Point Cloud Library (PCL)
1.9.1
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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>
Public Types | |
typedef boost::shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > > | Ptr |
typedef boost::shared_ptr< const pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > > | ConstPtr |
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 > > | OctreePointCloudSearchPtr |
typedef boost::shared_ptr< const pcl::octree::OctreePointCloudSearch< PointT, LeafTWrap, BranchTWrap > > | OctreePointCloudSearchConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< pcl::search::Search< PointT > > | Ptr |
typedef boost::shared_ptr< const pcl::search::Search< PointT > > | ConstPtr |
typedef boost::shared_ptr< std::vector< int > > | IndicesPtr |
typedef boost::shared_ptr< const std::vector< int > > | IndicesConstPtr |
Public Member Functions | |
Octree (const double resolution) | |
Octree constructor. More... | |
virtual | ~Octree () |
Empty Destructor. More... | |
void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
void | setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices) |
Provide a pointer to the input dataset. More... | |
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. More... | |
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. More... | |
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). More... | |
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. More... | |
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. More... | |
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. More... | |
void | approxNearestSearch (const PointCloudConstPtr &cloud, int query_index, int &result_index, float &sqr_distance) |
Search for approximate nearest neighbor at the query point. More... | |
void | approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance) |
Search for approximate nearest neighbor at the query point. More... | |
void | approxNearestSearch (int query_index, int &result_index, float &sqr_distance) |
Search for approximate nearest neighbor at the query point. More... | |
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Search (const std::string &name="", bool sorted=false) | |
Constructor. More... | |
virtual | ~Search () |
Destructor. More... | |
virtual const std::string & | getName () const |
Returns the search method name. More... | |
virtual void | setSortedResults (bool sorted) |
sets whether the results should be sorted (ascending in the distance) or not More... | |
virtual bool | getSortedResults () |
Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results may be returned in any order. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) |
Pass the input dataset that the search will be performed on. More... | |
virtual PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual IndicesConstPtr | getIndices () const |
Get a pointer to the vector of indices used. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
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. More... | |
Public Attributes | |
OctreePointCloudSearchPtr | tree_ |
Additional Inherited Members | |
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void | sortResults (std::vector< int > &indices, std::vector< float > &distances) const |
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PointCloudConstPtr | input_ |
IndicesConstPtr | indices_ |
bool | sorted_results_ |
std::string | name_ |
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.
typedef boost::shared_ptr<const pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::ConstPtr |
typedef boost::shared_ptr<const std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesConstPtr |
typedef boost::shared_ptr<std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesPtr |
typedef boost::shared_ptr<const pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchConstPtr |
typedef boost::shared_ptr<pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchPtr |
typedef pcl::PointCloud<PointT> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloud |
typedef boost::shared_ptr<const PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr |
typedef boost::shared_ptr<PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr |
typedef boost::shared_ptr<pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr |
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inlinevirtual |
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Search for approximate nearest neighbor at the query point.
[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 |
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inline |
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inline |
Search for approximate nearest neighbor at the query point.
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 |
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inlinevirtual |
Search for the k-nearest neighbors for the given query point.
[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!) |
Reimplemented from pcl::search::Search< PointT >.
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inlinevirtual |
Search for the k-nearest neighbors for the given query point.
[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!) |
Implements pcl::search::Search< PointT >.
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inlinevirtual |
Search for the k-nearest neighbors for the given query point (zero-copy).
[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!) |
Reimplemented from pcl::search::Search< PointT >.
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inlinevirtual |
search for all neighbors of query point that are within a given radius.
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 |
Reimplemented from pcl::search::Search< PointT >.
Definition at line 191 of file octree.h.
References pcl::search::Search< PointT >::sorted_results_, and pcl::search::Search< PointT >::sortResults().
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inlinevirtual |
search for all neighbors of query point that are within a given radius.
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 |
Implements pcl::search::Search< PointT >.
Definition at line 213 of file octree.h.
References pcl::search::Search< PointT >::sorted_results_, and pcl::search::Search< PointT >::sortResults().
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inlinevirtual |
search for all neighbors of query point that are within a given radius.
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 |
Reimplemented from pcl::search::Search< PointT >.
Definition at line 235 of file octree.h.
References pcl::search::Search< PointT >::sorted_results_, and pcl::search::Search< PointT >::sortResults().
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inline |
Provide a pointer to the input dataset.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 111 of file octree.h.
References pcl::search::Search< PointT >::input_.
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inline |
Provide a pointer to the input dataset.
[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 124 of file octree.h.
References pcl::search::Search< PointT >::indices_, and pcl::search::Search< PointT >::input_.
OctreePointCloudSearchPtr pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_ |