{"id":2313,"date":"2019-02-14T18:51:29","date_gmt":"2019-02-14T17:51:29","guid":{"rendered":"https:\/\/ridgesolutions.ie\/?p=2313"},"modified":"2019-02-26T12:15:56","modified_gmt":"2019-02-26T11:15:56","slug":"pcl-octree-cheat-sheet","status":"publish","type":"post","link":"https:\/\/www.ridgesolutions.ie\/index.php\/2019\/02\/14\/pcl-octree-cheat-sheet\/","title":{"rendered":"PCL Octree Cheat Sheet"},"content":{"rendered":"<p>The point cloud library (PCL) is a fantastic resource for working with point clouds, however it is a large library and it can take a while to effectively find your way around it.  The octree construct is very useful for working with point clouds, but again it can take a while to learn how to interact with octrees.  To help me to remember how to interact with them I will include some examples here:<\/p>\n<p><strong>To iterate across the nodes of an octree (depth first):<\/strong><\/p>\n<pre>\r\n\/\/\r\nfor (auto it = octree.begin(); it != octree.end(); ++it) {\r\n\tif (it.isBranchNode()) {\r\n\t\tcout << \"branch\" << std::endl;\r\n\t}\r\n\r\n\tif (it.isLeafNode()) {\r\n\t\tcout << \"leaf\" << std::endl;\r\n\t}\r\n}\r\n\/\/\r\n<\/pre>\n<p><strong>To iterate across the leaf nodes:<\/strong><\/p>\n<pre>\r\n\/\/\r\nfor (auto it = octree.leaf_begin(); it != octree.leaf_end(); ++it) {\r\n\r\n}\r\n\/\/\r\n<\/pre>\n<p><strong><br \/>\nGet a Voxel's Bounding Region given node iterator:<\/strong><\/p>\n<pre>\r\n\/\/\r\n\/\/ Get iterator to first leaf\r\nauto it = octree.leaf_begin();\r\n\r\nEigen::Vector3f voxel_min, voxel_max;\r\noctree.getVoxelBounds(it, voxel_min, voxel_max);\r\n\/\/\r\n<\/pre>\n<p><strong>Get point indices from leaf node iterator<\/strong><\/p>\n<pre>\r\n\/\/\r\nauto it = octree.leaf_begin(); \r\n\r\nstd::vector<int> indices;\r\nit.getLeafContainer().getPointIndices(indices);\r\n\/\/\r\n<\/pre>\n<p><strong>Get point indices from leaf node pointer<\/strong><\/p>\n<pre>\r\n\/\/\r\nstd::vector<int> indices;\r\n\r\nif (node->getNodeType() == LEAF_NODE)\r\n{\r\n\t\/\/ Nasty down-cast?\r\n\tauto* l = dynamic_cast <const OctreePointCloud<PointXYZ>::LeafNode*>(node);\r\n\t(*l)->getPointIndices(indices);\r\n}\r\n\/\/\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>The point cloud library (PCL) is a fantastic resource for working with point clouds, however it is a large library and it can take a while to effectively find your way around it. The octree construct is very useful for working with point clouds, but again it can take a while to learn how to [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-2313","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"aioseo_notices":[],"aioseo_head":"\n\t\t<!-- All in One SEO 5.0.0.1 - aioseo.com -->\n\t<meta name=\"description\" content=\"The point cloud library (PCL) is a fantastic resource for working with point clouds, however it is a large library and it can take a while to effectively find your way around it. The octree construct is very useful for working with point clouds, but again it can take a while to learn how to\" \/>\n\t<meta name=\"robots\" content=\"max-image-preview:large\" \/>\n\t<meta name=\"author\" content=\"admin\"\/>\n\t<meta name=\"google-site-verification\" content=\"Kyj52YLp6GOPA44PVBffo9fjW8rgWHYYRF0ZYjfy6ss\" \/>\n\t<link rel=\"canonical\" href=\"https:\/\/www.ridgesolutions.ie\/index.php\/2019\/02\/14\/pcl-octree-cheat-sheet\/\" \/>\n\t<meta name=\"generator\" content=\"All in One SEO (AIOSEO) 5.0.0.1\" \/>\n\t\t<meta property=\"og:locale\" content=\"en_US\" \/>\n\t\t<meta property=\"og:site_name\" content=\"Systems and Embedded Software Engineering, Ireland. | Some thoughts of a busy Computer Engineer\" \/>\n\t\t<meta property=\"og:type\" content=\"article\" \/>\n\t\t<meta property=\"og:title\" content=\"PCL Octree Cheat Sheet\" \/>\n\t\t<meta property=\"og:description\" content=\"The point cloud library (PCL) is a fantastic resource for working with point clouds, however it is a large library and it can take a while to effectively find your way around it. 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