Point Cloud Library (PCL)
1.7.0
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00001 /** 00002 \addtogroup octree Module octree 00003 00004 \section secOctreePresentation Overview 00005 00006 The <b>pcl_octree</b> library provides efficient methods for creating a hierarchical tree 00007 data structure from point cloud data. This enables spatial partitioning, 00008 downsampling and search operations on the point data set. 00009 Each octree node the has either eight children or no children. The root node describes 00010 a cubic bounding box which encapsulates all points. At every tree level, this space 00011 becomes subdivided by a factor of 2 which results in an increased voxel resolution. 00012 00013 The <b>pcl_octree</b> implementation provides efficient nearest neighbor search routines, 00014 such as "Neighbors within Voxel Search”, “K Nearest Neighbor Search” and 00015 “Neighbors within Radius Search”. It automatically adjusts its dimension to the point 00016 data set. A set of leaf node classes provide additional functionality, such as 00017 spacial "occupancy" and "point density per voxel" checks. Functions for serialization 00018 and deserialization enable to efficiently encode the octree structure into a binary format. 00019 Furthermore, a memory pool implementation reduces expensive memory allocation and 00020 deallocation operations in scenarios where octrees needs to be created at high rate. 00021 00022 The following figure illustrates the voxel bounding boxes of an octree nodes at lowest tree level. 00023 The octree voxels are surrounding every 3D point from the bunny's surface. The red dots represent the point data. 00024 This image is create with the octree_viewer (visualization/tools/octree_viewer). 00025 00026 For examples how to use the <b>pcl_octree</b> library, please visit the <a href="http://www.pointclouds.org/documentation/tutorials/">pcl tutorial page</a>. 00027 00028 \image html http://www.pointclouds.org/assets/images/contents/documentation/octree_bunny.png 00029 00030 00031 \section secOctreeRequirements Requirements 00032 - \ref common "common" 00033 00034 */