Octree pointcloud search class More...

#include <pcl/octree/octree_search.h>

Inheritance diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >:

Collaboration diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >:

Classes
class	prioBranchQueueEntry
	Priority queue entry for branch nodes
class	prioPointQueueEntry
	Priority queue entry for point candidates
Public Types
typedef boost::shared_ptr < std::vector< int > >	IndicesPtr
typedef boost::shared_ptr < const std::vector< int > >	IndicesConstPtr
typedef pcl::PointCloud< PointT >	PointCloud
typedef boost::shared_ptr < PointCloud >	PointCloudPtr
typedef boost::shared_ptr < const PointCloud >	PointCloudConstPtr
typedef OctreePointCloudSearch < PointT, LeafT, OctreeBase < int, LeafT > >	SingleBuffer
typedef OctreePointCloudSearch < PointT, LeafT, Octree2BufBase< int, LeafT > >	DoubleBuffer
typedef OctreePointCloudSearch < PointT, LeafT, OctreeLowMemBase< int, LeafT > >	LowMem
typedef boost::shared_ptr < OctreePointCloudSearch < PointT, LeafT, OctreeT > >	Ptr
typedef boost::shared_ptr < const OctreePointCloudSearch < PointT, LeafT, OctreeT > >	ConstPtr
typedef std::vector< PointT, Eigen::aligned_allocator < PointT > >	AlignedPointTVector
typedef OctreeT::OctreeBranch	OctreeBranch
typedef OctreeT::OctreeKey	OctreeKey
typedef OctreeT::OctreeLeaf	OctreeLeaf
Public Member Functions
	OctreePointCloudSearch (const double resolution)
	Constructor.
virtual	~OctreePointCloudSearch ()
	Empty class constructor.
bool	voxelSearch (const PointT &point, std::vector< int > &pointIdx_data)
	Search for neighbors within a voxel at given point.
bool	voxelSearch (const int index, std::vector< int > &pointIdx_data)
	Search for neighbors within a voxel at given point referenced by a point index.
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.
void	approxNearestSearch (const PointCloud &cloud, int query_index, int &result_index, float &sqr_distance)
	Search for approx.
void	approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
	Search for approx.
void	approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
	Search for approx.
int	radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, int max_nn=INT_MAX)
	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, int max_nn=INT_MAX) 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, int max_nn=INT_MAX) const
	Search for all neighbors of query point that are within a given radius.
int	getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxelCenterList) 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) const
	Get indices of all voxels that are intersected by a ray (origin, direction).
void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set.
IndicesConstPtr const	getIndices ()
	Get a pointer to the vector of indices used.
PointCloudConstPtr	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches.
double	getEpsilon ()
	Get the search epsilon precision (error bound) for nearest neighbors searches.
void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution.
double	getResolution ()
	Get octree voxel resolution.
void	addPointsFromInputCloud ()
	Add points from input point cloud to octree.
void	addPointFromCloud (const int pointIdx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud.
void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud.
bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist.
bool	isVoxelOccupiedAtPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg) const
	Check if voxel at given point coordinates exist.
bool	isVoxelOccupiedAtPoint (const int &pointIdx_arg) const
	Check if voxel at given point from input cloud exist.
void	deleteTree ()
	Delete the octree structure and its leaf nodes.
int	getOccupiedVoxelCenters (AlignedPointTVector &voxelCenterList_arg) const
	Get a PointT vector of centers of all occupied voxels.
int	getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2)
	Get a PointT vector of centers of voxels intersected by a line segment.
void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point.
void	deleteVoxelAtPoint (const int &pointIdx_arg)
	Delete leaf node / voxel at given point from input cloud.
void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
void	defineBoundingBox (const double minX_arg, const double minY_arg, const double minZ_arg, const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
	Define bounding box for octree.
void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree.
void	getBoundingBox (double &minX_arg, double &minY_arg, double &minZ_arg, double &maxX_arg, double &maxY_arg, double &maxZ_arg) const
	Get bounding box for octree.
double	getVoxelSquaredDiameter (unsigned int treeDepth_arg) const
	Calculates the squared diameter of a voxel at given tree depth.
double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth.
double	getVoxelSquaredSideLen (unsigned int treeDepth_arg) const
	Calculates the squared voxel cube side length at given tree depth.
double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level.

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >

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 63 of file octree_search.h.

Member Typedef Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::AlignedPointTVector

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 84 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const OctreePointCloudSearch<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::ConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 81 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloudSearch<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::DoubleBuffer

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 76 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::IndicesConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 68 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::IndicesPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 67 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloudSearch<PointT, LeafT, OctreeLowMemBase<int, LeafT> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::LowMem

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 77 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreeT::OctreeBranch pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::OctreeBranch

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 86 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreeT::OctreeKey pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::OctreeKey

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 87 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreeT::OctreeLeaf pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::OctreeLeaf

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 88 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::PointCloud

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 70 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::PointCloudConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 72 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::PointCloudPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 71 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef boost::shared_ptr<OctreePointCloudSearch<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::Ptr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 80 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

typedef OctreePointCloudSearch<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::SingleBuffer

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 75 of file octree_search.h.

