Point Cloud Library (PCL)  1.9.1-dev
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pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > Class Template Reference

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>

+ Inheritance diagram for pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >:

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< PointTPointCloud
 
typedef boost::shared_ptr< PointCloudPointCloudPtr
 
typedef boost::shared_ptr< const PointCloudPointCloudConstPtr
 
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. More...
 
virtual ~Octree ()
 Empty Destructor. More...
 
void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
void setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices)
 Provide a pointer to the input dataset. More...
 
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. More...
 
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. More...
 
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). More...
 
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. More...
 
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. More...
 
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. More...
 
void approxNearestSearch (const PointCloudConstPtr &cloud, int query_index, int &result_index, float &sqr_distance)
 Search for approximate nearest neighbor at the query point. More...
 
void approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
 Search for approximate nearest neighbor at the query point. More...
 
void approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
 Search for approximate nearest neighbor at the query point. More...
 

Public Attributes

OctreePointCloudSearchPtr tree_
 

Additional Inherited Members

Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >

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.

Note
typename: PointT: type of point used in pointcloud
typename: LeafT: leaf node class (usuallt templated with integer indices values)
typename: OctreeT: octree implementation ()
Author
Julius Kammerl

Definition at line 68 of file octree.h.

Member Typedef Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<const pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::ConstPtr

Definition at line 73 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<const std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesConstPtr

Definition at line 76 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesPtr

Definition at line 75 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<const pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchConstPtr

Definition at line 84 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchPtr

Definition at line 83 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef pcl::PointCloud<PointT> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloud

Definition at line 78 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<const PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr

Definition at line 80 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr

Definition at line 79 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
typedef boost::shared_ptr<pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr

Definition at line 72 of file octree.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Octree ( const double  resolution)
inline

Octree constructor.

Parameters
[in]resolutionoctree resolution at lowest octree level

Definition at line 94 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
virtual pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::~Octree ( )
inlinevirtual

Empty Destructor.

Definition at line 102 of file octree.h.

Member Function Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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.

Parameters
[in]cloudthe point cloud data
[in]query_indexthe index in cloud representing the query point
[out]result_indexthe resultant index of the neighbor point
[out]sqr_distancethe resultant squared distance to the neighboring point
Returns
number of neighbors found

Definition at line 252 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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.

Parameters
[in]p_qthe given query point
[out]result_indexthe resultant index of the neighbor point
[out]sqr_distancethe resultant squared distance to the neighboring point

Definition at line 264 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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.

Parameters
query_indexindex 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_indexthe resultant index of the neighbor point
sqr_distancethe resultant squared distance to the neighboring point
Returns
number of neighbors found

Definition at line 277 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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
inlinevirtual

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

Parameters
[in]cloudthe point cloud data
[in]indexthe index in cloud representing the query point
[in]kthe number of neighbors to search for
[out]k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
[out]k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns
number of neighbors found

Reimplemented from pcl::search::Search< PointT >.

Definition at line 142 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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
inlinevirtual

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

Parameters
[in]pointthe given query point
[in]kthe number of neighbors to search for
[out]k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
[out]k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns
number of neighbors found

Implements pcl::search::Search< PointT >.

Definition at line 157 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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
inlinevirtual

Search for the k-nearest neighbors for the given query point (zero-copy).

Parameters
[in]indexthe 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]kthe number of neighbors to search for
[out]k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
[out]k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns
number of neighbors found

Reimplemented from pcl::search::Search< PointT >.

Definition at line 175 of file octree.h.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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
inlinevirtual

search for all neighbors of query point that are within a given radius.

Parameters
cloudthe point cloud data
indexthe index in cloud representing the query point
radiusthe radius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_sqr_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns
number of neighbors found in radius

Reimplemented from pcl::search::Search< PointT >.

Definition at line 190 of file octree.h.

References pcl::search::Search< PointT >::sorted_results_, and pcl::search::Search< PointT >::sortResults().

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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
inlinevirtual

search for all neighbors of query point that are within a given radius.

Parameters
p_qthe given query point
radiusthe radius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_sqr_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns
number of neighbors found in radius

Implements pcl::search::Search< PointT >.

Definition at line 212 of file octree.h.

References pcl::search::Search< PointT >::sorted_results_, and pcl::search::Search< PointT >::sortResults().

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
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
inlinevirtual

search for all neighbors of query point that are within a given radius.

Parameters
indexindex 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
radiusradius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_sqr_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns
number of neighbors found in radius

Reimplemented from pcl::search::Search< PointT >.

Definition at line 234 of file octree.h.

References pcl::search::Search< PointT >::sorted_results_, and pcl::search::Search< PointT >::sortResults().

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud ( const PointCloudConstPtr cloud)
inline

Provide a pointer to the input dataset.

Parameters
[in]cloudthe const boost shared pointer to a PointCloud message

Definition at line 110 of file octree.h.

References pcl::search::Search< PointT >::input_.

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud ( const PointCloudConstPtr cloud,
const IndicesConstPtr indices 
)
inline

Provide a pointer to the input dataset.

Parameters
[in]cloudthe const boost shared pointer to a PointCloud message
[in]indicesthe point indices subset that is to be used from cloud

Definition at line 123 of file octree.h.

References pcl::search::Search< PointT >::indices_, and pcl::search::Search< PointT >::input_.

Member Data Documentation

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
OctreePointCloudSearchPtr pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_

Definition at line 85 of file octree.h.


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