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| Octree (const double resolution) |
| Octree constructor. More...
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| ~Octree () override=default |
| Empty Destructor. More...
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void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More...
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bool | setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices) override |
| Provide a pointer to the input dataset. More...
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int | nearestKSearch (const PointCloud &cloud, index_t index, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override |
| Search for the k-nearest neighbors for the given query point. More...
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int | nearestKSearch (const PointT &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override |
| Search for the k-nearest neighbors for the given query point. More...
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int | nearestKSearch (index_t index, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override |
| Search for the k-nearest neighbors for the given query point (zero-copy). More...
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int | radiusSearch (const PointCloud &cloud, index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override |
| search for all neighbors of query point that are within a given radius. More...
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int | radiusSearch (const PointT &p_q, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override |
| search for all neighbors of query point that are within a given radius. More...
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int | radiusSearch (index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override |
| search for all neighbors of query point that are within a given radius. More...
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void | approxNearestSearch (const PointCloudConstPtr &cloud, index_t query_index, index_t &result_index, float &sqr_distance) |
| Search for approximate nearest neighbor at the query point. More...
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void | approxNearestSearch (const PointT &p_q, index_t &result_index, float &sqr_distance) |
| Search for approximate nearest neighbor at the query point. More...
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void | approxNearestSearch (index_t query_index, index_t &result_index, float &sqr_distance) |
| Search for approximate nearest neighbor at the query point. More...
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uindex_t | boxSearch (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, Indices &k_indices) const |
| Search for points within rectangular search area. More...
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| Search (const std::string &name="", bool sorted=false) |
| Constructor. More...
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virtual | ~Search ()=default |
| Destructor. More...
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virtual const std::string & | getName () const |
| Returns the search method name. More...
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virtual void | setSortedResults (bool sorted) |
| sets whether the results should be sorted (ascending in the distance) or not More...
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virtual bool | getSortedResults () |
| Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results may be returned in any order. More...
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virtual PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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virtual IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More...
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template<typename PointTDiff > |
int | nearestKSearchT (const PointTDiff &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const |
| Search for k-nearest neighbors for the given query point. More...
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virtual void | nearestKSearch (const PointCloud &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const |
| Search for the k-nearest neighbors for the given query point. More...
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template<typename PointTDiff > |
void | nearestKSearchT (const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const |
| Search for the k-nearest neighbors for the given query point. More...
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template<typename PointTDiff > |
int | radiusSearchT (const PointTDiff &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all the nearest neighbors of the query point in a given radius. More...
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virtual void | radiusSearch (const PointCloud &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all the nearest neighbors of the query point in a given radius. More...
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template<typename PointTDiff > |
void | radiusSearchT (const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for all the nearest neighbors of the query points in a given radius. More...
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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
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typename: LeafT: leaf node class (usuallt templated with integer indices values)
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typename: OctreeT: octree implementation ()
- Author
- Julius Kammerl
Definition at line 68 of file octree.h.