OrganizedNeighborSearch class More...

#include </build/pcl-uIWyNl/pcl-1.15.1+dfsg/cuda/nn/organized_neighbor_search.h>

Classes
class	radiusSearchLoopkupEntry
	radiusSearchLoopkupEntry entry for radius search lookup vector More...
class	nearestNeighborCandidate
	nearestNeighborCandidate entry for the nearest neighbor candidate queue More...

Public Types
using	PointCloud = pcl::PointCloud<PointT>
using	PointCloudPtr = typename PointCloud::Ptr
using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Member Functions
	OrganizedNeighborSearch ()
	OrganizedNeighborSearch constructor.
virtual	~OrganizedNeighborSearch ()=default
	Empty deconstructor.
void	setInputCloud (const PointCloudConstPtr &cloud_arg)
	Provide a pointer to the input data set.
int	radiusSearch (const PointCloudConstPtr &cloud_arg, int index_arg, double radius_arg, std::vector< int > &k_indices_arg, std::vector< float > &k_sqr_distances_arg, int max_nn_arg=std::numeric_limits< int >::max())
	Search for all neighbors of query point that are within a given radius.
int	radiusSearch (int index_arg, const double radius_arg, std::vector< int > &k_indices_arg, std::vector< float > &k_sqr_distances_arg, int max_nn_arg=std::numeric_limits< int >::max()) const
	Search for all neighbors of query point that are within a given radius.
int	radiusSearch (const PointT &p_q_arg, const double radius_arg, std::vector< int > &k_indices_arg, std::vector< float > &k_sqr_distances_arg, int max_nn_arg=std::numeric_limits< int >::max()) const
	Search for all neighbors of query point that are within a given radius.
int	nearestKSearch (const PointCloudConstPtr &cloud_arg, int index_arg, int k_arg, std::vector< int > &k_indices_arg, std::vector< float > &k_sqr_distances_arg)
	Search for k-nearest neighbors at the query point.
int	nearestKSearch (int index_arg, int k_arg, std::vector< int > &k_indices_arg, std::vector< float > &k_sqr_distances_arg)
	Search for k-nearest neighbors at query point.
int	nearestKSearch (const PointT &p_q_arg, int k_arg, std::vector< int > &k_indices_arg, std::vector< float > &k_sqr_distances_arg)
	Search for k-nearest neighbors at given query point.
double	getMaxDistance () const
	Get the maximum allowed distance between the query point and its nearest neighbors.
void	setMaxDistance (double max_dist)
	Set the maximum allowed distance between the query point and its nearest neighbors.

Protected Member Functions
const PointT &	getPointByIndex (const unsigned int index_arg) const
	Get point at index from input pointcloud dataset.
void	generateRadiusLookupTable (unsigned int width, unsigned int height)
	Generate radius lookup table.
void	pointPlaneProjection (const PointT &point, int &xpos, int &ypos) const
void	getProjectedRadiusSearchBox (const PointT &point_arg, double squared_radius_arg, int &minX_arg, int &minY_arg, int &maxX_arg, int &maxY_arg) const
void	estimateFocalLengthFromInputCloud ()
	Estimate focal length parameter that was used during point cloud generation.
virtual std::string	getName () const
	Class getName method.

Protected Attributes
PointCloudConstPtr	input_
	Pointer to input point cloud dataset.
double	max_distance_
	Maximum allowed distance between the query point and its k-neighbors.
double	focalLength_
	Global focal length parameter.
std::vector< radiusSearchLoopkupEntry >	radiusSearchLookup_
	Precalculated radius search lookup vector.
int	radiusLookupTableWidth_
int	radiusLookupTableHeight_

Detailed Description

template<typename PointT>
class pcl::OrganizedNeighborSearch< PointT >

OrganizedNeighborSearch class

Note: This class provides neighbor search routines for organized point clouds.; typename: PointT: type of point used in pointcloud

Author: Julius Kammerl (juliu.nosp@m.s@ka.nosp@m.mmerl.nosp@m..de)

Definition at line 59 of file organized_neighbor_search.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

using pcl::OrganizedNeighborSearch< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 80 of file organized_neighbor_search.h.

◆ PointCloudConstPtr

template<typename PointT>

using pcl::OrganizedNeighborSearch< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 82 of file organized_neighbor_search.h.

