pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > Class Template Reference

**Octree** pointcloud search class
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`#include <octree_search.h>`

Inheritance diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >:

## 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. |

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

Definition at line 58 of file octree_search.h.

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.

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.

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.

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.

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.

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.

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.

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.

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.

pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudSearch | ( | const double | resolution | ) | ` [inline]` |

Constructor.

**Parameters:**-
[in] resolution octree resolution at lowest octree level

Definition at line 83 of file octree_search.h.

virtual pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudSearch | ( | ) | ` [inline, virtual]` |

Empty class constructor.

Definition at line 90 of file octree_search.h.

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch | ( | const PointCloud & | cloud, |

int | query_index, |
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int & | result_index, |
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float & | sqr_distance |
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) | ` [inline]` |

Search for approx. 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 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, |
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float & | sqr_distance |
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) |

Search for approx. 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 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, |
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float & | sqr_distance |
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) |

Search for approx. nearest neighbor at the query point.

**Parameters:**-
[in] 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.[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 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, |
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const OctreeKey & | key, |
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unsigned int | tree_depth, |
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int & | result_index, |
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float & | sqr_distance |
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) | ` [protected]` |

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

**Parameters:**-
[in] point query point [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [out] result_index result index is written to this reference [out] sqr_distance squared 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_pt lower corner of search area [in] max_pt upper corner of search area [out] k_indices the 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, |
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const BranchNode * | node, |
||

const OctreeKey & | key, |
||

unsigned int | tree_depth, |
||

std::vector< int > & | k_indices |
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) | const` [protected]` |

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

**Parameters:**-
[in] min_pt lower corner of search area [in] max_pt upper corner of search area [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [out] k_indices the resultant point indices

Definition at line 512 of file octree_search.hpp.

int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getFirstIntersectedNode | ( | double | min_x, |

double | min_y, |
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double | min_z, |
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double | mid_x, |
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double | mid_y, |
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double | mid_z |
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) | const` [inline, protected]` |

Find first child node ray will enter.

**Parameters:**-
[in] min_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] mid_x octree nodes X coordinate of bounding box mid line [in] mid_y octree nodes Y coordinate of bounding box mid line [in] mid_z octree 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] origin ray origin [in] direction ray direction vector [out] voxel_center_list results are written to this vector of PointT elements [in] max_voxel_count stop 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, |
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double | max_x, |
||

double | max_y, |
||

double | max_z, |
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unsigned char | a, |
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const OctreeNode * | node, |
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const OctreeKey & | key, |
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AlignedPointTVector & | voxel_center_list, |
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int | max_voxel_count |
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) | 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_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] max_x octree nodes X coordinate of upper bounding box corner [in] max_y octree nodes Y coordinate of upper bounding box corner [in] max_z octree nodes Z coordinate of upper bounding box corner [in] a [in] node current octree node to be explored [in] key octree key addressing a leaf node. [out] voxel_center_list results are written to this vector of PointT elements [in] max_voxel_count stop 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] origin ray origin [in] direction ray direction vector [out] k_indices resulting point indices from intersected voxels [in] max_voxel_count stop 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 |
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) | 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_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] max_x octree nodes X coordinate of upper bounding box corner [in] max_y octree nodes Y coordinate of upper bounding box corner [in] max_z octree nodes Z coordinate of upper bounding box corner [in] a [in] node current octree node to be explored [in] key octree key addressing a leaf node. [out] k_indices resulting indices [in] max_voxel_count stop 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, |
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const OctreeKey & | key, |
||

unsigned int | tree_depth, |
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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] point query point [in] K amount of nearest neighbors to be found [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [in] squared_search_radius squared search radius distance [out] point_candidates priority 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, |
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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] point query point [in] radiusSquared squared search radius [in] node current octree node to be explored [in] key octree key addressing a leaf node. [in] tree_depth current depth/level in the octree [out] k_indices vector of indices found to be neighbors of query point [out] k_sqr_distances squared distances of neighbors to query point [in] max_nn maximum of neighbors to be found

Definition at line 323 of file octree_search.hpp.

int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getNextIntersectedNode | ( | double | x, |

double | y, |
||

double | z, |
||

int | a, |
||

int | b, |
||

int | c |
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) | 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] x current nodes X coordinate of upper bounding box corner [in] y current nodes Y coordinate of upper bounding box corner [in] z current nodes Z coordinate of upper bounding box corner [in] a next node if exit Plane YZ [in] b next node if exit Plane XZ [in] c next 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.

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 |
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) | const` [inline, protected]` |

Initialize raytracing algorithm.

**Parameters:**-
origin direction [in] min_x octree nodes X coordinate of lower bounding box corner [in] min_y octree nodes Y coordinate of lower bounding box corner [in] min_z octree nodes Z coordinate of lower bounding box corner [in] max_x octree nodes X coordinate of upper bounding box corner [in] max_y octree nodes Y coordinate of upper bounding box corner [in] max_z octree nodes Z coordinate of upper bounding box corner a

Definition at line 466 of file octree_search.h.

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] 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

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_q 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 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] 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.[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 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_a point A [in] point_b point B

**Returns:**- squared distance between point A and point B

Definition at line 504 of file octree_search.hpp.

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] 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_sqr_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 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_q 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

**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] 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[in] radius 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

**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] point point addressing a leaf node voxel [out] point_idx_data the 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] index the index in input cloud defining the query point [out] point_idx_data the 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: