#include <pcl/recognition/ransac_based/simple_octree.h>
Classes | |
| class | Node |
Public Member Functions | |
| SimpleOctree () | |
| virtual | ~SimpleOctree () |
| void | clear () |
| void | build (const Scalar *bounds, Scalar voxel_size, NodeDataCreator *node_data_creator) |
| Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'. | |
| Node * | createLeaf (Scalar x, Scalar y, Scalar z) |
| Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet. | |
| Node * | getFullLeaf (int i, int j, int k) |
| Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. | |
| Node * | getFullLeaf (Scalar x, Scalar y, Scalar z) |
| Returns a pointer to the full leaf, i.e., one having a data pbject, containing p = (x, y, z) or NULL if no such leaf exists. | |
| std::vector< Node * > & | getFullLeaves () |
| const std::vector< Node * > & | getFullLeaves () const |
| Node * | getRoot () |
| const Scalar * | getBounds () const |
| void | getBounds (Scalar b[6]) const |
| Scalar | getVoxelSize () const |
Protected Member Functions | |
| void | insertNeighbors (Node *node) |
Protected Attributes | |
| Scalar | voxel_size_ |
| Scalar | bounds_ [6] |
| int | tree_levels_ |
| Node * | root_ |
| std::vector< Node * > | full_leaves_ |
| NodeDataCreator * | node_data_creator_ |
Definition at line 57 of file simple_octree.h.
| pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::SimpleOctree | ( | ) | [inline] |
Definition at line 191 of file simple_octree.hpp.
| pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::~SimpleOctree | ( | ) | [inline, virtual] |
Definition at line 200 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::clear().
| void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build | ( | const Scalar * | bounds, | |
| Scalar | voxel_size, | |||
| NodeDataCreator * | node_data_creator | |||
| ) | [inline] |
Creates an empty octree with bounds at least as large as the ones provided as input and with leaf size equal to 'voxel_size'.
Definition at line 222 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::bounds_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::clear(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::computeRadius(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::node_data_creator_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::root_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::setBounds(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::setCenter(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::setParent(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::tree_levels_, and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::voxel_size_.
| void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::clear | ( | ) | [inline] |
Definition at line 208 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::full_leaves_, and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::root_.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::~SimpleOctree().
| pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node * pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf | ( | Scalar | x, | |
| Scalar | y, | |||
| Scalar | z | |||
| ) | [inline] |
Creates the leaf containing p = (x, y, z) and returns a pointer to it, however, only if p lies within the octree bounds! A more general version which allows p to be out of bounds is not implemented yet.
The method returns NULL if p is not within the root bounds. If the leaf containing p already exists nothing happens and method just returns a pointer to the leaf. Note that for a new created leaf, the method also creates its data object.
Definition at line 269 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::bounds_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::createChildren(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::full_leaves_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getCenter(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getChild(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::hasData(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::insertNeighbors(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::node_data_creator_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::root_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::setData(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::tree_levels_.
| void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getBounds | ( | Scalar | b[6] | ) | const [inline] |
Definition at line 190 of file simple_octree.h.
| const Scalar* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getBounds | ( | ) | const [inline] |
Definition at line 187 of file simple_octree.h.
| pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node * pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf | ( | Scalar | x, | |
| Scalar | y, | |||
| Scalar | z | |||
| ) | [inline] |
Returns a pointer to the full leaf, i.e., one having a data pbject, containing p = (x, y, z) or NULL if no such leaf exists.
Definition at line 325 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::bounds_, pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getCenter(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getChild(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::hasChildren(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::hasData(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::root_, and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::tree_levels_.
| pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node * pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf | ( | int | i, | |
| int | j, | |||
| int | k | |||
| ) | [inline] |
Since the leaves are aligned in a rectilinear grid, each leaf has a unique id.
The method returns the full leaf, i.e., the one having a data object, with id [i, j, k] or NULL is no such leaf exists.
Definition at line 311 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::bounds_, and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::voxel_size_.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::insertNeighbors().
| const std::vector<Node*>& pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaves | ( | ) | const [inline] |
Definition at line 181 of file simple_octree.h.
| std::vector<Node*>& pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaves | ( | ) | [inline] |
Definition at line 178 of file simple_octree.h.
| Node* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getRoot | ( | ) | [inline] |
Definition at line 184 of file simple_octree.h.
| Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getVoxelSize | ( | ) | const [inline] |
Definition at line 193 of file simple_octree.h.
| void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::insertNeighbors | ( | Node * | node | ) | [inline, protected] |
Definition at line 364 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getCenter(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::makeNeighbors(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::voxel_size_.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf().
Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::bounds_[6] [protected] |
Definition at line 200 of file simple_octree.h.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf().
std::vector<Node*> pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::full_leaves_ [protected] |
Definition at line 203 of file simple_octree.h.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::clear(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf().
NodeDataCreator* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::node_data_creator_ [protected] |
Definition at line 204 of file simple_octree.h.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf().
Node* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::root_ [protected] |
Definition at line 202 of file simple_octree.h.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::clear(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf().
int pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::tree_levels_ [protected] |
Definition at line 201 of file simple_octree.h.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::createLeaf(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf().
Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::voxel_size_ [protected] |
Definition at line 200 of file simple_octree.h.
Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::build(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaf(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::insertNeighbors().
