GlobalRegistration::IndexedNormalHealSet Class Reference

Work only in 3D, based on healpix. More...

Collaboration diagram for GlobalRegistration::IndexedNormalHealSet:

Public Types
enum	{ INDEX_VALIDATION_ENABLED = VALIDATE_INDICES }
	State of the index validation, disabled when compiled in release mode. More...
using	Scalar = double
typedef Eigen::Vector3d	Point
typedef Eigen::Vector3i	Index3D
typedef std::vector< std::vector< unsigned int > >	ChealMap

Public Member Functions
	IndexedNormalHealSet (double epsilon, int resolution=4)
virtual	~IndexedNormalHealSet ()
template<typename PointT >
bool	addElement (const PointT &pos, const PointT &normal, unsigned int id)
	Add a new couple pos/normal, and its associated id. More...
ChealMap *	getMap (const Point &p)
std::vector< ChealMap * >	getEpsilonMaps (const Point &p)
template<typename PointT >
void	getNeighbors (const PointT &p, std::vector< unsigned int > &nei)
	Get closest points in euclidean space. More...
template<typename PointT >
void	getNeighbors (const PointT &p, const PointT &n, std::vector< unsigned int > &nei)
	Get closest points in euclidean an normal space. More...
template<typename PointT >
void	getNeighbors (const PointT &p, const PointT &n, double alpha, std::vector< unsigned int > &nei)
	Get closest poitns in euclidean an normal space with angular deviation. More...
bool	isValid () const

Detailed Description

Work only in 3D, based on healpix.

Scalar are constrained to be double Points are constrained to be Eigen vec3d

Member Typedef Documentation

ChealMap

typedef std::vector<std::vector<unsigned int> > GlobalRegistration::IndexedNormalHealSet::ChealMap

Index3D

typedef Eigen::Vector3i GlobalRegistration::IndexedNormalHealSet::Index3D

Point

typedef Eigen::Vector3d GlobalRegistration::IndexedNormalHealSet::Point

Scalar

using GlobalRegistration::IndexedNormalHealSet::Scalar = double

Member Enumeration Documentation

anonymous enum

anonymous enum

State of the index validation, disabled when compiled in release mode.

Enumerator
INDEX_VALIDATION_ENABLED

Constructor & Destructor Documentation

IndexedNormalHealSet()

GlobalRegistration::IndexedNormalHealSet::IndexedNormalHealSet ( double  epsilon, int  resolution = 4  )

inline

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~IndexedNormalHealSet()

virtual GlobalRegistration::IndexedNormalHealSet::~IndexedNormalHealSet ( )

inlinevirtual

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Member Function Documentation

addElement()

template<typename PointT >

bool GlobalRegistration::IndexedNormalHealSet::addElement	(	const PointT &	pos,
		const PointT &	normal,
		unsigned int	id
	)

Add a new couple pos/normal, and its associated id.

Template functions.

getEpsilonMaps()

std::vector<ChealMap*> GlobalRegistration::IndexedNormalHealSet::getEpsilonMaps ( const Point &  p )

inline

Returns

a vector of maps containing points that can be close to p (according to input epsilon)

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getMap()

ChealMap* GlobalRegistration::IndexedNormalHealSet::getMap ( const Point &  p )

inline

Returns

NULL if the grid does not exist or p is out of bound

getNeighbors() [1/3]

template<typename PointT >

void GlobalRegistration::IndexedNormalHealSet::getNeighbors	(	const PointT &	p,
		std::vector< unsigned int > &	nei
	)

Get closest points in euclidean space.

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getNeighbors() [2/3]

template<typename PointT >

void GlobalRegistration::IndexedNormalHealSet::getNeighbors	(	const PointT &	p,
		const PointT &	n,
		std::vector< unsigned int > &	nei
	)

Get closest points in euclidean an normal space.

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getNeighbors() [3/3]

template<typename PointT >

void GlobalRegistration::IndexedNormalHealSet::getNeighbors	(	const PointT &	p,
		const PointT &	n,
		double	alpha,
		std::vector< unsigned int > &	nei
	)

Get closest poitns in euclidean an normal space with angular deviation.

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isValid()

bool GlobalRegistration::IndexedNormalHealSet::isValid ( ) const

inline