PCL octree, merging a sub tree
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Hi Ender1618,
like Justin mentioned, it sounds like what you are looking for is the out-of-core component of PCL. If you would like to stick to the PCL octree, you can just define a "top-level" octree with a large voxel size. All points that fall within these voxels can be stored to disk and loaded when needed. Best, Julius On 08/01/2012 12:38 AM, Ender1618 wrote: > Do you have an example of your code's usage, where could I a copy of you open > sourced code? > > > clockwise9 wrote >> >> Julius the developer of the PCL octree is doing what you describe in a >> project that he's involved with. I don't think the part you're interested >> in is open sourced and/or available. >> >> Both *http://pointclouds.org/blog/trcs/rosen/* and >> http://pointclouds.org/blog/urcs/ are code sprints to solve the problem >> you've described. Unfortunately, I still need to develop the frustum >> culling and LRU caching aspect to actually make it outofcore. If you want >> some more info or help getting started with the outofcore octree code let >> me know. >> >> Cheers, >> Justin >> >> On Mon, Jul 30, 2012 at 6:58 PM, Aaron O'Toole <airuno2L@> < >> airuno2l@> wrote: >> >>> I don't know much about it, but this might get you heading down the right >>> road: http://pointclouds.org/blog/urcs/ >>> >>> >>> On Mon, Jul 30, 2012 at 5:49 PM, Ender1618 <Ender1618@> wrote: >>> >>>> So I have a rather large PCL octree, i was hoping to load subtrees of >>>> this >>>> octree from disk as needed. Is there any way to merge a subtree back >>>> into >>>> a >>>> full octree? >>>> >>>> For example i have a tree of depth 16 with a voxel size of 1cm. Right >>>> now I >>>> only store occupancy, and get leaf centers to visualize. But with a tree >>>> that size i may have ALOT of leaves, more than I could safely fit into >>>> system or GPU memory. I would like to cache the subtrees in as need, >>>> and >>>> keep them in a LRU queue. >>>> >>>> >>>> >>>> -- >>>> View this message in context: >>>> http://www.pcl-users.org/PCL-octree-merging-a-sub-tree-tp4020929.html >>>> Sent from the Point Cloud Library (PCL) Users mailing list archive at >>>> Nabble.com. >>>> _______________________________________________ >>>> PCL-users@ / http://pointclouds.org >>>> http://pointclouds.org/mailman/listinfo/pcl-users >>>> >>> >>> >>> >>> -- >>> - Aaron O'Toole >>> >>> _______________________________________________ >>> PCL-users@ / http://pointclouds.org >>> http://pointclouds.org/mailman/listinfo/pcl-users >>> >>> >> >> _______________________________________________ >> PCL-users@ / http://pointclouds.org >> http://pointclouds.org/mailman/listinfo/pcl-users >> > > > > > -- > View this message in context: http://www.pcl-users.org/PCL-octree-merging-a-sub-tree-tp4020929p4020959.html > Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com. > _______________________________________________ > [hidden email] / http://pointclouds.org > http://pointclouds.org/mailman/listinfo/pcl-users > _______________________________________________ [hidden email] / http://pointclouds.org http://pointclouds.org/mailman/listinfo/pcl-users |
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Hi Ender1618,