◆ PointCloudPtr

template<typename PointT>

using pcl::OrganizedNeighborSearch< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 81 of file organized_neighbor_search.h.

Constructor & Destructor Documentation

◆ OrganizedNeighborSearch()

template<typename PointT>

pcl::OrganizedNeighborSearch< PointT >::OrganizedNeighborSearch ( )

inline

OrganizedNeighborSearch constructor.

Definition at line 66 of file organized_neighbor_search.h.

References focalLength_, max_distance_, radiusLookupTableHeight_, and radiusLookupTableWidth_.

◆ ~OrganizedNeighborSearch()

template<typename PointT>

virtual pcl::OrganizedNeighborSearch< PointT >::~OrganizedNeighborSearch ( )

virtualdefault

Empty deconstructor.

Member Function Documentation

◆ estimateFocalLengthFromInputCloud()

template<typename PointT>

void pcl::OrganizedNeighborSearch< PointT >::estimateFocalLengthFromInputCloud ( )

protected

Estimate focal length parameter that was used during point cloud generation.

Definition at line 337 of file organized_neighbor_search.hpp.

References focalLength_, and input_.

Referenced by setInputCloud().

◆ generateRadiusLookupTable()

template<typename PointT>

void pcl::OrganizedNeighborSearch< PointT >::generateRadiusLookupTable	(	unsigned int	width,
		unsigned int	height )

protected

Generate radius lookup table.

It is used to subsequentially iterate over points which are close to the search point

Parameters

width	of organized point cloud
height	of organized point cloud

Definition at line 366 of file organized_neighbor_search.hpp.

References radiusLookupTableHeight_, radiusLookupTableWidth_, and radiusSearchLookup_.

Referenced by setInputCloud().

◆ getMaxDistance()

template<typename PointT>

double pcl::OrganizedNeighborSearch< PointT >::getMaxDistance ( ) const

inline

Get the maximum allowed distance between the query point and its nearest neighbors.

Definition at line 179 of file organized_neighbor_search.h.

References max_distance_.

◆ getName()

template<typename PointT>

virtual std::string pcl::OrganizedNeighborSearch< PointT >::getName ( ) const

inlineprotectedvirtual

Class getName method.

Definition at line 302 of file organized_neighbor_search.h.

Referenced by nearestKSearch(), and radiusSearch().

◆ getPointByIndex()

template<typename PointT>

const PointT & pcl::OrganizedNeighborSearch< PointT >::getPointByIndex ( const unsigned int index_arg ) const

protected

Get point at index from input pointcloud dataset.

Parameters

index_arg index representing the point in the dataset given by setInputCloud

Returns: PointT from input pointcloud dataset

Definition at line 392 of file organized_neighbor_search.hpp.

References input_.

Referenced by nearestKSearch(), and radiusSearch().

◆ getProjectedRadiusSearchBox()

template<typename PointT>

void pcl::OrganizedNeighborSearch< PointT >::getProjectedRadiusSearchBox	(	const PointT &	point_arg,
		double	squared_radius_arg,
		int &	minX_arg,
		int &	minY_arg,
		int &	maxX_arg,
		int &	maxY_arg ) const

protected

Definition at line 91 of file organized_neighbor_search.hpp.

References focalLength_, and input_.

Referenced by nearestKSearch(), and radiusSearch().

◆ nearestKSearch() [1/3]

template<typename PointT>

int pcl::OrganizedNeighborSearch< PointT >::nearestKSearch	(	const PointCloudConstPtr &	cloud_arg,
		int	index_arg,
		int	k_arg,
		std::vector< int > &	k_indices_arg,
		std::vector< float > &	k_sqr_distances_arg )

Search for k-nearest neighbors at the query point.

Parameters

cloud_arg	the point cloud data
index_arg	the index in cloud representing the query point
k_arg	the number of neighbors to search for
k_indices_arg	the resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distances_arg	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns: number of neighbors found

Definition at line 149 of file organized_neighbor_search.hpp.

References nearestKSearch(), and setInputCloud().

Referenced by nearestKSearch(), and nearestKSearch().

