Octree for 3D vision. More...

Public Member Functions
void	clear ()
	Reset all octree parameter.

bool	deletePoint (in Vec3d point)
	Delete a given point from the Octree.

bool	deletePoint (in(double x, double y, double z) point)
	Delete a given point from the Octree.

bool	deletePoint (Point3 point)
	Delete a given point from the Octree.

bool	empty ()

IntPtr	getNativeObjAddr ()

void	getPointCloudByOctree (Mat restoredPointCloud)
	restore point cloud data from Octree.

void	getPointCloudByOctree (Mat restoredPointCloud, Mat restoredColor)
	restore point cloud data from Octree.

bool	insertPoint (in Vec3d point)
	Insert a point data with color to a OctreeNode.

bool	insertPoint (in Vec3d point, in Vec3d color)
	Insert a point data with color to a OctreeNode.

bool	insertPoint (in(double x, double y, double z) point)
	Insert a point data with color to a OctreeNode.

bool	insertPoint (in(double x, double y, double z) point, in(double x, double y, double z) color)
	Insert a point data with color to a OctreeNode.

bool	insertPoint (Point3 point)
	Insert a point data with color to a OctreeNode.

bool	insertPoint (Point3 point, Point3 color)
	Insert a point data with color to a OctreeNode.

bool	isPointInBound (in Vec3d point)
	Determine whether the point is within the space range of the specific cube.

bool	isPointInBound (in(double x, double y, double z) point)
	Determine whether the point is within the space range of the specific cube.

bool	isPointInBound (Point3 point)
	Determine whether the point is within the space range of the specific cube.

void	KNNSearch (in Vec3d query, int K, Mat points)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (in Vec3d query, int K, Mat points, Mat colors, Mat squareDists)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (in Vec3d query, int K, Mat points, Mat squareDists)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (in(double x, double y, double z) query, int K, Mat points)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (in(double x, double y, double z) query, int K, Mat points, Mat colors, Mat squareDists)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (in(double x, double y, double z) query, int K, Mat points, Mat squareDists)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (Point3 query, int K, Mat points)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (Point3 query, int K, Mat points, Mat colors, Mat squareDists)
	K Nearest Neighbor Search in Octree.

void	KNNSearch (Point3 query, int K, Mat points, Mat squareDists)
	K Nearest Neighbor Search in Octree.

int	radiusNNSearch (in Vec3d query, float radius, Mat points)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (in Vec3d query, float radius, Mat points, Mat colors, Mat squareDists)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (in Vec3d query, float radius, Mat points, Mat squareDists)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (in(double x, double y, double z) query, float radius, Mat points)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (in(double x, double y, double z) query, float radius, Mat points, Mat colors, Mat squareDists)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (in(double x, double y, double z) query, float radius, Mat points, Mat squareDists)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (Point3 query, float radius, Mat points)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (Point3 query, float radius, Mat points, Mat colors, Mat squareDists)
	Radius Nearest Neighbor Search in Octree.

int	radiusNNSearch (Point3 query, float radius, Mat points, Mat squareDists)
	Radius Nearest Neighbor Search in Octree.

Public Member Functions inherited from OpenCVForUnity.DisposableObject
void	Dispose ()
	Releases resources used by this object.

void	ThrowIfDisposed ()
	Throws ObjectDisposedException if this object has been disposed.

Static Public Member Functions
static Octree	__fromPtr__ (IntPtr addr)

static Octree	createWithDepth (int maxDepth, double size)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, double size, in Vec3d origin)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, double size, in Vec3d origin, bool withColors)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, double size, in(double x, double y, double z) origin)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, double size, in(double x, double y, double z) origin, bool withColors)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, double size, Point3 origin)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, double size, Point3 origin, bool withColors)
	Creates an empty Octree with given maximum depth.

static Octree	createWithDepth (int maxDepth, Mat pointCloud)
	Create an Octree from the PointCloud data with the specific maxDepth.

static Octree	createWithDepth (int maxDepth, Mat pointCloud, Mat colors)
	Create an Octree from the PointCloud data with the specific maxDepth.

static Octree	createWithResolution (double resolution, double size)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, double size, in Vec3d origin)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, double size, in Vec3d origin, bool withColors)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, double size, in(double x, double y, double z) origin)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, double size, in(double x, double y, double z) origin, bool withColors)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, double size, Point3 origin)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, double size, Point3 origin, bool withColors)
	Creates an empty Octree with given resolution.

static Octree	createWithResolution (double resolution, Mat pointCloud)
	Create an Octree from the PointCloud data with the specific resolution.

static Octree	createWithResolution (double resolution, Mat pointCloud, Mat colors)
	Create an Octree from the PointCloud data with the specific resolution.

