Point Cloud Library (PCL)
1.3.1
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search::AutotunedSearch is a wrapper class which inherits all the search functions written in PCL and provides an intutive interface to all the functions. More...
#include </builddir/build/BUILD/PCL-1.3.1-Source/search/include/pcl/search/auto.h>
Public Types | |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef boost::shared_ptr < PointCloud > | PointCloudPtr |
typedef boost::shared_ptr < const PointCloud > | PointCloudConstPtr |
typedef boost::shared_ptr < pcl::search::Search< PointT > > | SearchPtr |
typedef boost::shared_ptr < const pcl::search::Search < PointT > > | SearchConstPtr |
typedef boost::shared_ptr < std::vector< int > > | IndicesPtr |
typedef boost::shared_ptr < const std::vector< int > > | IndicesConstPtr |
typedef boost::shared_ptr < pcl::search::Search< PointT > > | Ptr |
typedef boost::shared_ptr < const pcl::search::Search < PointT > > | ConstPtr |
Public Member Functions | |
AutotunedSearch (int spatial_locator) | |
constructor for AutotunedSearch. | |
AutotunedSearch () | |
virtual | ~AutotunedSearch () |
void | initSearchDS (int spatial_locator) |
Initiate the search DS to point to spatial_locator. | |
void | evaluateSearchMethods (const PointCloudConstPtr &cloud, const int search_type) |
Evaluate the search Methods for the given cloud. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices) |
Provide a pointer to the input dataset. | |
virtual PointCloudConstPtr | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
virtual IndicesConstPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
int | nearestKSearch (const PointT &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
search for k-nearest neighbors for the given query point. | |
virtual 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 for the given query point. | |
virtual int | nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
search for k-nearest neighbors for the given query point (zero-copy). | |
int | nearestKSearch (std::vector< PointT, Eigen::aligned_allocator< PointT > > &point, std::vector< int > &k, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) |
search for k-nearest neighbors for the given query points. | |
virtual int | radiusSearch (const PointT &point, const double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=-1) const |
search for all the nearest neighbors of the query point in a given radius. | |
virtual int | radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=-1) |
search for all the nearest neighbors of the query point in a given radius. | |
virtual int | radiusSearch (int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=-1) const |
search for all the nearest neighbors of the query point in a given radius (zero-copy). | |
virtual void | approxNearestSearch (const PointCloudConstPtr &cloud_arg, int query_index_arg, int &result_index_arg, float &sqr_distance_arg) |
search for approximate nearest neighbor at the query point. | |
virtual void | approxNearestSearch (const PointT &p_q_arg, int &result_index_arg, float &sqr_distance_arg) |
search for approximate nearest neighbor at the query point. | |
virtual void | approxNearestSearch (int query_index_arg, int &result_index_arg, float &sqr_distance_arg) |
search for approximate nearest neighbor at the query point. | |
int | radiusSearch (std::vector< PointT, Eigen::aligned_allocator< PointT > > &point, std::vector< double > &radiuses, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_distances, int max_nn) const |
Approximate search for all the nearest neighbors of the query points in the given radiuses. | |
int | approxRadiusSearch (const PointCloudConstPtr &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn) const |
Approximate search for all the nearest neighbors of the query point in a given radius. | |
int | approxNearestKSearch (const PointCloudConstPtr &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
Approximate search for k-nearest neighbors for the given query point. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices) |
Pass the input dataset that the search will be performed on. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud)=0 |
Pass the input dataset that the search will be performed on. | |
int | nearestKSearchT (const PointTDiff &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) |
Search for the k-nearest neighbors for the given query point. | |
int | radiusSearchT (const PointTDiff &point, double radius, std::vector< int > &k_indices, std::vector< float > &k_distances, int max_nn=-1) |
Search for all the nearest neighbors of the query point in a given radius. |
search::AutotunedSearch is a wrapper class which inherits all the search functions written in PCL and provides an intutive interface to all the functions.
typedef boost::shared_ptr<const pcl::search::Search<PointT> > pcl::search::Search::ConstPtr [inherited] |
Reimplemented in pcl::search::Octree, and pcl::search::KdTree.
