Point Cloud Library (PCL)
1.9.1
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Octree double buffer class More...
#include <pcl/octree/octree2buf_base.h>
Public Member Functions | |
Iterator | begin (unsigned int max_depth_arg=0) |
const Iterator | end () |
LeafNodeIterator | leaf_begin (unsigned int max_depth_arg=0) |
const LeafNodeIterator | leaf_end () |
LeafNodeDepthFirstIterator | leaf_depth_begin (unsigned int max_depth_arg=0) |
const LeafNodeDepthFirstIterator | leaf_depth_end () |
DepthFirstIterator | depth_begin (unsigned int maxDepth_arg=0) |
const DepthFirstIterator | depth_end () |
BreadthFirstIterator | breadth_begin (unsigned int max_depth_arg=0) |
const BreadthFirstIterator | breadth_end () |
LeafNodeBreadthIterator | leaf_breadth_begin (unsigned int max_depth_arg=0u) |
const LeafNodeBreadthIterator | leaf_breadth_end () |
Octree2BufBase () | |
Empty constructor. More... | |
virtual | ~Octree2BufBase () |
Empty deconstructor. More... | |
Octree2BufBase (const Octree2BufBase &source) | |
Copy constructor. More... | |
Octree2BufBase & | operator= (const Octree2BufBase &source) |
Copy constructor. More... | |
void | setMaxVoxelIndex (unsigned int max_voxel_index_arg) |
Set the maximum amount of voxels per dimension. More... | |
void | setTreeDepth (unsigned int depth_arg) |
Set the maximum depth of the octree. More... | |
unsigned int | getTreeDepth () const |
Get the maximum depth of the octree. More... | |
LeafContainerT * | createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
LeafContainerT * | findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
bool | existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const |
Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
void | removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) |
Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More... | |
std::size_t | getLeafCount () const |
Return the amount of existing leafs in the octree. More... | |
std::size_t | getBranchCount () const |
Return the amount of existing branches in the octree. More... | |
void | deleteTree () |
Delete the octree structure and its leaf nodes. More... | |
void | deletePreviousBuffer () |
Delete octree structure of previous buffer. More... | |
void | deleteCurrentBuffer () |
Delete the octree structure in the current buffer. More... | |
void | switchBuffers () |
Switch buffers and reset current octree structure. More... | |
void | serializeTree (std::vector< char > &binary_tree_out_arg, bool do_XOR_encoding_arg=false) |
Serialize octree into a binary output vector describing its branch node structure. More... | |
void | serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg, bool do_XOR_encoding_arg=false) |
Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector. More... | |
void | serializeLeafs (std::vector< LeafContainerT *> &leaf_container_vector_arg) |
Outputs a vector of all DataT elements that are stored within the octree leaf nodes. More... | |
void | serializeNewLeafs (std::vector< LeafContainerT *> &leaf_container_vector_arg) |
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. More... | |
void | deserializeTree (std::vector< char > &binary_tree_in_arg, bool do_XOR_decoding_arg=false) |
Deserialize a binary octree description vector and create a corresponding octree structure. More... | |
void | deserializeTree (std::vector< char > &binary_tree_in_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg, bool do_XOR_decoding_arg=false) |
Deserialize a binary octree description and create a corresponding octree structure. More... | |
Protected Member Functions | |
OctreeNode * | getRootNode () const |
Retrieve root node. More... | |
LeafContainerT * | findLeaf (const OctreeKey &key_arg) const |
Find leaf node. More... | |
LeafContainerT * | createLeaf (const OctreeKey &key_arg) |
Create a leaf node. More... | |
bool | existLeaf (const OctreeKey &key_arg) const |
Check if leaf doesn't exist in the octree. More... | |
void | removeLeaf (const OctreeKey &key_arg) |
Remove leaf node from octree. 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 for current buffer. More... | |
char | getBranchBitPattern (const BranchNode &branch_arg, unsigned char bufferSelector_arg) const |
Generate bit pattern reflecting the existence of child node pointers in specific buffer. More... | |
char | getBranchXORBitPattern (const BranchNode &branch_arg) const |
Generate XOR bit pattern reflecting differences between the two octree buffers. More... | |
bool | hasBranchChanges (const BranchNode &branch_arg) const |
Test if branch changed between previous and current buffer. More... | |
void | deleteBranchChild (BranchNode &branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg) |
Delete child node and all its subchilds from octree in specific buffer. More... | |
void | deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
Delete child node and all its subchilds from octree in current buffer. More... | |
void | deleteBranch (BranchNode &branch_arg) |
Delete branch and all its subchilds from octree (both buffers) More... | |
BranchNode * | createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
Fetch and add a new branch child to a branch class in current buffer. More... | |