Constructor & Destructor Documentation

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::OctreePointCloudSearch ( const double resolution ) [inline]

Constructor.

Parameters:

[in] resolution octree resolution at lowest octree level

Definition at line 93 of file octree_search.h.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

virtual pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::~OctreePointCloudSearch ( ) [inline, virtual]

Empty class constructor.

Definition at line 100 of file octree_search.h.

Member Function Documentation

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointFromCloud	(	const int	pointIdx_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point at given index from input point cloud to octree.

Index will be also added to indices vector.

Parameters:

[in]	pointIdx_arg	index of point to be added
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 100 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointsFromInputCloud ( ) [inherited]

Add points from input point cloud to octree.

Definition at line 65 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)

Definition at line 109 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::addPointToCloud	(	const PointT &	point_arg,
		PointCloudPtr	cloud_arg,
		IndicesPtr	indices_arg
	)		`[inherited]`

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters:

[in]	point_arg	point to be added
[in]	cloud_arg	pointer to input point cloud dataset (given by setInputCloud)
[in]	indices_arg	pointer to indices vector of the dataset (given by setInputCloud)

Definition at line 120 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::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]	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 168 of file octree_search.h.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::approxNearestSearch	(	const PointT &	p_q,
		int &	result_index,
		float &	sqr_distance
	)

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 127 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::approxNearestSearch	(	int	query_index,
		int &	result_index,
		float &	sqr_distance
	)

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 140 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox ( ) [inherited]

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

Definition at line 266 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox	(	const double	minX_arg,
		const double	minY_arg,
		const double	minZ_arg,
		const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

Note:: Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 301 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox	(	const double	maxX_arg,
		const double	maxY_arg,
		const double	maxZ_arg
	)		`[inherited]`

Define bounding box for octree.

Note:: Lower bounding box point is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 338 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::defineBoundingBox ( const double cubeLen_arg ) [inherited]

Define bounding box cube for octree.

Note:: Lower bounding box corner is set to (0, 0, 0); Bounding box cannot be changed once the octree contains elements.

Parameters:

[in] cubeLen_arg side length of bounding box cube.

Definition at line 373 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteTree ( ) [inline, inherited]

Delete the octree structure and its leaf nodes.

Definition at line 214 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteVoxelAtPoint ( const PointT & point_arg ) [inherited]

Delete leaf node / voxel at given point.

Parameters:

[in] point_arg point addressing the voxel to be deleted.

Definition at line 170 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::deleteVoxelAtPoint ( const int & pointIdx_arg ) [inherited]

Delete leaf node / voxel at given point from input cloud.

Parameters:

[in] pointIdx_arg index of point addressing the voxel to be deleted.

Definition at line 182 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getApproxIntersectedVoxelCentersBySegment	(	const Eigen::Vector3f &	origin,
		const Eigen::Vector3f &	end,
		AlignedPointTVector &	voxel_center_list,
		float	precision = `0.2`
	)		`[inherited]`

Get a PointT vector of centers of voxels intersected by a line segment.

This returns a approximation of the actual intersected voxels by walking along the line with small steps. Voxels are ordered, from closest to furthest w.r.t. the origin.

Parameters:

[in]	origin	origin of the line segment
[in]	end	end of the line segment
[out]	voxel_center_list	results are written to this vector of PointT elements
[in]	precision	determines the size of the steps: step_size = octree_resolution x precision

Returns:: number of intersected voxels

Definition at line 207 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getBoundingBox	(	double &	minX_arg,
		double &	minY_arg,
		double &	minZ_arg,
		double &	maxX_arg,
		double &	maxY_arg,
		double &	maxZ_arg
	)		const `[inherited]`

Get bounding box for octree.

Note:: Bounding box cannot be changed once the octree contains elements.

Parameters:

[in]	minX_arg	X coordinate of lower bounding box corner
[in]	minY_arg	Y coordinate of lower bounding box corner
[in]	minZ_arg	Z coordinate of lower bounding box corner
[in]	maxX_arg	X coordinate of upper bounding box corner
[in]	maxY_arg	Y coordinate of upper bounding box corner
[in]	maxZ_arg	Z coordinate of upper bounding box corner

Definition at line 405 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getEpsilon ( ) [inline, inherited]

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

Definition at line 153 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

IndicesConstPtr const pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Returns:: pointer to vector of indices used.

Definition at line 128 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

PointCloudConstPtr pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Returns:: pointer to pointcloud input class.

