mirror
/
small_gicp
mirror of https://github.com/koide3/small_gicp.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
small_gicp/doc_cpp/structsmall__gicp_1_1KdTree...

277 lines
14 KiB
HTML
Raw Blame History

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>small_gicp: small_gicp::KdTreeBuilder Struct Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">small_gicp
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacesmall__gicp.html">small_gicp</a></li><li class="navelem"><a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html">KdTreeBuilder</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="structsmall__gicp_1_1KdTreeBuilder-members.html">List of all members</a> </div>
<div class="headertitle">
<div class="title">small_gicp::KdTreeBuilder Struct Reference</div> </div>
</div><!--header-->
<div class="contents">
<p>Single thread Kd-tree builder.
<a href="structsmall__gicp_1_1KdTreeBuilder.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a>&gt;</code></p>
<div class="dynheader">
Collaboration diagram for small_gicp::KdTreeBuilder:</div>
<div class="dyncontent">
<div class="center"><img src="structsmall__gicp_1_1KdTreeBuilder__coll__graph.png" border="0" usemap="#asmall__gicp_1_1KdTreeBuilder_coll__map" alt="Collaboration graph"/></div>
<map name="asmall__gicp_1_1KdTreeBuilder_coll__map" id="asmall__gicp_1_1KdTreeBuilder_coll__map">
<area shape="rect" title="Single thread Kd&#45;tree builder." alt="" coords="15,95,206,121"/>
<area shape="rect" href="structsmall__gicp_1_1ProjectionSetting.html" title="Parameters to control the projection axis search." alt="" coords="5,5,216,32"/>
</map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aebbc718d567041dbb1513d09d0a428d6"><td class="memTemplParams" colspan="2">template&lt;typename KdTree , typename PointCloud &gt; </td></tr>
<tr class="memitem:aebbc718d567041dbb1513d09d0a428d6"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html#aebbc718d567041dbb1513d09d0a428d6">build_tree</a> (<a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a> &amp;kdtree, const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;points) const</td></tr>
<tr class="memdesc:aebbc718d567041dbb1513d09d0a428d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build <a class="el" href="structsmall__gicp_1_1KdTree.html" title="&quot;Safe&quot; KdTree that holds the ownership of the input points.">KdTree</a>. <a href="structsmall__gicp_1_1KdTreeBuilder.html#aebbc718d567041dbb1513d09d0a428d6">More...</a><br /></td></tr>
<tr class="separator:aebbc718d567041dbb1513d09d0a428d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1369e1961ff0ff4076c2806ffc38e259"><td class="memTemplParams" colspan="2">template&lt;typename PointCloud , typename KdTree , typename IndexConstIterator &gt; </td></tr>
<tr class="memitem:a1369e1961ff0ff4076c2806ffc38e259"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">NodeIndexType</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html#a1369e1961ff0ff4076c2806ffc38e259">create_node</a> (<a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a> &amp;kdtree, size_t &amp;node_count, const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</td></tr>
<tr class="memdesc:a1369e1961ff0ff4076c2806ffc38e259"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a Kd-tree node from the given point indices. <a href="structsmall__gicp_1_1KdTreeBuilder.html#a1369e1961ff0ff4076c2806ffc38e259">More...</a><br /></td></tr>
<tr class="separator:a1369e1961ff0ff4076c2806ffc38e259"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a410ed2297af81a6332f1d9afd70eb720"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html#a410ed2297af81a6332f1d9afd70eb720">max_leaf_size</a> = 20</td></tr>
<tr class="memdesc:a410ed2297af81a6332f1d9afd70eb720"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum number of points in a leaf node. <a href="structsmall__gicp_1_1KdTreeBuilder.html#a410ed2297af81a6332f1d9afd70eb720">More...</a><br /></td></tr>
<tr class="separator:a410ed2297af81a6332f1d9afd70eb720"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7d526354a34af25810dccb551e60c700"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structsmall__gicp_1_1ProjectionSetting.html">ProjectionSetting</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html#a7d526354a34af25810dccb551e60c700">projection_setting</a></td></tr>
<tr class="memdesc:a7d526354a34af25810dccb551e60c700"><td class="mdescLeft">&#160;</td><td class="mdescRight">Projection setting. <a href="structsmall__gicp_1_1KdTreeBuilder.html#a7d526354a34af25810dccb551e60c700">More...</a><br /></td></tr>
<tr class="separator:a7d526354a34af25810dccb551e60c700"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Single thread Kd-tree builder. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="aebbc718d567041dbb1513d09d0a428d6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aebbc718d567041dbb1513d09d0a428d6">&#9670;&nbsp;</a></span>build_tree()</h2>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename KdTree , typename PointCloud &gt; </div>
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">void small_gicp::KdTreeBuilder::build_tree </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a> &amp;&#160;</td>
<td class="paramname"><em>kdtree</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
<td class="paramname"><em>points</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Build <a class="el" href="structsmall__gicp_1_1KdTree.html" title="&quot;Safe&quot; KdTree that holds the ownership of the input points.">KdTree</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">kdtree</td><td>Kd-tree to build </td></tr>
<tr><td class="paramname">points</td><td>Point cloud </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a id="a1369e1961ff0ff4076c2806ffc38e259"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1369e1961ff0ff4076c2806ffc38e259">&#9670;&nbsp;</a></span>create_node()</h2>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointCloud , typename KdTree , typename IndexConstIterator &gt; </div>
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">NodeIndexType</a> small_gicp::KdTreeBuilder::create_node </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a> &amp;&#160;</td>
<td class="paramname"><em>kdtree</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t &amp;&#160;</td>
<td class="paramname"><em>node_count</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
<td class="paramname"><em>points</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">IndexConstIterator&#160;</td>
<td class="paramname"><em>global_first</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">IndexConstIterator&#160;</td>
<td class="paramname"><em>first</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">IndexConstIterator&#160;</td>
<td class="paramname"><em>last</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Create a Kd-tree node from the given point indices. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">global_first</td><td>Global first point index iterator (i.e., this-&gt;indices.begin()). </td></tr>
<tr><td class="paramname">first</td><td>First point index iterator to be scanned. </td></tr>
<tr><td class="paramname">last</td><td>Last point index iterator to be scanned. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Index of the created node. </dd></dl>
</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a410ed2297af81a6332f1d9afd70eb720"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a410ed2297af81a6332f1d9afd70eb720">&#9670;&nbsp;</a></span>max_leaf_size</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int small_gicp::KdTreeBuilder::max_leaf_size = 20</td>
</tr>
</table>
</div><div class="memdoc">
<p>Maximum number of points in a leaf node. </p>
</div>
</div>
<a id="a7d526354a34af25810dccb551e60c700"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7d526354a34af25810dccb551e60c700">&#9670;&nbsp;</a></span>projection_setting</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structsmall__gicp_1_1ProjectionSetting.html">ProjectionSetting</a> small_gicp::KdTreeBuilder::projection_setting</td>
</tr>
</table>
</div><div class="memdoc">
<p>Projection setting. </p>
</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
</small></address>
</body>
</html>
Reference in New Issue View Git Blame Copy Permalink