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...
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 57 of file simple_octree.h.

## Constructor & Destructor Documentation

template<typename NodeData , typename NodeDataCreator , typename Scalar >

pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::SimpleOctree | ( |  | ) |

inline

Definition at line 191 of file simple_octree.hpp.

template<typename NodeData , typename NodeDataCreator , typename Scalar >

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().

## Member Function Documentation

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.

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_.

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.

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().

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.

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_.

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

const Scalar* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getBounds | ( |  | ) | const

inline

Definition at line 187 of file simple_octree.h.

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

void pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getBounds | ( | Scalar | b[6] | ) | const

inline

Definition at line 190 of file simple_octree.h.

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.

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().

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.

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_.

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

std::vector<Node*>& pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaves | ( |  | ) |

inline

Definition at line 178 of file simple_octree.h.

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

const std::vector<Node*>& pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getFullLeaves | ( |  | ) | const

inline

Definition at line 181 of file simple_octree.h.

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

Node* pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getRoot | ( |  | ) |

inline

Definition at line 184 of file simple_octree.h.

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

Scalar pcl::recognition::SimpleOctree< NodeData, NodeDataCreator, Scalar >::getVoxelSize | ( |  | ) | const

inline

Definition at line 193 of file simple_octree.h.

template<typename NodeData , typename NodeDataCreator , typename Scalar >

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().

## Member Data Documentation

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

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().

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

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().

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

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().

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

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().

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

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().

template<typename NodeData, typename NodeDataCreator, typename Scalar = float>

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().

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

- /build/pcl-0nnAvv/pcl-1.7.2/recognition/include/pcl/recognition/ransac_based/simple_octree.h
- /build/pcl-0nnAvv/pcl-1.7.2/recognition/include/pcl/recognition/impl/ransac_based/simple_octree.hpp