContainer< pcl::PointXYZ >, pcl::PointXYZRGB >::flushToDiskLazy(), getDataSize(), init_root_node(), loadFromFile(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), queryBBIncludes(), queryBBIncludes(), queryBBIncludes_subsample(), queryBBIncludes_subsample(), queryBBIntersects(), queryFrustum(), and read().

◆ pcd_extension

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const std::string pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::pcd_extension

staticprotected

Extension for this class to find the pcd files on disk.

Definition at line 573 of file octree_base_node.h.

Referenced by init_root_node(), and OutofcoreOctreeBaseNode().

◆ rng_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::mt19937 pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::rng_

staticprotected

Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator.

Definition at line 570 of file octree_base_node.h.

Referenced by randomSample().

◆ rng_mutex_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

std::mutex pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::rng_mutex_

staticprotected

Random number generator mutex.

Definition at line 566 of file octree_base_node.h.

Referenced by randomSample().

◆ root_node_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

OutofcoreOctreeBaseNode* pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::root_node_

protected

The root node of the tree we belong to.

Definition at line 541 of file octree_base_node.h.

Referenced by addDataAtMaxDepth(), addDataAtMaxDepth(), addDataToLeaf(), addDataToLeaf(), addDataToLeaf_and_genLOD(), addPointCloud(), addPointCloud_and_genLOD(), init_root_node(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), OutofcoreOctreeBaseNode(), and randomSample().

◆ sample_percent_

template<typename ContainerT = OutofcoreOctreeDiskContainer<pcl::PointXYZ>, typename PointT = pcl::PointXYZ>

const double pcl::outofcore::OutofcoreOctreeBaseNode< ContainerT, PointT >::sample_percent_

static

Definition at line 121 of file octree_base_node.h.

Referenced by randomSample().

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

pcl/outofcore/octree_base_node.h
pcl/outofcore/impl/octree_base_node.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ AlignedPointTVector

◆ node_type_t

◆ octree_disk

◆ octree_disk_node

Constructor & Destructor Documentation

◆ OutofcoreOctreeBaseNode() [1/5]

◆ OutofcoreOctreeBaseNode() [2/5]

◆ ~OutofcoreOctreeBaseNode()

◆ OutofcoreOctreeBaseNode() [3/5]

◆ OutofcoreOctreeBaseNode() [4/5]

◆ OutofcoreOctreeBaseNode() [5/5]

Member Function Documentation

◆ addDataAtMaxDepth() [1/2]

◆ addDataAtMaxDepth() [2/2]

◆ addDataToLeaf() [1/2]

◆ addDataToLeaf() [2/2]

◆ addDataToLeaf_and_genLOD()

◆ addPointCloud()

◆ addPointCloud_and_genLOD()

◆ clearData()

◆ convertToXYZRecursive()

◆ copyAllCurrentAndChildPointsRec()

◆ copyAllCurrentAndChildPointsRec_sub()

◆ countNumChildren()

◆ countNumLoadedChildren()

◆ createChild()

◆ deepCopy()

◆ enlargeToCube()

◆ flushToDiskRecursive()

◆ getBoundingBox()

◆ getChildPtr()

◆ getDataSize()

◆ getDepth()

◆ getMetadataFilename()

◆ getNodeType()

◆ getNumChildren()

◆ getNumLoadedChildren()

◆ getOccupiedVoxelCentersRecursive() [1/2]

◆ getOccupiedVoxelCentersRecursive() [2/2]

◆ getPCDFilename()

◆ hasUnloadedChildren()

◆ inBoundingBox()

◆ init_root_node()

◆ intersectsWithBoundingBox()

◆ loadChildren()

◆ loadFromFile()

◆ operator=()

◆ pointInBoundingBox() [1/4]

◆ pointInBoundingBox() [2/4]

◆ pointInBoundingBox() [3/4]

◆ pointInBoundingBox() [4/4]

◆ printBoundingBox()

◆ queryBBIncludes() [1/2]

◆ queryBBIncludes() [2/2]

◆ queryBBIncludes_subsample() [1/2]

◆ queryBBIncludes_subsample() [2/2]

◆ queryBBIntersects()

◆ queryFrustum() [1/3]

◆ queryFrustum() [2/3]

◆ queryFrustum() [3/3]

◆ randomSample()

◆ read()

◆ recFreeChildren()

◆ saveIdx()

◆ saveMetadataToFile()

◆ size()

◆ sortOctantIndices()

◆ subdividePoint()

◆ subdividePoints()

◆ writeVPythonVisual()