Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/outofcore/outofcore.doxy
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 */