Static Public Member Functions inherited from OpenCVForUnity.DisposableObject
static IntPtr	ThrowIfNullIntPtr (IntPtr ptr)
	Returns the native pointer, or throws CoreModule.CvException if it is zero.

Protected Member Functions
override void	Dispose (bool disposing)

Protected Member Functions inherited from OpenCVForUnity.DisposableOpenCVObject
	DisposableOpenCVObject ()
	Initializes a new instance with a zero native pointer and dispose enabled.

	DisposableOpenCVObject (bool isEnabledDispose)
	Initializes a new instance with a zero native pointer.

	DisposableOpenCVObject (IntPtr ptr)
	Initializes a new instance with the specified native pointer and dispose enabled.

	DisposableOpenCVObject (IntPtr ptr, bool isEnabledDispose)
	Initializes a new instance with the specified native pointer.

Protected Member Functions inherited from OpenCVForUnity.DisposableObject
	DisposableObject ()
	Initializes a new instance with dispose enabled.

	DisposableObject (bool isEnabledDispose)
	Initializes a new instance.

Additional Inherited Members
Package Attributes inherited from OpenCVForUnity.DisposableOpenCVObject
Properties inherited from OpenCVForUnity.DisposableObject
bool	IsDisposed `[get, protected set]`

bool	IsEnabledDispose `[get, set]`

Detailed Description

Octree for 3D vision.

In 3D vision filed, the Octree is used to process and accelerate the pointcloud data. The class Octree represents the Octree data structure. Each Octree will have a fixed depth. The depth of Octree refers to the distance from the root node to the leaf node.All OctreeNodes will not exceed this depth.Increasing the depth will increase the amount of calculation exponentially. And the small number of depth refers low resolution of Octree. Each node contains 8 children, which are used to divide the space cube into eight parts. Each octree node represents a cube. And these eight children will have a fixed order, the order is described as follows:

For illustration, assume,

rootNode: origin == (0, 0, 0), size == 2

Then,

children[0]: origin == (0, 0, 0), size == 1

children[1]: origin == (1, 0, 0), size == 1, along X-axis next to child 0

children[2]: origin == (0, 1, 0), size == 1, along Y-axis next to child 0

children[3]: origin == (1, 1, 0), size == 1, in X-Y plane

children[4]: origin == (0, 0, 1), size == 1, along Z-axis next to child 0

children[5]: origin == (1, 0, 1), size == 1, in X-Z plane

children[6]: origin == (0, 1, 1), size == 1, in Y-Z plane

children[7]: origin == (1, 1, 1), size == 1, furthest from child 0

Member Function Documentation

◆ fromPtr()

static Octree OpenCVForUnity.PtcloudModule.Octree.__fromPtr__ ( IntPtr addr )

static

◆ clear()

void OpenCVForUnity.PtcloudModule.Octree.clear ( )

Reset all octree parameter.

Clear all the nodes of the octree and initialize the parameters.

◆ createWithDepth() [1/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [2/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size,
		in Vec3d	origin )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [3/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size,
		in Vec3d	origin,
		bool	withColors )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [4/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size,
		in(double x, double y, double z)	origin )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [5/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size,
		in(double x, double y, double z)	origin,
		bool	withColors )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [6/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size,
		Point3	origin )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [7/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		double	size,
		Point3	origin,
		bool	withColors )

static

Creates an empty Octree with given maximum depth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	The max depth of the Octree
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithDepth() [8/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		Mat	pointCloud )

static

Create an Octree from the PointCloud data with the specific maxDepth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	Max depth of the octree
pointCloud	point cloud data, should be 3-channel float array
colors	color attribute of point cloud in the same 3-channel float format

Returns: resulting Octree

◆ createWithDepth() [9/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithDepth	(	int	maxDepth,
		Mat	pointCloud,
		Mat	colors )

static

Create an Octree from the PointCloud data with the specific maxDepth.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

maxDepth	Max depth of the octree
pointCloud	point cloud data, should be 3-channel float array
colors	color attribute of point cloud in the same 3-channel float format

Returns: resulting Octree

◆ createWithResolution() [1/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [2/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size,
		in Vec3d	origin )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [3/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size,
		in Vec3d	origin,
		bool	withColors )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [4/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size,
		in(double x, double y, double z)	origin )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [5/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size,
		in(double x, double y, double z)	origin,
		bool	withColors )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [6/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size,
		Point3	origin )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [7/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		double	size,
		Point3	origin,
		bool	withColors )

static

Creates an empty Octree with given resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
size	bounding box size for the Octree
origin	Initial center coordinate
withColors	Whether to keep per-point colors or not

Returns: resulting Octree

◆ createWithResolution() [8/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		Mat	pointCloud )

static

Create an Octree from the PointCloud data with the specific resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
pointCloud	point cloud data, should be 3-channel float array
colors	color attribute of point cloud in the same 3-channel float format

Returns: resulting octree

◆ createWithResolution() [9/9]

static Octree OpenCVForUnity.PtcloudModule.Octree.createWithResolution	(	double	resolution,
		Mat	pointCloud,
		Mat	colors )

static

Create an Octree from the PointCloud data with the specific resolution.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

resolution	The size of the octree leaf node
pointCloud	point cloud data, should be 3-channel float array
colors	color attribute of point cloud in the same 3-channel float format

Returns: resulting octree

◆ deletePoint() [1/3]

bool OpenCVForUnity.PtcloudModule.Octree.deletePoint ( in Vec3d point )

Delete a given point from the Octree.

Delete the corresponding element from the pointList in the corresponding leaf node. If the leaf node does not contain other points after deletion, this node will be deleted. In the same way, its parent node may also be deleted if its last child is deleted.

Parameters

point The point coordinates, comparison is epsilon-based

Returns: return ture if the point is deleted successfully.

◆ deletePoint() [2/3]

bool OpenCVForUnity.PtcloudModule.Octree.deletePoint ( in(double x, double y, double z) point )

Delete a given point from the Octree.

Delete the corresponding element from the pointList in the corresponding leaf node. If the leaf node does not contain other points after deletion, this node will be deleted. In the same way, its parent node may also be deleted if its last child is deleted.

Parameters

point The point coordinates, comparison is epsilon-based

Returns: return ture if the point is deleted successfully.

◆ deletePoint() [3/3]

bool OpenCVForUnity.PtcloudModule.Octree.deletePoint ( Point3 point )

Delete a given point from the Octree.

Delete the corresponding element from the pointList in the corresponding leaf node. If the leaf node does not contain other points after deletion, this node will be deleted. In the same way, its parent node may also be deleted if its last child is deleted.

Parameters

point The point coordinates, comparison is epsilon-based

Returns: return ture if the point is deleted successfully.

◆ Dispose()

override void OpenCVForUnity.PtcloudModule.Octree.Dispose ( bool disposing )

protectedvirtual

Reimplemented from OpenCVForUnity.DisposableOpenCVObject.

◆ empty()

bool OpenCVForUnity.PtcloudModule.Octree.empty ( )

◆ getNativeObjAddr()

IntPtr OpenCVForUnity.PtcloudModule.Octree.getNativeObjAddr ( )

◆ getPointCloudByOctree() [1/2]

void OpenCVForUnity.PtcloudModule.Octree.getPointCloudByOctree ( Mat restoredPointCloud )

restore point cloud data from Octree.

Restore the point cloud data from existing octree. The points in same leaf node will be seen as the same point. This point is the center of the leaf node. If the resolution is small, it will work as a downSampling function.

Parameters

restoredPointCloud	The output point cloud data, can be replaced by noArray() if not needed
restoredColor	The color attribute of point cloud data, can be omitted if not needed

◆ getPointCloudByOctree() [2/2]

void OpenCVForUnity.PtcloudModule.Octree.getPointCloudByOctree	(	Mat	restoredPointCloud,
		Mat	restoredColor )

restore point cloud data from Octree.

Restore the point cloud data from existing octree. The points in same leaf node will be seen as the same point. This point is the center of the leaf node. If the resolution is small, it will work as a downSampling function.

Parameters

restoredPointCloud	The output point cloud data, can be replaced by noArray() if not needed
restoredColor	The color attribute of point cloud data, can be omitted if not needed

◆ insertPoint() [1/6]

bool OpenCVForUnity.PtcloudModule.Octree.insertPoint ( in Vec3d point )

Insert a point data with color to a OctreeNode.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

point	The point data in Point3f format.
color	The color attribute of point in Point3f format.

Returns: Returns whether the insertion is successful.

