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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>Point Cloud Library (PCL): pcl/recognition/ransac_based/bvh.h Source File</title>
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 <span id="projectnumber">1.14.1-dev</span>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="comment"> * bvh.h</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> * Created on: Mar 7, 2013</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> * Author: papazov</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include <pcl/pcl_exports.h></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include <cstring></span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include <algorithm></span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#include <list></span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> {</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {<span class="comment"></span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> /** \brief This class is an implementation of bounding volume hierarchies. Use the build method to construct</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> * the data structure. To use the class, construct an std::vector of pointers to BVH::BoundedObject objects</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> * and pass it to the build method. BVH::BoundedObject is a template class, so you can save user-defined data</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> * in it.</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> * The tree is built such that each leaf contains exactly one object. */</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">template</span><<span class="keyword">class</span> UserData></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html"> 65</a></span>  <span class="keyword">class </span><a class="code" href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVH</a></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  {</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html"> 68</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a2f88da68fda684258ee47bf7194dfcdd"> 71</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a2f88da68fda684258ee47bf7194dfcdd">BoundedObject</a> (<span class="keyword">const</span> UserData& data)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  : data_ (data)</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ad0c9748fff446ea8e7bfa822b0eed46b"> 76</a></span>  <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ad0c9748fff446ea8e7bfa822b0eed46b">~BoundedObject</a> () = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"></span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> /** \brief This method is for std::sort. */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a02fc019accc25a0caad7f1c1bbc1dc75"> 80</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a02fc019accc25a0caad7f1c1bbc1dc75">compareCentroidsXCoordinates</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>* a, <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>* b)</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  {</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">return</span> a-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#aa90759650d9984697a7d03b69b79ed12">getCentroid</a> ()[0] < b-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#aa90759650d9984697a7d03b69b79ed12">getCentroid</a> ()[0];</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ae34bdf8dbe8b602f5f3fa44454dbc2d3"> 86</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ae34bdf8dbe8b602f5f3fa44454dbc2d3">getBounds</a> ()</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> (bounds_);</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#aa90759650d9984697a7d03b69b79ed12"> 92</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#aa90759650d9984697a7d03b69b79ed12">getCentroid</a> ()</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">return</span> (centroid_);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a2fb984d15146df23303911ce650a8701"> 98</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a2fb984d15146df23303911ce650a8701">getCentroid</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">return</span> (centroid_);</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  UserData&</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ae0f2c458f465e3969e546d3c645f869f"> 104</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ae0f2c458f465e3969e546d3c645f869f">getData</a> ()</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">return</span> (data_);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> /** These are the bounds of the object.*/</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a0d70526fd243b6b33ace9dbf29e08509"> 111</a></span>  <span class="keywordtype">float</span> bounds_[6];<span class="comment"></span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> /** This is the centroid. */</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a660744a0cff70470db84dd29c9e1bce9"> 113</a></span>  <span class="keywordtype">float</span> centroid_[3];<span class="comment"></span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> /** This is the user-defined data object. */</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a1bf2ceb664f12586f1b35768cba2aef8"> 115</a></span>  UserData <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a1bf2ceb664f12586f1b35768cba2aef8">data_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  };</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html"> 119</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  {</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">public</span>:<span class="comment"></span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> /** \brief 'sorted_objects' is a sorted vector of bounded objects. It has to be sorted in ascending order according</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> * to the objects' x-coordinates. The constructor recursively calls itself with the right 'first_id' and 'last_id'</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> * and with the same vector 'sorted_objects'. */</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a263fb249db0e4ef904a1d72288a76a8d"> 125</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a263fb249db0e4ef904a1d72288a76a8d">Node</a> (std::vector<BoundedObject*>& sorted_objects, <span class="keywordtype">int</span> first_id, <span class="keywordtype">int</span> last_id)</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">// Initialize the bounds of the node</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">auto</span> firstBounds = sorted_objects[first_id]->getBounds();</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  std::copy(firstBounds, firstBounds + 6, bounds_);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">// Expand the bounds of the node</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i = first_id + 1 ; i <= last_id ; ++i )</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <a class="code" href="namespacepcl_1_1recognition_1_1aux.html#ac40f6071dc5a8d89fa8387c819fa250e">aux::expandBoundingBox</a>(bounds_, sorted_objects[i]->getBounds());</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// Shall we create children?