Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/kdtree/include/pcl/kdtree/io.h
00001 /*
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00036  * $Id: io.h 2413 2011-09-07 07:01:00Z rusu $
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00038  */
00039 
00040 #ifndef PCL_KDTREE_IO_H_
00041 #define PCL_KDTREE_IO_H_
00042 
00043 #include <pcl/point_cloud.h>
00044 
00045 namespace pcl
00046 {
00047   /** \brief Get a set of approximate indices for a given point cloud into a reference point cloud. 
00048     * The coordinates of the two point clouds can differ. The method uses an internal KdTree for 
00049     * finding the closest neighbors from \a cloud_in in \a cloud_ref. 
00050     *
00051     * \param[in] cloud_in the input point cloud dataset
00052     * \param[in] cloud_ref the reference point cloud dataset
00053     * \param[out] indices the resultant set of nearest neighbor indices of \a cloud_in in \a cloud_ref
00054     * \ingroup kdtree
00055     */
00056   template <typename PointT> void 
00057   getApproximateIndices (const typename pcl::PointCloud<PointT>::Ptr &cloud_in, 
00058                          const typename pcl::PointCloud<PointT>::Ptr &cloud_ref,
00059                          std::vector<int> &indices);
00060 
00061   /** \brief Get a set of approximate indices for a given point cloud into a reference point cloud. 
00062     * The coordinates of the two point clouds can differ. The method uses an internal KdTree for 
00063     * finding the closest neighbors from \a cloud_in in \a cloud_ref. 
00064     *
00065     * \param[in] cloud_in the input point cloud dataset
00066     * \param[in] cloud_ref the reference point cloud dataset
00067     * \param[out] indices the resultant set of nearest neighbor indices of \a cloud_in in \a cloud_ref
00068     * \ingroup kdtree
00069     */
00070   template <typename Point1T, typename Point2T> void 
00071   getApproximateIndices (const typename pcl::PointCloud<Point1T>::Ptr &cloud_in, 
00072                          const typename pcl::PointCloud<Point2T>::Ptr &cloud_ref,
00073                          std::vector<int> &indices);
00074 }
00075 
00076 #include <pcl/kdtree/impl/io.hpp>
00077 
00078 #endif  //#ifndef PCL_KDTREE_IO_H_
00079