39 #ifndef PCL_SEARCH_SEARCH_H_
40 #define PCL_SEARCH_SEARCH_H_
42 #include <pcl/point_cloud.h>
43 #include <pcl/for_each_type.h>
44 #include <pcl/common/concatenate.h>
72 template<
typename Po
intT>
80 typedef boost::shared_ptr<pcl::search::Search<PointT> >
Ptr;
81 typedef boost::shared_ptr<const pcl::search::Search<PointT> >
ConstPtr;
87 Search (
const std::string& name =
"",
bool sorted =
false);
97 virtual const std::string&
123 virtual PointCloudConstPtr
146 std::vector<float> &k_sqr_distances)
const = 0;
157 template <
typename Po
intTDiff>
inline int
159 std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
const
188 std::vector<int> &k_indices,
189 std::vector<float> &k_sqr_distances)
const;
210 std::vector<int> &k_indices,
211 std::vector<float> &k_sqr_distances)
const;
222 int k, std::vector< std::vector<int> >& k_indices,
223 std::vector< std::vector<float> >& k_sqr_distances)
const;
233 template <
typename Po
intTDiff>
void
235 std::vector< std::vector<float> > &k_sqr_distances)
const
243 if (indices.empty ())
246 for (
size_t i = 0; i < cloud.
size(); i++)
251 nearestKSearch (pc,std::vector<int>(),k,k_indices,k_sqr_distances);
255 pc.
resize (indices.size());
256 for (
size_t i = 0; i < indices.size(); i++)
259 cloud[indices[i]], pc[i]));
261 nearestKSearch (pc,std::vector<int>(),k,k_indices,k_sqr_distances);
277 std::vector<float>& k_sqr_distances,
unsigned int max_nn = 0)
const = 0;
289 template <
typename Po
intTDiff>
inline int
290 radiusSearchT (
const PointTDiff &point,
double radius, std::vector<int> &k_indices,
291 std::vector<float> &k_sqr_distances,
unsigned int max_nn = 0)
const
299 return (
radiusSearch (p, radius, k_indices, k_sqr_distances, max_nn));
321 std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
322 unsigned int max_nn = 0)
const;
344 radiusSearch (
int index,
double radius, std::vector<int> &k_indices,
345 std::vector<float> &k_sqr_distances,
unsigned int max_nn = 0)
const;
359 const std::vector<int>& indices,
361 std::vector< std::vector<int> >& k_indices,
362 std::vector< std::vector<float> > &k_sqr_distances,
363 unsigned int max_nn = 0)
const;
376 template <
typename Po
intTDiff>
void
378 const std::vector<int>& indices,
380 std::vector< std::vector<int> > &k_indices,
381 std::vector< std::vector<float> > &k_sqr_distances,
382 unsigned int max_nn = 0)
const
390 if (indices.empty ())
393 for (
size_t i = 0; i < cloud.
size (); ++i)
395 radiusSearch (pc, std::vector<int> (), radius, k_indices, k_sqr_distances, max_nn);
399 pc.
resize (indices.size ());
400 for (
size_t i = 0; i < indices.size (); ++i)
402 radiusSearch (pc, std::vector<int>(), radius, k_indices, k_sqr_distances, max_nn);
408 sortResults (std::vector<int>& indices, std::vector<float>& distances)
const;
418 Compare (
const std::vector<float>& distances)
419 : distances_ (distances)
424 operator () (
int first,
int second)
const
426 return (distances_ [first] < distances_[second]);
429 const std::vector<float>& distances_;
435 #ifdef PCL_NO_PRECOMPILE
436 #include <pcl/search/impl/search.hpp>
439 #endif //#ifndef _PCL_SEARCH_SEARCH_H_