Point Cloud Library (PCL)
1.7.0
|
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 |
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. | |
Public Attributes | |
OctreePointCloudSearchPtr | tree_ |
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 |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<const std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesConstPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesPtr |
Reimplemented from pcl::search::Search< PointT >.
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 |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<const PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr |
Reimplemented from pcl::search::Search< PointT >.
pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Octree | ( | const double | resolution | ) | [inline] |
virtual pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::~Octree | ( | ) | [inline, virtual] |
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.
[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 |
Definition at line 253 of file octree.h.
References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
[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 265 of file octree.h.
References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
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 |
Definition at line 278 of file octree.h.
References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
[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 >.
Definition at line 143 of file octree.h.
References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
[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 >.
Definition at line 158 of file octree.h.
References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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).
[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 >.
Definition at line 176 of file octree.h.
References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
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_, pcl::search::Search< PointT >::sortResults(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
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_, pcl::search::Search< PointT >::sortResults(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
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.
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_, pcl::search::Search< PointT >::sortResults(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [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_, and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud | ( | const PointCloudConstPtr & | cloud, |
const IndicesConstPtr & | indices | ||
) | [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_, pcl::search::Search< PointT >::input_, and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.
OctreePointCloudSearchPtr pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_ |
Definition at line 86 of file octree.h.
Referenced by pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch(), pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch(), pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud().