mcl_3dl::ChunkedKdtree< POINT_TYPE > Class Template Reference

#include <chunked_kdtree.h>

Classes
class	Chunk
class	ChunkId

Public Types
using	Ptr = std::shared_ptr< ChunkedKdtree >

Public Member Functions
	ChunkedKdtree (const float chunk_length=20.0, const float max_search_radius=1.0, const bool keep_clouds=false)
pcl::PointCloud< POINT_TYPE >::Ptr	getChunkCloud (const POINT_TYPE &p)
pcl::PointCloud< POINT_TYPE >::Ptr	getChunkCloud (const ChunkId &c)
ChunkId	getChunkId (const POINT_TYPE &p) const
pcl::KdTreeFLANN< POINT_TYPE >::Ptr	getChunkKdtree (const POINT_TYPE &p)
pcl::KdTreeFLANN< POINT_TYPE >::Ptr	getChunkKdtree (const ChunkId &c)
const pcl::PointCloud< POINT_TYPE >::ConstPtr &	getInputCloud () const
int	radiusSearch (const POINT_TYPE &p, const float &radius, std::vector< int > &id, std::vector< float > &dist_sq, const size_t &num)
void	setEpsilon (const float epsilon)
void	setInputCloud (const typename pcl::PointCloud< POINT_TYPE >::ConstPtr &cloud)
void	setPointRepresentation (boost::shared_ptr< pcl::PointRepresentation< POINT_TYPE >> point_rep)

Protected Types
using	ChunkCloud = std::unordered_map< ChunkId, typename pcl::PointCloud< POINT_TYPE >, ChunkId >
using	ChunkMap = std::unordered_map< ChunkId, Chunk, ChunkId >
using	ChunkOriginalIds = std::unordered_map< ChunkId, std::vector< size_t >, ChunkId >

Protected Attributes
const float	chunk_length_
ChunkMap	chunks_
float	epsilon_
pcl::PointCloud< POINT_TYPE >::ConstPtr	input_cloud_
bool	keep_clouds_
const float	max_search_radius_
boost::shared_ptr< pcl::PointRepresentation< POINT_TYPE > >	point_rep_
const float	pos_to_chunk_
bool	set_epsilon_

Detailed Description

template<typename POINT_TYPE>
class mcl_3dl::ChunkedKdtree< POINT_TYPE >

Definition at line 46 of file chunked_kdtree.h.

Member Typedef Documentation

template<typename POINT_TYPE>

using mcl_3dl::ChunkedKdtree< POINT_TYPE >::ChunkCloud = std::unordered_map<ChunkId, typename pcl::PointCloud<POINT_TYPE>, ChunkId>

protected

Definition at line 289 of file chunked_kdtree.h.

template<typename POINT_TYPE>

using mcl_3dl::ChunkedKdtree< POINT_TYPE >::ChunkMap = std::unordered_map<ChunkId, Chunk, ChunkId>

protected

Definition at line 288 of file chunked_kdtree.h.

template<typename POINT_TYPE>

using mcl_3dl::ChunkedKdtree< POINT_TYPE >::ChunkOriginalIds = std::unordered_map<ChunkId, std::vector<size_t>, ChunkId>

protected

Definition at line 290 of file chunked_kdtree.h.

template<typename POINT_TYPE>

using mcl_3dl::ChunkedKdtree< POINT_TYPE >::Ptr = std::shared_ptr<ChunkedKdtree>

Definition at line 49 of file chunked_kdtree.h.

Constructor & Destructor Documentation

template<typename POINT_TYPE>

mcl_3dl::ChunkedKdtree< POINT_TYPE >::ChunkedKdtree ( const float  chunk_length = 20.0, const float  max_search_radius = 1.0, const bool  keep_clouds = false  )

inlineexplicit

Definition at line 90 of file chunked_kdtree.h.

Member Function Documentation

template<typename POINT_TYPE>

pcl::PointCloud<POINT_TYPE>::Ptr mcl_3dl::ChunkedKdtree< POINT_TYPE >::getChunkCloud ( const POINT_TYPE &  p )

inline

Definition at line 248 of file chunked_kdtree.h.

template<typename POINT_TYPE>

pcl::PointCloud<POINT_TYPE>::Ptr mcl_3dl::ChunkedKdtree< POINT_TYPE >::getChunkCloud ( const ChunkId &  c )

inline

Definition at line 252 of file chunked_kdtree.h.

template<typename POINT_TYPE>

ChunkId mcl_3dl::ChunkedKdtree< POINT_TYPE >::getChunkId ( const POINT_TYPE &  p ) const

inline

Definition at line 258 of file chunked_kdtree.h.

template<typename POINT_TYPE>

pcl::KdTreeFLANN<POINT_TYPE>::Ptr mcl_3dl::ChunkedKdtree< POINT_TYPE >::getChunkKdtree ( const POINT_TYPE &  p )

inline

Definition at line 238 of file chunked_kdtree.h.

template<typename POINT_TYPE>

pcl::KdTreeFLANN<POINT_TYPE>::Ptr mcl_3dl::ChunkedKdtree< POINT_TYPE >::getChunkKdtree ( const ChunkId &  c )

inline

Definition at line 242 of file chunked_kdtree.h.

template<typename POINT_TYPE>

const pcl::PointCloud<POINT_TYPE>::ConstPtr& mcl_3dl::ChunkedKdtree< POINT_TYPE >::getInputCloud ( ) const

inline

Definition at line 120 of file chunked_kdtree.h.

template<typename POINT_TYPE>

int mcl_3dl::ChunkedKdtree< POINT_TYPE >::radiusSearch ( const POINT_TYPE &  p, const float &  radius, std::vector< int > &  id, std::vector< float > &  dist_sq, const size_t &  num  )

inline

Definition at line 217 of file chunked_kdtree.h.

template<typename POINT_TYPE>

void mcl_3dl::ChunkedKdtree< POINT_TYPE >::setEpsilon ( const float  epsilon )

inline

Definition at line 102 of file chunked_kdtree.h.

template<typename POINT_TYPE>

void mcl_3dl::ChunkedKdtree< POINT_TYPE >::setInputCloud ( const typename pcl::PointCloud< POINT_TYPE >::ConstPtr &  cloud )

inline

Definition at line 124 of file chunked_kdtree.h.

template<typename POINT_TYPE>

void mcl_3dl::ChunkedKdtree< POINT_TYPE >::setPointRepresentation ( boost::shared_ptr< pcl::PointRepresentation< POINT_TYPE >>  point_rep )

inline

Definition at line 111 of file chunked_kdtree.h.

Member Data Documentation

template<typename POINT_TYPE>

const float mcl_3dl::ChunkedKdtree< POINT_TYPE >::chunk_length_

protected

Definition at line 281 of file chunked_kdtree.h.

template<typename POINT_TYPE>

ChunkMap mcl_3dl::ChunkedKdtree< POINT_TYPE >::chunks_

protected

Definition at line 291 of file chunked_kdtree.h.

template<typename POINT_TYPE>

float mcl_3dl::ChunkedKdtree< POINT_TYPE >::epsilon_

protected

Definition at line 285 of file chunked_kdtree.h.

template<typename POINT_TYPE>

pcl::PointCloud<POINT_TYPE>::ConstPtr mcl_3dl::ChunkedKdtree< POINT_TYPE >::input_cloud_

protected

Definition at line 292 of file chunked_kdtree.h.

template<typename POINT_TYPE>

bool mcl_3dl::ChunkedKdtree< POINT_TYPE >::keep_clouds_

protected

Definition at line 284 of file chunked_kdtree.h.

template<typename POINT_TYPE>

const float mcl_3dl::ChunkedKdtree< POINT_TYPE >::max_search_radius_

protected

Definition at line 282 of file chunked_kdtree.h.

template<typename POINT_TYPE>

boost::shared_ptr<pcl::PointRepresentation<POINT_TYPE> > mcl_3dl::ChunkedKdtree< POINT_TYPE >::point_rep_

protected

Definition at line 286 of file chunked_kdtree.h.

template<typename POINT_TYPE>

const float mcl_3dl::ChunkedKdtree< POINT_TYPE >::pos_to_chunk_

protected

Definition at line 280 of file chunked_kdtree.h.

template<typename POINT_TYPE>

bool mcl_3dl::ChunkedKdtree< POINT_TYPE >::set_epsilon_

protected

Definition at line 283 of file chunked_kdtree.h.

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

• chunked_kdtree.h