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| OctreePointCloudChangeDetector (const double resolution_arg) |
| Constructor.
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std::size_t | getPointIndicesFromNewVoxels (Indices &indicesVector_arg, const uindex_t minPointsPerLeaf_arg=0) |
| Get a indices from all leaf nodes that did not exist in previous buffer.
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| OctreePointCloud (const double resolution_arg) |
| Octree pointcloud constructor.
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void | setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr()) |
| Provide a pointer to the input data set.
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used.
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PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset.
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void | setEpsilon (double eps) |
| Set the search epsilon precision (error bound) for nearest neighbors searches.
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double | getEpsilon () const |
| Get the search epsilon precision (error bound) for nearest neighbors searches.
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void | setResolution (double resolution_arg) |
| Set/change the octree voxel resolution.
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double | getResolution () const |
| Get octree voxel resolution.
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uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree.
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void | addPointsFromInputCloud () |
| Add points from input point cloud to octree.
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void | addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg) |
| Add point at given index from input point cloud to octree.
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg) |
| Add point simultaneously to octree and input point cloud.
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void | addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg) |
| Add point simultaneously to octree and input point cloud.
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bool | isVoxelOccupiedAtPoint (const PointT &point_arg) const |
| Check if voxel at given point exist.
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void | deleteTree () |
| Delete the octree structure and its leaf nodes.
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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.
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bool | isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const |
| Check if voxel at given point from input cloud exist.
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uindex_t | getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const |
| Get a PointT vector of centers of all occupied voxels.
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uindex_t | getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2) |
| Get a PointT vector of centers of voxels intersected by a line segment.
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void | deleteVoxelAtPoint (const PointT &point_arg) |
| Delete leaf node / voxel at given point.
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void | deleteVoxelAtPoint (const index_t &point_idx_arg) |
| Delete leaf node / voxel at given point from input cloud.
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void | defineBoundingBox () |
| Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
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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.
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void | defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg) |
| Define bounding box for octree.
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void | defineBoundingBox (const double cubeLen_arg) |
| Define bounding box cube for octree.
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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.
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double | getVoxelSquaredDiameter (uindex_t tree_depth_arg) const |
| Calculates the squared diameter of a voxel at given tree depth.
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double | getVoxelSquaredDiameter () const |
| Calculates the squared diameter of a voxel at leaf depth.
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double | getVoxelSquaredSideLen (uindex_t tree_depth_arg) const |
| Calculates the squared voxel cube side length at given tree depth.
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double | getVoxelSquaredSideLen () const |
| Calculates the squared voxel cube side length at leaf level.
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void | getVoxelBounds (const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of the current voxel of an octree iterator.
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void | enableDynamicDepth (std::size_t maxObjsPerLeaf) |
| Enable dynamic octree structure.
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Iterator | begin (uindex_t max_depth_arg=0u) |
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const Iterator | end () |
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LeafNodeDepthFirstIterator | leaf_depth_begin (uindex_t max_depth_arg=0u) |
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const LeafNodeDepthFirstIterator | leaf_depth_end () |
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DepthFirstIterator | depth_begin (uindex_t max_depth_arg=0u) |
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const DepthFirstIterator | depth_end () |
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BreadthFirstIterator | breadth_begin (uindex_t max_depth_arg=0u) |
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const BreadthFirstIterator | breadth_end () |
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FixedDepthIterator | fixed_depth_begin (uindex_t fixed_depth_arg=0u) |
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const FixedDepthIterator | fixed_depth_end () |
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LeafNodeBreadthFirstIterator | leaf_breadth_begin (uindex_t max_depth_arg=0u) |
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const LeafNodeBreadthFirstIterator | leaf_breadth_end () |
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| OctreeBase () |
| Empty constructor.
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virtual | ~OctreeBase () |
| Empty deconstructor.
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| OctreeBase (const OctreeBase &source) |
| Copy constructor.
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OctreeBase & | operator= (const OctreeBase &source) |
| Copy operator.
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void | setMaxVoxelIndex (uindex_t max_voxel_index_arg) |
| Set the maximum amount of voxels per dimension.
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void | setTreeDepth (uindex_t max_depth_arg) |
| Set the maximum depth of the octree.
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uindex_t | getTreeDepth () const |
| Get the maximum depth of the octree.
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LeafContainerT * | createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) |
| Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
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LeafContainerT * | 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).
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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).
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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).
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std::size_t | getLeafCount () const |
| Return the amount of existing leafs in the octree.
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std::size_t | getBranchCount () const |
| Return the amount of existing branch nodes in the octree.
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void | deleteTree () |
| Delete the octree structure and its leaf nodes.
