octree

Documentation

Overview

Package octree implements a octree representation of pointclouds for easy traversal and storage of probability and color data

Index

• Constants
• type Marshaler
• type NodeType
• type Octree
  • func New(ctx context.Context, center r3.Vector, sideLength float64, logger golog.Logger) (Octree, error)
• type Unmarshaler

Constants

const (
	InternalNode = NodeType(iota)
	LeafNodeEmpty
	LeafNodeFilled
)

Each node in the octree is either an internal node which links to other nodes, is an empty node with no points or further links, or is an occupied node which contains a single point of data that includes location, color and probability information.

Types

type Marshaler

type Marshaler interface {
	MarshalOctree() ([]byte, error)
}

Marshaler will convert an octree into a serialized array of bytes.

type NodeType

type NodeType uint8

NodeType represents the possible types of nodes in an octree.

type Octree

type Octree interface {
	pc.PointCloud
	Marshaler
}

Octree is a data structure that recursively partitions 3D space into octants to represent occupancy. It is a storage format for a pointcloud that allows for better searchability and serialization. Each node is either an internal node, empty node or child node. This implementation of an octree is compatible with the pointcloud representation and includes a marshaling function.

func New

func New(ctx context.Context, center r3.Vector, sideLength float64, logger golog.Logger) (Octree, error)

New creates a new basic octree with specified center, side and metadata.

type Unmarshaler

type Unmarshaler interface {
	UnmarshalOctree() (Octree, error)
}

Unmarshaler will convert a serialized octree into an Octree datatype.