An Oct Tree data structure for storing 3D points. More...
#include <oc_tree.h>
Public Member Functions | |
| virtual Cell< PointT > * | addPoint (const PointT &point) |
| add a point to the index | |
| virtual SpatialIndex< PointT > ::CellVectorItr | begin () |
| iterator through all cells in index, points at the begining | |
| virtual SpatialIndex< PointT > * | clone () const |
| cloning method inherited from spatial index | |
| virtual SpatialIndex< PointT > * | copy () const |
| virtual SpatialIndex< PointT > ::CellVectorItr | end () |
| iterator through all cells in index, points at the end | |
| virtual Cell< PointT > * | getCellForPoint (const PointT &point) |
| returns a pointer to the cell containing the point or NULL if not found | |
| OctTree< PointT > * | getChild (int idx) |
| returns a child at the specified index | |
| virtual Cell< PointT > * | getClosestLeafCell (const PointT &pt) |
| virtual NDTCell< PointT > * | getClosestNDTCell (const PointT &pt) |
| virtual OctTree< PointT > * | getLeafForPoint (const PointT &point) |
| virtual Cell< PointT > * | getMyCell () |
| virtual void | getNeighbors (const PointT &point, const double &radius, std::vector< Cell< PointT > * > &cells) |
| virtual bool | intersectSphere (const PointT center, const double &radius) const |
| bool | isLeaf () |
| OctTree () | |
| dummy default constructor | |
| OctTree (PointT center, double xsize, double ysize, double zsize, NDTCell< PointT > *type, OctTree< PointT > *_parent=NULL, unsigned int _depth=0) | |
| creates an oct tree node with known center and size | |
| void | print () |
| recursively print the tree | |
| virtual void | setCellType (Cell< PointT > *type) |
| sets the prototype for a cell | |
| virtual void | setCenter (const double &cx, const double &cy, const double &cz) |
| void | setParameters (double _BIG_CELL_SIZE=4, double _SMALL_CELL_SIZE=0.5, int _MAX_POINTS=10, int _MAX_DEPTH=20) |
| use this to set the parameters for the OctTree - will *only* apply to leafs of the current node. | |
| virtual void | setSize (const double &sx, const double &sy, const double &sz) |
| void | writeToVRML (const char *filename) |
| output methods to a vrml file. draws the cell sizes and all points | |
| void | writeToVRML (FILE *fout) |
| virtual | ~OctTree () |
Public Attributes | |
| double | BIG_CELL_SIZE |
| int | MAX_DEPTH |
| int | MAX_POINTS |
| bool | parametersSet_ |
| double | SMALL_CELL_SIZE |
Protected Member Functions | |
| virtual void | computeLeafCells () |
| fills in the leafs vector when needed | |
| virtual size_t | getIndexForPoint (const PointT &pt) const |
| checks in which child node a point would belong | |
Protected Attributes | |
| OctTree * | children_ [8] |
| unsigned int | depth_ |
| bool | leaf_ |
| bool | leafsCached_ |
| NDTCell< PointT > * | myCell_ |
| std::vector< Cell< PointT > * > | myLeafs_ |
| OctTree * | parent_ |
Friends | |
| class | AdaptiveOctTree< PointT > |
Detailed Description
template<typename PointT>
class lslgeneric::OctTree< PointT >
An Oct Tree data structure for storing 3D points.
This is an implementation of a SpatialIndex that splits space using a tree structure. Each node has 8 children that do not necessarily have associated points. Points are stored using NDTCell cells. When inserting points the tree is split until the size BIG_CELL is reached. Further splits occur when the number of points in a leaf goes above the MAX_POINTS threshold
Constructor & Destructor Documentation
| lslgeneric::OctTree< PointT >::OctTree | ( | ) |
| lslgeneric::OctTree< PointT >::OctTree | ( | PointT | center, |
| double | xsize, | ||
| double | ysize, | ||
| double | zsize, | ||
| NDTCell< PointT > * | type, | ||
| OctTree< PointT > * | _parent = NULL, |
||
| unsigned int | _depth = 0 |
||
| ) |
creates an oct tree node with known center and size
parametrized constructor
Definition at line 99 of file oc_tree.hpp.
| lslgeneric::OctTree< PointT >::~OctTree | ( | ) | [virtual] |
destructor, deletes all pointers starting from parent and going down
Definition at line 129 of file oc_tree.hpp.
Member Function Documentation
| Cell< PointT > * lslgeneric::OctTree< PointT >::addPoint | ( | const PointT & | point_c | ) | [virtual] |
add a point to the index
adds a point to the index. Iterates down the tree and if necessary creates new leafs and splits current ones.
- Note:
- at the moment root is not grown in case of points outside!
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 151 of file oc_tree.hpp.
| SpatialIndex< PointT >::CellVectorItr lslgeneric::OctTree< PointT >::begin | ( | ) | [virtual] |
iterator through all cells in index, points at the begining
iterator poining to the first leaf cell.
- Note:
- recomputes the vector when changes have occured!