◆ insertPoint() [2/6]

bool OpenCVForUnity.PtcloudModule.Octree.insertPoint	(	in Vec3d	point,
		in Vec3d	color )

Insert a point data with color to a OctreeNode.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

point	The point data in Point3f format.
color	The color attribute of point in Point3f format.

Returns: Returns whether the insertion is successful.

◆ insertPoint() [3/6]

bool OpenCVForUnity.PtcloudModule.Octree.insertPoint ( in(double x, double y, double z) point )

Insert a point data with color to a OctreeNode.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

point	The point data in Point3f format.
color	The color attribute of point in Point3f format.

Returns: Returns whether the insertion is successful.

◆ insertPoint() [4/6]

bool OpenCVForUnity.PtcloudModule.Octree.insertPoint	(	in(double x, double y, double z)	point,
		in(double x, double y, double z)	color )

Insert a point data with color to a OctreeNode.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

point	The point data in Point3f format.
color	The color attribute of point in Point3f format.

Returns: Returns whether the insertion is successful.

◆ insertPoint() [5/6]

bool OpenCVForUnity.PtcloudModule.Octree.insertPoint ( Point3 point )

Insert a point data with color to a OctreeNode.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

point	The point data in Point3f format.
color	The color attribute of point in Point3f format.

Returns: Returns whether the insertion is successful.

◆ insertPoint() [6/6]

bool OpenCVForUnity.PtcloudModule.Octree.insertPoint	(	Point3	point,
		Point3	color )

Insert a point data with color to a OctreeNode.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

point	The point data in Point3f format.
color	The color attribute of point in Point3f format.

Returns: Returns whether the insertion is successful.

◆ isPointInBound() [1/3]

bool OpenCVForUnity.PtcloudModule.Octree.isPointInBound ( in Vec3d point )

Determine whether the point is within the space range of the specific cube.

Parameters

point The point coordinates.

Returns: If point is in bound, return ture. Otherwise, false.

◆ isPointInBound() [2/3]

bool OpenCVForUnity.PtcloudModule.Octree.isPointInBound ( in(double x, double y, double z) point )

Determine whether the point is within the space range of the specific cube.

Parameters

point The point coordinates.

Returns: If point is in bound, return ture. Otherwise, false.

◆ isPointInBound() [3/3]

bool OpenCVForUnity.PtcloudModule.Octree.isPointInBound ( Point3 point )

Determine whether the point is within the space range of the specific cube.

Parameters

point The point coordinates.

Returns: If point is in bound, return ture. Otherwise, false.

◆ KNNSearch() [1/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	in Vec3d	query,
		int	K,
		Mat	points )

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be omitted if not needed

◆ KNNSearch() [2/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	in Vec3d	query,
		int	K,
		Mat	points,
		Mat	colors,
		Mat	squareDists )

K Nearest Neighbor Search in Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
colors	Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be replaced by noArray() if not needed

◆ KNNSearch() [3/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	in Vec3d	query,
		int	K,
		Mat	points,
		Mat	squareDists )

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be omitted if not needed

◆ KNNSearch() [4/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	in(double x, double y, double z)	query,
		int	K,
		Mat	points )

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be omitted if not needed

◆ KNNSearch() [5/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	in(double x, double y, double z)	query,
		int	K,
		Mat	points,
		Mat	colors,
		Mat	squareDists )

K Nearest Neighbor Search in Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
colors	Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be replaced by noArray() if not needed

◆ KNNSearch() [6/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	in(double x, double y, double z)	query,
		int	K,
		Mat	points,
		Mat	squareDists )

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be omitted if not needed

◆ KNNSearch() [7/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	Point3	query,
		int	K,
		Mat	points )

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be omitted if not needed

◆ KNNSearch() [8/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	Point3	query,
		int	K,
		Mat	points,
		Mat	colors,
		Mat	squareDists )

K Nearest Neighbor Search in Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
colors	Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be replaced by noArray() if not needed

◆ KNNSearch() [9/9]

void OpenCVForUnity.PtcloudModule.Octree.KNNSearch	(	Point3	query,
		int	K,
		Mat	points,
		Mat	squareDists )

K Nearest Neighbor Search in Octree.

Find the K nearest neighbors to the query point.

