#include <Octree.h>

Inheritance diagram for open3d::geometry::Octree:

Public Member Functions
	Octree ()
	Default Constructor. More...

	Octree (const size_t &max_depth)
	Parameterized Constructor. More...

	Octree (const size_t &max_depth, const Eigen::Vector3d &origin, const double &size)
	Parameterized Constructor. More...

	Octree (const Octree &src_octree)

	~Octree () override

Octree &	Clear () override
	Clear all elements in the geometry. More...

bool	IsEmpty () const override
	Returns `true` iff the geometry is empty. More...

Eigen::Vector3d	GetMinBound () const override
	Returns min bounds for geometry coordinates. More...

Eigen::Vector3d	GetMaxBound () const override
	Returns max bounds for geometry coordinates. More...

Eigen::Vector3d	GetCenter () const override
	Returns the center of the geometry coordinates. More...

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override

OrientedBoundingBox	GetOrientedBoundingBox (bool robust=false) const override

OrientedBoundingBox	GetMinimalOrientedBoundingBox (bool robust=false) const override

Octree &	Transform (const Eigen::Matrix4d &transformation) override
	Apply transformation (4x4 matrix) to the geometry coordinates. More...

Octree &	Translate (const Eigen::Vector3d &translation, bool relative=true) override
	Apply translation to the geometry coordinates. More...

Octree &	Scale (const double scale, const Eigen::Vector3d &center) override
	Apply scaling to the geometry coordinates. Given a scaling factor \(s\), and center \(c\), a given point \(p\) is transformed according to \(s (p - c) + c\). More...

Octree &	Rotate (const Eigen::Matrix3d &R, const Eigen::Vector3d &center) override
	Apply rotation to the geometry coordinates and normals. Given a rotation matrix \(R\), and center \(c\), a given point \(p\) is transformed according to \(R (p - c) + c\). More...

bool	ConvertToJsonValue (Json::Value &value) const override

bool	ConvertFromJsonValue (const Json::Value &value) override

void	ConvertFromPointCloud (const geometry::PointCloud &point_cloud, double size_expand=0.01)
	Convert octree from point cloud. More...

void	InsertPoint (const Eigen::Vector3d &point, const std::function< std::shared_ptr< OctreeLeafNode >()> &fl_init, const std::function< void(std::shared_ptr< OctreeLeafNode >)> &fl_update, const std::function< std::shared_ptr< OctreeInternalNode >()> &fi_init=nullptr, const std::function< void(std::shared_ptr< OctreeInternalNode >)> &fi_update=nullptr)
	Insert a point to the octree. More...

void	Traverse (const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> &f)
	DFS traversal of Octree from the root, with callback function called for each node. More...

void	Traverse (const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> &f) const
	Const version of Traverse. DFS traversal of Octree from the root, with callback function called for each node. More...

std::pair< std::shared_ptr< OctreeLeafNode >, std::shared_ptr< OctreeNodeInfo > >	LocateLeafNode (const Eigen::Vector3d &point) const
	Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside. More...

bool	operator== (const Octree &other) const
	Returns true if the Octree is completely the same, used for testing. More...

std::shared_ptr< geometry::VoxelGrid >	ToVoxelGrid () const
	Convert to VoxelGrid. More...

void	CreateFromVoxelGrid (const geometry::VoxelGrid &voxel_grid)
	Convert from voxel grid. More...

Public Member Functions inherited from open3d::geometry::Geometry3D
	~Geometry3D () override

virtual Geometry3D &	Rotate (const Eigen::Matrix3d &R)

Public Member Functions inherited from open3d::geometry::Geometry
virtual	~Geometry ()

GeometryType	GetGeometryType () const
	Returns one of registered geometry types. More...

int	Dimension () const
	Returns whether the geometry is 2D or 3D. More...

std::string	GetName () const

void	SetName (const std::string &name)

Public Member Functions inherited from open3d::utility::IJsonConvertible
virtual	~IJsonConvertible ()

virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display. More...

Static Public Member Functions
static bool	IsPointInBound (const Eigen::Vector3d &point, const Eigen::Vector3d &origin, const double &size)
	Return true if point within bound, that is, origin <= point < origin + size. More...

