se::Octree< DataT, ResT, BlockSize > Class Template Reference

The octree data structure containing the map data. More...

#include <octree.hpp>

Public Types
typedef std::shared_ptr< Octree< DataT, ResT, BlockSize > >	Ptr
typedef DataT	DataType
typedef Node< DataT, ResT >	NodeType
typedef Block< DataT, ResT, BlockSize >	BlockType
typedef TriangleMesh< DataT::col_, DataT::sem_ >	SurfaceMesh
typedef QuadMesh< Colour::Off, Semantics::Off >	StructureMesh

Public Member Functions
	Octree (const int size)
	Initialize an octree with an edge length of at least size voxels.
	Octree (const Octree &)=delete
	The copy constructor is explicitly deleted because copying octrees is expensive.
Octree &	operator= (const Octree &)=delete
	The copy assignment operator is explicitly deleted because copying octrees is expensive.
OctreeIterator< Octree< DataT, ResT, BlockSize > >	begin ()
OctreeIterator< const Octree< DataT, ResT, BlockSize > >	begin () const
OctreeIterator< const Octree< DataT, ResT, BlockSize > >	cbegin () const
OctreeIterator< Octree< DataT, ResT, BlockSize > >	end ()
OctreeIterator< const Octree< DataT, ResT, BlockSize > >	end () const
OctreeIterator< const Octree< DataT, ResT, BlockSize > >	cend () const
bool	contains (const Eigen::Vector3i &voxel_coord) const
	Return whether point voxel_coord with coordinates in voxels is contained in the octree.
OctantBase *	getRoot ()
	Return a non-null pointer to the octree's root node.
OctantBase *	getRoot () const
	Const version of se::Octree::getRoot().
int	getSize () const
	Return the edge length of the octree volume in voxels.
int	getMaxScale () const
	Return the maximum octree scale, that is, the scale of the root node.
int	getBlockDepth () const
	Return the depth blocks are allocated at.
SurfaceMesh	mesh (const Eigen::Affine3f &T_OV=Eigen::Affine3f::Identity(), const int min_desired_scale=0) const
	Return a mesh of the reconstructed surface in the octree frame in units of voxels.
int	saveMesh (const std::string &filename, const Eigen::Affine3f &T_OV=Eigen::Affine3f::Identity(), const int min_desired_scale=0) const
	Save the mesh returned by se::Octree::mesh() in filename.
StructureMesh	structure (const Eigen::Affine3f &T_OV=Eigen::Affine3f::Identity(), const bool only_leaves=true) const
	Return a mesh of the octree structure in the octree frame in units of voxels.
int	saveStructure (const std::string &filename, const Eigen::Affine3f &T_OV=Eigen::Affine3f::Identity(), const bool only_leaves=true) const
	Save the mesh returned by se::Octree::structure() in filename.
bool	allocate (NodeType *const parent_ptr, const int child_idx, OctantBase *&child_ptr)
	Allocate a child of a node.
void	allocateChildren (NodeType *const parent_ptr)
	Allocate all the children of parent_ptr.
void	deleteChildren (NodeType *const parent_ptr)
	Recursively delete all the children of parent_ptr.
const Eigen::AlignedBox3i &	aabb () const
	Return the axis-aligned bounding box of the octree's allocated leaves.
void	aabbExtend (const Eigen::Vector3i &voxel_coord, const int size)
	Extend the octree allocated leaf AABB to contain the octant with coordinates in voxels voxel_coord and edge length in voxels size.

Static Public Attributes
static constexpr Field	fld_ = DataT::fld_
static constexpr Colour	col_ = DataT::col_
static constexpr Semantics	sem_ = DataT::sem_
static constexpr Res	res_ = ResT
static constexpr int	block_size = BlockSize
	The edge length of a block in voxels.
static constexpr scale_t	max_block_scale = octantops::size_to_scale(BlockSize)
	The maximum scale of a block.

Detailed Description

template<typename DataT, Res ResT = Res::Single, int BlockSize = 8>
class se::Octree< DataT, ResT, BlockSize >

The octree data structure containing the map data.

It is the memory manager of the map since it is the only entity that is able to allocate and deallocate nodes and blocks. There are specialized functions and classes for accessing (se::visitor) and modifying (se::MapIntegrator) the map data as this isn't done through this class. At the maximum octree depth data is stored in blocks of BlockSize3 voxels.

https://en.wikipedia.org/wiki/Octree

Template Parameters

DataT	The data type stored in the octree.
ResT	se::Res::Single if data is only stored in the octree leaves or se::Res::Multi if data is stored in all octree nodes.
BlockSize	The edge length of a voxel block in voxels. It must be a power of two.

Member Typedef Documentation

Ptr

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef std::shared_ptr<Octree<DataT, ResT, BlockSize> > se::Octree< DataT, ResT, BlockSize >::Ptr

DataType

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef DataT se::Octree< DataT, ResT, BlockSize >::DataType

NodeType

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef Node<DataT, ResT> se::Octree< DataT, ResT, BlockSize >::NodeType

BlockType

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef Block<DataT, ResT, BlockSize> se::Octree< DataT, ResT, BlockSize >::BlockType

SurfaceMesh

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef TriangleMesh<DataT::col_, DataT::sem_> se::Octree< DataT, ResT, BlockSize >::SurfaceMesh

StructureMesh

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

typedef QuadMesh<Colour::Off, Semantics::Off> se::Octree< DataT, ResT, BlockSize >::StructureMesh

Constructor & Destructor Documentation

Octree() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::Octree< DataT, ResT, BlockSize >::Octree

(

const int

size

)

Initialize an octree with an edge length of at least size voxels.

The actual edge length in voxels, as returned by se::Octree::getSize(), will be the smallest power of 2 that at least size and at least 2 * BlockSize.

Octree() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

se::Octree< DataT, ResT, BlockSize >::Octree ( const Octree< DataT, ResT, BlockSize > &  )

delete

The copy constructor is explicitly deleted because copying octrees is expensive.

Member Function Documentation

operator=()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

Octree & se::Octree< DataT, ResT, BlockSize >::operator= ( const Octree< DataT, ResT, BlockSize > &  )

delete

The copy assignment operator is explicitly deleted because copying octrees is expensive.

begin() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator< Octree< DataT, ResT, BlockSize > > se::Octree< DataT, ResT, BlockSize >::begin

(

)

begin() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator< const Octree< DataT, ResT, BlockSize > > se::Octree< DataT, ResT, BlockSize >::begin

(

)

const

cbegin()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator< const Octree< DataT, ResT, BlockSize > > se::Octree< DataT, ResT, BlockSize >::cbegin

(

)

const

end() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator< Octree< DataT, ResT, BlockSize > > se::Octree< DataT, ResT, BlockSize >::end

(

)

end() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator< const Octree< DataT, ResT, BlockSize > > se::Octree< DataT, ResT, BlockSize >::end

(

)

const

cend()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctreeIterator< const Octree< DataT, ResT, BlockSize > > se::Octree< DataT, ResT, BlockSize >::cend

(

)

const

contains()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

bool se::Octree< DataT, ResT, BlockSize >::contains

(

const Eigen::Vector3i &

voxel_coord

)

const

Return whether point voxel_coord with coordinates in voxels is contained in the octree.

getRoot() [1/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctantBase * se::Octree< DataT, ResT, BlockSize >::getRoot

(

)

Return a non-null pointer to the octree's root node.

getRoot() [2/2]

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

OctantBase * se::Octree< DataT, ResT, BlockSize >::getRoot

(

)

const

Const version of se::Octree::getRoot().

Todo:

Return const OctantBase* once a proper const iterator is implemented.

getSize()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::getSize

(

)

const

Return the edge length of the octree volume in voxels.

getMaxScale()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::getMaxScale

(

)

const

Return the maximum octree scale, that is, the scale of the root node.

getBlockDepth()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::getBlockDepth

(

)

const

Return the depth blocks are allocated at.

mesh()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

SurfaceMesh se::Octree< DataT, ResT, BlockSize >::mesh	(	const Eigen::Affine3f &	T_OV = Eigen::Affine3f::Identity(),
		const int	min_desired_scale = 0
	)		const

Return a mesh of the reconstructed surface in the octree frame in units of voxels.

Apply a transformation, from the octree frame V to some output frame O, T_OV to each mesh vertex. For se::Res::Multi maps, only data at scale min_desired_scale or coarser will be used to generate the mesh. This allows generating a coarser mesh which is less demanding in terms of computational time and memory. The value of min_desired_scale has no effect on se::Res::Single maps.

saveMesh()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::saveMesh	(	const std::string &	filename,
		const Eigen::Affine3f &	T_OV = Eigen::Affine3f::Identity(),
		const int	min_desired_scale = 0
	)		const

Save the mesh returned by se::Octree::mesh() in filename.

