small_gicp::KdTreeBuilderOMP Struct Reference

Kd-tree builder with OpenMP. More...

#include <kdtree_omp.hpp>

Collaboration diagram for small_gicp::KdTreeBuilderOMP:

Public Member Functions
	KdTreeBuilderOMP (int num_threads=4)
	Constructor. More...
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, std::atomic_uint64_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	num_threads
	Number of threads. More...
int	max_leaf_size
	Maximum number of points in a leaf node. More...
ProjectionSetting	projection_setting
	Projection setting. More...

Detailed Description

Kd-tree builder with OpenMP.

Constructor & Destructor Documentation

KdTreeBuilderOMP()

small_gicp::KdTreeBuilderOMP::KdTreeBuilderOMP ( int  num_threads = 4 )

inline

Constructor.

Parameters

num_threads

Number of threads

Member Function Documentation

build_tree()

template<typename KdTree , typename PointCloud >

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

inline

Build KdTree.

create_node()

template<typename PointCloud , typename KdTree , typename IndexConstIterator >

NodeIndexType small_gicp::KdTreeBuilderOMP::create_node ( KdTree &  kdtree, std::atomic_uint64_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.

Returns

Index of the created node.

Member Data Documentation

max_leaf_size

int small_gicp::KdTreeBuilderOMP::max_leaf_size

Maximum number of points in a leaf node.

num_threads

int small_gicp::KdTreeBuilderOMP::num_threads

Number of threads.

projection_setting

ProjectionSetting small_gicp::KdTreeBuilderOMP::projection_setting

Projection setting.

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

• /home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/kdtree_omp.hpp