LeafNode * | createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg) |
Fetch and add a new leaf child to a branch class. More... | |
unsigned int | createLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&return_leaf_arg, BranchNode *&parent_of_leaf_arg, bool branch_reset_arg=false) |
Create a leaf node at octree key. More... | |
void | findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&result_arg) const |
Recursively search for a given leaf node and return a pointer. More... | |
bool | deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg) |
Recursively search and delete leaf node. More... | |
void | serializeTreeRecursive (BranchNode *branch_arg, OctreeKey &key_arg, std::vector< char > *binary_tree_out_arg, typename std::vector< LeafContainerT *> *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false) |
Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content. More... | |
void | deserializeTreeRecursive (BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_in_it_arg, typename std::vector< char >::const_iterator &binary_tree_in_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, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false) |
Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization. More... | |
virtual void | serializeTreeCallback (LeafContainerT &, const OctreeKey &) |
Callback executed for every leaf node data during serialization. More... | |
virtual void | deserializeTreeCallback (LeafContainerT &, const OctreeKey &) |
Callback executed for every leaf node data during deserialization. More... | |
void | treeCleanUpRecursive (BranchNode *branch_arg) |
Recursively explore the octree and remove unused branch and leaf nodes. More... | |
double | Log2 (double n_arg) |
Helper function to calculate the binary logarithm. More... | |
bool | octreeCanResize () |
Test if octree is able to dynamically change its depth. More... | |
void | printBinary (char data_arg) |
Prints binary representation of a byte - used for debugging. More... | |
Protected Attributes | |
std::size_t | leaf_count_ |
Amount of leaf nodes. More... | |
std::size_t | branch_count_ |
Amount of branch nodes. More... | |
BranchNode * | root_node_ |
Pointer to root branch node of octree. More... | |
unsigned int | depth_mask_ |
Depth mask based on octree depth. More... | |
OctreeKey | max_key_ |
key range More... | |
unsigned char | buffer_selector_ |
Currently active octree buffer. More... | |
bool | tree_dirty_flag_ |
unsigned int | octree_depth_ |
Octree depth. More... | |
bool | dynamic_depth_enabled_ |
Enable dynamic_depth. More... | |
Octree double buffer class
Definition at line 225 of file octree2buf_base.h.
typedef BranchContainerT pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchContainer |
Definition at line 242 of file octree2buf_base.h.
typedef BufferedBranchNode<BranchContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BranchNode |
Definition at line 239 of file octree2buf_base.h.
typedef OctreeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::BreadthFirstIterator |
Definition at line 287 of file octree2buf_base.h.
typedef const OctreeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstBreadthFirstIterator |
Definition at line 291 of file octree2buf_base.h.
typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstDepthFirstIterator |
Definition at line 285 of file octree2buf_base.h.
typedef const OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstIterator |
Definition at line 247 of file octree2buf_base.h.
typedef const OctreeLeafNodeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeBreadthIterator |
Definition at line 297 of file octree2buf_base.h.
typedef const OctreeLeafNodeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeDepthFirstIterator |
Definition at line 272 of file octree2buf_base.h.
typedef const OctreeLeafNodeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::ConstLeafNodeIterator |
Definition at line 256 of file octree2buf_base.h.
typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::DepthFirstIterator |
Definition at line 281 of file octree2buf_base.h.
typedef OctreeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Iterator |
Definition at line 246 of file octree2buf_base.h.
typedef LeafContainerT pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafContainer |
Definition at line 243 of file octree2buf_base.h.
typedef OctreeLeafNode<LeafContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNode |
Definition at line 240 of file octree2buf_base.h.
typedef OctreeLeafNodeBreadthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeBreadthIterator |
Definition at line 293 of file octree2buf_base.h.
typedef OctreeLeafNodeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeDepthFirstIterator |
Definition at line 268 of file octree2buf_base.h.
typedef OctreeLeafNodeDepthFirstIterator<OctreeT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::LeafNodeIterator |
Definition at line 249 of file octree2buf_base.h.
typedef Octree2BufBase<LeafContainerT, BranchContainerT> pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::OctreeT |
Definition at line 230 of file octree2buf_base.h.
pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Octree2BufBase | ( | ) |
Empty constructor.
Definition at line 48 of file octree2buf_base.hpp.
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Empty deconstructor.
Definition at line 63 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_.
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Copy constructor.
Definition at line 317 of file octree2buf_base.h.
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Definition at line 248 of file octree2buf_base.h.
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Check if branch is pointing to a particular child node.
branch_arg | reference to octree branch class |
child_idx_arg | index to child node |
Definition at line 566 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Definition at line 292 of file octree2buf_base.h.
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Definition at line 293 of file octree2buf_base.h.
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Fetch and add a new branch child to a branch class in current buffer.
branch_arg | reference to octree branch class |
child_idx_arg | index to child node |
Definition at line 753 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive().
LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg | index of leaf node in the X axis. |
idx_y_arg | index of leaf node in the Y axis. |
idx_z_arg | index of leaf node in the Z axis. |
Definition at line 116 of file octree2buf_base.hpp.
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Create a leaf node.
key_arg | octree key addressing a leaf node. |
Definition at line 521 of file octree2buf_base.h.
References pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr().
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Fetch and add a new leaf child to a branch class.
branch_arg | reference to octree branch class |
child_idx_arg | index to child node |
Definition at line 770 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive().
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Create a leaf node at octree key.
If leaf node does already exist, it is returned.
key_arg | reference to an octree key |
depth_mask_arg | depth mask used for octree key analysis and for branch depth indicator |
branch_arg | current branch node |
return_leaf_arg | return pointer to leaf container |
parent_of_leaf_arg | return pointer to parent of leaf node |
branch_reset_arg | Reset pointer array of current branch |
Definition at line 323 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::BRANCH_NODE, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::LEAF_NODE, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
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Delete branch and all its subchilds from octree (both buffers)
branch_arg | reference to octree branch class |
Definition at line 723 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree().
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Delete child node and all its subchilds from octree in specific buffer.
branch_arg | reference to octree branch class |
buffer_selector_arg | buffer selector |
child_idx_arg | index to child node |
Definition at line 676 of file octree2buf_base.h.
References pcl::octree::BRANCH_NODE, pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
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Delete child node and all its subchilds from octree in current buffer.
branch_arg | reference to octree branch class |
child_idx_arg | index to child node |
Definition at line 715 of file octree2buf_base.h.
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Delete the octree structure in the current buffer.
Definition at line 431 of file octree2buf_base.h.
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Recursively search and delete leaf node.
key_arg | reference to an octree key |
depth_mask_arg | depth mask used for octree key analysis and branch depth indicator |
branch_arg | current branch node |
Definition at line 474 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_.
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Delete octree structure of previous buffer.
Definition at line 425 of file octree2buf_base.h.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree | ( | ) |
Delete the octree structure and its leaf nodes.
Definition at line 149 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranch(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::~Octree2BufBase().
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Definition at line 286 of file octree2buf_base.h.
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Definition at line 287 of file octree2buf_base.h.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree | ( | std::vector< char > & | binary_tree_in_arg, |
bool | do_XOR_decoding_arg = false |
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Deserialize a binary octree description vector and create a corresponding octree structure.
Leaf nodes are initialized with getDataTByKey(..).
binary_tree_in_arg | reference to input vector for reading binary tree structure. |
do_XOR_decoding_arg | select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 247 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree | ( | std::vector< char > & | binary_tree_in_arg, |
std::vector< LeafContainerT *> & | leaf_container_vector_arg, | ||
bool | do_XOR_decoding_arg = false |
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Deserialize a binary octree description and create a corresponding octree structure.
Leaf nodes are initialized with DataT elements from the dataVector.
binary_tree_in_arg | reference to inpvectoream for reading binary tree structure. |
leaf_container_vector_arg | vector of pointers to all LeafContainerT objects in the octree |
do_XOR_decoding_arg | select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 269 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
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Callback executed for every leaf node data during deserialization.
Definition at line 878 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive().
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Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.
branch_arg | current branch node |
depth_mask_arg | depth mask used for octree key analysis and branch depth indicator |
key_arg | reference to an octree key |
binary_tree_in_it_arg | iterator of binary input data |
binary_tree_in_it_end_arg | |
leaf_container_vector_it_arg | iterator pointing to leaf container pointers to be added to a leaf node |
leaf_container_vector_it_end_arg | iterator pointing to leaf container pointers pointing to last object in input container. |
branch_reset_arg | Reset pointer array of current branch |
do_XOR_decoding_arg | select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 629 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::BRANCH_NODE, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeCallback(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), pcl::octree::OctreeKey::pushBranch(), and pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree().
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Definition at line 249 of file octree2buf_base.h.
bool pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::existLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg | index of leaf node in the X axis. |
idx_y_arg | index of leaf node in the Y axis. |
idx_z_arg | index of leaf node in the Z axis. |
Definition at line 127 of file octree2buf_base.hpp.
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Check if leaf doesn't exist in the octree.
key_arg | octree key addressing a leaf node. |
Definition at line 537 of file octree2buf_base.h.
LeafContainerT * pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg | index of leaf node in the X axis. |
idx_y_arg | index of leaf node in the Y axis. |
idx_z_arg | index of leaf node in the Z axis. |
Definition at line 105 of file octree2buf_base.hpp.
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Find leaf node.
key_arg | octree key addressing a leaf node. |
Definition at line 508 of file octree2buf_base.h.
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Recursively search for a given leaf node and return a pointer.
key_arg | reference to an octree key |
depth_mask_arg | depth mask used for octree key analysis and for branch depth indicator |
branch_arg | current branch node |
result_arg | pointer to leaf container class |
Definition at line 439 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::OctreeKey::getChildIdxWithDepthMask(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), and pcl::octree::BufferedBranchNode< ContainerT >::hasChild().
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Generate bit pattern reflecting the existence of child node pointers for current buffer.
branch_arg | reference to octree branch class |
Definition at line 599 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
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Generate bit pattern reflecting the existence of child node pointers in specific buffer.
branch_arg | reference to octree branch class |
bufferSelector_arg | buffer selector |
Definition at line 620 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Retrieve a child node pointer for child node at child_idx.
branch_arg | reference to octree branch class |
child_idx_arg | index to child node |
Definition at line 578 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
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Return the amount of existing branches in the octree.
Definition at line 414 of file octree2buf_base.h.
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Generate XOR bit pattern reflecting differences between the two octree buffers.
branch_arg | reference to octree branch class |
Definition at line 641 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
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Return the amount of existing leafs in the octree.
Definition at line 406 of file octree2buf_base.h.
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Retrieve root node.
Definition at line 498 of file octree2buf_base.h.
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Get the maximum depth of the octree.
Definition at line 361 of file octree2buf_base.h.
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Test if branch changed between previous and current buffer.
branch_arg | reference to octree branch class |
Definition at line 666 of file octree2buf_base.h.
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Definition at line 259 of file octree2buf_base.h.
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Definition at line 299 of file octree2buf_base.h.
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Definition at line 304 of file octree2buf_base.h.
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Definition at line 273 of file octree2buf_base.h.
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Definition at line 278 of file octree2buf_base.h.
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Definition at line 265 of file octree2buf_base.h.
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Helper function to calculate the binary logarithm.
n_arg | some value |
Definition at line 897 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex().
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Test if octree is able to dynamically change its depth.
This is required for adaptive bounding box adjustment.
Definition at line 905 of file octree2buf_base.h.
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Copy constructor.
Definition at line 332 of file octree2buf_base.h.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::dynamic_depth_enabled_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
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Prints binary representation of a byte - used for debugging.
data_arg | - byte to be printed to stdout |
Definition at line 913 of file octree2buf_base.h.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::removeLeaf | ( | unsigned int | idx_x_arg, |
unsigned int | idx_y_arg, | ||
unsigned int | idx_z_arg | ||
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Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).
idx_x_arg | index of leaf node in the X axis. |
idx_y_arg | index of leaf node in the Y axis. |
idx_z_arg | index of leaf node in the Z axis. |
Definition at line 138 of file octree2buf_base.hpp.
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Remove leaf node from octree.
key_arg | octree key addressing a leaf node. |
Definition at line 545 of file octree2buf_base.h.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs | ( | std::vector< LeafContainerT *> & | leaf_container_vector_arg | ) |
Outputs a vector of all DataT elements that are stored within the octree leaf nodes.
leaf_container_vector_arg | vector of pointers to all LeafContainerT objects in the octree |
Definition at line 230 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs | ( | std::vector< LeafContainerT *> & | leaf_container_vector_arg | ) |
Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.
leaf_container_vector_arg | vector of pointers to all LeafContainerT objects in the octree |
Definition at line 306 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
Referenced by pcl::octree::OctreePointCloudChangeDetector< PointT, LeafContainerT, BranchContainerT >::getPointIndicesFromNewVoxels().
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree | ( | std::vector< char > & | binary_tree_out_arg, |
bool | do_XOR_encoding_arg = false |
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Serialize octree into a binary output vector describing its branch node structure.
binary_tree_out_arg | reference to output vector for writing binary tree structure. |
do_XOR_encoding_arg | select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 192 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree | ( | std::vector< char > & | binary_tree_out_arg, |
std::vector< LeafContainerT *> & | leaf_container_vector_arg, | ||
bool | do_XOR_encoding_arg = false |
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Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector.
binary_tree_out_arg | reference to output vector for writing binary tree structure. |
leaf_container_vector_arg | pointer to all LeafContainerT objects in the octree |
do_XOR_encoding_arg | select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree |
Definition at line 209 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_.
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Callback executed for every leaf node data during serialization.
Definition at line 871 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive().
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Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content.
branch_arg | current branch node |
key_arg | reference to an octree key |
binary_tree_out_arg | binary output vector |
leaf_container_vector_arg | vector to return pointers to all leaf container in the tree. |
do_XOR_encoding_arg | select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree |
new_leafs_filter_arg | execute callback only for leaf nodes that did not exist in preceding buffer |
Definition at line 530 of file octree2buf_base.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeLeafNode< ContainerT >::getContainerPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::popBranch(), pcl::octree::OctreeKey::pushBranch(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeCallback().
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree().
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Assign new child node to branch.
branch_arg | reference to octree branch class |
child_idx_arg | index to child node |
new_child_arg | pointer to new child node |
Definition at line 590 of file octree2buf_base.h.
References pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr().
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex | ( | unsigned int | max_voxel_index_arg | ) |
Set the maximum amount of voxels per dimension.
max_voxel_index_arg | maximum amount of voxels per dimension |
Definition at line 72 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::Log2(), and pcl::octree::OctreeKey::maxDepth.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth | ( | unsigned int | depth_arg | ) |
Set the maximum depth of the octree.
depth_arg | maximum depth of octree |
Definition at line 89 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::depth_mask_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::octree_depth_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.
void pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers | ( | ) |
Switch buffers and reset current octree structure.
Definition at line 166 of file octree2buf_base.hpp.
References pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::branch_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::leaf_count_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::root_node_, pcl::octree::BufferedBranchNode< ContainerT >::setChildPtr(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::tree_dirty_flag_, and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
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Recursively explore the octree and remove unused branch and leaf nodes.
branch_arg | current branch node |
Definition at line 790 of file octree2buf_base.hpp.
References pcl::octree::BRANCH_NODE, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::buffer_selector_, pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteBranchChild(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchBitPattern(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::getBranchXORBitPattern(), pcl::octree::BufferedBranchNode< ContainerT >::getChildPtr(), pcl::octree::OctreeNode::getNodeType(), pcl::octree::BufferedBranchNode< ContainerT >::hasChild(), and pcl::octree::LEAF_NODE.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers().
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Definition at line 235 of file octree2buf_base.h.
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Definition at line 234 of file octree2buf_base.h.
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Definition at line 233 of file octree2buf_base.h.
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Definition at line 237 of file octree2buf_base.h.
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Definition at line 236 of file octree2buf_base.h.
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Amount of branch nodes.
Definition at line 934 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers().
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Currently active octree buffer.
Definition at line 946 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::findLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::treeCleanUpRecursive().
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Depth mask based on octree depth.
Definition at line 940 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setMaxVoxelIndex(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth().
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Enable dynamic_depth.
Definition at line 956 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=().
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Amount of leaf nodes.
Definition at line 931 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::createLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteLeafRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTreeRecursive(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers().
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key range
Definition at line 943 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth().
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Octree depth.
Definition at line 952 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::setTreeDepth().
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Pointer to root branch node of octree.
Definition at line 937 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::~Octree2BufBase().
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Definition at line 949 of file octree2buf_base.h.
Referenced by pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deleteTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::deserializeTree(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::operator=(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeNewLeafs(), pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::serializeTree(), and pcl::octree::Octree2BufBase< LeafContainerT, BranchContainerT >::switchBuffers().