Definition at line 137 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::getIntersectedVoxelCenters	(	Eigen::Vector3f	origin,
		Eigen::Vector3f	direction,
		AlignedPointTVector &	voxelCenterList
	)		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]	voxelCenterList	results are written to this vector of PointT elements

Returns:: number of intersected voxels

Definition at line 483 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::getIntersectedVoxelIndices	(	Eigen::Vector3f	origin,
		Eigen::Vector3f	direction,
		std::vector< int > &	k_indices
	)		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 indices

Returns:: number of intersected voxels

Definition at line 507 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getOccupiedVoxelCenters ( AlignedPointTVector & voxelCenterList_arg ) const [inherited]

Get a PointT vector of centers of all occupied voxels.

Parameters:

[out] voxelCenterList_arg results are written to this vector of PointT elements

Returns:: number of occupied voxels

Definition at line 193 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getResolution ( ) [inline, inherited]

Get octree voxel resolution.

Returns:: voxel resolution at lowest tree level

Definition at line 174 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredDiameter ( unsigned int treeDepth_arg ) const [inherited]

Calculates the squared diameter of a voxel at given tree depth.

Parameters:

[in] treeDepth_arg depth/level in octree

Returns:: squared diameter

Definition at line 705 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredDiameter ( ) const [inline, inherited]

Calculates the squared diameter of a voxel at leaf depth.

Returns:: squared diameter

Definition at line 340 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredSideLen ( unsigned int treeDepth_arg ) const [inherited]

Calculates the squared voxel cube side length at given tree depth.

Parameters:

[in] treeDepth_arg depth/level in octree

Returns:: squared voxel cube side length

Definition at line 690 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

double pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::getVoxelSquaredSideLen ( ) const [inline, inherited]

Calculates the squared voxel cube side length at leaf level.

Returns:: squared voxel cube side length

Definition at line 356 of file octree_pointcloud.h.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint ( const PointT & point_arg ) const [inherited]

Check if voxel at given point exist.

Parameters:

[in] point_arg point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 133 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint	(	const double	pointX_arg,
		const double	pointY_arg,
		const double	pointZ_arg
	)		const `[inherited]`

Check if voxel at given point coordinates exist.

Parameters:

[in]	pointX_arg	X coordinate of point to be checked
[in]	pointY_arg	Y coordinate of point to be checked
[in]	pointZ_arg	Z coordinate of point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 157 of file octree_pointcloud.hpp.

template<typename PointT, typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::isVoxelOccupiedAtPoint ( const int & pointIdx_arg ) const [inherited]

Check if voxel at given point from input cloud exist.

Parameters:

[in] pointIdx_arg point to be checked

Returns:: "true" if voxel exist; "false" otherwise

Definition at line 146 of file octree_pointcloud.hpp.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::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 130 of file octree_search.h.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::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 78 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::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 118 of file octree_search.hpp.

template<typename PointT , typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::radiusSearch	(	const PointCloud &	cloud,
		int	index,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		int	max_nn = `INT_MAX`
	)		`[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 202 of file octree_search.h.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::radiusSearch	(	const PointT &	p_q,
		const double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		int	max_nn = `INT_MAX`
	)		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 150 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

int pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::radiusSearch	(	int	index,
		const double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		int	max_nn = `INT_MAX`
	)		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 168 of file octree_search.hpp.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setEpsilon ( double eps ) [inline, inherited]

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

Parameters:

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

Definition at line 146 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setInputCloud	(	const PointCloudConstPtr &	cloud_arg,
		const IndicesConstPtr &	indices_arg = `IndicesConstPtr ()`
	)		`[inline, inherited]`

Provide a pointer to the input data set.

Parameters:

[in]	cloud_arg	the const boost shared pointer to a PointCloud message
[in]	indices_arg	the point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 113 of file octree_pointcloud.h.

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>

void pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >::setResolution ( double resolution_arg ) [inline, inherited]

Set/change the octree voxel resolution.

Parameters:

[in] resolution_arg side length of voxels at lowest tree level

Definition at line 162 of file octree_pointcloud.h.

template<typename PointT , typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::voxelSearch	(	const PointT &	point,
		std::vector< int > &	pointIdx_data
	)

Search for neighbors within a voxel at given point.

Parameters:

[in]	point	point addressing a leaf node voxel
[out]	pointIdx_data	the resultant indices of the neighboring voxel points

Returns:: "true" if leaf node exist; "false" otherwise

Definition at line 47 of file octree_search.hpp.

template<typename PointT , typename LeafT , typename OctreeT >

bool pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >::voxelSearch	(	const int	index,
		std::vector< int > &	pointIdx_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]	pointIdx_data	the resultant indices of the neighboring voxel points

Returns:: "true" if leaf node exist; "false" otherwise

Definition at line 69 of file octree_search.hpp.

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

/builddir/build/BUILD/PCL-1.4.0-Source/octree/include/pcl/octree/octree_search.h
/builddir/build/BUILD/PCL-1.4.0-Source/octree/include/pcl/octree/impl/octree_search.hpp

Classes

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>> class pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename LeafT = OctreeLeafDataTVector<int>, typename OctreeT = OctreeBase<int, LeafT>>
class pcl::octree::OctreePointCloudSearch< PointT, LeafT, OctreeT >