#include <Octree.h>

Inheritance diagram for open3d::geometry::Octree:

Public Member Functions
	Octree ()

	Octree (const size_t &max_depth)

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

	Octree (const Octree &src_octree)

	~Octree () override

Octree &	Clear () override

bool	IsEmpty () const override

Eigen::Vector3d	GetMinBound () const override

Eigen::Vector3d	GetMaxBound () const override

Eigen::Vector3d	GetCenter () const override

AxisAlignedBoundingBox	GetAxisAlignedBoundingBox () const override

OrientedBoundingBox	GetOrientedBoundingBox () const override

Octree &	Transform (const Eigen::Matrix4d &transformation) override

Octree &	Translate (const Eigen::Vector3d &translation, bool relative=true) override

Octree &	Scale (const double scale, bool center=true) override

Octree &	Rotate (const Eigen::Vector3d &rotation, bool center=true, RotationType type=RotationType::XYZ) override

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)

void	InsertPoint (const Eigen::Vector3d &point, const std::function< std::shared_ptr< OctreeLeafNode >()> &f_init, const std::function< void(std::shared_ptr< OctreeLeafNode >)> &f_update)
	Insert point. More...

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

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

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

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 voxel grid. More...

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

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

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

GeometryType	GetGeometryType () const

int	Dimension () const

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

Static Public Member Functions
static bool	IsPointInBound (const Eigen::Vector3d &point, const Eigen::Vector3d &origin, const double &size)

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::Geometry3D
enum	RotationType { RotationType::XYZ, RotationType::YZX, RotationType::ZXY, RotationType::XZY, RotationType::ZYX, RotationType::YXZ, RotationType::AxisAngle }

Public Types inherited from open3d::geometry::Geometry
enum	GeometryType { GeometryType::Unspecified = 0, GeometryType::PointCloud = 1, GeometryType::VoxelGrid = 2, GeometryType::Octree = 3, GeometryType::LineSet = 4, GeometryType::TriangleMesh = 5, GeometryType::HalfEdgeTriangleMesh = 6, GeometryType::Image = 7, GeometryType::RGBDImage = 8, GeometryType::TetraMesh = 9, GeometryType::OrientedBoundingBox = 10, GeometryType::AxisAlignedBoundingBox = 11 }

Protected Member Functions inherited from open3d::geometry::Geometry3D
	Geometry3D (GeometryType type)

Eigen::Vector3d	ComputeMinBound (const std::vector< Eigen::Vector3d > &points) const

Eigen::Vector3d	ComputeMaxBound (const std::vector< Eigen::Vector3d > &points) const

Eigen::Vector3d	ComputeCenter (const std::vector< Eigen::Vector3d > &points) const

void	ResizeAndPaintUniformColor (std::vector< Eigen::Vector3d > &colors, const size_t size, const Eigen::Vector3d &color) const

void	TransformPoints (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &points) const

void	TransformNormals (const Eigen::Matrix4d &transformation, std::vector< Eigen::Vector3d > &normals) const

void	TranslatePoints (const Eigen::Vector3d &translation, std::vector< Eigen::Vector3d > &points, bool relative) const

void	ScalePoints (const double scale, std::vector< Eigen::Vector3d > &points, bool center) const

void	RotatePoints (const Eigen::Vector3d &rotation, std::vector< Eigen::Vector3d > &points, bool center, RotationType type) const

void	RotateNormals (const Eigen::Vector3d &rotation, std::vector< Eigen::Vector3d > &normals, bool center, RotationType type) const

Eigen::Matrix3d	GetRotationMatrix (const Eigen::Vector3d &rotation, RotationType type=RotationType::XYZ) const

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

Constructor & Destructor Documentation

◆ Octree() [1/4]

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

inline

◆ Octree() [2/4]

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

inline

◆ Octree() [3/4]

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

inline

◆ 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

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`
	)

◆ 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

Implements open3d::geometry::Geometry3D.

◆ GetCenter()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMaxBound()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetMinBound()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ GetOrientedBoundingBox()

OrientedBoundingBox open3d::geometry::Octree::GetOrientedBoundingBox ( ) const

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ InsertPoint()

void open3d::geometry::Octree::InsertPoint	(	const Eigen::Vector3d &	point,
		const std::function< std::shared_ptr< OctreeLeafNode >()> &	f_init,
		const std::function< void(std::shared_ptr< OctreeLeafNode >)> &	f_update
	)

Insert point.

◆ IsEmpty()

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

overridevirtual

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

◆ LocateLeafNode()

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

◆ 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::Vector3d &	rotation,
		bool	center = `true`,
		RotationType	type = `RotationType::XYZ`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Scale()

Octree & open3d::geometry::Octree::Scale	(	const double	scale,
		bool	center = `true`
	)

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ ToVoxelGrid()

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

Convert to voxel grid.

◆ Transform()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Translate()

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

overridevirtual

Implements open3d::geometry::Geometry3D.

◆ Traverse() [1/2]

void open3d::geometry::Octree::Traverse ( const std::function< void(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

◆ Traverse() [2/2]

void open3d::geometry::Octree::Traverse ( const std::function< void(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

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/yixing/repo/Open3D/src/Open3D/Geometry/Octree.h
/home/yixing/repo/Open3D/src/Open3D/Geometry/Octree.cpp

Public Member Functions

Static Public Member Functions

Data Fields

Additional Inherited Members

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()

◆ 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_