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 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)
 
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_
 
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 44 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 282 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 281 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 283 of file chunked_kdtree.h.

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

Definition at line 47 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 88 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 241 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 245 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 251 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 231 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 235 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 210 of file chunked_kdtree.h.

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

Definition at line 100 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 118 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 109 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 274 of file chunked_kdtree.h.

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

Definition at line 284 of file chunked_kdtree.h.

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

Definition at line 278 of file chunked_kdtree.h.

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

Definition at line 277 of file chunked_kdtree.h.

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

Definition at line 275 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 279 of file chunked_kdtree.h.

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

Definition at line 273 of file chunked_kdtree.h.

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

Definition at line 276 of file chunked_kdtree.h.


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


mcl_3dl
Author(s): Atsushi Watanabe
autogenerated on Mon Jul 8 2019 03:32:36