@spec clear(Keyword.t()) :: any() | {:error, String.t()}

@spec clear(t()) :: t() | {:error, String.t()}

Reset all octree parameter.

Positional Arguments

• self: Evision.Octree.t()

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

Python prototype (for reference only):

clear() -> None

@spec createWithDepth(integer(), Evision.Mat.maybe_mat_in()) ::
  t() | {:error, String.t()}

@spec createWithDepth(integer(), number()) :: t() | {:error, String.t()}

Variant 1:

Create an Octree from the PointCloud data with the specific maxDepth

Positional Arguments

• maxDepth: integer().

  Max depth of the octree

• pointCloud: Evision.Mat.

  point cloud data, should be 3-channel float array

Keyword Arguments

• colors: Evision.Mat.

  color attribute of point cloud in the same 3-channel float format

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting Octree

Python prototype (for reference only):

createWithDepth(maxDepth, pointCloud[, colors]) -> retval

Variant 2:

Creates an empty Octree with given maximum depth

Positional Arguments

• maxDepth: integer().

  The max depth of the Octree

• size: double.

  bounding box size for the Octree

Keyword Arguments

• origin: Point3f.

  Initial center coordinate

• withColors: bool.

  Whether to keep per-point colors or not

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting Octree

Python prototype (for reference only):

createWithDepth(maxDepth, size[, origin[, withColors]]) -> retval

@spec createWithDepth(
  integer(),
  Evision.Mat.maybe_mat_in(),
  [{:colors, term()}] | nil
) ::
  t() | {:error, String.t()}

@spec createWithDepth(integer(), number(), [origin: term(), withColors: term()] | nil) ::
  t() | {:error, String.t()}

Variant 1:

Create an Octree from the PointCloud data with the specific maxDepth

Positional Arguments

• maxDepth: integer().

  Max depth of the octree

• pointCloud: Evision.Mat.

  point cloud data, should be 3-channel float array

Keyword Arguments

• colors: Evision.Mat.

  color attribute of point cloud in the same 3-channel float format

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting Octree

Python prototype (for reference only):

createWithDepth(maxDepth, pointCloud[, colors]) -> retval

Variant 2:

Creates an empty Octree with given maximum depth

Positional Arguments

• maxDepth: integer().

  The max depth of the Octree

• size: double.

  bounding box size for the Octree

Keyword Arguments

• origin: Point3f.

  Initial center coordinate

• withColors: bool.

  Whether to keep per-point colors or not

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting Octree

Python prototype (for reference only):

createWithDepth(maxDepth, size[, origin[, withColors]]) -> retval

@spec createWithResolution(number(), Evision.Mat.maybe_mat_in()) ::
  t() | {:error, String.t()}

@spec createWithResolution(number(), number()) :: t() | {:error, String.t()}

Variant 1:

Create an Octree from the PointCloud data with the specific resolution

Positional Arguments

• resolution: double.

  The size of the octree leaf node

• pointCloud: Evision.Mat.

  point cloud data, should be 3-channel float array

Keyword Arguments

• colors: Evision.Mat.

  color attribute of point cloud in the same 3-channel float format

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting octree

Python prototype (for reference only):

createWithResolution(resolution, pointCloud[, colors]) -> retval

Variant 2:

Creates an empty Octree with given resolution

Positional Arguments

• resolution: double.

  The size of the octree leaf node

• size: double.

  bounding box size for the Octree

Keyword Arguments

• origin: Point3f.

  Initial center coordinate

• withColors: bool.

  Whether to keep per-point colors or not

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting Octree

Python prototype (for reference only):

createWithResolution(resolution, size[, origin[, withColors]]) -> retval

@spec createWithResolution(
  number(),
  Evision.Mat.maybe_mat_in(),
  [{:colors, term()}] | nil
) ::
  t() | {:error, String.t()}

@spec createWithResolution(
  number(),
  number(),
  [origin: term(), withColors: term()] | nil
) ::
  t() | {:error, String.t()}

Variant 1:

Create an Octree from the PointCloud data with the specific resolution

Positional Arguments

• resolution: double.

  The size of the octree leaf node

• pointCloud: Evision.Mat.

  point cloud data, should be 3-channel float array

Keyword Arguments

• colors: Evision.Mat.

  color attribute of point cloud in the same 3-channel float format

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting octree

Python prototype (for reference only):

createWithResolution(resolution, pointCloud[, colors]) -> retval

Variant 2:

Creates an empty Octree with given resolution

Positional Arguments

• resolution: double.

  The size of the octree leaf node

• size: double.

  bounding box size for the Octree

Keyword Arguments

• origin: Point3f.

  Initial center coordinate

• withColors: bool.

  Whether to keep per-point colors or not

Return

• retval: Evision.Octree.t()

Has overloading in C++

@return resulting Octree

Python prototype (for reference only):

createWithResolution(resolution, size[, origin[, withColors]]) -> retval

@spec deletePoint(t(), {number(), number(), number()}) ::
  boolean() | {:error, String.t()}

Delete a given point from the Octree.

Positional Arguments

• self: Evision.Octree.t()

• point: Point3f.

  The point coordinates, comparison is epsilon-based

Return

• retval: bool

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. @return return ture if the point is deleted successfully.

Python prototype (for reference only):

deletePoint(point) -> retval

@spec empty(Keyword.t()) :: any() | {:error, String.t()}

@spec empty(t()) :: boolean() | {:error, String.t()}

empty

Positional Arguments

• self: Evision.Octree.t()

Return

• retval: bool

Python prototype (for reference only):

empty() -> retval

@spec getPointCloudByOctree(Keyword.t()) :: any() | {:error, String.t()}

@spec getPointCloudByOctree(t()) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

restore point cloud data from Octree.