typedef boost::shared_ptr<const std::vector<int> > pcl::search::AutotunedSearch::IndicesConstPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<std::vector<int> > pcl::search::AutotunedSearch::IndicesPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef pcl::PointCloud<PointT> pcl::search::AutotunedSearch::PointCloud |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<const PointCloud> pcl::search::AutotunedSearch::PointCloudConstPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<PointCloud> pcl::search::AutotunedSearch::PointCloudPtr |
Reimplemented from pcl::search::Search< PointT >.
typedef boost::shared_ptr<pcl::search::Search<PointT> > pcl::search::Search::Ptr [inherited] |
Reimplemented in pcl::search::Octree, and pcl::search::KdTree.
typedef boost::shared_ptr<const pcl::search::Search<PointT> > pcl::search::AutotunedSearch::SearchConstPtr |
typedef boost::shared_ptr<pcl::search::Search<PointT> > pcl::search::AutotunedSearch::SearchPtr |
pcl::search::AutotunedSearch::AutotunedSearch | ( | int | spatial_locator | ) | [inline] |
constructor for AutotunedSearch.
virtual pcl::search::AutotunedSearch::~AutotunedSearch | ( | ) | [inline, virtual] |
int pcl::search::AutotunedSearch::approxNearestKSearch | ( | const PointCloudConstPtr & | cloud, |
int | index, | ||
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) | [inline] |
Approximate search for k-nearest neighbors for the given query point.
cloud | the const boost shared pointer to a PointCloud message |
index | the index in cloud representing the query point |
k | the number of neighbors to search for |
k_indices | the resultant indices of the neighboring points (must be resized to k a priori!) |
k_sqr_distances | the resultant squared distances to the neighboring points (must be resized to k a priori!) |
void pcl::search::AutotunedSearch::approxNearestSearch | ( | const PointCloudConstPtr & | cloud_arg, |
int | query_index_arg, | ||
int & | result_index_arg, | ||
float & | sqr_distance_arg | ||
) | [virtual] |
search for approximate nearest neighbor at the query point.
cloud_arg | the const boost shared pointer to a PointCloud message |
query_index_arg | the index in cloud representing the query point |
result_index_arg | the resultant index of the neighbor point |
sqr_distance_arg | the resultant squared distance to the neighboring point |
void pcl::search::AutotunedSearch::approxNearestSearch | ( | const PointT & | p_q_arg, |
int & | result_index_arg, | ||
float & | sqr_distance_arg | ||
) | [virtual] |
void pcl::search::AutotunedSearch::approxNearestSearch | ( | int | query_index_arg, |
int & | result_index_arg, | ||
float & | sqr_distance_arg | ||
) | [virtual] |
search for approximate nearest neighbor at the query point.
query_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. |
result_index_arg | the resultant index of the neighbor point |
sqr_distance_arg | the resultant squared distance to the neighboring point |
int pcl::search::AutotunedSearch::approxRadiusSearch | ( | const PointCloudConstPtr & | cloud, |
int | index, | ||
double | radius, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_distances, | ||
int | max_nn | ||
) | const [inline] |
Approximate search for all the nearest neighbors of the query point in a given radius.
cloud | the const boost shared pointer to a PointCloud message |
index | the index in cloud representing the query point |
radius | the radius of the sphere bounding all of point's neighbors |
k_indices | the resultant indices of the neighboring points |
k_distances | the resultant squared distances to the neighboring points |
max_nn | if given, bounds the maximum returned neighbors to this value |
void pcl::search::AutotunedSearch::evaluateSearchMethods | ( | const PointCloudConstPtr & | cloud, |
const int | search_type | ||
) |
Evaluate the search Methods for the given cloud.
cloud | the const boost shared pointer to a PointCloud message |
search_type | the search type NEAREST_K_SEARCH and NEAREST_RADIUS_SEARCH |
virtual IndicesConstPtr const pcl::search::AutotunedSearch::getIndices | ( | ) | [inline, virtual] |
Get a pointer to the vector of indices used.
Reimplemented from pcl::search::Search< PointT >.
virtual PointCloudConstPtr pcl::search::AutotunedSearch::getInputCloud | ( | ) | [inline, virtual] |
Get a pointer to the input point cloud dataset.