</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> ( first_id != last_id )</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  {</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">// Division by 2</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordtype">int</span> mid_id = (first_id + last_id) >> 1;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  children_[0] = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>(sorted_objects, first_id, mid_id);</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  children_[1] = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>(sorted_objects, mid_id + 1, last_id);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  {</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment">// We reached a leaf</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  object_ = sorted_objects[first_id];</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  children_[0] = children_[1] = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#aede3d02b2d83d4bc3c9275bd821f8e33"> 153</a></span>  <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#aede3d02b2d83d4bc3c9275bd821f8e33">~Node</a> ()</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  {</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">delete</span> children_[0];</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">delete</span> children_[1];</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5ff53be408f192a729ff6c80e3864d94"> 160</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5ff53be408f192a729ff6c80e3864d94">hasChildren</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(children_[0]);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  }</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>*</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5a1d535a9210b7fbb21b39ddca394373"> 166</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5a1d535a9210b7fbb21b39ddca394373">getLeftChild</a> ()</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  {</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">return</span> children_[0];</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  }</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>*</div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6fe0e983ccc199f11bd8340cf40324d3"> 172</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6fe0e983ccc199f11bd8340cf40324d3">getRightChild</a> ()</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  {</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">return</span> children_[1];</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  }</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>*</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a0917112411f2765a48c42ccc70014d9e"> 178</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a0917112411f2765a48c42ccc70014d9e">getObject</a> ()</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  {</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">return</span> object_;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a77810d1e2141e9dc35148e4b6a64c08b"> 184</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a77810d1e2141e9dc35148e4b6a64c08b">isLeaf</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordflow">return</span> !<span class="keyword">static_cast<</span><span class="keywordtype">bool</span><span class="keyword">></span>(children_[0]);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  }</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"></span> </div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="comment"> /** \brief Returns true if 'box' intersects or touches (with a side or a vertex) this node. */</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a"> 191</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">intersect</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> box[6])<span class="keyword"> const</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">return</span> (box[1] >= bounds_[0] && box[3] >= bounds_[2] && box[5] >= bounds_[4] &&</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  box[0] <= bounds_[1] && box[2] <= bounds_[3] && box[4] <= bounds_[5]);</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"></span> </div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> /** \brief Computes and returns the volume of the bounding box of this node. */</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordtype">double</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac12123768067d50b7123051657771675"> 199</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac12123768067d50b7123051657771675">computeBoundingBoxVolume</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">return</span> (bounds_[1] - bounds_[0]) * (bounds_[3] - bounds_[2]) * (bounds_[5] - bounds_[4]);</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  }</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a9cba446288d7c69a8b0d57e5cbe1cd39"> 204</a></span>  <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVH</a>;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac1d4d404659a2fe5e244891bcaa667fa"> 207</a></span>  <span class="keywordtype">float</span> bounds_[6];</div>
<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a8cacd60bf5a29e311f7c6c624371ea4f"> 208</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>* children_[2];</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ae891e621a7332e17ffd7061b138d31c7"> 209</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>* <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ae891e621a7332e17ffd7061b138d31c7">object_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  };</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a3bfad2776a44417ccda2bf1c7b68a38c"> 213</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a3bfad2776a44417ccda2bf1c7b68a38c">BVH</a>()</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  : root_ (nullptr),</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  sorted_objects_ (nullptr)</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  {</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  }</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a83fc659fdc229f5db61cd4b0c94322c9"> 219</a></span>  <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a83fc659fdc229f5db61cd4b0c94322c9">~BVH</a>()</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  {</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  this->clear ();</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="comment"></span> </div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> <span class="comment"> /** \brief Creates the tree. No need to call clear, it's called within the method. 'objects' is a vector of</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"> * pointers to bounded objects which have to have valid bounds and centroids. Use the getData method of</span></div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"> * BoundedObject to retrieve the user-defined data saved in the object. Note that vector will be sorted within</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> <span class="comment"> * the method!</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="comment"> * The tree is built such that each leaf contains exactly one object. */</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#af16d3d466445c2e2206bd709dabe8727"> 231</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#af16d3d466445c2e2206bd709dabe8727">build</a>(std::vector<BoundedObject*>& objects)</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  {</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  this->clear();</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">if</span> ( objects.empty () )</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  </div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  sorted_objects_ = &objects;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  </div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="comment">// Now sort the objects according to the x-coordinates of their centroids</span></div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  std::sort (objects.begin (), objects.end (), BoundedObject::compareCentroidsXCoordinates);</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">// Create the root -> it recursively creates the children nodes until each leaf contains exactly one object</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  root_ = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a> (objects, 0, <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (objects.size () - 1));</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  }</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"></span> </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"> /** \brief Frees the memory allocated by this object. After that, you have to call build to use the tree again. */</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a8ac26c30f4bff3de64cba9f68ed7f035"> 249</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a8ac26c30f4bff3de64cba9f68ed7f035">clear</a>()</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  {</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keyword">delete</span> root_;</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  root_ = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  }</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  </div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keyword">inline</span> <span class="keyword">const</span> std::vector<BoundedObject*>*</div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a0259a169e69c287447208066ae03e665"> 256</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a0259a169e69c287447208066ae03e665">getInputObjects</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordflow">return</span> (sorted_objects_);</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  }</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"></span> </div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> /** \brief Pushes back in 'intersected_objects' the bounded objects intersected by the input 'box' and returns true.</span></div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> * Returns false if no objects are intersected. */</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#acf13babff60c0b9fca8181a307dbb04e"> 264</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#acf13babff60c0b9fca8181a307dbb04e">intersect</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> box[6], std::list<BoundedObject*>& intersected_objects)<span class="keyword"> const</span></div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">if</span> ( !root_ )</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  </div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordtype">bool</span> got_intersection = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="comment">// Start the intersection process at the root</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  std::list<Node*> working_list;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  working_list.push_back (root_);</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordflow">while</span> ( !working_list.empty () )</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  {</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>* node = working_list.front ();</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  working_list.pop_front ();</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="comment">// Is 'node' intersected by the box?</span></div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">if</span> ( node-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">intersect</a> (box) )</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  {</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="comment">// We have to check the children of the intersected 'node'</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordflow">if</span> ( node-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5ff53be408f192a729ff6c80e3864d94">hasChildren</a> () )</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  {</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  working_list.push_back (node-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5a1d535a9210b7fbb21b39ddca394373">getLeftChild</a> ());</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  working_list.push_back (node-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6fe0e983ccc199f11bd8340cf40324d3">getRightChild</a> ());</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  }</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">else</span> <span class="comment">// 'node' is a leaf -> save it's object in the output list</span></div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  {</div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  intersected_objects.push_back (node-><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a0917112411f2765a48c42ccc70014d9e">getObject</a> ());</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  got_intersection = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  }</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  }</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  }</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  </div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">return</span> (got_intersection);</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  }</div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  </div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a937c614502b89f017e208bb27d985d4a"> 301</a></span>  <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>* <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a937c614502b89f017e208bb27d985d4a">root_</a>;</div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a1c71261ae6285dc843200b827cb42b05"> 302</a></span>  std::vector<BoundedObject*>* <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a1c71261ae6285dc843200b827cb42b05">sorted_objects_</a>;</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  };</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> } <span class="comment">// namespace pcl</span></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">pcl::recognition::BVH::BoundedObject</a></div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00068">bvh.h:69</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_a02fc019accc25a0caad7f1c1bbc1dc75"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a02fc019accc25a0caad7f1c1bbc1dc75">pcl::recognition::BVH::BoundedObject::compareCentroidsXCoordinates</a></div><div class="ttdeci">static bool compareCentroidsXCoordinates(const BoundedObject *a, const BoundedObject *b)</div><div class="ttdoc">This method is for std::sort.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00080">bvh.h:80</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_a1bf2ceb664f12586f1b35768cba2aef8"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a1bf2ceb664f12586f1b35768cba2aef8">pcl::recognition::BVH::BoundedObject::data_</a></div><div class="ttdeci">UserData data_</div><div class="ttdoc">This is the user-defined data object.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00115">bvh.h:115</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_a2f88da68fda684258ee47bf7194dfcdd"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a2f88da68fda684258ee47bf7194dfcdd">pcl::recognition::BVH::BoundedObject::BoundedObject</a></div><div class="ttdeci">BoundedObject(const UserData &data)</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00071">bvh.h:71</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_a2fb984d15146df23303911ce650a8701"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a2fb984d15146df23303911ce650a8701">pcl::recognition::BVH::BoundedObject::getCentroid</a></div><div class="ttdeci">const float * getCentroid() const</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00098">bvh.h:98</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_aa90759650d9984697a7d03b69b79ed12"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#aa90759650d9984697a7d03b69b79ed12">pcl::recognition::BVH::BoundedObject::getCentroid</a></div><div class="ttdeci">float * getCentroid()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00092">bvh.h:92</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_ad0c9748fff446ea8e7bfa822b0eed46b"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ad0c9748fff446ea8e7bfa822b0eed46b">pcl::recognition::BVH::BoundedObject::~BoundedObject</a></div><div class="ttdeci">virtual ~BoundedObject()=default</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_ae0f2c458f465e3969e546d3c645f869f"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ae0f2c458f465e3969e546d3c645f869f">pcl::recognition::BVH::BoundedObject::getData</a></div><div class="ttdeci">UserData & getData()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00104">bvh.h:104</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_ae34bdf8dbe8b602f5f3fa44454dbc2d3"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#ae34bdf8dbe8b602f5f3fa44454dbc2d3">pcl::recognition::BVH::BoundedObject::getBounds</a></div><div class="ttdeci">float * getBounds()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00086">bvh.h:86</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">pcl::recognition::BVH::Node</a></div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00119">bvh.h:120</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a0917112411f2765a48c42ccc70014d9e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a0917112411f2765a48c42ccc70014d9e">pcl::recognition::BVH::Node::getObject</a></div><div class="ttdeci">BoundedObject * getObject()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00178">bvh.h:178</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a263fb249db0e4ef904a1d72288a76a8d"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a263fb249db0e4ef904a1d72288a76a8d">pcl::recognition::BVH::Node::Node</a></div><div class="ttdeci">Node(std::vector< BoundedObject * > &sorted_objects, int first_id, int last_id)</div><div class="ttdoc">'sorted_objects' is a sorted vector of bounded objects.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00125">bvh.h:125</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a5a1d535a9210b7fbb21b39ddca394373"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5a1d535a9210b7fbb21b39ddca394373">pcl::recognition::BVH::Node::getLeftChild</a></div><div class="ttdeci">Node * getLeftChild()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00166">bvh.h:166</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a5ff53be408f192a729ff6c80e3864d94"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a5ff53be408f192a729ff6c80e3864d94">pcl::recognition::BVH::Node::hasChildren</a></div><div class="ttdeci">bool hasChildren() const</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00160">bvh.h:160</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a6bf7463fab84a3b0064d569e2ba0946a"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">pcl::recognition::BVH::Node::intersect</a></div><div class="ttdeci">bool intersect(const float box[6]) const</div><div class="ttdoc">Returns true if 'box' intersects or touches (with a side or a vertex) this node.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00191">bvh.h:191</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a6fe0e983ccc199f11bd8340cf40324d3"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6fe0e983ccc199f11bd8340cf40324d3">pcl::recognition::BVH::Node::getRightChild</a></div><div class="ttdeci">Node * getRightChild()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00172">bvh.h:172</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a77810d1e2141e9dc35148e4b6a64c08b"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a77810d1e2141e9dc35148e4b6a64c08b">pcl::recognition::BVH::Node::isLeaf</a></div><div class="ttdeci">bool isLeaf() const</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00184">bvh.h:184</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_ac12123768067d50b7123051657771675"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac12123768067d50b7123051657771675">pcl::recognition::BVH::Node::computeBoundingBoxVolume</a></div><div class="ttdeci">double computeBoundingBoxVolume() const</div><div class="ttdoc">Computes and returns the volume of the bounding box of this node.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00199">bvh.h:199</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_ae891e621a7332e17ffd7061b138d31c7"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ae891e621a7332e17ffd7061b138d31c7">pcl::recognition::BVH::Node::object_</a></div><div class="ttdeci">BoundedObject * object_</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00209">bvh.h:209</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_aede3d02b2d83d4bc3c9275bd821f8e33"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#aede3d02b2d83d4bc3c9275bd821f8e33">pcl::recognition::BVH::Node::~Node</a></div><div class="ttdeci">virtual ~Node()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00153">bvh.h:153</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html">pcl::recognition::BVH</a></div><div class="ttdoc">This class is an implementation of bounding volume hierarchies.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00065">bvh.h:66</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a0259a169e69c287447208066ae03e665"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a0259a169e69c287447208066ae03e665">pcl::recognition::BVH::getInputObjects</a></div><div class="ttdeci">const std::vector< BoundedObject * > * getInputObjects() const</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00256">bvh.h:256</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a1c71261ae6285dc843200b827cb42b05"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a1c71261ae6285dc843200b827cb42b05">pcl::recognition::BVH::sorted_objects_</a></div><div class="ttdeci">std::vector< BoundedObject * > * sorted_objects_</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00302">bvh.h:302</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a3bfad2776a44417ccda2bf1c7b68a38c"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a3bfad2776a44417ccda2bf1c7b68a38c">pcl::recognition::BVH::BVH</a></div><div class="ttdeci">BVH()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00213">bvh.h:213</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a83fc659fdc229f5db61cd4b0c94322c9"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a83fc659fdc229f5db61cd4b0c94322c9">pcl::recognition::BVH::~BVH</a></div><div class="ttdeci">virtual ~BVH()</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00219">bvh.h:219</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a8ac26c30f4bff3de64cba9f68ed7f035"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a8ac26c30f4bff3de64cba9f68ed7f035">pcl::recognition::BVH::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Frees the memory allocated by this object.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00249">bvh.h:249</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a937c614502b89f017e208bb27d985d4a"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a937c614502b89f017e208bb27d985d4a">pcl::recognition::BVH::root_</a></div><div class="ttdeci">Node * root_</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00301">bvh.h:301</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_acf13babff60c0b9fca8181a307dbb04e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#acf13babff60c0b9fca8181a307dbb04e">pcl::recognition::BVH::intersect</a></div><div class="ttdeci">bool intersect(const float box[6], std::list< BoundedObject * > &intersected_objects) const</div><div class="ttdoc">Pushes back in 'intersected_objects' the bounded objects intersected by the input 'box' and returns t...</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00264">bvh.h:264</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_af16d3d466445c2e2206bd709dabe8727"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#af16d3d466445c2e2206bd709dabe8727">pcl::recognition::BVH::build</a></div><div class="ttdeci">void build(std::vector< BoundedObject * > &objects)</div><div class="ttdoc">Creates the tree.</div><div class="ttdef"><b>Definition:</b> <a href="bvh_8h_source.html#l00231">bvh.h:231</a></div></div>
<div class="ttc" id="anamespacepcl_1_1recognition_1_1aux_html_ac40f6071dc5a8d89fa8387c819fa250e"><div class="ttname"><a href="namespacepcl_1_1recognition_1_1aux.html#ac40f6071dc5a8d89fa8387c819fa250e">pcl::recognition::aux::expandBoundingBox</a></div><div class="ttdeci">void expandBoundingBox(T dst[6], const T src[6])</div><div class="ttdoc">Expands the destination bounding box 'dst' such that it contains 'src'.</div><div class="ttdef"><b>Definition:</b> <a href="auxiliary_8h_source.html#l00082">auxiliary.h:82</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="apcl__macros_8h_html_a2b443b7908f11aed38b620b570e5ebce"><div class="ttname"><a href="pcl__macros_8h.html#a2b443b7908f11aed38b620b570e5ebce">PCL_EXPORTS</a></div><div class="ttdeci">#define PCL_EXPORTS</div><div class="ttdef"><b>Definition:</b> <a href="pcl__macros_8h_source.html#l00325">pcl_macros.h:325</a></div></div>
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