Positional Arguments

• self: Evision.Octree.t()

Return

• restoredPointCloud: Evision.Mat.t().

  The output point cloud data, can be replaced by noArray() if not needed

• restoredColor: Evision.Mat.t().

  The color attribute of point cloud data, can be omitted if not needed

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.

Python prototype (for reference only):

getPointCloudByOctree([, restoredPointCloud[, restoredColor]]) -> restoredPointCloud, restoredColor

@spec getPointCloudByOctree(t(), [{atom(), term()}, ...] | nil) ::
  {Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

restore point cloud data from Octree.

Positional Arguments

• self: Evision.Octree.t()

Return

• restoredPointCloud: Evision.Mat.t().

  The output point cloud data, can be replaced by noArray() if not needed

• restoredColor: Evision.Mat.t().

  The color attribute of point cloud data, can be omitted if not needed

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.

Python prototype (for reference only):

getPointCloudByOctree([, restoredPointCloud[, restoredColor]]) -> restoredPointCloud, restoredColor

@spec insertPoint(t(), {number(), number(), number()}) ::
  boolean() | {:error, String.t()}

Insert a point data with color to a OctreeNode.

Positional Arguments

• self: Evision.Octree.t()

• point: Point3f.

  The point data in Point3f format.

Keyword Arguments

• color: Point3f.

  The color attribute of point in Point3f format.

Return

• retval: bool

Has overloading in C++

@return Returns whether the insertion is successful.

Python prototype (for reference only):

insertPoint(point[, color]) -> retval

@spec insertPoint(t(), {number(), number(), number()}, [{:color, term()}] | nil) ::
  boolean() | {:error, String.t()}

Insert a point data with color to a OctreeNode.

Positional Arguments

• self: Evision.Octree.t()

• point: Point3f.

  The point data in Point3f format.

Keyword Arguments

• color: Point3f.

  The color attribute of point in Point3f format.

Return

• retval: bool

Has overloading in C++

@return Returns whether the insertion is successful.

Python prototype (for reference only):

insertPoint(point[, color]) -> retval

@spec isPointInBound(t(), {number(), number(), number()}) ::
  boolean() | {:error, String.t()}

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

Positional Arguments

• self: Evision.Octree.t()

• point: Point3f.

  The point coordinates.

Return

• retval: bool

@return If point is in bound, return ture. Otherwise, false.

Python prototype (for reference only):

isPointInBound(point) -> retval

@spec knnsearch(t(), {number(), number(), number()}, integer()) ::
  {Evision.Mat.t(), Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

K Nearest Neighbor Search in Octree.

Positional Arguments

• self: Evision.Octree.t()

• query: Point3f.

  Query point.

• k: integer().

  amount of nearest neighbors to find

Return

• points: Evision.Mat.t().

  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: Evision.Mat.t().

  Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed

• squareDists: Evision.Mat.t().

  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

Has overloading in C++

Find the K nearest neighbors to the query point.

Python prototype (for reference only):

KNNSearch(query, K[, points[, colors[, squareDists]]]) -> points, colors, squareDists

@spec knnsearch(
  t(),
  {number(), number(), number()},
  integer(),
  [{atom(), term()}, ...] | nil
) ::
  {Evision.Mat.t(), Evision.Mat.t(), Evision.Mat.t()} | {:error, String.t()}

K Nearest Neighbor Search in Octree.

Positional Arguments

• self: Evision.Octree.t()

• query: Point3f.

  Query point.

• k: integer().

  amount of nearest neighbors to find

Return

• points: Evision.Mat.t().

  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: Evision.Mat.t().

  Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed

• squareDists: Evision.Mat.t().

  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

Has overloading in C++

Find the K nearest neighbors to the query point.

Python prototype (for reference only):

KNNSearch(query, K[, points[, colors[, squareDists]]]) -> points, colors, squareDists

@spec radiusNNSearch(t(), {number(), number(), number()}, number()) ::
  {integer(), Evision.Mat.t(), Evision.Mat.t(), Evision.Mat.t()}
  | {:error, String.t()}

Radius Nearest Neighbor Search in Octree.

Positional Arguments

• self: Evision.Octree.t()

• query: Point3f.

  Query point.

• radius: float.

  Retrieved radius value.

Return

• retval: integer()

• points: Evision.Mat.t().

  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: Evision.Mat.t().

  Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed

• squareDists: Evision.Mat.t().

  Dist output. Contains searched squared distance in floats, and output vector is not in order, can be replaced by noArray() if not needed

Has overloading in C++

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

Python prototype (for reference only):

radiusNNSearch(query, radius[, points[, colors[, squareDists]]]) -> retval, points, colors, squareDists

@spec radiusNNSearch(
  t(),
  {number(), number(), number()},
  number(),
  [{atom(), term()}, ...] | nil
) ::
  {integer(), Evision.Mat.t(), Evision.Mat.t(), Evision.Mat.t()}
  | {:error, String.t()}

Radius Nearest Neighbor Search in Octree.

Positional Arguments

• self: Evision.Octree.t()

• query: Point3f.

  Query point.

• radius: float.

  Retrieved radius value.

Return

• retval: integer()

• points: Evision.Mat.t().

  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: Evision.Mat.t().

  Color output. Contains colors corresponding to points in pointSet, can be replaced by noArray() if not needed

• squareDists: Evision.Mat.t().

  Dist output. Contains searched squared distance in floats, and output vector is not in order, can be replaced by noArray() if not needed

Has overloading in C++

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

Python prototype (for reference only):

radiusNNSearch(query, radius[, points[, colors[, squareDists]]]) -> retval, points, colors, squareDists