Point Cloud Library (PCL)
1.7.0
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00001 /** 00002 \addtogroup outofcore Module outofcore 00003 00004 \section secOutofcoreOctree Overview 00005 00006 The <b>pcl_outofcore</b> library provides an octree data structure 00007 for point clouds that are too large to be stored in main memory. The 00008 data are located instead in an directory-based octree hierary on 00009 some secondary storage (disk) medium. <b>pcl_outofcore</b> provides 00010 the framework for constructing and traversing outofcore octrees, a 00011 command-line tool <b>pcl_outofcore_process</b> for converting a set 00012 of registered PCD files to outofcore octree, and 00013 <b>pcl_outofcore_viewer</b> for rendering outofcore octrees. 00014 00015 <b>pcl_outofcore</b> provides an interface to construct and query 00016 outofcore octrees via OutofcoreOctreeBase. The out of core octree 00017 can be used with any PCLPointCloud2 with point types containing ``x'', 00018 ``y'' and ``z'' fields. No internal checking is done to verify 00019 this. On the other hand, point clouds do not need to be filtered for 00020 NaN entries; the library will automatically ignore NaN points in the 00021 insertion methods. 00022 00023 The average user may not need to do any development with this 00024 library, but rather use the command-line tool 00025 <b>pcl_outofcore_process</b> to construct an outofcore octree, and 00026 <b>pcl_outofcore_viewer</b> to view it. 00027 00028 For those interested in developing software with 00029 <b>pcl_outofcore</b>, the functionality of the OutofcoreOctreeBase 00030 class provides methods for insertion (<b>addPointCloud</b>), and 00031 querying bounding boxes (<b>queryBoundingBox</b>). Furthermore 00032 <b>OutofcoreDepthFirstIterator</b> provides an iterator for the 00033 entire tree that gives direct access to the in-memory node 00034 datastructre, <b>OutofcoreOctreeBaseNode</b>. Please note that this 00035 library is still under development, and that interested users should 00036 use the <b>PCLPointCloud2</b>-based insertion and query methods. 00037 00038 \section secOutofcore Example Usage 00039 00040 \section secOutofcoreRequirements Requirements 00041 - \ref common "common" 00042 - \ref io "io" 00043 - \ref visualization "visualization" (for pcl_outofcore_viewer) 00044 - \ref filters "filters" 00045 00046 */