search::FlannSearch is a generic FLANN wrapper class for the new search interface. It is able to wrap any FLANN index type, e.g. the kd tree as well as indices for high-dimensional searches and intended as a more powerful and cleaner successor to KdTreeFlann. More...

#include <flann_search.h>

Inheritance diagram for pcl::search::FlannSearch< PointT, FlannDistance >:

[legend]

List of all members.

Classes
class	FlannIndexCreator
	Helper class that creates a FLANN index from a given FLANN matrix. To use a FLANN index type with FlannSearch, implement this interface and pass an object of the new type to the FlannSearch constructor. See the implementation of KdTreeIndexCreator for an example. More...
class	KdTreeIndexCreator
	Creates a FLANN KdTreeSingleIndex from the given input data. More...
class	KMeansIndexCreator
	Creates a FLANN KdTreeSingleIndex from the given input data. More...
Public Types
typedef boost::shared_ptr < const FlannSearch< PointT, FlannDistance > >	ConstPtr
typedef boost::shared_ptr < FlannIndexCreator >	FlannIndexCreatorPtr
typedef boost::shared_ptr < FlannSearch< PointT, FlannDistance > >	Ptr
Public Member Functions
	FlannSearch (bool sorted=true, FlannIndexCreatorPtr creator=FlannIndexCreatorPtr(new KdTreeIndexCreator()))
double	getEpsilon ()
	Get the search epsilon precision (error bound) for nearest neighbors searches.
PointRepresentationConstPtr const	getPointRepresentation ()
	Get a pointer to the point representation used when converting points into k-D vectors.
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.
virtual void	nearestKSearch (const PointCloud &cloud, const std::vector< int > &indices, int k, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.
int	radiusSearch (const PointT &point, double radius, std::vector< int > &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.
virtual void	radiusSearch (const PointCloud &cloud, const std::vector< int > &indices, double radius, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for the k-nearest neighbors for the given query point.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
virtual void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
	Provide a pointer to the input dataset.
void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a pointer to the point representation to use to convert points into k-D vectors.
virtual	~FlannSearch ()
	Destructor for FlannSearch.
Protected Member Functions
void	convertInputToFlannMatrix ()
	converts the input data to a format usable by FLANN
Protected Attributes
FlannIndexCreatorPtr	creator_
int	dim_
float	eps_
bool	identity_mapping_
IndexPtr	index_
std::vector< int >	index_mapping_
bool	input_copied_for_flann_
MatrixPtr	input_flann_
PointRepresentationConstPtr	point_representation_
Private Types
typedef flann::NNIndex < FlannDistance >	Index
typedef boost::shared_ptr < flann::NNIndex < FlannDistance > >	IndexPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < const flann::Matrix< float > >	MatrixConstPtr
typedef boost::shared_ptr < flann::Matrix< float > >	MatrixPtr
typedef Search< PointT > ::PointCloud	PointCloud
typedef Search< PointT > ::PointCloudConstPtr	PointCloudConstPtr
typedef pcl::PointRepresentation < PointT >	PointRepresentation
typedef boost::shared_ptr < const PointRepresentation >	PointRepresentationConstPtr

Detailed Description

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
class pcl::search::FlannSearch< PointT, FlannDistance >

search::FlannSearch is a generic FLANN wrapper class for the new search interface. It is able to wrap any FLANN index type, e.g. the kd tree as well as indices for high-dimensional searches and intended as a more powerful and cleaner successor to KdTreeFlann.

Author:: Andreas Muetzel

Definition at line 67 of file flann_search.h.

Member Typedef Documentation

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<const FlannSearch<PointT, FlannDistance> > pcl::search::FlannSearch< PointT, FlannDistance >::ConstPtr

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

Definition at line 89 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<FlannIndexCreator> pcl::search::FlannSearch< PointT, FlannDistance >::FlannIndexCreatorPtr

Definition at line 109 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef flann::NNIndex< FlannDistance > pcl::search::FlannSearch< PointT, FlannDistance >::Index [private]

Definition at line 74 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<flann::NNIndex <FlannDistance > > pcl::search::FlannSearch< PointT, FlannDistance >::IndexPtr [private]

Definition at line 75 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<const std::vector<int> > pcl::search::FlannSearch< PointT, FlannDistance >::IndicesConstPtr [private]

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

Definition at line 73 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<std::vector<int> > pcl::search::FlannSearch< PointT, FlannDistance >::IndicesPtr [private]

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

Definition at line 72 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<const flann::Matrix <float> > pcl::search::FlannSearch< PointT, FlannDistance >::MatrixConstPtr [private]

Definition at line 77 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<flann::Matrix <float> > pcl::search::FlannSearch< PointT, FlannDistance >::MatrixPtr [private]

Definition at line 76 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef Search<PointT>::PointCloud pcl::search::FlannSearch< PointT, FlannDistance >::PointCloud [private]

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

Definition at line 69 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef Search<PointT>::PointCloudConstPtr pcl::search::FlannSearch< PointT, FlannDistance >::PointCloudConstPtr [private]

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

Definition at line 70 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef pcl::PointRepresentation<PointT> pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentation [private]

Definition at line 79 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<const PointRepresentation> pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentationConstPtr [private]

Definition at line 81 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

typedef boost::shared_ptr<FlannSearch<PointT, FlannDistance> > pcl::search::FlannSearch< PointT, FlannDistance >::Ptr

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

Definition at line 88 of file flann_search.h.

