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static std::shared_ptr< OctreeNodeInfo > | GetInsertionNodeInfo (const std::shared_ptr< OctreeNodeInfo > &node_info, const Eigen::Vector3d &point) |
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static std::shared_ptr< OctreeNode > | ConstructFromJsonValue (const Json::Value &value) |
| Factory function to construct an OctreeNode by parsing the json value. More...
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static bool | EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value) |
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static bool | EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value) |
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static bool | EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value) |
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static bool | EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value) |
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static bool | EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value) |
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static bool | EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value) |
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static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value) |
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static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value) |
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static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value) |
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static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value) |
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static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value) |
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static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value) |
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static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value) |
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static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value) |
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Children node ordering conventions are as follows.
For illustration, assume,
- root_node: origin == (0, 0, 0), size == 2
Then,
- children_[0]: origin == (0, 0, 0), size == 1
- children_[1]: origin == (1, 0, 0), size == 1, along X-axis next to child 0
- children_[2]: origin == (0, 1, 0), size == 1, along Y-axis next to child 0
- children_[3]: origin == (1, 1, 0), size == 1, in X-Y plane
- children_[4]: origin == (0, 0, 1), size == 1, along Z-axis next to child 0
- children_[5]: origin == (1, 0, 1), size == 1, in X-Z plane
- children_[6]: origin == (0, 1, 1), size == 1, in Y-Z plane
- children_[7]: origin == (1, 1, 1), size == 1, furthest from child 0