The T_OV and min_desired_scale arguments are passed directly to se::Octree::mesh(). The file format will be selected based on the extension of filename, which must be one of those in se::io::mesh_extensions. Return the value returned by se::io::save_mesh().

structure()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

StructureMesh se::Octree< DataT, ResT, BlockSize >::structure	(	const Eigen::Affine3f &	T_OV = Eigen::Affine3f::Identity(),
		const bool	only_leaves = true
	)		const

Return a mesh of the octree structure in the octree frame in units of voxels.

Apply a transformation, from the octree frame V to some output frame O, T_OV to each mesh vertex. The returned mesh will only contain leaf octants if only_leaves is true.

saveStructure()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

int se::Octree< DataT, ResT, BlockSize >::saveStructure	(	const std::string &	filename,
		const Eigen::Affine3f &	T_OV = Eigen::Affine3f::Identity(),
		const bool	only_leaves = true
	)		const

Save the mesh returned by se::Octree::structure() in filename.

The T_OV and only_leaves arguments are passed directly to se::Octree::structure(). The file format will be selected based on the extension of filename, which must be one of those in se::io::mesh_extensions. Return the value returned by se::io::save_mesh().

allocate()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

bool se::Octree< DataT, ResT, BlockSize >::allocate	(	NodeType *const	parent_ptr,
		const int	child_idx,
		OctantBase *&	child_ptr
	)

Allocate a child of a node.

Note

The returned pointer is of type se::OctantBase as the child might be a node or block.

Warning

This function might be dangerous when using Multires Occupancy. Use se::Octree::allocateChildren() if unsure.

Parameters

[in]	parent_ptr	The parent of the octant to be allocated.
[in]	child_idx	The child index of the octant to be allocated.
[out]	child_ptr	The pointer to the allocated or fetched octant.

Returns

True if the child was allocated, false if it was already allocated.

allocateChildren()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

void se::Octree< DataT, ResT, BlockSize >::allocateChildren

(

NodeType *const

parent_ptr

)

Allocate all the children of parent_ptr.

deleteChildren()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

void se::Octree< DataT, ResT, BlockSize >::deleteChildren

(

NodeType *const

parent_ptr

)

Recursively delete all the children of parent_ptr.

aabb()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

const Eigen::AlignedBox3i & se::Octree< DataT, ResT, BlockSize >::aabb

(

)

const

Return the axis-aligned bounding box of the octree's allocated leaves.

The bounding box is computed using the coordinates of allocated voxels, not using the whole allocated volume. Thus the coordinates of its vertices are in the interval [0, se::Octree::getSize()) and it can be used to safely test if some voxel is contained in it using Eigen::AlignedBox3i::contains().

aabbExtend()

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

void se::Octree< DataT, ResT, BlockSize >::aabbExtend	(	const Eigen::Vector3i &	voxel_coord,
		const int	size
	)

Extend the octree allocated leaf AABB to contain the octant with coordinates in voxels voxel_coord and edge length in voxels size.

Note

This is typically only needed to update the AABB with leaf nodes as they can't efficiently be detected during allocation since all nodes are leaves when allocated. This function should be called only for newly allocated leaf nodes from an allocator that allocates free nodes (e.g. se::VolumeCarver).

Member Data Documentation

fld_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr Field se::Octree< DataT, ResT, BlockSize >::fld_ = DataT::fld_

staticconstexpr

col_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr Colour se::Octree< DataT, ResT, BlockSize >::col_ = DataT::col_

staticconstexpr

sem_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr Semantics se::Octree< DataT, ResT, BlockSize >::sem_ = DataT::sem_

staticconstexpr

res_

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr Res se::Octree< DataT, ResT, BlockSize >::res_ = ResT

staticconstexpr

block_size

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr int se::Octree< DataT, ResT, BlockSize >::block_size = BlockSize

staticconstexpr

The edge length of a block in voxels.

max_block_scale

template<typename DataT , Res ResT = Res::Single, int BlockSize = 8>

constexpr scale_t se::Octree< DataT, ResT, BlockSize >::max_block_scale = octantops::size_to_scale(BlockSize)

staticconstexpr

The maximum scale of a block.

---

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

• include/se/map/octree/octree.hpp