nsearch::PointCloudAdaptor Struct Reference

Allows custom point cloud data structure to interface with nanoflann. See https://github.com/jlblancoc/nanoflann for more details. More...

#include <nflannSetup.h>

Collaboration diagram for nsearch::PointCloudAdaptor:

Public Types
typedef double	coord_t
	Define coordinate type.

Public Member Functions
	PointCloudAdaptor (const PointCloud &obj)
	Constructor.
const PointCloud &	pointCloud () const
	Get vector of points.
size_t	kdtree_get_point_count () const
	Get number of points in point cloud.
coord_t	kdtree_get_pt (const size_t idx, const size_t dim) const
	Get specific coordinate of a point.
template<class BBOX >
bool	kdtree_get_bbox (BBOX &) const
	Optional bounding-box computation: return false to default to a standard bbox computation loop. Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it again. Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3 for point clouds)

Data Fields
const PointCloud &	d_obj
	Const reference to list of points.

Detailed Description

Allows custom point cloud data structure to interface with nanoflann. See https://github.com/jlblancoc/nanoflann for more details.

Definition at line 26 of file nflannSetup.h.

Member Typedef Documentation

coord_t

typedef double nsearch::PointCloudAdaptor::coord_t

Define coordinate type.

Definition at line 28 of file nflannSetup.h.

Constructor & Destructor Documentation

PointCloudAdaptor()

nsearch::PointCloudAdaptor::PointCloudAdaptor ( const PointCloud &  obj )

inline

Constructor.

Parameters

obj	Vector of points

Definition at line 38 of file nflannSetup.h.

: d_obj(obj) {}

Member Function Documentation

kdtree_get_bbox()

template<class BBOX >

bool nsearch::PointCloudAdaptor::kdtree_get_bbox ( BBOX &  ) const

inline

Optional bounding-box computation: return false to default to a standard bbox computation loop. Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it again. Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3 for point clouds)

Returns

Bool False if default bounding-box calculation

Definition at line 75 of file nflannSetup.h.

                                                             {
    return false;
  }

kdtree_get_point_count()

size_t nsearch::PointCloudAdaptor::kdtree_get_point_count ( ) const

inline

Get number of points in point cloud.

Returns

N Number of points

Definition at line 52 of file nflannSetup.h.

{ return pointCloud().size(); }

References pointCloud().

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kdtree_get_pt()

coord_t nsearch::PointCloudAdaptor::kdtree_get_pt ( const size_t  idx, const size_t  dim  ) const

inline

Get specific coordinate of a point.

Parameters

idx	Id of a point
dim	Coordinate id (e.g. 0, 1, 2)

Returns

Coord Coordinate of a point

Definition at line 62 of file nflannSetup.h.

                                                                         {
    return pointCloud()[idx][dim];
  }

References pointCloud().

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pointCloud()

const PointCloud & nsearch::PointCloudAdaptor::pointCloud ( ) const

inline

Get vector of points.

Returns

Vector Vector of points

Definition at line 45 of file nflannSetup.h.

{ return d_obj; }

References d_obj.

Referenced by kdtree_get_point_count(), and kdtree_get_pt().

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Field Documentation

d_obj

const PointCloud& nsearch::PointCloudAdaptor::d_obj

Const reference to list of points.

Definition at line 31 of file nflannSetup.h.

Referenced by pointCloud().

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

• /home/user/project/src/nsearch/nflannSetup.h