Classes | Public Types | Public Member Functions | Protected Types | Protected Attributes | List of all members
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 ChunkId &c)
 
pcl::PointCloud< POINT_TYPE >::Ptr getChunkCloud (const POINT_TYPE &p)
 
ChunkId getChunkId (const POINT_TYPE &p) const
 
pcl::KdTreeFLANN< POINT_TYPE >::Ptr getChunkKdtree (const ChunkId &c)
 
pcl::KdTreeFLANN< POINT_TYPE >::Ptr getChunkKdtree (const POINT_TYPE &p)
 
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 (const typename pcl::PointRepresentation< POINT_TYPE >::ConstPtr 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_
 
pcl::PointRepresentation< POINT_TYPE >::ConstPtr 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

◆ ChunkCloud

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.

◆ ChunkMap

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.

◆ ChunkOriginalIds

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.

◆ Ptr

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

◆ ChunkedKdtree()

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

◆ getChunkCloud() [1/2]

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.

◆ getChunkCloud() [2/2]

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.

◆ getChunkId()

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.

◆ getChunkKdtree() [1/2]

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.

◆ getChunkKdtree() [2/2]

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.

◆ getInputCloud()

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.

◆ radiusSearch()

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.

◆ setEpsilon()

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

Definition at line 102 of file chunked_kdtree.h.

◆ setInputCloud()

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.

◆ setPointRepresentation()

template<typename POINT_TYPE >
void mcl_3dl::ChunkedKdtree< POINT_TYPE >::setPointRepresentation ( const typename pcl::PointRepresentation< POINT_TYPE >::ConstPtr  point_rep)
inline

Definition at line 111 of file chunked_kdtree.h.

Member Data Documentation

◆ chunk_length_

template<typename POINT_TYPE >
const float mcl_3dl::ChunkedKdtree< POINT_TYPE >::chunk_length_
protected

Definition at line 281 of file chunked_kdtree.h.

◆ chunks_

template<typename POINT_TYPE >
ChunkMap mcl_3dl::ChunkedKdtree< POINT_TYPE >::chunks_
protected

Definition at line 291 of file chunked_kdtree.h.

◆ epsilon_

template<typename POINT_TYPE >
float mcl_3dl::ChunkedKdtree< POINT_TYPE >::epsilon_
protected

Definition at line 285 of file chunked_kdtree.h.

◆ input_cloud_

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.

◆ keep_clouds_

template<typename POINT_TYPE >
bool mcl_3dl::ChunkedKdtree< POINT_TYPE >::keep_clouds_
protected

Definition at line 284 of file chunked_kdtree.h.

◆ max_search_radius_

template<typename POINT_TYPE >
const float mcl_3dl::ChunkedKdtree< POINT_TYPE >::max_search_radius_
protected

Definition at line 282 of file chunked_kdtree.h.

◆ point_rep_

template<typename POINT_TYPE >
pcl::PointRepresentation<POINT_TYPE>::ConstPtr mcl_3dl::ChunkedKdtree< POINT_TYPE >::point_rep_
protected

Definition at line 286 of file chunked_kdtree.h.

◆ pos_to_chunk_

template<typename POINT_TYPE >
const float mcl_3dl::ChunkedKdtree< POINT_TYPE >::pos_to_chunk_
protected

Definition at line 280 of file chunked_kdtree.h.

◆ set_epsilon_

template<typename POINT_TYPE >
bool mcl_3dl::ChunkedKdtree< POINT_TYPE >::set_epsilon_
protected

Definition at line 283 of file chunked_kdtree.h.

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

mcl_3dl
Author(s): Atsushi Watanabe
autogenerated on Thu Oct 17 2024 02:18:04