◆ nearestKSearch() [2/3]

template<typename PointT>

int pcl::OrganizedNeighborSearch< PointT >::nearestKSearch	(	const PointT &	p_q_arg,
		int	k_arg,
		std::vector< int > &	k_indices_arg,
		std::vector< float > &	k_sqr_distances_arg )

Search for k-nearest neighbors at given query point.

Parameters

p_q_arg	the given query point
k_arg	the number of neighbors to search for
k_indices_arg	the resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distances_arg	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns: number of neighbors found

Definition at line 161 of file organized_neighbor_search.hpp.

References getName(), getProjectedRadiusSearchBox(), pcl::OrganizedNeighborSearch< PointT >::nearestNeighborCandidate::index_, input_, max_distance_, pointPlaneProjection(), radiusSearchLookup_, and pcl::OrganizedNeighborSearch< PointT >::nearestNeighborCandidate::squared_distance_.

◆ nearestKSearch() [3/3]

template<typename PointT>

int pcl::OrganizedNeighborSearch< PointT >::nearestKSearch	(	int	index_arg,
		int	k_arg,
		std::vector< int > &	k_indices_arg,
		std::vector< float > &	k_sqr_distances_arg )

Search for k-nearest neighbors at query point.

Parameters

index_arg	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.
k_arg	the number of neighbors to search for
k_indices_arg	the resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distances_arg	the resultant squared distances to the neighboring points (must be resized to k a priori!)

Returns: number of neighbors found

Definition at line 137 of file organized_neighbor_search.hpp.

References getPointByIndex(), and nearestKSearch().

◆ pointPlaneProjection()

template<typename PointT>

void pcl::OrganizedNeighborSearch< PointT >::pointPlaneProjection	(	const PointT &	point,
		int &	xpos,
		int &	ypos ) const

inlineprotected

Definition at line 284 of file organized_neighbor_search.h.

References focalLength_, and pcl_round().

Referenced by nearestKSearch().

◆ radiusSearch() [1/3]

template<typename PointT>

int pcl::OrganizedNeighborSearch< PointT >::radiusSearch	(	const PointCloudConstPtr &	cloud_arg,
		int	index_arg,
		double	radius_arg,
		std::vector< int > &	k_indices_arg,
		std::vector< float > &	k_sqr_distances_arg,
		int	max_nn_arg = std::numeric_limits<int>::max() )

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

Parameters

cloud_arg	the point cloud data
index_arg	the index in cloud representing the query point
radius_arg	the radius of the sphere bounding all of p_q's neighbors
k_indices_arg	the resultant indices of the neighboring points
k_sqr_distances_arg	the resultant squared distances to the neighboring points
max_nn_arg	if given, bounds the maximum returned neighbors to this value

Returns: number of neighbors found in radius

Definition at line 14 of file organized_neighbor_search.hpp.

References radiusSearch(), and setInputCloud().

Referenced by radiusSearch(), and radiusSearch().

◆ radiusSearch() [2/3]

template<typename PointT>

int pcl::OrganizedNeighborSearch< PointT >::radiusSearch	(	const PointT &	p_q_arg,
		const double	radius_arg,
		std::vector< int > &	k_indices_arg,
		std::vector< float > &	k_sqr_distances_arg,
		int	max_nn_arg = std::numeric_limits<int>::max() ) const

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

Parameters

p_q_arg	the given query point
radius_arg	the radius of the sphere bounding all of p_q's neighbors
k_indices_arg	the resultant indices of the neighboring points
k_sqr_distances_arg	the resultant squared distances to the neighboring points
max_nn_arg	if given, bounds the maximum returned neighbors to this value

Returns: number of neighbors found in radius

Definition at line 40 of file organized_neighbor_search.hpp.

References getName(), getProjectedRadiusSearchBox(), and input_.

◆ radiusSearch() [3/3]

template<typename PointT>

int pcl::OrganizedNeighborSearch< PointT >::radiusSearch	(	int	index_arg,
		const double	radius_arg,
		std::vector< int > &	k_indices_arg,
		std::vector< float > &	k_sqr_distances_arg,
		int	max_nn_arg = std::numeric_limits<int>::max() ) const

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

Parameters

index_arg	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_arg	radius of the sphere bounding all of p_q's neighbors
k_indices_arg	the resultant indices of the neighboring points
k_sqr_distances_arg	the resultant squared distances to the neighboring points
max_nn_arg	if given, bounds the maximum returned neighbors to this value