ICCV2011-search

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1、Octrees:PointCloudCompressionandChangeDetectionusingOctreesNovember6,2011Outline1.Overview2.OctreeInterface3.Neighborsearch4.ChangeDetection5.PointCloudCompression6.Summary-Compile&TryJuliusKammerl/PCL::SearchOctreeOverview000001000100000100011000001000

2、00SerializedOctree:00000100010000010001100000100000IRootnodedescribesacubicboundingboxwhichencapsulatesallpointsIChildnodesrecursivelysubdividepointspaceINodeshaveuptoeightchildren)ByteencodingJuliusKammerl/PCL::SearchOctreeApplicationsProvidedalgorithm

3、sinPCLusingoctreesforspatialdecomposition:ISearchoperations(neighbor,radius,voxelsearch)IDownsampling(voxel-grid/voxel-centroidfilter)IPointcloudcompressionISpatialchangedetectionISpatialpointdensityanalysisIOccupancychecks/mapsICollisiondetectionIPointc

4、loudmerging/accumulationI...JuliusKammerl/PCL::SearchOutline1.Overview2.OctreeInterface3.Neighborsearch4.ChangeDetection5.PointCloudCompression6.Summary-Compile&TryJuliusKammerl/PCL::SearchOctreeInterfaceInstantiateoctree:floatvoxelSize=0.01f;//voxelres

5、olutionOctreePointCloudoctree(voxelSize);Setinputpointcloud(viaBoostsharedpointers):octree.setInputCloud(cloud);Defineoctreeboundingbox(optional)://calculateboundingboxofinputcloudoctree.defineBoundingBox();//manuallydefineboundingboxoctree.def

6、ineBoundingBox(minX,minY,minZ,maxX,maxY,maxZ);Addpointsfrominputcloudtooctree:octree.addPointsFromInputCloud();Deleteoctreedatastructure:(pushesallocatednodestomemorypool!)octree.deleteTree();JuliusKammerl/PCL::SearchData/VoxelAccessCheckifvoxelatgivenp

7、ointcoordinatesexist:doubleX,Y,Z;booloccuppied;X=1.0;Y=2.0;Z=3.0;occuppied=octree.isVoxelOccupiedAtPoint(X,Y,Z);Getcenterpointsofalloccupiedvoxels:(voxelgridfilter/downsampling)std::vectorpointGrid;octree.getOccupiedVoxelCenters(pointGrid);Quer

8、ypointswithinavoxel:std::vectorpointIdxVec;octree.voxelSearch(searchPoint,pointIdxVec);Deletevoxel:pcl::PointXYZpoint_arg(1.0,2.0,3.0);octree.deleteVoxelAtPoint(point);JuliusKammerl/PCL::SearchOctreeIteratorsInstantiateoctre