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void | serializeTree (std::vector< char > &binary_tree_out_arg) |
| Serialize octree into a binary output vector describing its branch node structure.
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void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT * > &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.
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void | serializeLeafs (std::vector< LeafContainerT * > &leaf_container_vector_arg) |
| Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.
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void | deserializeTree (std::vector< char > &binary_tree_input_arg) |
| Deserialize a binary octree description vector and create a corresponding octree structure.
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void | deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT * > &leaf_container_vector_arg) |
| Deserialize a binary octree description and create a corresponding octree structure.
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virtual void | addPointIdx (uindex_t point_idx_arg) |
| Add point at index from input pointcloud dataset to octree.
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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.
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const PointT & | getPointByIndex (uindex_t index_arg) const |
| Get point at index from input pointcloud dataset.
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LeafContainerT * | findLeafAtPoint (const PointT &point_arg) const |
| Find octree leaf node at a given point.
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void | getKeyBitSize () |
| Define octree key setting and octree depth based on defined bounding box.
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void | adoptBoundingBoxToPoint (const PointT &point_idx_arg) |
| Grow the bounding box/octree until point fits.
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bool | isPointWithinBoundingBox (const PointT &point_idx_arg) const |
| Checks if given point is within the bounding box of the octree.
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void | genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const |
| Generate octree key for voxel at a given point.
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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.
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virtual bool | genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const |
| Virtual method for generating octree key for a given point index.
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void | genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const |
| Generate a point at center of leaf node voxel.
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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.
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void | genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const |
| Generate bounds of an octree voxel using octree key and tree depth arguments.
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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.
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LeafContainerT * | createLeaf (const OctreeKey &key_arg) |
| Create a leaf node.
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LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |
| Find leaf node.
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bool | existLeaf (const OctreeKey &key_arg) const |
| Check for existence of a leaf node in the octree.
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void | removeLeaf (const OctreeKey &key_arg) |
| Remove leaf node from octree.
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OctreeNode * | getRootNode () const |
| Retrieve root node.
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bool | branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Check if branch is pointing to a particular child node.
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OctreeNode * | getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const |
| Retrieve a child node pointer for child node at child_idx.
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void | setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg) |
| Assign new child node to branch.
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char | getBranchBitPattern (const BranchNode &branch_arg) const |
| Generate bit pattern reflecting the existence of child node pointers.
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void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Delete child node and all its subchilds from octree.
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void | deleteBranch (BranchNode &branch_arg) |
| Delete branch and all its subchilds from octree.
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BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new branch child to a branch class.
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LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
| Create and add a new leaf child to a branch class.
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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.
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void | findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const |
| Recursively search for a given leaf node and return a pointer.
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bool | deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg) |
| Recursively search and delete leaf node.
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void | serializeTreeRecursive (const BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT * > *leaf_container_vector_arg) const |
| Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.
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void | deserializeTreeRecursive (BranchNode *branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_arg, typename std::vector< LeafContainerT * >::const_iterator *leaf_container_vector_it_end_arg) |
| Recursive method for deserializing octree structure.
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virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) const |
| Callback executed for every leaf node during serialization.
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virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |
| Callback executed for every leaf node during deserialization.
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bool | octreeCanResize () |
| Test if octree is able to dynamically change its depth.
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PointCloudConstPtr | input_ |
| Pointer to input point cloud dataset.
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IndicesConstPtr | indices_ |
| A pointer to the vector of point indices to use.
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double | epsilon_ |
| Epsilon precision (error bound) for nearest neighbors searches.
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double | resolution_ |
| Octree resolution.
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double | min_x_ |
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double | max_x_ |
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double | min_y_ |
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double | max_y_ |
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double | min_z_ |
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double | max_z_ |
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bool | bounding_box_defined_ |
| Flag indicating if octree has defined bounding box.
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std::size_t | max_objs_per_leaf_ |
| Amount of DataT objects per leafNode before expanding branch.
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std::size_t | leaf_count_ |
| Amount of leaf nodes
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std::size_t | branch_count_ |
| Amount of branch nodes
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BranchNode * | root_node_ |
| Pointer to root branch node of octree
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uindex_t | depth_mask_ |
| Depth mask based on octree depth
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uindex_t | octree_depth_ |
| Octree depth.
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bool | dynamic_depth_enabled_ |
| Enable dynamic_depth.
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OctreeKey | max_key_ |
| key range
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template<typename
PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >
Octree pointcloud change detector class
- Note
- This pointcloud octree class generate an octrees from a point cloud (zero-copy). It allows to detect new leaf nodes and serialize their point indices
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The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.
- Template Parameters
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PointT | type of point used in pointcloud |
- Author
- Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)
Definition at line 63 of file octree_pointcloud_changedetector.h.