yes, it is still under development. You'll find it in trunk. Best, Julius On 08/01/2012 04:38 PM, Ender1618 wrote: > Where can I find the out of core octree implementation for PCL? Is it > officially released? The version I have does not seem to contain this. > > > Julius Kammerl-2 wrote >> >> Hi Ender1618, >> >> like Justin mentioned, it sounds like what you are looking for is the >> out-of-core component of PCL. >> >> If you would like to stick to the PCL octree, you can just define a >> "top-level" octree with a large voxel size. All points that fall within >> these voxels can be stored to disk and loaded when needed. >> >> Best, >> Julius >> >> On 08/01/2012 12:38 AM, Ender1618 wrote: >>> Do you have an example of your code's usage, where could I a copy of you >>> open >>> sourced code? >>> >>> >>> clockwise9 wrote >>>> >>>> Julius the developer of the PCL octree is doing what you describe in a >>>> project that he's involved with. I don't think the part you're >>>> interested >>>> in is open sourced and/or available. >>>> >>>> Both *http://pointclouds.org/blog/trcs/rosen/* and >>>> http://pointclouds.org/blog/urcs/ are code sprints to solve the problem >>>> you've described. Unfortunately, I still need to develop the frustum >>>> culling and LRU caching aspect to actually make it outofcore. If you >>>> want >>>> some more info or help getting started with the outofcore octree code >>>> let >>>> me know. >>>> >>>> Cheers, >>>> Justin >>>> >>>> On Mon, Jul 30, 2012 at 6:58 PM, Aaron O'Toole <airuno2L@> < >>>> airuno2l@> wrote: >>>> >>>>> I don't know much about it, but this might get you heading down the >>>>> right >>>>> road: http://pointclouds.org/blog/urcs/ >>>>> >>>>> >>>>> On Mon, Jul 30, 2012 at 5:49 PM, Ender1618 <Ender1618@> wrote: >>>>> >>>>>> So I have a rather large PCL octree, i was hoping to load subtrees of >>>>>> this >>>>>> octree from disk as needed. Is there any way to merge a subtree back >>>>>> into >>>>>> a >>>>>> full octree? >>>>>> >>>>>> For example i have a tree of depth 16 with a voxel size of 1cm. Right >>>>>> now I >>>>>> only store occupancy, and get leaf centers to visualize. But with a >>>>>> tree >>>>>> that size i may have ALOT of leaves, more than I could safely fit into >>>>>> system or GPU memory. I would like to cache the subtrees in as need, >>>>>> and >>>>>> keep them in a LRU queue. >>>>>> >>>>>> >>>>>> >>>>>> -- >>>>>> View this message in context: >>>>>> http://www.pcl-users.org/PCL-octree-merging-a-sub-tree-tp4020929.html >>>>>> Sent from the Point Cloud Library (PCL) Users mailing list archive at >>>>>> Nabble.com. >>>>>> _______________________________________________ >>>>>> PCL-users@ / http://pointclouds.org >>>>>> http://pointclouds.org/mailman/listinfo/pcl-users >>>>>> >>>>> >>>>> >>>>> >>>>> -- >>>>> - Aaron O'Toole >>>>> >>>>> _______________________________________________ >>>>> PCL-users@ / http://pointclouds.org >>>>> http://pointclouds.org/mailman/listinfo/pcl-users >>>>> >>>>> >>>> >>>> _______________________________________________ >>>> PCL-users@ / http://pointclouds.org >>>> http://pointclouds.org/mailman/listinfo/pcl-users >>>> >>> >>> >>> >>> >>> -- >>> View this message in context: >>> http://www.pcl-users.org/PCL-octree-merging-a-sub-tree-tp4020929p4020959.html >>> Sent from the Point Cloud Library (PCL) Users mailing list archive at >>> Nabble.com. >>> _______________________________________________ >>> PCL-users@ / http://pointclouds.org >>> http://pointclouds.org/mailman/listinfo/pcl-users >>> >> >> >> >> _______________________________________________ >> PCL-users@ / http://pointclouds.org >> http://pointclouds.org/mailman/listinfo/pcl-users >> > > > > > -- > View this message in context: http://www.pcl-users.org/PCL-octree-merging-a-sub-tree-tp4020929p4020982.html > Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com. > _______________________________________________ > [hidden email] / http://pointclouds.org > http://pointclouds.org/mailman/listinfo/pcl-users > _______________________________________________ [hidden email] / http://pointclouds.org http://pointclouds.org/mailman/listinfo/pcl-users |
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