Static Public Member Functions inherited from open3d::geometry::Geometry3D
static Eigen::Matrix3d	GetRotationMatrixFromXYZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XYZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYZX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YZX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZXY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZXY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromXZY (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from XZY RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromZYX (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from ZYX RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromYXZ (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from YXZ RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromAxisAngle (const Eigen::Vector3d &rotation)
	Get Rotation Matrix from AxisAngle RotationType. More...

static Eigen::Matrix3d	GetRotationMatrixFromQuaternion (const Eigen::Vector4d &rotation)
	Get Rotation Matrix from Quaternion. More...

Static Public Member Functions inherited from open3d::utility::IJsonConvertible
static bool	EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value)

static bool	EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value)

static bool	EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value)

static bool	EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value)

static bool	EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value)

static bool	EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value)

static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value)

static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value)

static bool	EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value)

static bool	EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value)

static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value)

static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value)

static bool	EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value)

static bool	EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value)

Data Fields
std::shared_ptr< OctreeNode >	root_node_ = nullptr
	Root of the octree. More...

Eigen::Vector3d	origin_

double	size_

size_t	max_depth_

Additional Inherited Members
Public Types inherited from open3d::geometry::Geometry
enum class	GeometryType { Unspecified = 0 , PointCloud = 1 , VoxelGrid = 2 , Octree = 3 , LineSet = 4 , MeshBase = 5 , TriangleMesh = 6 , HalfEdgeTriangleMesh = 7 , Image = 8 , RGBDImage = 9 , TetraMesh = 10 , OrientedBoundingBox = 11 , AxisAlignedBoundingBox = 12 }
	Specifies possible geometry types. More...

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)
	Parameterized Constructor. More...

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const
	Compute min bound of a list points. More...

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const
	Compute max bound of a list points. More...

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const
	Computer center of a list of points. More...

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const
	Resizes the colors vector and paints a uniform color. More...

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const
	Transforms all points with the transformation matrix. More...

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const
	Transforms the normals with the transformation matrix. More...

void	TransformCovariances (const Eigen::Matrix4d &transformation, std::vector< Eigen::Matrix3d > &covariances) const
	Transforms all covariance matrices with the transformation. More...

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const
	Apply translation to the geometry coordinates. More...

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Scale the coordinates of all points by the scaling factor `scale`. More...

void	RotatePoints (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &points, const Eigen::Vector3d &center) const
	Rotate all points with the rotation matrix `R`. More...

void	RotateNormals (const Eigen::Matrix3d &R, std::vector< Eigen::Vector3d > &normals) const
	Rotate all normals with the rotation matrix `R`. More...

void	RotateCovariances (const Eigen::Matrix3d &R, std::vector< Eigen::Matrix3d > &covariances) const
	Rotate all covariance matrices with the rotation matrix `R`. More...

Protected Member Functions inherited from open3d::geometry::Geometry
	Geometry (GeometryType type, int dimension)
	Parameterized Constructor. More...

Detailed Description

Octree datastructure.

Constructor & Destructor Documentation

◆ Octree() [1/4]

open3d::geometry::Octree::Octree ( )

inline

Default Constructor.

◆ Octree() [2/4]

open3d::geometry::Octree::Octree ( const size_t & max_depth )

inline

Parameterized Constructor.

Parameters

max_depth Sets the value of the max depth of the Octree.

◆ Octree() [3/4]

open3d::geometry::Octree::Octree	(	const size_t &	max_depth,
		const Eigen::Vector3d &	origin,
		const double &	size
	)

inline

Parameterized Constructor.

Parameters

max_depth	Sets the value of the max depth of the Octree.
origin	Sets the global min bound of the Octree.
size	Sets the outer bounding box edge size for the whole octree.

◆ Octree() [4/4]

open3d::geometry::Octree::Octree ( const Octree & src_octree )

◆ ~Octree()

open3d::geometry::Octree::~Octree ( )

inlineoverride

Member Function Documentation

◆ Clear()

Octree & open3d::geometry::Octree::Clear ( )

overridevirtual

Clear all elements in the geometry.

Implements open3d::geometry::Geometry3D.

◆ ConvertFromJsonValue()

bool open3d::geometry::Octree::ConvertFromJsonValue ( const Json::Value & value )

overridevirtual

Implements open3d::utility::IJsonConvertible.

