Classes | Public Types | Public Member Functions | Protected Member Functions
pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > Class Template Reference

Octree pointcloud search class More...

#include <octree_search.h>

Inheritance diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >:
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List of all members.

Classes

class  prioBranchQueueEntry
 Priority queue entry for branch nodes More...
class  prioPointQueueEntry
 Priority queue entry for point candidates More...

Public Types

typedef std::vector< PointT,
Eigen::aligned_allocator
< PointT > > 		AlignedPointTVector
typedef OctreeT::BranchNode BranchNode
typedef boost::shared_ptr
< const OctreePointCloudSearch
< PointT, LeafContainerT,
BranchContainerT > > 		ConstPtr
typedef boost::shared_ptr
< const std::vector< int > > 		IndicesConstPtr
typedef boost::shared_ptr
< std::vector< int > > 		IndicesPtr
typedef OctreeT::LeafNode LeafNode
typedef OctreePointCloud
< PointT, LeafContainerT,
BranchContainerT > 		OctreeT
typedef pcl::PointCloud< PointT > PointCloud
typedef boost::shared_ptr
< const PointCloud > 		PointCloudConstPtr
typedef boost::shared_ptr
< PointCloud > 		PointCloudPtr
typedef boost::shared_ptr
< OctreePointCloudSearch
< PointT, LeafContainerT,
BranchContainerT > > 		Ptr

Public Member Functions

void approxNearestSearch (const PointCloud &cloud, int query_index, int &result_index, float &sqr_distance)
 Search for approx. nearest neighbor at the query point.
void approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
 Search for approx. nearest neighbor at the query point.
void approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
 Search for approx. nearest neighbor at the query point.
int boxSearch (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, std::vector< int > &k_indices) const
 Search for points within rectangular search area.
int getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxel_center_list, int max_voxel_count=0) const
 Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).
int getIntersectedVoxelIndices (Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector< int > &k_indices, int max_voxel_count=0) const
 Get indices of all voxels that are intersected by a ray (origin, direction).
int nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
 Search for k-nearest neighbors at the query point.
int nearestKSearch (const PointT &p_q, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
 Search for k-nearest neighbors at given query point.
int nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
 Search for k-nearest neighbors at query point.
 OctreePointCloudSearch (const double resolution)
 Constructor.
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)
 Search for all neighbors of query point that are within a given radius.
int radiusSearch (const PointT &p_q, const 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.
int radiusSearch (int index, const 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.
bool voxelSearch (const PointT &point, std::vector< int > &point_idx_data)
 Search for neighbors within a voxel at given point.
bool voxelSearch (const int index, std::vector< int > &point_idx_data)
 Search for neighbors within a voxel at given point referenced by a point index.
virtual ~OctreePointCloudSearch ()
 Empty class constructor.

Protected Member Functions

void approxNearestSearchRecursive (const PointT &point, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, int &result_index, float &sqr_distance)
 Recursive search method that explores the octree and finds the approximate nearest neighbor.
void boxSearchRecursive (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, std::vector< int > &k_indices) const
 Recursive search method that explores the octree and finds points within a rectangular search area.
int getFirstIntersectedNode (double min_x, double min_y, double min_z, double mid_x, double mid_y, double mid_z) const
 Find first child node ray will enter.
int getIntersectedVoxelCentersRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, AlignedPointTVector &voxel_center_list, int max_voxel_count) const
 Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers. This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf.
int getIntersectedVoxelIndicesRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, std::vector< int > &k_indices, int max_voxel_count) const
 Recursively search the tree for all intersected leaf nodes and return a vector of indices. This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf.
double getKNearestNeighborRecursive (const PointT &point, unsigned int K, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, const double squared_search_radius, std::vector< prioPointQueueEntry > &point_candidates) const
 Recursive search method that explores the octree and finds the K nearest neighbors.
void getNeighborsWithinRadiusRecursive (const PointT &point, const double radiusSquared, const BranchNode *node, const OctreeKey &key, unsigned int tree_depth, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn) const
 Recursive search method that explores the octree and finds neighbors within a given radius.
int getNextIntersectedNode (double x, double y, double z, int a, int b, int c) const
 Get the next visited node given the current node upper bounding box corner. This function accepts three float values, and three int values. The function returns the ith integer where the ith float value is the minimum of the three float values.
void initIntersectedVoxel (Eigen::Vector3f &origin, Eigen::Vector3f &direction, double &min_x, double &min_y, double &min_z, double &max_x, double &max_y, double &max_z, unsigned char &a) const
 Initialize raytracing algorithm.
float pointSquaredDist (const PointT &point_a, const PointT &point_b) const
 Helper function to calculate the squared distance between two points.