Parameters

query	Query point.
K	amount of nearest neighbors to find
points	Point output. Contains K points in 3-float format, arranged in order of distance from near to far, can be replaced by noArray() if not needed
squareDists	Dist output. Contains K squared distance in floats, arranged in order of distance from near to far, can be omitted if not needed

◆ radiusNNSearch() [1/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	in Vec3d	query,
		float	radius,
		Mat	points )

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be omitted if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [2/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	in Vec3d	query,
		float	radius,
		Mat	points,
		Mat	colors,
		Mat	squareDists )

Radius Nearest Neighbor Search in Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
colors	Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be replaced by noArray() if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [3/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	in Vec3d	query,
		float	radius,
		Mat	points,
		Mat	squareDists )

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be omitted if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [4/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	in(double x, double y, double z)	query,
		float	radius,
		Mat	points )

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be omitted if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [5/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	in(double x, double y, double z)	query,
		float	radius,
		Mat	points,
		Mat	colors,
		Mat	squareDists )

Radius Nearest Neighbor Search in Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
colors	Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be replaced by noArray() if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [6/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	in(double x, double y, double z)	query,
		float	radius,
		Mat	points,
		Mat	squareDists )

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be omitted if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [7/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	Point3	query,
		float	radius,
		Mat	points )

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be omitted if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [8/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	Point3	query,
		float	radius,
		Mat	points,
		Mat	colors,
		Mat	squareDists )

Radius Nearest Neighbor Search in Octree.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
colors	Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be replaced by noArray() if not needed

Returns: the number of searched points.

◆ radiusNNSearch() [9/9]

int OpenCVForUnity.PtcloudModule.Octree.radiusNNSearch	(	Point3	query,
		float	radius,
		Mat	points,
		Mat	squareDists )

Radius Nearest Neighbor Search in Octree.

Search all points that are less than or equal to radius. And return the number of searched points.

Parameters

query	Query point.
radius	Retrieved radius value.
points	Point output. Contains searched points in 3-float format, and output vector is not in order, can be replaced by noArray() if not needed
squareDists	Dist output. Contains searched squared distance in floats, and output vector is not in order, can be omitted if not needed

Returns: the number of searched points.

The documentation for this class was generated from the following files:

OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Core/org/opencv/ptcloud/Octree.cs
OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Extensions/org/opencv/ptcloud/Octree_Struct.cs
OpenCVForUnity/Assets/OpenCVForUnity/Scripts/Extensions/org/opencv/ptcloud/Octree_ValueTuple.cs

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ __fromPtr__()

◆ clear()

◆ createWithDepth() [1/9]

◆ createWithDepth() [2/9]

◆ createWithDepth() [3/9]

◆ createWithDepth() [4/9]

◆ createWithDepth() [5/9]

◆ createWithDepth() [6/9]

◆ createWithDepth() [7/9]

◆ createWithDepth() [8/9]

◆ createWithDepth() [9/9]

◆ createWithResolution() [1/9]

◆ createWithResolution() [2/9]

◆ createWithResolution() [3/9]

◆ createWithResolution() [4/9]

◆ createWithResolution() [5/9]

◆ createWithResolution() [6/9]

◆ createWithResolution() [7/9]

◆ createWithResolution() [8/9]

◆ createWithResolution() [9/9]

◆ deletePoint() [1/3]

◆ deletePoint() [2/3]

◆ deletePoint() [3/3]

◆ Dispose()

◆ empty()

◆ getNativeObjAddr()

◆ getPointCloudByOctree() [1/2]

◆ getPointCloudByOctree() [2/2]

◆ insertPoint() [1/6]

◆ insertPoint() [2/6]

◆ insertPoint() [3/6]

◆ insertPoint() [4/6]

◆ insertPoint() [5/6]

◆ insertPoint() [6/6]

◆ isPointInBound() [1/3]

◆ isPointInBound() [2/3]

◆ isPointInBound() [3/3]

◆ KNNSearch() [1/9]

◆ KNNSearch() [2/9]

◆ KNNSearch() [3/9]

◆ KNNSearch() [4/9]

◆ KNNSearch() [5/9]

◆ KNNSearch() [6/9]

◆ KNNSearch() [7/9]

◆ KNNSearch() [8/9]

◆ KNNSearch() [9/9]

◆ radiusNNSearch() [1/9]

◆ radiusNNSearch() [2/9]

◆ radiusNNSearch() [3/9]

◆ radiusNNSearch() [4/9]

◆ radiusNNSearch() [5/9]

◆ radiusNNSearch() [6/9]

◆ radiusNNSearch() [7/9]

◆ radiusNNSearch() [8/9]

◆ radiusNNSearch() [9/9]

◆ fromPtr()