◆ ConvertFromPointCloud()

void open3d::geometry::Octree::ConvertFromPointCloud	(	const geometry::PointCloud &	point_cloud,
		double	size_expand = `0.01`
	)

Convert octree from point cloud.

Parameters

point_cloud	Input point cloud.
size_expand	A small expansion size such that the octree is slightly bigger than the original point cloud bounds to accommodate all points.

◆ ConvertToJsonValue()

bool open3d::geometry::Octree::ConvertToJsonValue ( Json::Value & value ) const

overridevirtual

Implements open3d::utility::IJsonConvertible.

◆ CreateFromVoxelGrid()

void open3d::geometry::Octree::CreateFromVoxelGrid ( const geometry::VoxelGrid & voxel_grid )

Convert from voxel grid.

◆ GetAxisAlignedBoundingBox()

AxisAlignedBoundingBox open3d::geometry::Octree::GetAxisAlignedBoundingBox ( ) const

overridevirtual

Creates the axis-aligned bounding box around the object. Further details in AxisAlignedBoundingBox::AxisAlignedBoundingBox()

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

Eigen::Vector3d open3d::geometry::Octree::GetCenter ( ) const

overridevirtual

Returns the center of the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

Eigen::Vector3d open3d::geometry::Octree::GetMaxBound ( ) const

overridevirtual

Returns max bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

Eigen::Vector3d open3d::geometry::Octree::GetMinBound ( ) const

overridevirtual

Returns min bounds for geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ GetMinimalOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::Octree::GetMinimalOrientedBoundingBox ( bool robust = false ) const

overridevirtual

Creates an oriented bounding box that is identical to the axis-aligned bounding from GetAxisAlignedBoundingBox().

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::Octree::GetOrientedBoundingBox ( bool robust = false ) const

overridevirtual

Creates an oriented bounding box that is identical to the axis-aligned bounding from GetAxisAlignedBoundingBox().

Implements open3d::geometry::Geometry3D.

◆ InsertPoint()

void open3d::geometry::Octree::InsertPoint	(	const Eigen::Vector3d &	point,
		const std::function< std::shared_ptr< OctreeLeafNode >()> &	fl_init,
		const std::function< void(std::shared_ptr< OctreeLeafNode >)> &	fl_update,
		const std::function< std::shared_ptr< OctreeInternalNode >()> &	fi_init = `nullptr`,
		const std::function< void(std::shared_ptr< OctreeInternalNode >)> &	fi_update = `nullptr`
	)

Insert a point to the octree.

Parameters

point	Coordinates of the point.
fl_init	Initialization fcn used to create new leaf node (if needed) associated with the point.
fl_update	Update fcn used to update the leaf node associated with the point.
fi_init	Initialize fcn used to create a new internal node (if needed) which is an ancestor of the point's leaf node. If omitted, the default OctreeInternalNode function is used.
fi_update	Update fcn used to update the internal node which is an ancestor of the point's leaf node. If omitted, the default OctreeInternalNode function is used.

◆ IsEmpty()

bool open3d::geometry::Octree::IsEmpty ( ) const

overridevirtual

Returns true iff the geometry is empty.

Implements open3d::geometry::Geometry3D.

◆ IsPointInBound()

bool open3d::geometry::Octree::IsPointInBound	(	const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	origin,
		const double &	size
	)

static

Return true if point within bound, that is, origin <= point < origin + size.

Parameters

point	Coordinates of the point.
origin	Origin coordinates.
size	Size of the Octree.

◆ LocateLeafNode()

std::pair< std::shared_ptr< OctreeLeafNode >, std::shared_ptr< OctreeNodeInfo > > open3d::geometry::Octree::LocateLeafNode ( const Eigen::Vector3d & point ) const

Returns leaf OctreeNode and OctreeNodeInfo where the querypoint should reside.

Parameters

point Coordinates of the point.

◆ operator==()

bool open3d::geometry::Octree::operator== ( const Octree & other ) const

Returns true if the Octree is completely the same, used for testing.

◆ Rotate()

Octree & open3d::geometry::Octree::Rotate	(	const Eigen::Matrix3d &	R,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply rotation to the geometry coordinates and normals. Given a rotation matrix \(R\), and center \(c\), a given point \(p\) is transformed according to \(R (p - c) + c\).