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >

Octree pointcloud search class

Note:
This class provides several methods for spatial neighbor search based on octree structure
typename: PointT: type of point used in pointcloud
Author:
Julius Kammerl (julius@kammerl.de)

Definition at line 58 of file octree_search.h.

Member Typedef Documentation

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 74 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef OctreeT::BranchNode pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::BranchNode

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 78 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef boost::shared_ptr<const OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> > pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::ConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 71 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::IndicesConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 63 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::IndicesPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 62 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef OctreeT::LeafNode pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::LeafNode

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 77 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef OctreePointCloud<PointT, LeafContainerT, BranchContainerT> pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::OctreeT

Reimplemented from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >.

Definition at line 76 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloud

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 65 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 67 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 66 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
typedef boost::shared_ptr<OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> > pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::Ptr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 70 of file octree_search.h.

Constructor & Destructor Documentation

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudSearch ( const double  resolution) [inline]

Constructor.

Parameters:
[in]resolutionoctree resolution at lowest octree level

Definition at line 83 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
virtual pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudSearch ( ) [inline, virtual]

Empty class constructor.

Definition at line 90 of file octree_search.h.

Member Function Documentation

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch ( const PointCloud &  cloud,
int  query_index,
int &  result_index,
float &  sqr_distance 
) [inline]

Search for approx. 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 157 of file octree_search.h.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch ( const PointT &  p_q,
int &  result_index,
float &  sqr_distance 
)

Search for approx. 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 137 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch ( int  query_index,
int &  result_index,
float &  sqr_distance 
)

Search for approx. nearest neighbor at the query point.

Parameters:
[in]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.
[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 154 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearchRecursive ( const PointT &  point,
const BranchNode *  node,
const OctreeKey &  key,
unsigned int  tree_depth,
int &  result_index,
float &  sqr_distance 
) [protected]

Recursive search method that explores the octree and finds the approximate nearest neighbor.

Parameters:
[in]pointquery point
[in]nodecurrent octree node to be explored
[in]keyoctree key addressing a leaf node.
[in]tree_depthcurrent depth/level in the octree
[out]result_indexresult index is written to this reference
[out]sqr_distancesquared distance to search

Definition at line 408 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::boxSearch ( const Eigen::Vector3f &  min_pt,
const Eigen::Vector3f &  max_pt,
std::vector< int > &  k_indices 
) const

Search for points within rectangular search area.

Parameters:
[in]min_ptlower corner of search area
[in]max_ptupper corner of search area
[out]k_indicesthe resultant point indices
Returns:
number of points found within search area

Definition at line 196 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::boxSearchRecursive ( const Eigen::Vector3f &  min_pt,
const Eigen::Vector3f &  max_pt,
const BranchNode *  node,
const OctreeKey &  key,
unsigned int  tree_depth,
std::vector< int > &  k_indices 
) const [protected]

Recursive search method that explores the octree and finds points within a rectangular search area.

Parameters:
[in]min_ptlower corner of search area
[in]max_ptupper corner of search area
[in]nodecurrent octree node to be explored
[in]keyoctree key addressing a leaf node.
[in]tree_depthcurrent depth/level in the octree
[out]k_indicesthe resultant point indices

Definition at line 512 of file octree_search.hpp.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getFirstIntersectedNode ( double  min_x,
double  min_y,
double  min_z,
double  mid_x,
double  mid_y,
double  mid_z 
) const [inline, protected]

Find first child node ray will enter.

Parameters:
[in]min_xoctree nodes X coordinate of lower bounding box corner
[in]min_yoctree nodes Y coordinate of lower bounding box corner
[in]min_zoctree nodes Z coordinate of lower bounding box corner
[in]mid_xoctree nodes X coordinate of bounding box mid line
[in]mid_yoctree nodes Y coordinate of bounding box mid line
[in]mid_zoctree nodes Z coordinate of bounding box mid line
Returns:
the first child node ray will enter

Definition at line 520 of file octree_search.h.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelCenters ( Eigen::Vector3f  origin,
Eigen::Vector3f  direction,
AlignedPointTVector &  voxel_center_list,
int  max_voxel_count = 0 
) const

Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).

Parameters:
[in]originray origin
[in]directionray direction vector
[out]voxel_center_listresults are written to this vector of PointT elements
[in]max_voxel_countstop raycasting when this many voxels intersected (0: disable)
Returns:
number of intersected voxels

Definition at line 589 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelCentersRecursive ( double  min_x,
double  min_y,
double  min_z,
double  max_x,
double  max_y,
double  max_z,
unsigned char  a,
const OctreeNode *  node,
const OctreeKey &  key,
AlignedPointTVector &  voxel_center_list,
int  max_voxel_count 
) const [protected]

Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers. This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf.

Parameters:
[in]min_xoctree nodes X coordinate of lower bounding box corner
[in]min_yoctree nodes Y coordinate of lower bounding box corner
[in]min_zoctree nodes Z coordinate of lower bounding box corner
[in]max_xoctree nodes X coordinate of upper bounding box corner
[in]max_yoctree nodes Y coordinate of upper bounding box corner
[in]max_zoctree nodes Z coordinate of upper bounding box corner
[in]a
[in]nodecurrent octree node to be explored
[in]keyoctree key addressing a leaf node.
[out]voxel_center_listresults are written to this vector of PointT elements
[in]max_voxel_countstop raycasting when this many voxels intersected (0: disable)
Returns:
number of voxels found

Definition at line 637 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelIndices ( Eigen::Vector3f  origin,
Eigen::Vector3f  direction,
std::vector< int > &  k_indices,
int  max_voxel_count = 0 
) const

Get indices of all voxels that are intersected by a ray (origin, direction).

Parameters:
[in]originray origin
[in]directionray direction vector
[out]k_indicesresulting point indices from intersected voxels
[in]max_voxel_countstop raycasting when this many voxels intersected (0: disable)
Returns:
number of intersected voxels

Definition at line 614 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelIndicesRecursive ( double  min_x,
double  min_y,
double  min_z,
double  max_x,
double  max_y,
double  max_z,
unsigned char  a,
const OctreeNode *  node,
const OctreeKey &  key,
std::vector< int > &  k_indices,
int  max_voxel_count 
) const [protected]

Recursively search the tree for all intersected leaf nodes and return a vector of indices. This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf.

Parameters:
[in]min_xoctree nodes X coordinate of lower bounding box corner
[in]min_yoctree nodes Y coordinate of lower bounding box corner
[in]min_zoctree nodes Z coordinate of lower bounding box corner
[in]max_xoctree nodes X coordinate of upper bounding box corner
[in]max_yoctree nodes Y coordinate of upper bounding box corner
[in]max_zoctree nodes Z coordinate of upper bounding box corner
[in]a
[in]nodecurrent octree node to be explored
[in]keyoctree key addressing a leaf node.
[out]k_indicesresulting indices
[in]max_voxel_countstop raycasting when this many voxels intersected (0: disable)
Returns:
number of voxels found

Definition at line 755 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
double pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getKNearestNeighborRecursive ( const PointT &  point,
unsigned int  K,
const BranchNode *  node,
const OctreeKey &  key,
unsigned int  tree_depth,
const double  squared_search_radius,
std::vector< prioPointQueueEntry > &  point_candidates 
) const [protected]

Recursive search method that explores the octree and finds the K nearest neighbors.

Parameters:
[in]pointquery point
[in]Kamount of nearest neighbors to be found
[in]nodecurrent octree node to be explored
[in]keyoctree key addressing a leaf node.
[in]tree_depthcurrent depth/level in the octree
[in]squared_search_radiussquared search radius distance
[out]point_candidatespriority queue of nearest neigbor point candidates
Returns:
squared search radius based on current point candidate set found

Definition at line 214 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getNeighborsWithinRadiusRecursive ( const PointT &  point,
const double  radiusSquared,
const BranchNode *  node,
const OctreeKey &  key,
unsigned int  tree_depth,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances,
unsigned int  max_nn 
) const [protected]

Recursive search method that explores the octree and finds neighbors within a given radius.

Parameters:
[in]pointquery point
[in]radiusSquaredsquared search radius
[in]nodecurrent octree node to be explored
[in]keyoctree key addressing a leaf node.
[in]tree_depthcurrent depth/level in the octree
[out]k_indicesvector of indices found to be neighbors of query point
[out]k_sqr_distancessquared distances of neighbors to query point
[in]max_nnmaximum of neighbors to be found

Definition at line 323 of file octree_search.hpp.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getNextIntersectedNode ( double  x,
double  y,
double  z,
int  a,
int  b,
int  c 
) const [inline, protected]

Get the next visited node given the current node upper bounding box corner. This function accepts three float values, and three int values. The function returns the ith integer where the ith float value is the minimum of the three float values.

Parameters:
[in]xcurrent nodes X coordinate of upper bounding box corner
[in]ycurrent nodes Y coordinate of upper bounding box corner
[in]zcurrent nodes Z coordinate of upper bounding box corner
[in]anext node if exit Plane YZ
[in]bnext node if exit Plane XZ
[in]cnext node if exit Plane XY
Returns:
the next child node ray will enter or 8 if exiting

Definition at line 579 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::initIntersectedVoxel ( Eigen::Vector3f &  origin,
Eigen::Vector3f &  direction,
double &  min_x,
double &  min_y,
double &  min_z,
double &  max_x,
double &  max_y,
double &  max_z,
unsigned char &  a 
) const [inline, protected]

Initialize raytracing algorithm.

Parameters:
origin
direction
[in]min_xoctree nodes X coordinate of lower bounding box corner
[in]min_yoctree nodes Y coordinate of lower bounding box corner
[in]min_zoctree nodes Z coordinate of lower bounding box corner
[in]max_xoctree nodes X coordinate of upper bounding box corner
[in]max_yoctree nodes Y coordinate of upper bounding box corner
[in]max_zoctree nodes Z coordinate of upper bounding box corner
a

Definition at line 466 of file octree_search.h.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch ( const PointCloud &  cloud,
int  index,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
) [inline]

Search for k-nearest neighbors at the 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

Definition at line 120 of file octree_search.h.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch ( const PointT &  p_q,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
)

Search for k-nearest neighbors at given query point.

Parameters:
[in]p_qthe 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

Definition at line 84 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch ( int  index,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
)

Search for k-nearest neighbors at query point.

Parameters:
[in]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.
[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

Definition at line 127 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
float pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::pointSquaredDist ( const PointT &  point_a,
const PointT &  point_b 
) const [protected]

Helper function to calculate the squared distance between two points.

Parameters:
[in]point_apoint A
[in]point_bpoint B
Returns:
squared distance between point A and point B

Definition at line 504 of file octree_search.hpp.

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch ( const PointCloud &  cloud,
int  index,
double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances,
unsigned int  max_nn = 0 
) [inline]

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

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

Definition at line 190 of file octree_search.h.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch ( const PointT &  p_q,
const 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.

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

Definition at line 164 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch ( int  index,
const 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.

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

Definition at line 184 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
bool pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch ( const PointT &  point,
std::vector< int > &  point_idx_data 
)

Search for neighbors within a voxel at given point.

Parameters:
[in]pointpoint addressing a leaf node voxel
[out]point_idx_datathe resultant indices of the neighboring voxel points
Returns:
"true" if leaf node exist; "false" otherwise

Definition at line 52 of file octree_search.hpp.

template<typename PointT , typename LeafContainerT , typename BranchContainerT >
bool pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch ( const int  index,
std::vector< int > &  point_idx_data 
)

Search for neighbors within a voxel at given point referenced by a point index.

Parameters:
[in]indexthe index in input cloud defining the query point
[out]point_idx_datathe resultant indices of the neighboring voxel points
Returns:
"true" if leaf node exist; "false" otherwise

Definition at line 75 of file octree_search.hpp.

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

pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:44:31