Point Cloud Library (PCL)
1.7.0
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kdtree
include
pcl
kdtree
io.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: io.h 2413 2011-09-07 07:01:00Z rusu $
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*
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*/
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#ifndef PCL_KDTREE_IO_H_
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#define PCL_KDTREE_IO_H_
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#include <pcl/point_cloud.h>
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namespace
pcl
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{
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/** \brief Get a set of approximate indices for a given point cloud into a reference point cloud.
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* The coordinates of the two point clouds can differ. The method uses an internal KdTree for
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* finding the closest neighbors from \a cloud_in in \a cloud_ref.
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*
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] cloud_ref the reference point cloud dataset
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* \param[out] indices the resultant set of nearest neighbor indices of \a cloud_in in \a cloud_ref
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* \ingroup kdtree
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*/
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template
<
typename
Po
int
T>
void
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getApproximateIndices
(
const
typename
pcl::PointCloud<PointT>::Ptr
&cloud_in,
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const
typename
pcl::PointCloud<PointT>::Ptr
&cloud_ref,
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std::vector<int> &indices);
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/** \brief Get a set of approximate indices for a given point cloud into a reference point cloud.
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* The coordinates of the two point clouds can differ. The method uses an internal KdTree for
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* finding the closest neighbors from \a cloud_in in \a cloud_ref.
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*
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* \param[in] cloud_in the input point cloud dataset
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* \param[in] cloud_ref the reference point cloud dataset
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* \param[out] indices the resultant set of nearest neighbor indices of \a cloud_in in \a cloud_ref
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* \ingroup kdtree
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*/
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template
<
typename
Po
int
1T,
typename
Po
int
2T>
void
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getApproximateIndices
(
const
typename
pcl::PointCloud<Point1T>::Ptr
&cloud_in,
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const
typename
pcl::PointCloud<Point2T>::Ptr
&cloud_ref,
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std::vector<int> &indices);
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}
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#include <pcl/kdtree/impl/io.hpp>
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#endif //#ifndef PCL_KDTREE_IO_H_
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