Constructor & Destructor Documentation

template<typename PointT , typename FlannDistance >

pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch	(	bool	sorted = `true`,
		FlannIndexCreatorPtr	creator = `FlannIndexCreatorPtr (new KdTreeIndexCreator ())`
	)

Definition at line 64 of file flann_search.hpp.

template<typename PointT , typename FlannDistance >

pcl::search::FlannSearch< PointT, FlannDistance >::~FlannSearch ( ) [virtual]

Destructor for FlannSearch.

Definition at line 73 of file flann_search.hpp.

Member Function Documentation

template<typename PointT , typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix ( ) [protected]

converts the input data to a format usable by FLANN

Definition at line 348 of file flann_search.hpp.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

double pcl::search::FlannSearch< PointT, FlannDistance >::getEpsilon ( ) [inline]

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 177 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

PointRepresentationConstPtr const pcl::search::FlannSearch< PointT, FlannDistance >::getPointRepresentation ( ) [inline]

Get a pointer to the point representation used when converting points into k-D vectors.

Definition at line 253 of file flann_search.h.

template<typename PointT, typename FlannDistance >

int pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch	(	const PointT &	point,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const `[virtual]`

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

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

Definition at line 92 of file flann_search.hpp.

template<typename PointT, typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch	(	const PointCloud &	cloud,
		const std::vector< int > &	indices,
		int	k,
		std::vector< std::vector< int > > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances
	)		const `[virtual]`

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

Parameters:

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i

Definition at line 133 of file flann_search.hpp.

template<typename PointT, typename FlannDistance >

int pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch	(	const PointT &	point,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[virtual]`

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_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn	if given, bounds the maximum returned neighbors to this value. If max_nn is set to 0 or to a number higher than the number of points in the input cloud, all neighbors in radius will be returned.

Returns:: number of neighbors found in radius

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

Definition at line 219 of file flann_search.hpp.

template<typename PointT, typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch	(	const PointCloud &	cloud,
		const std::vector< int > &	indices,
		double	radius,
		std::vector< std::vector< int > > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const `[virtual]`

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

Parameters:

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i
[in]	max_nn	if given, bounds the maximum returned neighbors to this value

Definition at line 261 of file flann_search.hpp.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

void pcl::search::FlannSearch< PointT, FlannDistance >::setEpsilon ( double eps ) [inline]

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters:

[in] eps precision (error bound) for nearest neighbors searches

Definition at line 170 of file flann_search.h.

template<typename PointT , typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices = `IndicesConstPtr ()`
	)		`[virtual]`

Provide a pointer to the input dataset.

Parameters:

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

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

Definition at line 81 of file flann_search.hpp.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

void pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation ( const PointRepresentationConstPtr & point_representation ) [inline]

Provide a pointer to the point representation to use to convert points into k-D vectors.

Parameters:

[in] point_representation the const boost shared pointer to a PointRepresentation

Definition at line 243 of file flann_search.h.

Member Data Documentation

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

FlannIndexCreatorPtr pcl::search::FlannSearch< PointT, FlannDistance >::creator_ [protected]

The index creator, used to (re-) create the index when the search data is passed.

Definition at line 270 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

int pcl::search::FlannSearch< PointT, FlannDistance >::dim_ [protected]

Definition at line 283 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

float pcl::search::FlannSearch< PointT, FlannDistance >::eps_ [protected]

Epsilon for approximate NN search.

Definition at line 278 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

bool pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_ [protected]

Definition at line 286 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

IndexPtr pcl::search::FlannSearch< PointT, FlannDistance >::index_ [protected]

The FLANN index.

Definition at line 266 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

std::vector<int> pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_ [protected]

Definition at line 285 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

bool pcl::search::FlannSearch< PointT, FlannDistance >::input_copied_for_flann_ [protected]

Definition at line 279 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

MatrixPtr pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_ [protected]

Input data in FLANN format.

Definition at line 274 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>

PointRepresentationConstPtr pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_ [protected]

Definition at line 281 of file flann_search.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>> class pcl::search::FlannSearch< PointT, FlannDistance >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
class pcl::search::FlannSearch< PointT, FlannDistance >