ndt_map: adaptive_oc_tree.h Source File

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00035 #ifndef ADAPTIVE_OCT_TREE_HH
00036 #define ADAPTIVE_OCT_TREE_HH
00037 
00038 #include <ndt_map/oc_tree.h>
00039 #include <ndt_map/ndt_cell.h>
00040 #include <vector>
00041 
00042 namespace lslgeneric
00043 {
00044 
00052 template<typename PointT>
00053 class AdaptiveOctTree : public OctTree<PointT>
00054 {
00055 protected:
00056     std::vector<OctTree<PointT>*> splitTree(OctTree<PointT> *leaf);
00057     std::vector<OctTree<PointT>*> myTreeLeafs;
00058     virtual void computeTreeLeafs();
00059 
00060     double computeResidualSquare(NDTCell<PointT> *cell);
00061     double computeDornikHansen(NDTCell<PointT> *cell);
00062 
00063     bool useDornikHansen;
00064     bool useFlatness;
00065     double RSS_THRESHOLD, DH_SIGNIFICANCE_LVL, FLAT_FACTOR;
00066     bool parametersSet;
00067 
00068 public:
00069 
00071     AdaptiveOctTree();
00073     AdaptiveOctTree(pcl::PointXYZ center, double xsize, double ysize,
00074                     double zsize, NDTCell<PointT>* type, OctTree<PointT> *_parent=NULL, unsigned int _depth=0);
00075     virtual ~AdaptiveOctTree();
00076 
00077     virtual void postProcessPoints();
00078     virtual SpatialIndex<PointT>* clone();
00079 
00082     void setParameters(bool _useDornikHansen = false,
00083                        bool _useFlatness = true,
00084                        double _RSS_THRESHOLD = 1000,
00085                        double _DH_SIGNIFICANCE_LVL = 0.5,
00086                        double _MIN_CELL_SIZE = 1,
00087                        double _FLAT_FACTOR = 10,
00088                        double _BIG_CELL_SIZE = 5,
00089                        double _SMALL_CELL_SIZE = 5
00090                       );
00091     double MIN_CELL_SIZE;
00092 
00093 };
00094 
00095 } //end namespace
00096 
00097 #include<ndt_map/impl/adaptive_oc_tree.hpp>
00098 #endif