GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar > Struct Template Reference

Normal set indexed by a position in euclidean space. More...

Collaboration diagram for GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar >:

Public Types
enum	MOVE_DIR { POSITIVE, NEGATIVE }
typedef std::array< std::vector< unsigned int >, Utils::POW(_ngSize, dim)>	AngularGrid
using	Scalar = _Scalar

Public Member Functions
	IndexedNormalSet (const Scalar epsilon)
virtual	~IndexedNormalSet ()
bool	addElement (const Point &pos, const Point &normal, unsigned int id)
	Add a new couple pos/normal, and its associated id. More...
AngularGrid *	angularGrid (const Point &p)
void	getNeighbors (const Point &p, std::vector< unsigned int > &nei)
	Get closest points in euclidean space. More...
void	getNeighbors (const Point &p, const Point &n, std::vector< unsigned int > &nei)
	Get closest points in euclidean an normal space. More...
void	getNeighbors (const Point &p, const Point &n, Scalar alpha, std::vector< unsigned int > &nei, bool tryReverse=false)
	Get closest poitns in euclidean an normal space with angular deviation. More...

Detailed Description

template<class Point, int dim, int _ngSize, typename _Scalar>
struct GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar >

Normal set indexed by a position in euclidean space.

The size used to hash euclidean coordinates is defined at runtime. The size used to hash the normals in an euclidean cell is defined at compile time

Loops over dimensions used to compute index values are unrolled at compile time.

Member Typedef Documentation

AngularGrid

template<class Point , int dim, int _ngSize, typename _Scalar >

typedef std::array< std::vector<unsigned int>, Utils::POW(_ngSize, dim)> GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar >::AngularGrid

Scalar

template<class Point , int dim, int _ngSize, typename _Scalar >

using GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar >::Scalar = _Scalar

Member Enumeration Documentation

MOVE_DIR

template<class Point , int dim, int _ngSize, typename _Scalar >

enum GlobalRegistration::IndexedNormalSet::MOVE_DIR

Enumerator
POSITIVE
NEGATIVE

Constructor & Destructor Documentation

IndexedNormalSet()

template<class Point , int dim, int _ngSize, typename _Scalar >

GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar >::IndexedNormalSet ( const Scalar  epsilon )

inline

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~IndexedNormalSet()

template<class Point , int dim, int _ngSize, typename Scalar >

GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, Scalar >::~IndexedNormalSet ( )

inlinevirtual

Member Function Documentation

addElement()

template<class Point , int dim, int _ngSize, typename Scalar >

bool GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, Scalar >::addElement ( const Point &  pos, const Point &  normal, unsigned int  id  )

inline

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

angularGrid()

template<class Point , int dim, int _ngSize, typename _Scalar >

AngularGrid* GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, _Scalar >::angularGrid ( const Point &  p )

inline

Returns

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

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getNeighbors() [1/3]

template<class Point , int dim, int _ngSize, typename Scalar >

void GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, Scalar >::getNeighbors ( const Point &  p, std::vector< unsigned int > &  nei  )

inline

Get closest points in euclidean space.

getNeighbors() [2/3]

template<class Point , int dim, int _ngSize, typename Scalar >

void GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, Scalar >::getNeighbors ( const Point &  p, const Point &  n, std::vector< unsigned int > &  nei  )

inline

Get closest points in euclidean an normal space.

getNeighbors() [3/3]

template<class Point , int dim, int _ngSize, typename Scalar >

void GlobalRegistration::IndexedNormalSet< Point, dim, _ngSize, Scalar >::getNeighbors ( const Point &  p, const Point &  n, Scalar  alpha, std::vector< unsigned int > &  nei, bool  tryReverse = false  )

inline

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