nuri::OCTree Class Reference

An octree implementation for 3D point clouds. More...

#include <nuri/core/geometry.h>

Public Types
using	Points = ConstRef<Matrix3Xd>

Public Member Functions
	OCTree ()=default
	OCTree (Points pts, int bucket_size=32)
void	rebuild (Points pts, int bucket_size=-1)
void	find_neighbors_kd (const Vector3d &pt, int k, std::vector< int > &idxs, std::vector< double > &distsq, double cutoff=-1) const
void	find_neighbors_d (const Vector3d &pt, double cutoff, std::vector< int > &idxs, std::vector< double > &distsq) const
void	find_neighbors_tree (const OCTree &oct, double cutoff, std::vector< int > &self, std::vector< int > &other) const
std::vector< std::vector< int > >	find_neighbors_tree (const OCTree &oct, double cutoff) const
void	find_neighbors_self (double cutoff, std::vector< int > &left, std::vector< int > &right) const
const Matrix3Xd &	pts () const
const Vector3d &	max () const
const Vector3d &	len () const
void	notify_transform (const Vector3d &new_max, const Vector3d &new_len)
	Notify the octree that the point set has been transformed by scaling and/or translation.
const std::vector< internal::OCTreeNode > &	nodes () const
int	size () const
int	root () const
int	bucket_size () const
const ArrayXi &	idxs () const
const internal::OCTreeNode &	node (int i) const
const internal::OCTreeNode &	operator[] (int idx) const

Detailed Description

An octree implementation for 3D point clouds.

The octree partitions 3D space into axis-aligned boxes recursively, allowing efficient spatial queries such as nearest neighbor search.

This implementation is designed for static point clouds. To update the point set, one must rebuild(const MatrixLike &) the octree.

One notable exception is that if the points are only scaled uniformly in each axis and/or translated in any order, the octree can still be used without rebuilding, due to the axis-aligned nature of the octree. Note that, however, it is the user's responsibility to ensure that the points are "correctly" transformed separately from the octree; otherwise, the behavior is undefined.

Member Typedef Documentation

Points

using nuri::OCTree::Points = ConstRef<Matrix3Xd>

Constructor & Destructor Documentation

OCTree() [1/2]

nuri::OCTree::OCTree ( )

default

OCTree() [2/2]

nuri::OCTree::OCTree ( Points pts, int bucket_size = 32 )

inlineexplicit

Member Function Documentation

bucket_size()

int nuri::OCTree::bucket_size ( ) const

inline

find_neighbors_d()

void nuri::OCTree::find_neighbors_d	(	const Vector3d &	pt,
		double	cutoff,
		std::vector< int > &	idxs,
		std::vector< double > &	distsq ) const

find_neighbors_kd()

void nuri::OCTree::find_neighbors_kd	(	const Vector3d &	pt,
		int	k,
		std::vector< int > &	idxs,
		std::vector< double > &	distsq,
		double	cutoff = -1 ) const

find_neighbors_self()

void nuri::OCTree::find_neighbors_self	(	double	cutoff,
		std::vector< int > &	left,
		std::vector< int > &	right ) const

find_neighbors_tree() [1/2]

std::vector< std::vector< int > > nuri::OCTree::find_neighbors_tree	(	const OCTree &	oct,
		double	cutoff ) const

find_neighbors_tree() [2/2]

void nuri::OCTree::find_neighbors_tree	(	const OCTree &	oct,
		double	cutoff,
		std::vector< int > &	self,
		std::vector< int > &	other ) const

idxs()

const ArrayXi & nuri::OCTree::idxs ( ) const

inline

len()

const Vector3d & nuri::OCTree::len ( ) const

inline

max()

const Vector3d & nuri::OCTree::max ( ) const

inline

node()

const internal::OCTreeNode & nuri::OCTree::node ( int i ) const

inline

nodes()

const std::vector< internal::OCTreeNode > & nuri::OCTree::nodes ( ) const

inline

notify_transform()

void nuri::OCTree::notify_transform	(	const Vector3d &	new_max,
		const Vector3d &	new_len )

Notify the octree that the point set has been transformed by scaling and/or translation.

Parameters

new_max	The new maximum corner of the bounding box.
new_len	The new length of the bounding box in each axis.

Warning

It is the user's responsibility to ensure that the points are "correctly" transformed separately from the octree; otherwise, the behavior is undefined.

operator[]()

const internal::OCTreeNode & nuri::OCTree::operator[] ( int idx ) const

inline

pts()

const Matrix3Xd & nuri::OCTree::pts ( ) const

inline

rebuild()

void nuri::OCTree::rebuild ( Points pts, int bucket_size = -1 )

inline

root()

int nuri::OCTree::root ( ) const

inline

size()

int nuri::OCTree::size ( ) const

inline

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

• include/nuri/core/geometry.h