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| SimpleOctree () |
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virtual | ~SimpleOctree () |
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void | clear () |
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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...
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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. More...
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Node * | getFullLeaf (int i, int j, int k) |
| Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. More...
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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. More...
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std::vector< Node * > & | getFullLeaves () |
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const std::vector< Node * > & | getFullLeaves () const |
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Node * | getRoot () |
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const Scalar * | getBounds () const |
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void | getBounds (Scalar b[6]) const |
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Scalar | getVoxelSize () const |
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template<typename NodeData, typename NodeDataCreator, typename Scalar = float>
class pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >
Definition at line 58 of file simple_octree.h.
template<typename NodeData , typename NodeDataCreator , typename Scalar >
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 254 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::createChildren(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getCenter(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getChild(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::hasData(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::setData().
template<typename NodeData , typename NodeDataCreator , typename Scalar >
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 293 of file simple_octree.hpp.
template<typename NodeData , typename NodeDataCreator , typename Scalar >
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 306 of file simple_octree.hpp.
References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getCenter(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getChild(), pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::hasChildren(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::hasData().