Point Cloud Library (PCL): 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. More...

#include <pcl/search/octree.h>

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

Public Types
using	Ptr = shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > >

using	ConstPtr = shared_ptr< const pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	OctreePointCloudSearchPtr = typename pcl::octree::OctreePointCloudSearch< PointT, LeafTWrap, BranchTWrap >::Ptr

using	OctreePointCloudSearchConstPtr = typename pcl::octree::OctreePointCloudSearch< PointT, LeafTWrap, BranchTWrap >::ConstPtr

Public Types inherited from pcl::search::Search< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< pcl::search::Search< PointT > >

using	ConstPtr = shared_ptr< const pcl::search::Search< PointT > >

using	IndicesPtr = pcl::IndicesPtr

using	IndicesConstPtr = pcl::IndicesConstPtr

Public Member Functions
	Octree (const double resolution)
	Octree constructor. More...

	~Octree ()
	Empty Destructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices) override
	Provide a pointer to the input dataset. More...

int	nearestKSearch (const PointCloud &cloud, index_t index, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
	Search for the k-nearest neighbors for the given query point. More...

int	nearestKSearch (const PointT &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
	Search for the k-nearest neighbors for the given query point. More...

int	nearestKSearch (index_t index, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
	Search for the k-nearest neighbors for the given query point (zero-copy). More...

int	radiusSearch (const PointCloud &cloud, index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
	search for all neighbors of query point that are within a given radius. More...

int	radiusSearch (const PointT &p_q, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
	search for all neighbors of query point that are within a given radius. More...

int	radiusSearch (index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
	search for all neighbors of query point that are within a given radius. More...

void	approxNearestSearch (const PointCloudConstPtr &cloud, index_t query_index, index_t &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point. More...

void	approxNearestSearch (const PointT &p_q, index_t &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point. More...

void	approxNearestSearch (index_t query_index, index_t &result_index, float &sqr_distance)
	Search for approximate nearest neighbor at the query point. More...

Public Member Functions inherited from pcl::search::Search< PointT >
	Search (const std::string &name="", bool sorted=false)
	Constructor. More...

virtual	~Search ()
	Destructor. More...

virtual const std::string &	getName () const
	Returns the search method name. More...

virtual void	setSortedResults (bool sorted)
	sets whether the results should be sorted (ascending in the distance) or not More...

virtual bool	getSortedResults ()
	Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results may be returned in any order. More...

virtual PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual IndicesConstPtr	getIndices () const
	Get a pointer to the vector of indices used. More...

template<typename PointTDiff >
int	nearestKSearchT (const PointTDiff &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const
	Search for k-nearest neighbors for the given query point. More...

virtual void	nearestKSearch (const PointCloud &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point. More...

template<typename PointTDiff >
void	nearestKSearchT (const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point. More...

template<typename PointTDiff >
int	radiusSearchT (const PointTDiff &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius. More...

virtual void	radiusSearch (const PointCloud &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius. More...

template<typename PointTDiff >
void	radiusSearchT (const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query points in a given radius. More...

Public Attributes
OctreePointCloudSearchPtr	tree_

Additional Inherited Members
Protected Member Functions inherited from pcl::search::Search< PointT >
void	sortResults (Indices &indices, std::vector< float > &distances) const

Protected Attributes inherited from pcl::search::Search< PointT >
PointCloudConstPtr	input_

IndicesConstPtr	indices_

bool	sorted_results_

std::string	name_

Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >

search::Octree is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure.

The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted according to the pointcloud dimension or it can be predefined. Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.

Note: typename: PointT: type of point used in pointcloud; typename: LeafT: leaf node class (usuallt templated with integer indices values); typename: OctreeT: octree implementation ()

Author: Julius Kammerl

Definition at line 68 of file octree.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::ConstPtr = shared_ptr<const pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> >

Definition at line 73 of file octree.h.

◆ OctreePointCloudSearchConstPtr

using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchConstPtr = typename pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap>::ConstPtr

Definition at line 81 of file octree.h.

◆ OctreePointCloudSearchPtr

using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchPtr = typename pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap>::Ptr

Definition at line 80 of file octree.h.

◆ PointCloud

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

Definition at line 75 of file octree.h.

◆ PointCloudConstPtr

using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 77 of file octree.h.

◆ PointCloudPtr

using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 76 of file octree.h.

◆ Ptr

using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr = shared_ptr<pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> >

Definition at line 72 of file octree.h.

Constructor & Destructor Documentation

◆ Octree()

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 91 of file octree.h.

◆ ~Octree()

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

inline

Empty Destructor.

Definition at line 99 of file octree.h.

Member Function Documentation

◆ approxNearestSearch() [1/3]

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch	(	const PointCloudConstPtr &	cloud,
		index_t	query_index,
		index_t &	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 249 of file octree.h.

◆ approxNearestSearch() [2/3]

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch	(	const PointT &	p_q,
		index_t &	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 261 of file octree.h.

◆ approxNearestSearch() [3/3]

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch	(	index_t	query_index,
		index_t &	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 274 of file octree.h.

◆ nearestKSearch() [1/3]

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch	(	const PointCloud &	cloud,
		index_t	index,
		int	k,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const

inlineoverridevirtual

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 139 of file octree.h.

◆ nearestKSearch() [2/3]

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch	(	const PointT &	point,
		int	k,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const

inlineoverridevirtual

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 154 of file octree.h.

◆ nearestKSearch() [3/3]

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch	(	index_t	index,
		int	k,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const

inlineoverridevirtual

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 172 of file octree.h.

◆ radiusSearch() [1/3]

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch	(	const PointCloud &	cloud,
		index_t	index,
		double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

inlineoverridevirtual

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 187 of file octree.h.

◆ radiusSearch() [2/3]

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch	(	const PointT &	p_q,
		double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

inlineoverridevirtual

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 209 of file octree.h.

◆ radiusSearch() [3/3]

int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch	(	index_t	index,
		double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

inlineoverridevirtual

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 231 of file octree.h.

◆ setInputCloud() [1/2]

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 107 of file octree.h.

◆ setInputCloud() [2/2]

void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices
	)

inlineoverridevirtual

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 120 of file octree.h.

Member Data Documentation

◆ tree_

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

Definition at line 82 of file octree.h.

Referenced by pcl::search::Octree< PointInT >::approxNearestSearch(), pcl::search::Octree< PointInT >::nearestKSearch(), pcl::search::Octree< PointInT >::radiusSearch(), and pcl::search::Octree< PointInT >::setInputCloud().

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

pcl/search/octree.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >> class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >

Member Typedef Documentation

◆ ConstPtr

◆ OctreePointCloudSearchConstPtr

◆ OctreePointCloudSearchPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ Octree()

◆ ~Octree()

Member Function Documentation

◆ approxNearestSearch() [1/3]

◆ approxNearestSearch() [2/3]

◆ approxNearestSearch() [3/3]

◆ nearestKSearch() [1/3]

◆ nearestKSearch() [2/3]

◆ nearestKSearch() [3/3]

◆ radiusSearch() [1/3]

◆ radiusSearch() [2/3]

◆ radiusSearch() [3/3]

◆ setInputCloud() [1/2]

◆ setInputCloud() [2/2]

Member Data Documentation

◆ tree_

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >