cv::Octree Class Reference

Octree for 3D vision. More...

#include <opencv2/3d.hpp>

Public Member Functions
	Octree ()
	Default constructor. More...
	Octree (int maxDepth)
	Create an empty Octree and set the maximum depth. More...
	Octree (const std::vector< Point3f > &pointCloud, int maxDepth)
	Create an Octree from the PointCloud data with the specific max depth. More...
	Octree (int maxDepth, double size, const Point3f &origin)
	Create an empty Octree. More...
	~Octree ()
	Default destructor. More...
void	clear ()
	Reset all octree parameter. More...
bool	create (const std::vector< Point3f > &pointCloud, int maxDepth=-1)
	Read point cloud data and create OctreeNode. More...
bool	deletePoint (const Point3f &point)
	Delete a given point from the Octree. More...
bool	empty () const
	returns true if the rootnode is NULL. More...
void	insertPoint (const Point3f &point)
	Insert a point data to a OctreeNode. More...
bool	isPointInBound (const Point3f &point) const
	Determine whether the point is within the space range of the specific cube. More...
void	KNNSearch (const Point3f &query, const int K, std::vector< Point3f > &pointSet, std::vector< float > &squareDistSet) const
	K Nearest Neighbor Search in Octree. More...
int	radiusNNSearch (const Point3f &query, float radius, std::vector< Point3f > &pointSet, std::vector< float > &squareDistSet) const
	Radius Nearest Neighbor Search in Octree. More...
void	setMaxDepth (int maxDepth)
	Set MaxDepth for Octree. More...
void	setOrigin (const Point3f &origin)
	Set Origin coordinates for Octree. More...
void	setSize (double size)
	Set Box Size for Octree. More...

Protected Attributes
Ptr< Impl >	p

Detailed Description

Octree for 3D vision.

In 3D vision filed, the Octree is used to process and accelerate the pointcloud data. The class Octree represents the Octree data structure. Each Octree will have a fixed depth. The depth of Octree refers to the distance from the root node to the leaf node.All OctreeNodes will not exceed this depth.Increasing the depth will increase the amount of calculation exponentially. And the small number of depth refers low resolution of Octree. Each node contains 8 children, which are used to divide the space cube into eight parts. Each octree node represents a cube. And these eight children will have a fixed order, the order is described as follows:

For illustration, assume,

rootNode: origin == (0, 0, 0), size == 2

Then,

children[0]: origin == (0, 0, 0), size == 1

children[1]: origin == (1, 0, 0), size == 1, along X-axis next to child 0

children[2]: origin == (0, 1, 0), size == 1, along Y-axis next to child 0

children[3]: origin == (1, 1, 0), size == 1, in X-Y plane

children[4]: origin == (0, 0, 1), size == 1, along Z-axis next to child 0

children[5]: origin == (1, 0, 1), size == 1, in X-Z plane

children[6]: origin == (0, 1, 1), size == 1, in Y-Z plane

children[7]: origin == (1, 1, 1), size == 1, furthest from child 0

Constructor & Destructor Documentation

Octree() [1/4]

cv::Octree::Octree

(

)

Default constructor.

Octree() [2/4]

cv::Octree::Octree ( int  maxDepth )

explicit

Create an empty Octree and set the maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth

The max depth of the Octree. The maxDepth > -1.

Octree() [3/4]

cv::Octree::Octree	(	const std::vector< Point3f > &	pointCloud,
		int	maxDepth
	)

Create an Octree from the PointCloud data with the specific max depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

pointCloud	Point cloud data.
maxDepth	The max depth of the Octree.

Octree() [4/4]

cv::Octree::Octree	(	int	maxDepth,
		double	size,
		const Point3f &	origin
	)

Create an empty Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	Max depth.
size	Initial Cube size.
origin	Initial center coordinate.

~Octree()

cv::Octree::~Octree

(

)

Default destructor.

Member Function Documentation

clear()

void cv::Octree::clear

(

)

Reset all octree parameter.

Clear all the nodes of the octree and initialize the parameters.

create()

bool cv::Octree::create	(	const std::vector< Point3f > &	pointCloud,
		int	maxDepth = -1
	)

Read point cloud data and create OctreeNode.

This function is only called when the octree is being created.

Parameters

pointCloud	PointCloud data.
maxDepth	The max depth of the Octree.

Returns

Returns whether the creation is successful.

deletePoint()

bool cv::Octree::deletePoint

(

const Point3f &

point

)

Delete a given point from the Octree.

Delete the corresponding element from the pointList in the corresponding leaf node. If the leaf node does not contain other points after deletion, this node will be deleted. In the same way, its parent node may also be deleted if its last child is deleted.

Parameters

point

The point coordinates.

Returns

return ture if the point is deleted successfully.

empty()

bool cv::Octree::empty

(

)

const

returns true if the rootnode is NULL.

insertPoint()

void cv::Octree::insertPoint

(

const Point3f &

point

)

Insert a point data to a OctreeNode.

Parameters

point

The point data in Point3f format.

isPointInBound()

bool cv::Octree::isPointInBound

(

const Point3f &

point

)

const

Determine whether the point is within the space range of the specific cube.

Parameters

point

The point coordinates.

Returns

If point is in bound, return ture. Otherwise, false.

KNNSearch()

void cv::Octree::KNNSearch	(	const Point3f &	query,
		const int	K,
		std::vector< Point3f > &	pointSet,
		std::vector< float > &	squareDistSet
	)		const

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K
pointSet	Point output. Contains K points, arranged in order of distance from near to far.
squareDistSet	Dist output. Contains K squared distance, arranged in order of distance from near to far.

radiusNNSearch()

int cv::Octree::radiusNNSearch	(	const Point3f &	query,
		float	radius,
		std::vector< Point3f > &	pointSet,
		std::vector< float > &	squareDistSet
	)		const

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
pointSet	Point output. Contains searched points, and output vector is not in order.
squareDistSet	Dist output. Contains searched squared distance, and output vector is not in order.

Returns

the number of searched points.

setMaxDepth()

void cv::Octree::setMaxDepth

(

int

maxDepth

)

Set MaxDepth for Octree.

setOrigin()

void cv::Octree::setOrigin

(

const Point3f &

origin

)

Set Origin coordinates for Octree.

setSize()

void cv::Octree::setSize

(

double

size

)

Set Box Size for Octree.

Member Data Documentation

p

Ptr<Impl> cv::Octree::p

protected

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

• opencv2/3d.hpp