OrgfanizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds. More...

#include </builddir/build/BUILD/PCL-1.3.1-Source/search/include/pcl/search/organized.h>

Inheritance diagram for pcl::search::OrganizedNeighbor< PointT >:

Collaboration diagram for pcl::search::OrganizedNeighbor< PointT >:

Public Types
typedef boost::shared_ptr < pcl::search::Search< PointT > >	Ptr
typedef boost::shared_ptr < const pcl::search::Search < PointT > >	ConstPtr
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
Public Member Functions
	OrganizedNeighbor ()
	OrganizedNeighbor constructor.
	~OrganizedNeighbor ()
	Empty deconstructor.
void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input data set.
PointCloudConstPtr	getInputCloud ()
	Get a pointer to the input dataset as passed by the user.
double	getMaxDistance () const
	Get the maximum allowed distance between the query point and its nearest neighbors.
void	setMaxDistance (double max_dist)
	Set the maximum allowed distance between the query point and its nearest neighbors.
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.
int	nearestKSearch (const PointT &p_q, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
	Search for the k-nearest neighbors for a given query point.
int	nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_distances)
	Search for the k-nearest neighbors for the given query point (zero-copy).
int	nearestKSearch (const pcl::PointCloud< PointT > &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_distances)
	Search for the k-nearest neighbors for a given query point.
int	radiusSearch (const pcl::PointCloud< PointT > &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=INT_MAX)
	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 given query point within radius.
int	radiusSearch (const PointT &p_q, 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.
virtual void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices)
	Pass the input dataset that the search will be performed on.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)=0
	Pass the input dataset that the search will be performed on.
virtual IndicesConstPtr const	getIndices ()
	Get a pointer to the vector of indices used.
virtual int	nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)=0
	Search for the k-nearest neighbors for the given query point.
template<typename PointTDiff >
int	nearestKSearchT (const PointTDiff &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
	Search for the k-nearest neighbors for the given query point.
virtual int	radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=-1)=0
	Search for all the nearest neighbors of the query point in a given radius.
template<typename PointTDiff >
int	radiusSearchT (const PointTDiff &point, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=-1)
	Search for all the nearest neighbors of the query point in a given radius.

Detailed Description

template<typename PointT>
class pcl::search::OrganizedNeighbor< PointT >

OrgfanizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.

Author:: Radu B. Rusu, Julius Kammerl, Suat Gedikli

Definition at line 61 of file organized.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr<const pcl::search::Search<PointT> > pcl::search::Search< PointT >::ConstPtr [inherited]

Reimplemented in pcl::search::KdTree< PointT >, and pcl::search::Octree< PointT, LeafTWrap, OctreeT >.

Definition at line 60 of file search.h.

template<typename PointT>

typedef boost::shared_ptr<std::vector<int> > pcl::search::Search< PointT >::IndicesPtr [inherited]

Reimplemented in pcl::search::AutotunedSearch< PointT >, and pcl::search::Octree< PointT, LeafTWrap, OctreeT >.

Definition at line 62 of file search.h.

template<typename PointT>

typedef boost::shared_ptr<pcl::search::Search<PointT> > pcl::search::Search< PointT >::Ptr [inherited]

Reimplemented in pcl::search::KdTree< PointT >, and pcl::search::Octree< PointT, LeafTWrap, OctreeT >.

Definition at line 59 of file search.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::search::OrganizedNeighbor< PointT >::OrganizedNeighbor ( ) [inline]

OrganizedNeighbor constructor.

Definition at line 72 of file organized.h.

template<typename PointT >

pcl::search::OrganizedNeighbor< PointT >::~OrganizedNeighbor ( ) [inline]

Empty deconstructor.

Definition at line 80 of file organized.h.

Member Function Documentation

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::getHorizontalSearchWindow ( ) const [inline]

Get the horizontal search window in pixels.

Definition at line 134 of file organized.h.

template<typename PointT>

virtual IndicesConstPtr const pcl::search::Search< PointT >::getIndices ( ) [inline, virtual, inherited]

Get a pointer to the vector of indices used.

Reimplemented in pcl::search::AutotunedSearch< PointT >, pcl::search::KdTree< PointT >, and pcl::search::Octree< PointT, LeafTWrap, OctreeT >.

Definition at line 95 of file search.h.

template<typename PointT >

PointCloudConstPtr pcl::search::OrganizedNeighbor< PointT >::getInputCloud ( ) [inline, virtual]

Get a pointer to the input dataset as passed by the user.

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

Definition at line 96 of file organized.h.

template<typename PointT >

double pcl::search::OrganizedNeighbor< PointT >::getMaxDistance ( ) const [inline]

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

Definition at line 103 of file organized.h.

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::getVerticalSearchWindow ( ) const [inline]

Get the vertical search window in pixels.

Definition at line 141 of file organized.h.

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::nearestKSearch	(	const PointT &	p_q,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		`[inline, virtual]`

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

Note:: limiting the maximum search radius (with setMaxDistance) can lead to a significant improvement in search speed

Parameters:

[in]	p_q	the given query point (setInputCloud must be given a-priori!)
[in]	k	the number of neighbors to search for (used only if horizontal and vertical window not given already!)
[out]	k_indices	the resultant point indices (must be resized to k beforehand!)
[out]	k_distances

Note:: this function does not return distances

Returns:: number of neighbors found

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

Definition at line 155 of file organized.h.

template<typename PointT>

virtual int pcl::search::Search< PointT >::nearestKSearch	(	const PointCloud &	cloud,
		int	index,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		`[pure virtual, inherited]`

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

Parameters:

[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!)

