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

Inheritance diagram for pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >:

Collaboration diagram for pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >:

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...

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...

Node *	getFullLeaf (int i, int j, int k)
	Since the leaves are aligned in a rectilinear grid, each leaf has a unique id. More...

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...

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_

Detailed Description

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

Definition at line 58 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 183 of file simple_octree.hpp.

◆ ~SimpleOctree()

template<typename NodeData , typename NodeDataCreator , typename Scalar >

pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::~SimpleOctree

inlinevirtual

Definition at line 191 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 208 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 198 of file simple_octree.hpp.

◆ createLeaf()

template<typename NodeData , typename NodeDataCreator , typename Scalar >

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 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().

◆ 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 188 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 191 of file simple_octree.h.

◆ getFullLeaf() [1/2]

template<typename NodeData , typename NodeDataCreator , typename Scalar >

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 293 of file simple_octree.hpp.

◆ getFullLeaf() [2/2]

template<typename NodeData , typename NodeDataCreator , typename Scalar >

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 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().

◆ 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 179 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 182 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 185 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 194 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 342 of file simple_octree.hpp.

References pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::getCenter(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::makeNeighbors().

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 201 of file simple_octree.h.

Referenced by pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::computeRadius(), and pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::Node::setBounds().

◆ 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 204 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 205 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 203 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 202 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 201 of file simple_octree.h.

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

pcl/recognition/ransac_based/simple_octree.h
pcl/recognition/impl/ransac_based/simple_octree.hpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ SimpleOctree()

◆ ~SimpleOctree()

Member Function Documentation

◆ build()

◆ clear()

◆ createLeaf()

◆ getBounds() [1/2]

◆ getBounds() [2/2]

◆ getFullLeaf() [1/2]

◆ getFullLeaf() [2/2]

◆ getFullLeaves() [1/2]

◆ getFullLeaves() [2/2]

◆ getRoot()

◆ getVoxelSize()

◆ insertNeighbors()

Member Data Documentation

◆ bounds_

◆ full_leaves_

◆ node_data_creator_

◆ root_

◆ tree_levels_

◆ voxel_size_

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