Point Cloud Library (PCL)  1.9.1-dev
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pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar > Class Template Reference

#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'. More...
 
NodecreateLeaf (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. More...
 
NodegetFullLeaf (int i, int j, int k)
 Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. More...
 
NodegetFullLeaf (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. More...
 
std::vector< Node * > & getFullLeaves ()
 
const std::vector< Node * > & getFullLeaves () const
 
NodegetRoot ()
 
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_
 
Noderoot_
 
std::vector< Node * > full_leaves_
 
NodeDataCreator * node_data_creator_
 

Detailed Description

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
class pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >

Definition at line 56 of file simple_octree.h.

Constructor & Destructor Documentation

◆ SimpleOctree()

template<typename NodeData , typename NodeDataCreator , typename Scalar >
pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::SimpleOctree ( )
inline

Definition at line 191 of file simple_octree.hpp.

◆ ~SimpleOctree()

template<typename NodeData , typename NodeDataCreator , typename Scalar >
pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::~SimpleOctree ( )
inlinevirtual

Definition at line 200 of file simple_octree.hpp.

Member Function Documentation

◆ build()

template<typename NodeData , typename NodeDataCreator, typename Scalar>
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.

◆ clear()

template<typename NodeData , typename NodeDataCreator , typename Scalar >
void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::clear ( )
inline

Definition at line 208 of file simple_octree.hpp.

◆ createLeaf()

template<typename NodeData , typename NodeDataCreator , typename Scalar>
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.

◆ getBounds() [1/2]

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
const Scalar* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getBounds ( ) const
inline

Definition at line 186 of file simple_octree.h.

◆ getBounds() [2/2]

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getBounds ( Scalar  b[6]) const
inline

Definition at line 189 of file simple_octree.h.

◆ getFullLeaf() [1/2]

template<typename NodeData , typename NodeDataCreator , typename Scalar >
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.

◆ getFullLeaf() [2/2]

template<typename NodeData , typename NodeDataCreator , typename Scalar>
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.

◆ getFullLeaves() [1/2]

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
std::vector<Node*>& pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaves ( )
inline

Definition at line 177 of file simple_octree.h.

◆ getFullLeaves() [2/2]

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
const std::vector<Node*>& pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaves ( ) const
inline

Definition at line 180 of file simple_octree.h.

◆ getRoot()

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
Node* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getRoot ( )
inline

Definition at line 183 of file simple_octree.h.

◆ getVoxelSize()

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getVoxelSize ( ) const
inline

Definition at line 192 of file simple_octree.h.

◆ insertNeighbors()

template<typename NodeData , typename NodeDataCreator , typename Scalar >
void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::insertNeighbors ( Node node)
inlineprotected

Definition at line 364 of file simple_octree.hpp.

Member Data Documentation

◆ bounds_

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::bounds_[6]
protected

Definition at line 199 of file simple_octree.h.

◆ full_leaves_

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
std::vector<Node*> pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::full_leaves_
protected

Definition at line 202 of file simple_octree.h.

◆ node_data_creator_

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
NodeDataCreator* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::node_data_creator_
protected

Definition at line 203 of file simple_octree.h.

◆ root_

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
Node* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::root_
protected

Definition at line 201 of file simple_octree.h.

◆ tree_levels_

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
int pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::tree_levels_
protected

Definition at line 200 of file simple_octree.h.

◆ voxel_size_

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::voxel_size_
protected

Definition at line 199 of file simple_octree.h.


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