#include <OcTree.h>

Public Types
typedef spatialaggregate::OcTreeNodeFixedCountAllocator < float, ValueClass >	Allocator
typedef boost::shared_ptr < Allocator >	AllocatorPtr
typedef std::vector< PointIndices >	NodeIdToPointIdxVector
typedef std::list< NodePtr >	NodePointerList
typedef std::vector< NodePtr >	NodePointers
typedef spatialaggregate::OcTreeNode < float, ValueClass > *	NodePtr
typedef spatialaggregate::OcTree < float, ValueClass >	Octree
typedef spatialaggregate::OcTreeKey < float, ValueClass >	OctreeKey
typedef Octree *	OctreePtr
typedef std::vector< int >	PointIndices
typedef algorithm::OcTreeSamplingMap < float, ValueClass >	SamplingMap
typedef NormalEstimationValueClass	ValueClass
typedef Eigen::Vector3f	Vec3
Public Member Functions
template<typename PointCloudType >
void	buildOctree (const PointCloudType &pointCloud)
bool	checkGetAllLeafs () const
bool	checkOctreeNodes (const NodePointers &nodePointers) const
bool	checkSamplingMap () const
void	findFinestNormal (Vec3 &normal, const Vec3 &point) const
void	getAllLeafs (NodePointers &leafNodes, const NodePtr &topNode) const
float	getCellSizeFromDepth (const unsigned int &depth) const
const unsigned int &	getMaxDepth () const
void	getNeighboringNodes (NodePointers &neighborNodes, const NodePtr &node, const unsigned int &maxSearchDepth, const float &neighborhoodSize=1.f) const
void	getNeighboringNodes (NodePointers &neighborNodes, const NodePtr &currNode, const unsigned int &maxSearchDepth, const unsigned int &currDepth, const OctreeKey &minPos, const OctreeKey &maxPos) const
const NodePointerList &	getNodeListOnDepth (const unsigned int &depth) const
NodePointers	getNodesOnDepth (const unsigned int &depth) const
const OctreePtr &	getOctreePtr () const
const PointIndices &	getPointsFromNodeId (const unsigned int &nodeId) const
const PointIndices &	getPointsFromNodePtr (const NodePtr &nodePtr) const
const SamplingMap &	getSamplingMap () const
	OcTree (float minOctreeResolution, float rho_max, float principalVarFactor, float minPointsForNormal, float curvThreshold, float curv2Threshold, float sqDistFactor, size_t numPoints)
void	preAllocate (const size_t &numPoints)
	~OcTree ()
Private Attributes
AllocatorPtr	mAllocatorPtr
float	mCurv2Threshold
float	mCurvThreshold
float	mMinOctreeResolution
float	mMinPointsForNormal
NodeIdToPointIdxVector	mNodeIdToPointIdxVector
unsigned int	mOctreeDepth
OctreePtr	mOctreePtr
float	mPrincipalVarFactor
float	mRho_max
SamplingMap	mSamplingMap
float	mSqDistFactor

Detailed Description

Definition at line 46 of file OcTree.h.

Member Typedef Documentation

typedef spatialaggregate::OcTreeNodeFixedCountAllocator<float, ValueClass> OcTree::Allocator

Definition at line 51 of file OcTree.h.

typedef boost::shared_ptr<Allocator> OcTree::AllocatorPtr

Definition at line 52 of file OcTree.h.

typedef std::vector<PointIndices> OcTree::NodeIdToPointIdxVector

Definition at line 59 of file OcTree.h.

typedef std::list<NodePtr> OcTree::NodePointerList

Definition at line 57 of file OcTree.h.

typedef std::vector<NodePtr> OcTree::NodePointers

Definition at line 56 of file OcTree.h.

typedef spatialaggregate::OcTreeNode<float, ValueClass>* OcTree::NodePtr

Definition at line 54 of file OcTree.h.

typedef spatialaggregate::OcTree<float, ValueClass> OcTree::Octree

Definition at line 49 of file OcTree.h.

typedef spatialaggregate::OcTreeKey<float, ValueClass> OcTree::OctreeKey

Definition at line 55 of file OcTree.h.

typedef Octree* OcTree::OctreePtr

Definition at line 50 of file OcTree.h.

typedef std::vector<int> OcTree::PointIndices

Definition at line 58 of file OcTree.h.

typedef algorithm::OcTreeSamplingMap<float, ValueClass> OcTree::SamplingMap

Definition at line 53 of file OcTree.h.

typedef NormalEstimationValueClass OcTree::ValueClass

Definition at line 48 of file OcTree.h.

typedef Eigen::Vector3f OcTree::Vec3

Definition at line 60 of file OcTree.h.

Constructor & Destructor Documentation

OcTree::OcTree	(	float	minOctreeResolution,
		float	rho_max,
		float	principalVarFactor,
		float	minPointsForNormal,
		float	curvThreshold,
		float	curv2Threshold,
		float	sqDistFactor,
		size_t	numPoints
	)		`[inline]`

Definition at line 62 of file OcTree.h.

OcTree::~OcTree ( ) [inline]

Definition at line 70 of file OcTree.h.

Member Function Documentation

template<typename PointCloudType >

void OcTree::buildOctree ( const PointCloudType & pointCloud )

Definition at line 193 of file OcTree.h.

bool OcTree::checkGetAllLeafs ( ) const [inline]

Definition at line 94 of file OcTree.h.

bool OcTree::checkOctreeNodes ( const NodePointers & nodePointers ) const [inline]

Definition at line 101 of file OcTree.h.

bool OcTree::checkSamplingMap ( ) const [inline]

Definition at line 80 of file OcTree.h.

void OcTree::findFinestNormal	(	Vec3 &	normal,
		const Vec3 &	point
	)		const `[inline]`

Definition at line 156 of file OcTree.h.

void OcTree::getAllLeafs	(	NodePointers &	leafNodes,
		const NodePtr &	topNode
	)		const `[inline]`

Definition at line 299 of file OcTree.h.

float OcTree::getCellSizeFromDepth ( const unsigned int & depth ) const [inline]

Definition at line 152 of file OcTree.h.

const unsigned int& OcTree::getMaxDepth ( ) const [inline]

Definition at line 113 of file OcTree.h.

void OcTree::getNeighboringNodes	(	NodePointers &	neighborNodes,
		const NodePtr &	node,
		const unsigned int &	maxSearchDepth,
		const float &	neighborhoodSize = `1.f`
	)		const `[inline]`

Definition at line 265 of file OcTree.h.

void OcTree::getNeighboringNodes	(	NodePointers &	neighborNodes,
		const NodePtr &	currNode,
		const unsigned int &	maxSearchDepth,
		const unsigned int &	currDepth,
		const OctreeKey &	minPos,
		const OctreeKey &	maxPos
	)		const `[inline]`