Single thread Kd-tree builder. More...

#include <kdtree.hpp>

Collaboration diagram for small_gicp::KdTreeBuilder:

Public Member Functions
template<typename KdTree , typename PointCloud >
void	build_tree (KdTree &kdtree, const PointCloud &points) const
	Build KdTree. More...

template<typename PointCloud , typename KdTree , typename IndexConstIterator >
NodeIndexType	create_node (KdTree &kdtree, size_t &node_count, const PointCloud &points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const
	Create a Kd-tree node from the given point indices. More...

Public Attributes
int	max_leaf_size = 20
	Maximum number of points in a leaf node. More...

ProjectionSetting	projection_setting
	Projection setting. More...

Detailed Description

Single thread Kd-tree builder.

Member Function Documentation

template<typename KdTree , typename PointCloud >

void small_gicp::KdTreeBuilder::build_tree	(	KdTree &	kdtree,
		const PointCloud &	points
	)		const

inline

Build KdTree.

Parameters

kdtree	Kd-tree to build
points	Point cloud

template<typename PointCloud , typename KdTree , typename IndexConstIterator >

NodeIndexType small_gicp::KdTreeBuilder::create_node	(	KdTree &	kdtree,
		size_t &	node_count,
		const PointCloud &	points,
		IndexConstIterator	global_first,
		IndexConstIterator	first,
		IndexConstIterator	last
	)		const

inline

Create a Kd-tree node from the given point indices.

Parameters

global_first	Global first point index iterator (i.e., this->indices.begin()).
first	First point index iterator to be scanned.
last	Last point index iterator to be scanned.

int small_gicp::KdTreeBuilder::max_leaf_size = 20

Maximum number of points in a leaf node.

ProjectionSetting small_gicp::KdTreeBuilder::projection_setting

Projection setting.

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