GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > Class Template Reference

Multidimensional node used for intersection query. More...

Collaboration diagram for GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >:

Public Types
enum	{ Dim = _dim }
typedef _PointContainer	PointContainer
typedef _IdContainer	IdContainer

Public Member Functions
	NdNode (const PointContainer &points, IdContainer &ids, const Point &p=Point::Zero(), unsigned int begin=0, unsigned int end=0)
	NdNode (const NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > &other)
NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > &	operator= (const NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > &rhs)
	~NdNode ()
int	rangeLength () const
	Length of the range covered by this node in the id array. More...
unsigned int	rangeBegin () const
	First position in the id array defining the current instance range. More...
unsigned int	rangeEnd () const
	Last position in the id array defining the current instance range. More...
const Point &	pointInRange (unsigned int i) const
	Access to the i-eme point in the node. Range limits are NOT tested! More...
unsigned int	idInRange (unsigned int i) const
	Access to the i-eme point in the node. Range limits are NOT tested! More...
const Point &	center () const
	Center of the current node. More...
void	split (std::vector< NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > > &childs, Scalar rootEdgeHalfLength)
	Split the node and compute child nodes. More...

Static Public Member Functions
static NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >	buildUnitRootNode (const PointContainer &points, IdContainer &ids)

Detailed Description

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>
class GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >

Multidimensional node used for intersection query.

Each instance store references to the data arrays:

• const access to the input points
• writing access to the dereferencing id array

The working dimension is deduced from the Point class

Member Typedef Documentation

IdContainer

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

typedef _IdContainer GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::IdContainer

PointContainer

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

typedef _PointContainer GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::PointContainer

Member Enumeration Documentation

anonymous enum

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

anonymous enum

Enumerator
Dim

Constructor & Destructor Documentation

NdNode() [1/2]

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::NdNode ( const PointContainer &  points, IdContainer &  ids, const Point &  p = Point::Zero(), unsigned int  begin = 0, unsigned int  end = 0  )

inline

NdNode() [2/2]

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::NdNode ( const NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > &  other )

inline

~NdNode()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::~NdNode ( )

inline

Member Function Documentation

buildUnitRootNode()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

static NdNode<Point, _dim, Scalar, _PointContainer, _IdContainer> GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::buildUnitRootNode ( const PointContainer &  points, IdContainer &  ids  )

inlinestatic

center()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

const Point& GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::center ( ) const

inline

Center of the current node.

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idInRange()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

unsigned int GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::idInRange ( unsigned int  i ) const

inline

Access to the i-eme point in the node. Range limits are NOT tested!

operator=()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

NdNode<Point, _dim, Scalar, _PointContainer, _IdContainer>& GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::operator= ( const NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > &  rhs )

inline

pointInRange()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

const Point& GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::pointInRange ( unsigned int  i ) const

inline

Access to the i-eme point in the node. Range limits are NOT tested!

rangeBegin()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

unsigned int GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::rangeBegin ( ) const

inline

First position in the id array defining the current instance range.

rangeEnd()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

unsigned int GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::rangeEnd ( ) const

inline

Last position in the id array defining the current instance range.

rangeLength()

template<class Point, int _dim, typename Scalar, class _PointContainer = std::vector<Point>, class _IdContainer = std::vector<unsigned int>>

int GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::rangeLength ( ) const

inline

Length of the range covered by this node in the id array.

split()

template<class Point , int _dim, typename Scalar , class _PointContainer , class _IdContainer >

void GlobalRegistration::Accelerators::PairExtraction::NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer >::split	(	std::vector< NdNode< Point, _dim, Scalar, _PointContainer, _IdContainer > > &	childs,
		Scalar	rootEdgeHalfLength
	)

Split the node and compute child nodes.

Split the current node in 2^Dim childs using a regular grid.

Note

Childs are not stored

The IdContainer is updated to partially sort the input ids wrt to the childs range limits.

Parameters

ChildContainer

in:

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