Returns:: number of neighbors found

Implemented in pcl::search::AutotunedSearch< PointT >, pcl::search::KdTree< PointT >, and pcl::search::Octree< PointT, LeafTWrap, OctreeT >.

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::nearestKSearch	(	int	index,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_distances
	)		`[virtual]`

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

Note:: limiting the maximum search radius (with setMaxDistance) can lead to a significant improvement in search speed

Parameters:

[in]	index	the index representing the query point in the dataset (setInputCloud must be given a-priori!)
[in]	k	the number of neighbors to search for (used only if horizontal and vertical window not given already!)
[out]	k_indices	the resultant point indices (must be resized to k beforehand!)
[out]	k_distances

Note:: this function does not return distances

Returns:: number of neighbors found

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

Definition at line 210 of file organized.hpp.

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::nearestKSearch	(	const pcl::PointCloud< PointT > &	cloud,
		int	index,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_distances
	)

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

Note:: limiting the maximum search radius (with setMaxDistance) can lead to a significant improvement in search speed

Parameters:

[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 (used only if horizontal and vertical window not given already!)
[out]	k_indices	the resultant point indices (must be resized to k beforehand!)
[out]	k_distances

Note:: this function does not return distances

Returns:: number of neighbors found

Definition at line 277 of file organized.hpp.

template<typename PointT>

template<typename PointTDiff >

int pcl::search::Search< PointT >::nearestKSearchT	(	const PointTDiff &	point,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		`[inline, inherited]`

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

Parameters:

[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!)

Returns:: number of neighbors found

Definition at line 118 of file search.h.

template<typename PointT>

virtual int pcl::search::Search< PointT >::radiusSearch	(	const PointCloud &	cloud,
		int	index,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_distances,
		int	max_nn = `-1`
	)		`[pure virtual, inherited]`

Search for all the nearest neighbors of the query point in a given radius.

Parameters:

[in]	cloud	the point cloud data
[in]	index	the index in cloud representing the query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points
[out]	k_distances	the resultant squared distances to the neighboring points
[in]	max_nn	if given, bounds the maximum returned neighbors to this value

Returns:: number of neighbors found in radius

Implemented in pcl::search::AutotunedSearch< PointT >, pcl::search::KdTree< PointT >, and pcl::search::Octree< PointT, LeafTWrap, OctreeT >.

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::radiusSearch	(	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:

[in]	index	the index representing the query point in the dataset (setInputCloud must be given a-priori!)
[in]	radius	the maximum distance to search for neighbors in.
[out]	k_indices	the resultant point indices
[out]	k_distances	the resultant !squared! point distances
[in]	max_nn	maximum number of points to return

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

Definition at line 125 of file organized.hpp.

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::radiusSearch	(	const pcl::PointCloud< PointT > &	cloud,
		int	index,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_distances,
		int	max_nn = `INT_MAX`
	)

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

Parameters:

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

Definition at line 47 of file organized.hpp.

template<typename PointT >

int pcl::search::OrganizedNeighbor< 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]`

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

Parameters:

[in]	point	the given query point
[in]	radius	the maximum distance to search for neighbors in.
[out]	k_indices	the resultant point indices
[out]	k_distances	the resultant !squared! point distances
[in]	max_nn	maximum number of points to return

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

Definition at line 220 of file organized.h.

template<typename PointT>

template<typename PointTDiff >

int pcl::search::Search< PointT >::radiusSearchT	(	const PointTDiff &	point,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_distances,
		int	max_nn = `-1`
	)		`[inline, inherited]`

Search for all the nearest neighbors of the query point in a given radius.

Parameters:

[in]	point	the given query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points
[out]	k_distances	the resultant squared distances to the neighboring points
[in]	max_nn	if given, bounds the maximum returned neighbors to this value

Returns:: number of neighbors found in radius

Definition at line 177 of file search.h.

template<typename PointT>

virtual void pcl::search::Search< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [pure virtual, inherited]

Pass the input dataset that the search will be performed on.

Parameters:

[in] cloud a const pointer to the PointCloud data

Implemented in pcl::search::KdTree< PointT >.

template<typename PointT>

virtual void pcl::search::Search< PointT >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices
	)		`[inline, virtual, inherited]`

Pass the input dataset that the search will be performed on.

Parameters:

[in]	cloud	a const pointer to the PointCloud data
[in]	indices	the point indices subset that is to be used from the cloud

Reimplemented in pcl::search::KdTree< PointT >.

Definition at line 81 of file search.h.

template<typename PointT >

void pcl::search::OrganizedNeighbor< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline]

Provide a pointer to the input data set.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 88 of file organized.h.

template<typename PointT >

void pcl::search::OrganizedNeighbor< PointT >::setMaxDistance ( double max_dist ) [inline]

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

Definition at line 110 of file organized.h.

template<typename PointT >

void pcl::search::OrganizedNeighbor< PointT >::setSearchWindow	(	int	horizontal,
		int	vertical
	)		`[inline]`

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

Parameters:

horizontal	the horizontal window in pixel
vertical	the vertical window in pixel

Definition at line 120 of file organized.h.

template<typename PointT >

void pcl::search::OrganizedNeighbor< 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 339 of file organized.hpp.

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

/builddir/build/BUILD/PCL-1.3.1-Source/search/include/pcl/search/organized.h
/builddir/build/BUILD/PCL-1.3.1-Source/search/include/pcl/search/impl/organized.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::search::OrganizedNeighbor< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::search::OrganizedNeighbor< PointT >