Public Types | Public Member Functions

pcl::OrganizedDataIndex< PointT > Class Template Reference
[Module kdtree]

OrganizedDataIndex is a type of spatial locator used to query organized datasets, such as point clouds acquired using dense stereo devices. More...

#include <pcl/kdtree/organized_data.h>

Inheritance diagram for pcl::OrganizedDataIndex< PointT >:
Inheritance graph
[legend]
Collaboration diagram for pcl::OrganizedDataIndex< PointT >:
Collaboration graph
[legend]

List of all members.

Public Types

typedef boost::shared_ptr
< OrganizedDataIndex< PointT > > 
Ptr
typedef boost::shared_ptr
< const OrganizedDataIndex
< PointT > > 
ConstPtr

Public Member Functions

 OrganizedDataIndex ()
 Empty constructor for OrganizedDataIndex.
Ptr makeShared ()
int nearestKSearch (const PointT &p_q, int k, std::vector< int > &k_indices, std::vector< float > &k_distances)
 Method not implemented.
int radiusSearch (const PointT &p_q, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=INT_MAX) const
 Method not implemented.
int radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=INT_MAX) const
 Approximate search for neighbors around the given query point within radius.
int radiusSearch (int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=INT_MAX) const
 Approximate search for neighbors around the point from the given index within radius.
int nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_distances)
 Search for k-nearest neighbors for the given query point.
int nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_distances)
 Search for k-nearest neighbors for the given query point.
void setSearchWindow (int horizontal, int vertical)
 Set the search window (horizontal, vertical) in pixels.
void setSearchWindowAsK (int k)
 Estimate the search window (horizontal, vertical) in pixels in order to get up to k-neighbors.
int getHorizontalSearchWindow () const
 Get the horizontal search window in pixels.
int getVerticalSearchWindow () const
 Get the vertical search window in pixels.
void setMaxDistance (float max_dist)
 Set the maximum allowed distance between the query point and its k-nearest neighbors.
float getMaxDistance () const
 Get the maximum allowed distance between the query point and its k-nearest neighbors.

Detailed Description

template<typename PointT>
class pcl::OrganizedDataIndex< PointT >

OrganizedDataIndex is a type of spatial locator used to query organized datasets, such as point clouds acquired using dense stereo devices.

The class best supports square data blocks for now in the form of (k*k+1)^2.

Author:
Radu Bogdan Rusu

Definition at line 55 of file organized_data.h.


Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr<const OrganizedDataIndex<PointT> > pcl::OrganizedDataIndex< PointT >::ConstPtr

Reimplemented from pcl::KdTree< PointT >.

Definition at line 67 of file organized_data.h.

template<typename PointT >
typedef boost::shared_ptr<OrganizedDataIndex<PointT> > pcl::OrganizedDataIndex< PointT >::Ptr

Reimplemented from pcl::KdTree< PointT >.

Definition at line 66 of file organized_data.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::OrganizedDataIndex< PointT >::OrganizedDataIndex (  )  [inline]

Empty constructor for OrganizedDataIndex.

Sets some internal values to their defaults.

Definition at line 70 of file organized_data.h.


Member Function Documentation

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::getHorizontalSearchWindow (  )  const [inline]

Get the horizontal search window in pixels.

Definition at line 173 of file organized_data.h.

template<typename PointT >
float pcl::OrganizedDataIndex< PointT >::getMaxDistance (  )  const [inline]

Get the maximum allowed distance between the query point and its k-nearest neighbors.

Definition at line 183 of file organized_data.h.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::getVerticalSearchWindow (  )  const [inline]

Get the vertical search window in pixels.

Definition at line 176 of file organized_data.h.

template<typename PointT >
Ptr pcl::OrganizedDataIndex< PointT >::makeShared (  )  [inline]

Definition at line 72 of file organized_data.h.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::nearestKSearch ( const PointT &  p_q,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_distances 
) [inline, virtual]

Method not implemented.

Parameters:
p_q 
k 
k_indices 
k_distances 

Implements pcl::KdTree< PointT >.

Definition at line 81 of file organized_data.h.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::nearestKSearch ( const PointCloud cloud,
int  index,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_distances 
) [virtual]

Search for k-nearest neighbors for the given query point.

Parameters:
cloud the point cloud data
index the index in cloud representing the query point
k the number of neighbors to search for (not used)
k_indices the resultant point indices (must be resized to k beforehand!)
k_distances 
Note:
this function does not return distances

Implements pcl::KdTree< PointT >.

Definition at line 115 of file organized_data.hpp.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::nearestKSearch ( int  index,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_distances 
) [inline, virtual]

Search for k-nearest neighbors for the given query point.

Parameters:
index the index representing the query point
k the number of neighbors to search for (not used)
k_indices the resultant point indices (must be resized to k beforehand!)
k_distances 
Note:
this function does not return distances

Implements pcl::KdTree< PointT >.

Definition at line 145 of file organized_data.h.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::radiusSearch ( const PointCloud cloud,
int  index,
double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_distances,
int  max_nn = INT_MAX 
) const [virtual]

Approximate search for neighbors around the given query point within radius.

Parameters:
cloud the point cloud data.
index the index in cloud representing the query point.
radius the maximum distance to search for neighbors in.
k_indices the resultant point indices
k_distances the resultant !squared! point distances
max_nn maximum number of points to return

Implements pcl::KdTree< PointT >.

Definition at line 46 of file organized_data.hpp.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::radiusSearch ( int  index,
double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_distances,
int  max_nn = INT_MAX 
) const [inline, virtual]

Approximate search for neighbors around the point from the given index within radius.

Parameters:
index the index in cloud representing the query point.
radius the maximum distance to search for neighbors in.
k_indices the resultant point indices
k_distances the resultant !squared! point distances
max_nn maximum number of points to return

Implements pcl::KdTree< PointT >.

Definition at line 118 of file organized_data.h.

template<typename PointT >
int pcl::OrganizedDataIndex< PointT >::radiusSearch ( const PointT &  p_q,
double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_distances,
int  max_nn = INT_MAX 
) const [inline, virtual]

Method not implemented.

Parameters:
p_q 
radius 
k_indices 
k_distances 
max_nn 

Implements pcl::KdTree< PointT >.

Definition at line 93 of file organized_data.h.

template<typename PointT >
void pcl::OrganizedDataIndex< PointT >::setMaxDistance ( float  max_dist  )  [inline]

Set the maximum allowed distance between the query point and its k-nearest neighbors.

Definition at line 179 of file organized_data.h.

template<typename PointT >
void pcl::OrganizedDataIndex< PointT >::setSearchWindow ( int  horizontal,
int  vertical 
) [inline]

Set the search window (horizontal, vertical) in pixels.

Parameters:
horizontal the horizontal window
vertical the vertical window

Definition at line 161 of file organized_data.h.

template<typename PointT >
void pcl::OrganizedDataIndex< PointT >::setSearchWindowAsK ( int  k  ) 

Estimate the search window (horizontal, vertical) in pixels in order to get up to k-neighbors.

Parameters:
k the number of neighbors requested

Definition at line 174 of file organized_data.hpp.


The documentation for this class was generated from the following files: