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 <octree.h>

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

List of all members.

Public Types
typedef boost::shared_ptr < const pcl::octree::OctreePointCloudSearch < PointT, LeafTWrap, BranchTWrap > >	ConstPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef boost::shared_ptr < pcl::octree::OctreePointCloudSearch < PointT, LeafTWrap, BranchTWrap > >	Ptr
Public Member Functions
void	approxNearestSearch (const PointCloudConstPtr &cloud, int query_index, int &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point.
void	approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point.
void	approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point.
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.
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.
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).
	Octree (const double resolution)
	Octree 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) const
	search for all neighbors of query point that are within a given radius.
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.
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.
void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices)
	Provide a pointer to the input dataset.
virtual	~Octree ()
	Empty Destructor.
Public Attributes
Ptr	tree_

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Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 67 of file search/include/pcl/search/octree.h.

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Member Typedef Documentation

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<const pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::ConstPtr

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

Definition at line 80 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<const std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesConstPtr

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

Definition at line 72 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<std::vector<int> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::IndicesPtr

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

Definition at line 71 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef pcl::PointCloud<PointT> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloud

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

Definition at line 74 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<const PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr

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

Definition at line 76 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<PointCloud> pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr

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

Definition at line 75 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

typedef boost::shared_ptr<pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr

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

Definition at line 79 of file search/include/pcl/search/octree.h.

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Constructor & Destructor Documentation

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Octree

(

const double

resolution

)

[inline]

Octree constructor.

Parameters:

[in]

resolution

octree resolution at lowest octree level

Definition at line 90 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

virtual pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::~Octree

(

)

[inline, virtual]

Empty Destructor.

Definition at line 98 of file search/include/pcl/search/octree.h.

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Member Function Documentation

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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]	cloud	the point cloud data
[in]	query_index	the index in cloud representing the query point
[out]	result_index	the resultant index of the neighbor point
[out]	sqr_distance	the resultant squared distance to the neighboring point

Returns:

number of neighbors found

Definition at line 248 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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_q	the given query point
[out]	result_index	the resultant index of the neighbor point
[out]	sqr_distance	the resultant squared distance to the neighboring point

Definition at line 260 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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_index	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.
result_index	the resultant index of the neighbor point
sqr_distance	the resultant squared distance to the neighboring point

Returns:

number of neighbors found

Definition at line 273 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 [inline, virtual]

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

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

Definition at line 138 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 [inline, 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 153 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 [inline, virtual]

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

Parameters:

[in]	index	the 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]	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

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

Definition at line 171 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 [inline, virtual]

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

Parameters:

cloud	the point cloud data
index	the index in cloud representing the query point
radius	the radius of the sphere bounding all of p_q's neighbors
k_indices	the resultant indices of the neighboring points
k_sqr_distances	the resultant squared distances to the neighboring points
max_nn	if 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 186 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 [inline, virtual]

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

Parameters:

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

Returns:

number of neighbors found in radius

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

Definition at line 208 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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 [inline, virtual]

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

Parameters:

index	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
radius	radius of the sphere bounding all of p_q's neighbors
k_indices	the resultant indices of the neighboring points
k_sqr_distances	the resultant squared distances to the neighboring points
max_nn	if 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 230 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud

(

const PointCloudConstPtr &

cloud

)

[inline]

Provide a pointer to the input dataset.

Parameters:

[in]

cloud

the const boost shared pointer to a PointCloud message

Definition at line 106 of file search/include/pcl/search/octree.h.

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, 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]	cloud	the const boost shared pointer to a PointCloud message
[in]	indices	the point indices subset that is to be used from cloud

Definition at line 119 of file search/include/pcl/search/octree.h.

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Member Data Documentation

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>, typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap >>

Ptr pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_

Definition at line 81 of file search/include/pcl/search/octree.h.

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

• search/include/pcl/search/octree.h