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 325 of file oc_tree.hpp.
| SpatialIndex< PointT > * lslgeneric::OctTree< PointT >::clone | ( | ) | const [virtual] |
cloning method inherited from spatial index
returns a new OctTree spatial index
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 396 of file oc_tree.hpp.
| void lslgeneric::OctTree< PointT >::computeLeafCells | ( | ) | [protected, virtual] |
fills in the leafs vector when needed
finds all children cells that are located at current leafs
Definition at line 269 of file oc_tree.hpp.
| SpatialIndex< PointT > * lslgeneric::OctTree< PointT >::copy | ( | ) | const [virtual] |
copies the spatial index
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 410 of file oc_tree.hpp.
| SpatialIndex< PointT >::CellVectorItr lslgeneric::OctTree< PointT >::end | ( | ) | [virtual] |
iterator through all cells in index, points at the end
iterator poining at last leaf cell
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 339 of file oc_tree.hpp.
| Cell< PointT > * lslgeneric::OctTree< PointT >::getCellForPoint | ( | const PointT & | point | ) | [virtual] |
returns a pointer to the cell containing the point or NULL if not found
returns the cell that should hold the point
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 233 of file oc_tree.hpp.
| OctTree<PointT>* lslgeneric::OctTree< PointT >::getChild | ( | int | idx | ) | [inline] |
| Cell< PointT > * lslgeneric::OctTree< PointT >::getClosestLeafCell | ( | const PointT & | pt | ) | [virtual] |
Definition at line 547 of file oc_tree.hpp.
| NDTCell< PointT > * lslgeneric::OctTree< PointT >::getClosestNDTCell | ( | const PointT & | pt | ) | [virtual] |
Definition at line 594 of file oc_tree.hpp.
| size_t lslgeneric::OctTree< PointT >::getIndexForPoint | ( | const PointT & | pt | ) | const [protected, virtual] |
checks in which child node a point would belong
returns the child index that should hold the point.
- Note:
- the point is not necessarily within the child's boundaries, but is guaranteed to be in the same quadrant (octant?)
index table: (convenient computations) id x y z 0 + + + 1 + + - 2 + - - 3 + - + 4 - + + 5 - + - 6 - - - 7 - - +
Definition at line 38 of file oc_tree.hpp.
| OctTree< PointT > * lslgeneric::OctTree< PointT >::getLeafForPoint | ( | const PointT & | point | ) | [virtual] |
finds the leaf that should hold the point
Definition at line 244 of file oc_tree.hpp.
| virtual Cell<PointT>* lslgeneric::OctTree< PointT >::getMyCell | ( | ) | [inline, virtual] |
| void lslgeneric::OctTree< PointT >::getNeighbors | ( | const PointT & | point, |
| const double & | radius, | ||
| std::vector< Cell< PointT > * > & | cells | ||
| ) | [virtual] |
returns all the neighboring cells within a radius
- Parameters:
-
point the location around which we are looking for neighbors. The point must be inside the boundaries of a current leaf! radius the neighbor tolerance cells output
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 465 of file oc_tree.hpp.
| bool lslgeneric::OctTree< PointT >::intersectSphere | ( | const PointT | center, |
| const double & | radius | ||
| ) | const [virtual] |
checks if the tree node intersects the sphere located at center_ and of size radius
Definition at line 531 of file oc_tree.hpp.
| bool lslgeneric::OctTree< PointT >::isLeaf | ( | ) | [inline] |
| void lslgeneric::OctTree< PointT >::print | ( | ) |
recursively print the tree
| void lslgeneric::OctTree< PointT >::setCellType | ( | Cell< PointT > * | type | ) | [virtual] |
sets the prototype for a cell
sets the cell factory type
Implements lslgeneric::SpatialIndex< PointT >.
Definition at line 309 of file oc_tree.hpp.
| void lslgeneric::OctTree< PointT >::setCenter | ( | const double & | cx, |
| const double & | cy, | ||
| const double & | cz | ||
| ) | [virtual] |
sets the center_.
- Note:
- this is not going to re-compute cells that are already in the tree!
Reimplemented from lslgeneric::SpatialIndex< PointT >.
Definition at line 432 of file oc_tree.hpp.
| void lslgeneric::OctTree< PointT >::setParameters | ( | double | _BIG_CELL_SIZE = 4, |
| double | _SMALL_CELL_SIZE = 0.5, |
||
| int | _MAX_POINTS = 10, |
||
| int | _MAX_DEPTH = 20 |
||
| ) |
use this to set the parameters for the OctTree - will *only* apply to leafs of the current node.
Definition at line 7 of file oc_tree.hpp.
| void lslgeneric::OctTree< PointT >::setSize | ( | const double & | sx, |
| const double & | sy, | ||
| const double & | sz | ||
| ) | [virtual] |
sets the size
- Note:
- this is not going to re-compute cells that are already in the tree!
Reimplemented from lslgeneric::SpatialIndex< PointT >.
Definition at line 450 of file oc_tree.hpp.
| void lslgeneric::OctTree< PointT >::writeToVRML | ( | const char * | filename | ) |
output methods to a vrml file. draws the cell sizes and all points
output to vrml
Definition at line 353 of file oc_tree.hpp.
| void lslgeneric::OctTree< PointT >::writeToVRML | ( | FILE * | fout | ) |
output to vrml using file pointer
Definition at line 375 of file oc_tree.hpp.
Friends And Related Function Documentation
friend class AdaptiveOctTree< PointT > [friend] |
Member Data Documentation
| double lslgeneric::OctTree< PointT >::BIG_CELL_SIZE |
OctTree* lslgeneric::OctTree< PointT >::children_[8] [protected] |
unsigned int lslgeneric::OctTree< PointT >::depth_ [protected] |
bool lslgeneric::OctTree< PointT >::leaf_ [protected] |
bool lslgeneric::OctTree< PointT >::leafsCached_ [protected] |
| int lslgeneric::OctTree< PointT >::MAX_DEPTH |
| int lslgeneric::OctTree< PointT >::MAX_POINTS |
NDTCell<PointT>* lslgeneric::OctTree< PointT >::myCell_ [protected] |
std::vector< Cell<PointT>* > lslgeneric::OctTree< PointT >::myLeafs_ [protected] |
| bool lslgeneric::OctTree< PointT >::parametersSet_ |
OctTree* lslgeneric::OctTree< PointT >::parent_ [protected] |
| double lslgeneric::OctTree< PointT >::SMALL_CELL_SIZE |
The documentation for this class was generated from the following files: