search::Octree is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure. More...

#include <pcl/search/octree.h>

Inheritance diagram for pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >:

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Collaboration diagram for pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >:

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List of all members.

Public Types
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < pcl::octree::OctreePointCloudSearch < PointT, LeafTWrap, BranchTWrap > >	Ptr
typedef boost::shared_ptr < const pcl::octree::OctreePointCloudSearch < PointT, LeafTWrap, BranchTWrap > >	ConstPtr
Public Member Functions
	Octree (const double resolution)
	Octree constructor.
virtual	~Octree ()
	Empty Destructor.
void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices)
	Provide a pointer to the input dataset.
int	nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.
int	nearestKSearch (const PointT &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.
int	nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point (zero-copy).
int	radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	search for all neighbors of query point that are within a given radius.
int	radiusSearch (const PointT &p_q, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	search for all neighbors of query point that are within a given radius.
int	radiusSearch (int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	search for all neighbors of query point that are within a given radius.
void	approxNearestSearch (const PointCloudConstPtr &cloud, int query_index, int &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point.
void	approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point.
void	approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point.
virtual const std::string &	getName () const
	returns the search method name
virtual void	setSortedResults (bool sorted)
	sets whether the results should be sorted (ascending in the distance) or not
virtual void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
	Pass the input dataset that the search will be performed on.
virtual PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual IndicesConstPtr	getIndices () const
	Get a pointer to the vector of indices used.
virtual void	nearestKSearch (const PointCloud &cloud, const std::vector< int > &indices, int k, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.
template<typename PointTDiff >
int	nearestKSearchT (const PointTDiff &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) const
	Search for k-nearest neighbors for the given query point.
template<typename PointTDiff >
void	nearestKSearchT (const pcl::PointCloud< PointTDiff > &cloud, const std::vector< int > &indices, int k, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.
virtual void	radiusSearch (const PointCloud &cloud, const std::vector< int > &indices, double radius, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius.
template<typename PointTDiff >
int	radiusSearchT (const PointTDiff &point, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius.
template<typename PointTDiff >
void	radiusSearchT (const pcl::PointCloud< PointTDiff > &cloud, const std::vector< int > &indices, double radius, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query points in a given radius.
Public Attributes
Ptr	tree_

Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>
class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >

search::Octree is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure.

The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted according to the pointcloud dimension or it can be predefined. Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.

Note:: typename: PointT: type of point used in pointcloud; typename: LeafT: leaf node class (usuallt templated with integer indices values); typename: OctreeT: octree implementation ()

Author:: Julius Kammerl

Definition at line 67 of file octree.h.

Member Typedef Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<const pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::ConstPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 80 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<const std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesConstPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 72 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 71 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef pcl::PointCloud<PointT> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloud

Reimplemented from pcl::search::Search< PointT >.

Definition at line 74 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<const PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 76 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 75 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 79 of file octree.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Octree ( const double resolution ) [inline]

Octree constructor.

Parameters:

[in] resolution octree resolution at lowest octree level

Definition at line 90 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

virtual pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::~Octree ( ) [inline, virtual]

Empty Destructor.

Definition at line 98 of file octree.h.

Member Function Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch	(	const PointCloudConstPtr &	cloud,
		int	query_index,
		int &	result_index,
		float &	sqr_distance
	)		`[inline]`

Search for approximate nearest neighbor at the query point.

Parameters:

[in]	cloud	the point cloud data
[in]	query_index	the index in cloud representing the query point
[out]	result_index	the resultant index of the neighbor point
[out]	sqr_distance	the resultant squared distance to the neighboring point

Returns:: number of neighbors found

Definition at line 248 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch	(	const PointT &	p_q,
		int &	result_index,
		float &	sqr_distance
	)		`[inline]`

Search for approximate nearest neighbor at the query point.

Parameters:

[in]	p_q	the given query point
[out]	result_index	the resultant index of the neighbor point
[out]	sqr_distance	the resultant squared distance to the neighboring point

Definition at line 260 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch	(	int	query_index,
		int &	result_index,
		float &	sqr_distance
	)		`[inline]`

Search for approximate nearest neighbor at the query point.

Parameters:

query_index	index representing the query point in the dataset given by setInputCloud. If indices were given in setInputCloud, index will be the position in the indices vector.
result_index	the resultant index of the neighbor point
sqr_distance	the resultant squared distance to the neighboring point

Returns:: number of neighbors found

Definition at line 273 of file octree.h.

template<typename PointT>

virtual IndicesConstPtr pcl::search::Search< PointT >::getIndices ( ) const [inline, virtual, inherited]

Get a pointer to the vector of indices used.

Definition at line 139 of file search.h.

template<typename PointT>

virtual PointCloudConstPtr pcl::search::Search< PointT >::getInputCloud ( ) const [inline, virtual, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 132 of file search.h.

template<typename PointT>

virtual const std::string& pcl::search::Search< PointT >::getName ( ) const [inline, virtual, inherited]

returns the search method name

Definition at line 104 of file search.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch	(	const PointCloud &	cloud,
		int	index,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const `[inline, virtual]`

Search for the k-nearest neighbors for the given query point.

Parameters:

[in]	cloud	the point cloud data
[in]	index	the index in cloud representing the query point
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points (must be resized to k a priori!)
[out]	k_sqr_distances	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns:: number of neighbors found

Reimplemented from pcl::search::Search< PointT >.

Definition at line 138 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch	(	const PointT &	point,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const `[inline, virtual]`

Search for the k-nearest neighbors for the given query point.

Parameters:

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points (must be resized to k a priori!)
[out]	k_sqr_distances	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns:: number of neighbors found

Implements pcl::search::Search< PointT >.

Definition at line 153 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch	(	int	index,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const `[inline, virtual]`

Search for the k-nearest neighbors for the given query point (zero-copy).

Parameters:

[in]	index	the index representing the query point in the dataset given by setInputCloud if indices were given in setInputCloud, index will be the position in the indices vector
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points (must be resized to k a priori!)
[out]	k_sqr_distances	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns:: number of neighbors found

Reimplemented from pcl::search::Search< PointT >.

Definition at line 171 of file octree.h.

template<typename PointT>

virtual void pcl::search::Search< PointT >::nearestKSearch	(	const PointCloud &	cloud,
		const std::vector< int > &	indices,
		int	k,
		std::vector< std::vector< int > > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances
	)		const `[inline, virtual, inherited]`

Search for the k-nearest neighbors for the given query point.

Parameters:

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i

Definition at line 245 of file search.h.

template<typename PointT>

template<typename PointTDiff >

int pcl::search::Search< PointT >::nearestKSearchT	(	const PointTDiff &	point,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const `[inline, inherited]`

Search for k-nearest neighbors for the given query point.

This method accepts a different template parameter for the point type.

Parameters:

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points (must be resized to k a priori!)
[out]	k_sqr_distances	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns:: number of neighbors found

Definition at line 166 of file search.h.

template<typename PointT>

template<typename PointTDiff >

void pcl::search::Search< PointT >::nearestKSearchT	(	const pcl::PointCloud< PointTDiff > &	cloud,
		const std::vector< int > &	indices,
		int	k,
		std::vector< std::vector< int > > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances
	)		const `[inline, inherited]`

Search for the k-nearest neighbors for the given query point.

Use this method if the query points are of a different type than the points in the data set (e.g. PointXYZRGBA instead of PointXYZ).

Parameters:

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i

Note:: This method copies the input point cloud of type PointTDiff to a temporary cloud of type PointT and performs the batch search on the new cloud. You should prefer the single-point search if you don't use a search algorithm that accelerates batch NN search.

Definition at line 273 of file search.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch	(	const PointCloud &	cloud,
		int	index,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[inline, virtual]`

search for all neighbors of query point that are within a given radius.

Parameters:

cloud	the point cloud data
index	the index in cloud representing the query point
radius	the radius of the sphere bounding all of p_q's neighbors
k_indices	the resultant indices of the neighboring points
k_sqr_distances	the resultant squared distances to the neighboring points
max_nn	if given, bounds the maximum returned neighbors to this value

Returns:: number of neighbors found in radius

Reimplemented from pcl::search::Search< PointT >.

Definition at line 186 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch	(	const PointT &	p_q,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[inline, virtual]`

search for all neighbors of query point that are within a given radius.

