cloudViewer::TrueKdTree Class Reference

Proper KD-tree implementation. More...

#include <TrueKdTree.h>

Inheritance diagram for cloudViewer::TrueKdTree:

Collaboration diagram for cloudViewer::TrueKdTree:

Classes
class	BaseNode
	Tree base node. More...
class	Leaf
	Tree leaf. More...
class	Node
	Tree node. More...

Public Types
using	LeafVector = std::vector< Leaf * >
	A vector of leaves. More...

Public Member Functions
	TrueKdTree (GenericIndexedCloudPersist *cloud)
	Default constructor. More...
	~TrueKdTree ()
	Destructor. More...
GenericIndexedCloudPersist *	associatedCloud () const
	Returns the associated cloud. More...
bool	build (double maxError, DistanceComputationTools::ERROR_MEASURES errorMeasure=DistanceComputationTools::RMS, unsigned minPointCountPerCell=3, unsigned maxPointCountPerCell=0, GenericProgressCallback *progressCb=nullptr)
	Builds KD-tree. More...
void	clear ()
	Clears structure. More...
double	getMaxError () const
	Returns max error threshold used for planarity-based split strategy. More...
DistanceComputationTools::ERROR_MEASURES	getMaxErrorType () const
	Returns max error estimator used for planarity-based split strategy. More...
bool	getLeaves (LeafVector &leaves) const
	Returns all leaf nodes. More...

Static Public Attributes
static const uint8_t	X_DIM = 0
static const uint8_t	Y_DIM = 1
static const uint8_t	Z_DIM = 2
static const uint8_t	NODE_TYPE = 0
static const uint8_t	LEAF_TYPE = 1

Protected Member Functions
BaseNode *	split (ReferenceCloud *subset)
	Recursive split process. More...

Protected Attributes
BaseNode *	m_root
	Root node. More...
GenericIndexedCloudPersist *	m_associatedCloud
	Associated cloud. More...
double	m_maxError
	Max error for planarity-based split strategy (see m_errorMeasure) More...
DistanceComputationTools::ERROR_MEASURES	m_errorMeasure
	Error measurement. More...
unsigned	m_minPointCountPerCell
	Min number of points per cell (speed-up) More...
unsigned	m_maxPointCountPerCell
	Max number of points per cell (speed-up) More...

Detailed Description

Proper KD-tree implementation.

Definition at line 23 of file TrueKdTree.h.

Member Typedef Documentation

LeafVector

using cloudViewer::TrueKdTree::LeafVector = std::vector<Leaf*>

A vector of leaves.

Definition at line 105 of file TrueKdTree.h.

Constructor & Destructor Documentation

TrueKdTree()

TrueKdTree::TrueKdTree ( GenericIndexedCloudPersist *  cloud )

explicit

Default constructor.

Definition at line 17 of file TrueKdTree.cpp.

References m_associatedCloud.

~TrueKdTree()

TrueKdTree::~TrueKdTree

(

)

Destructor.

Definition at line 27 of file TrueKdTree.cpp.

References clear().

Member Function Documentation

associatedCloud()

GenericIndexedCloudPersist* cloudViewer::TrueKdTree::associatedCloud ( ) const

inline

Returns the associated cloud.

Definition at line 114 of file TrueKdTree.h.

build()

bool TrueKdTree::build	(	double	maxError,
		DistanceComputationTools::ERROR_MEASURES	errorMeasure = DistanceComputationTools::RMS,
		unsigned	minPointCountPerCell = 3,
		unsigned	maxPointCountPerCell = 0,
		GenericProgressCallback *	progressCb = nullptr
	)

Builds KD-tree.

Parameters

maxError	maximum error per cell (relatively to the best LS plane fit)
errorMeasure	error measurement
minPointCountPerCell	minimum number of points per cell (can't be smaller than 3)
maxPointCountPerCell	maximum number of points per cell (speed-up - ignored if < 6)
progressCb	the client application can get some notification of the process progress through this callback mechanism (see GenericProgressCallback)

Definition at line 247 of file TrueKdTree.cpp.

References cloudViewer::ReferenceCloud::addPointIndex(), count, InitProgress(), m_associatedCloud, m_errorMeasure, m_maxError, m_maxPointCountPerCell, m_minPointCountPerCell, m_root, s_sortedCoordsForSplit, cloudViewer::GenericCloud::size(), and split().

Referenced by qFacets::extractFacets().

clear()

void TrueKdTree::clear

(

)

Clears structure.

Definition at line 29 of file TrueKdTree.cpp.

References m_root.

Referenced by ~TrueKdTree().

getLeaves()

bool TrueKdTree::getLeaves

(

LeafVector &

leaves

)

const

Returns all leaf nodes.

Definition at line 321 of file TrueKdTree.cpp.

References m_root, and GetLeavesVisitor::visit().

Referenced by ccKdTreeForFacetExtraction::FuseCells().

getMaxError()

double cloudViewer::TrueKdTree::getMaxError ( ) const

inline

Returns max error threshold used for planarity-based split strategy.

Definition at line 138 of file TrueKdTree.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointKdTree().

getMaxErrorType()

DistanceComputationTools::ERROR_MEASURES cloudViewer::TrueKdTree::getMaxErrorType ( ) const

inline

Returns max error estimator used for planarity-based split strategy.

Definition at line 141 of file TrueKdTree.h.

Referenced by ccPropertiesTreeDelegate::fillWithPointKdTree().

split()

TrueKdTree::BaseNode * TrueKdTree::split ( ReferenceCloud *  subset )

protected

Recursive split process.

Definition at line 76 of file TrueKdTree.cpp.

References abs(), cloudViewer::ReferenceCloud::addPointIndex(), cloudViewer::DistanceComputationTools::ComputeCloud2PlaneDistance(), count, error(), cloudViewer::ReferenceCloud::getAssociatedCloud(), cloudViewer::ReferenceCloud::getBoundingBox(), cloudViewer::Neighbourhood::getLSPlane(), cloudViewer::ReferenceCloud::getPoint(), cloudViewer::ReferenceCloud::getPointGlobalIndex(), cloudViewer::TrueKdTree::BaseNode::isLeaf(), cloudViewer::TrueKdTree::Node::leftChild, m_errorMeasure, m_maxError, m_maxPointCountPerCell, m_minPointCountPerCell, ParallelSort, cloudViewer::TrueKdTree::BaseNode::parent, cloudViewer::TrueKdTree::Leaf::points, cloudViewer::ReferenceCloud::reserve(), cloudViewer::TrueKdTree::Node::rightChild, s_sortedCoordsForSplit, cloudViewer::ReferenceCloud::size(), cloudViewer::TrueKdTree::Node::splitDim, cloudViewer::TrueKdTree::Node::splitValue, Tuple3Tpl< Type >::u, UpdateProgress(), Tuple3Tpl< Type >::x, X_DIM, Tuple3Tpl< Type >::y, Y_DIM, Tuple3Tpl< Type >::z, and Z_DIM.

Referenced by build().

Member Data Documentation

LEAF_TYPE

const uint8_t cloudViewer::TrueKdTree::LEAF_TYPE = 1

static

Definition at line 30 of file TrueKdTree.h.

m_associatedCloud

GenericIndexedCloudPersist* cloudViewer::TrueKdTree::m_associatedCloud

protected

Associated cloud.

Definition at line 156 of file TrueKdTree.h.

Referenced by build(), and TrueKdTree().

m_errorMeasure

DistanceComputationTools::ERROR_MEASURES cloudViewer::TrueKdTree::m_errorMeasure

protected

Error measurement.

Definition at line 162 of file TrueKdTree.h.

Referenced by build(), and split().

m_maxError

double cloudViewer::TrueKdTree::m_maxError

protected

Max error for planarity-based split strategy (see m_errorMeasure)

Definition at line 159 of file TrueKdTree.h.

Referenced by build(), and split().

m_maxPointCountPerCell

unsigned cloudViewer::TrueKdTree::m_maxPointCountPerCell

protected

Max number of points per cell (speed-up)

Ignored if < 6

Definition at line 172 of file TrueKdTree.h.

Referenced by build(), and split().

m_minPointCountPerCell

unsigned cloudViewer::TrueKdTree::m_minPointCountPerCell

protected

Min number of points per cell (speed-up)

Can't be < 3

Definition at line 167 of file TrueKdTree.h.

Referenced by build(), and split().

m_root

BaseNode* cloudViewer::TrueKdTree::m_root

protected

Root node.

Definition at line 153 of file TrueKdTree.h.

Referenced by build(), clear(), and getLeaves().

NODE_TYPE

const uint8_t cloudViewer::TrueKdTree::NODE_TYPE = 0

static

Definition at line 29 of file TrueKdTree.h.

X_DIM

const uint8_t cloudViewer::TrueKdTree::X_DIM = 0

static

Definition at line 26 of file TrueKdTree.h.

Referenced by split().

Y_DIM

const uint8_t cloudViewer::TrueKdTree::Y_DIM = 1

static

Definition at line 27 of file TrueKdTree.h.

Referenced by split().

Z_DIM

const uint8_t cloudViewer::TrueKdTree::Z_DIM = 2

static

Definition at line 28 of file TrueKdTree.h.

Referenced by split().

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The documentation for this class was generated from the following files:

• /root/ACloudViewer/core/include/TrueKdTree.h
• /root/ACloudViewer/core/src/TrueKdTree.cpp