Parameters

R	A 3x3 rotation matrix
center	Rotation center that is used for the rotation.

Implements open3d::geometry::Geometry3D.

◆ Scale()

Octree & open3d::geometry::Octree::Scale	(	const double	scale,
		const Eigen::Vector3d &	center
	)

overridevirtual

Apply scaling to the geometry coordinates. Given a scaling factor \(s\), and center \(c\), a given point \(p\) is transformed according to \(s (p - c) + c\).

Parameters

scale	The scale parameter that is multiplied to the points/vertices of the geometry.
center	Scale center that is used to resize the geometry.

Implements open3d::geometry::Geometry3D.

◆ ToVoxelGrid()

std::shared_ptr< geometry::VoxelGrid > open3d::geometry::Octree::ToVoxelGrid ( ) const

Convert to VoxelGrid.

◆ Transform()

Octree & open3d::geometry::Octree::Transform ( const Eigen::Matrix4d & transformation )

overridevirtual

Apply transformation (4x4 matrix) to the geometry coordinates.

Implements open3d::geometry::Geometry3D.

◆ Translate()

Octree & open3d::geometry::Octree::Translate	(	const Eigen::Vector3d &	translation,
		bool	relative = `true`
	)

overridevirtual

Apply translation to the geometry coordinates.

Parameters

translation	A 3D vector to transform the geometry.
relative	If `true`, the `translation` is directly applied to the geometry. Otherwise, the geometry center is moved to the `translation`.

Implements open3d::geometry::Geometry3D.

◆ Traverse() [1/2]

void open3d::geometry::Octree::Traverse ( const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> & f )

DFS traversal of Octree from the root, with callback function called for each node.

Parameters

f	Callback which fires with each traversed internal/leaf node. Arguments supply information about the node being traversed and other node-specific data. A Boolean return value is used for early-stopping. If f returns true, children of this node will not be traversed.

◆ Traverse() [2/2]

void open3d::geometry::Octree::Traverse ( const std::function< bool(const std::shared_ptr< OctreeNode > &, const std::shared_ptr< OctreeNodeInfo > &)> & f ) const

Const version of Traverse. DFS traversal of Octree from the root, with callback function called for each node.

Parameters

f	Callback which fires with each traversed internal/leaf node. Arguments supply information about the node being traversed and other node-specific data. A Boolean return value is used for early-stopping. If f returns true, children of this node will not be traversed.

Field Documentation

◆ max_depth_

size_t open3d::geometry::Octree::max_depth_

Max depth of octree. The depth is defined as the distance from the deepest leaf node to root. A tree with only the root node has depth 0.

◆ origin_

Eigen::Vector3d open3d::geometry::Octree::origin_

Global min bound (include). A point is within bound iff origin_ <= point < origin_ + size_.

◆ root_node_

std::shared_ptr<OctreeNode> open3d::geometry::Octree::root_node_ = nullptr

Root of the octree.

◆ size_

double open3d::geometry::Octree::size_

Outer bounding box edge size for the whole octree. A point is within bound iff origin_ <= point < origin_ + size_.

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

/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/Octree.h (a4a173e (Tue Apr 16 17:40:58 2024 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/geometry/Octree.cpp (a4a173e (Tue Apr 16 17:40:58 2024 -0700))

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Octree() [1/4]

◆ Octree() [2/4]

◆ Octree() [3/4]

◆ Octree() [4/4]

◆ ~Octree()

Member Function Documentation

◆ Clear()

◆ ConvertFromJsonValue()

◆ ConvertFromPointCloud()

◆ ConvertToJsonValue()

◆ CreateFromVoxelGrid()

◆ GetAxisAlignedBoundingBox()

◆ GetCenter()

◆ GetMaxBound()

◆ GetMinBound()

◆ GetMinimalOrientedBoundingBox()

◆ GetOrientedBoundingBox()

◆ InsertPoint()

◆ IsEmpty()

◆ IsPointInBound()

◆ LocateLeafNode()

◆ operator==()

◆ Rotate()

◆ Scale()

◆ ToVoxelGrid()

◆ Transform()

◆ Translate()

◆ Traverse() [1/2]

◆ Traverse() [2/2]

Field Documentation

◆ max_depth_

◆ origin_

◆ root_node_

◆ size_