Parameters:

p_q	the given query point
radius	the radius of the sphere bounding all of p_q's neighbors
k_indices	the resultant indices of the neighboring points
k_sqr_distances	the resultant squared distances to the neighboring points
max_nn	if given, bounds the maximum returned neighbors to this value

Returns:: number of neighbors found in radius

Implements pcl::search::Search< PointT >.

Definition at line 208 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch	(	int	index,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[inline, virtual]`

search for all neighbors of query point that are within a given radius.

Parameters:

index	index representing the query point in the dataset given by setInputCloud. If indices were given in setInputCloud, index will be the position in the indices vector
radius	radius of the sphere bounding all of p_q's neighbors
k_indices	the resultant indices of the neighboring points
k_sqr_distances	the resultant squared distances to the neighboring points
max_nn	if given, bounds the maximum returned neighbors to this value

Returns:: number of neighbors found in radius

Reimplemented from pcl::search::Search< PointT >.

Definition at line 230 of file octree.h.

template<typename PointT>

virtual void pcl::search::Search< PointT >::radiusSearch	(	const PointCloud &	cloud,
		const std::vector< int > &	indices,
		double	radius,
		std::vector< std::vector< int > > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[inline, virtual, inherited]`

Search for all the nearest neighbors of the query point in a given radius.

Parameters:

[in]	cloud	the point cloud data
[in]	indices	the indices in cloud. If indices is empty, neighbors will be searched for all points.
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i
[in]	max_nn	if given, bounds the maximum returned neighbors to this value. If max_nn is set to 0 or to a number higher than the number of points in the input cloud, all neighbors in radius will be returned.

Definition at line 413 of file search.h.

template<typename PointT>

template<typename PointTDiff >

int pcl::search::Search< PointT >::radiusSearchT	(	const PointTDiff &	point,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[inline, inherited]`

Search for all the nearest neighbors of the query point in a given radius.

Parameters:

[in]	point	the given query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn	if given, bounds the maximum returned neighbors to this value. If max_nn is set to 0 or to a number higher than the number of points in the input cloud, all neighbors in radius will be returned.

Returns:: number of neighbors found in radius

Definition at line 329 of file search.h.

template<typename PointT>

template<typename PointTDiff >

void pcl::search::Search< PointT >::radiusSearchT	(	const pcl::PointCloud< PointTDiff > &	cloud,
		const std::vector< int > &	indices,
		double	radius,
		std::vector< std::vector< int > > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[inline, inherited]`

Search for all the nearest neighbors of the query points in a given radius.

Parameters:

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i
[in]	max_nn	if given, bounds the maximum returned neighbors to this value. If max_nn is set to 0 or to a number higher than the number of points in the input cloud, all neighbors in radius will be returned.

Note:: This method copies the input point cloud of type PointTDiff to a temporary cloud of type PointT and performs the batch search on the new cloud. You should prefer the single-point search if you don't use a search algorithm that accelerates batch NN search.

Definition at line 449 of file search.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline]

Provide a pointer to the input dataset.

Parameters:

[in] cloud the const boost shared pointer to a PointCloud message

Definition at line 106 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices
	)		`[inline]`

Provide a pointer to the input dataset.

Parameters:

[in]	cloud	the const boost shared pointer to a PointCloud message
[in]	indices	the point indices subset that is to be used from cloud

Definition at line 119 of file octree.h.

template<typename PointT>

virtual void pcl::search::Search< PointT >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices = `IndicesConstPtr ()`
	)		`[inline, virtual, inherited]`

Pass the input dataset that the search will be performed on.

Parameters:

[in]	cloud	a const pointer to the PointCloud data
[in]	indices	the point indices subset that is to be used from the cloud

Reimplemented in pcl::search::FlannSearch< PointT, FlannDistance >, and pcl::search::KdTree< PointT >.

Definition at line 124 of file search.h.

template<typename PointT>

virtual void pcl::search::Search< PointT >::setSortedResults ( bool sorted ) [inline, virtual, inherited]

sets whether the results should be sorted (ascending in the distance) or not

Parameters:

[in] sorted should be true if the results should be sorted by the distance in ascending order. Otherwise the results may be returned in any order.

Reimplemented in pcl::search::KdTree< PointT >.

Definition at line 114 of file search.h.

Member Data Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

Ptr pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_

Definition at line 81 of file octree.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/search/include/pcl/search/octree.h

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >> class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>
class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >