pcl::recognition::BVH< UserData >::Node Class Reference

#include <pcl/recognition/ransac_based/bvh.h>

Collaboration diagram for pcl::recognition::BVH< UserData >::Node:

Public Member Functions
	Node (std::vector< BoundedObject * > &sorted_objects, int first_id, int last_id)
	'sorted_objects' is a sorted vector of bounded objects. More...
virtual	~Node ()
bool	hasChildren () const
Node *	getLeftChild ()
Node *	getRightChild ()
BoundedObject *	getObject ()
bool	isLeaf () const
bool	intersect (const float box[6]) const
	Returns true if 'box' intersects or touches (with a side or a vertex) this node. More...
double	computeBoundingBoxVolume () const
	Computes and returns the volume of the bounding box of this node. More...

Protected Attributes
float	bounds_ [6]
Node *	children_ [2]
BoundedObject *	object_

Friends
class	BVH

Detailed Description

template<class UserData>
class pcl::recognition::BVH< UserData >::Node

Definition at line 119 of file bvh.h.

Constructor & Destructor Documentation

Node()

template<class UserData >

pcl::recognition::BVH< UserData >::Node::Node ( std::vector< BoundedObject * > &  sorted_objects, int  first_id, int  last_id  )

inline

'sorted_objects' is a sorted vector of bounded objects.

It has to be sorted in ascending order according to the objects' x-coordinates. The constructor recursively calls itself with the right 'first_id' and 'last_id' and with the same vector 'sorted_objects'.

Definition at line 125 of file bvh.h.

References pcl::recognition::aux::expandBoundingBox().

~Node()

template<class UserData >

virtual pcl::recognition::BVH< UserData >::Node::~Node ( )

inlinevirtual

Definition at line 153 of file bvh.h.

Member Function Documentation

computeBoundingBoxVolume()

template<class UserData >

double pcl::recognition::BVH< UserData >::Node::computeBoundingBoxVolume ( ) const

inline

Computes and returns the volume of the bounding box of this node.

Definition at line 199 of file bvh.h.

getLeftChild()

template<class UserData >

Node* pcl::recognition::BVH< UserData >::Node::getLeftChild ( )

inline

Definition at line 166 of file bvh.h.

Referenced by pcl::recognition::BVH< UserData >::intersect().

getObject()

template<class UserData >

BoundedObject* pcl::recognition::BVH< UserData >::Node::getObject ( )

inline

Definition at line 178 of file bvh.h.

Referenced by pcl::recognition::BVH< UserData >::intersect().

getRightChild()

template<class UserData >

Node* pcl::recognition::BVH< UserData >::Node::getRightChild ( )

inline

Definition at line 172 of file bvh.h.

Referenced by pcl::recognition::BVH< UserData >::intersect().

hasChildren()

template<class UserData >

bool pcl::recognition::BVH< UserData >::Node::hasChildren ( ) const

inline

Definition at line 160 of file bvh.h.

Referenced by pcl::recognition::BVH< UserData >::intersect().

intersect()

template<class UserData >

bool pcl::recognition::BVH< UserData >::Node::intersect ( const float  box[6] ) const

inline

Returns true if 'box' intersects or touches (with a side or a vertex) this node.

Definition at line 191 of file bvh.h.

Referenced by pcl::recognition::BVH< UserData >::intersect().

isLeaf()

template<class UserData >

bool pcl::recognition::BVH< UserData >::Node::isLeaf ( ) const

inline

Definition at line 184 of file bvh.h.

Friends And Related Function Documentation

BVH

template<class UserData >

friend class BVH

friend

Definition at line 204 of file bvh.h.

Member Data Documentation

bounds_

template<class UserData >

float pcl::recognition::BVH< UserData >::Node::bounds_[6]

protected

Definition at line 207 of file bvh.h.

children_

template<class UserData >

Node* pcl::recognition::BVH< UserData >::Node::children_[2]

protected

Definition at line 208 of file bvh.h.

object_

template<class UserData >

BoundedObject* pcl::recognition::BVH< UserData >::Node::object_

protected

Definition at line 209 of file bvh.h.

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

• pcl/recognition/ransac_based/bvh.h