Implements pcl::search::Search< PointT >.
void pcl::search::AutotunedSearch::initSearchDS | ( | int | spatial_locator | ) |
int pcl::search::AutotunedSearch::nearestKSearch | ( | const PointT & | point, |
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) | [virtual] |
search for k-nearest neighbors for the given query point.
point | the given query point |
k | the number of neighbors to search for |
k_indices | the resultant indices of the neighboring points (must be resized to k a priori!) |
k_sqr_distances | the resultant squared distances to the neighboring points (must be resized to k a priori!) |
Implements pcl::search::Search< PointT >.
int pcl::search::AutotunedSearch::nearestKSearch | ( | const PointCloud & | cloud, |
int | index, | ||
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) | [virtual] |
search for k-nearest neighbors for the given query point.
cloud | the point cloud data |
index | the index in cloud representing the query point |
k | the number of neighbors to search for |
k_indices | the resultant indices of the neighboring points (must be resized to k a priori!) |
k_sqr_distances | the resultant squared distances to the neighboring points (must be resized to k a priori!) |
Implements pcl::search::Search< PointT >.
int pcl::search::AutotunedSearch::nearestKSearch | ( | int | index, |
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) | [virtual] |
search for k-nearest neighbors for the given query point (zero-copy).
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 |
k | the number of neighbors to search for |
k_indices | the resultant indices of the neighboring points (must be resized to k a priori!) |
k_sqr_distances | the resultant squared distances to the neighboring points (must be resized to k a priori!) |
Implements pcl::search::Search< PointT >.
int pcl::search::AutotunedSearch::nearestKSearch | ( | std::vector< PointT, Eigen::aligned_allocator< PointT > > & | point, |
std::vector< int > & | k, | ||
std::vector< std::vector< int > > & | k_indices, | ||
std::vector< std::vector< float > > & | k_sqr_distances | ||
) | [inline] |
search for k-nearest neighbors for the given query points.
point | the given query points |
k | the numbers of the query point's neighbors to search for |
k_indices | the resultant indices of the neighboring points |
k_sqr_distances | the resultant squared distances to the neighboring points |
int pcl::search::Search::nearestKSearchT | ( | const PointTDiff & | point, |
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) | [inline, inherited] |
Search for the k-nearest neighbors for the given query point.
[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!) |
int pcl::search::AutotunedSearch::radiusSearch | ( | const PointT & | point, |
const double | radius, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_distances, | ||
int | max_nn = -1 |
||
) | const [virtual] |
search for all the nearest neighbors of the query point in a given radius.
point | 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_distances | the resultant squared distances to the neighboring points |
max_nn | if given, bounds the maximum returned neighbors to this value |
Implements pcl::search::Search< PointT >.
int pcl::search::AutotunedSearch::radiusSearch | ( | const PointCloud & | cloud, |
int | index, | ||
double | radius, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_distances, | ||
int | max_nn = -1 |
||
) | [virtual] |
search for all the nearest neighbors of the query point in a given radius.
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_distances | the resultant squared distances to the neighboring points |
max_nn | if given, bounds the maximum returned neighbors to this value |
Implements pcl::search::Search< PointT >.
int pcl::search::AutotunedSearch::radiusSearch | ( | int | index, |
double | radius, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_distances, | ||
int | max_nn = -1 |
||
) | const [virtual] |
search for all the nearest neighbors of the query point in a given radius (zero-copy).
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 |
radius | the radius of the sphere bounding all of p_q's neighbors |
k_indices | the resultant indices of the neighboring points |
k_distances | the resultant squared distances to the neighboring points |
max_nn | if given, bounds the maximum returned neighbors to this value |
Implements pcl::search::Search< PointT >.
int pcl::search::AutotunedSearch::radiusSearch | ( | std::vector< PointT, Eigen::aligned_allocator< PointT > > & | point, |
std::vector< double > & | radiuses, | ||
std::vector< std::vector< int > > & | k_indices, | ||
std::vector< std::vector< float > > & | k_distances, | ||
int | max_nn | ||
) | const [inline] |
Approximate search for all the nearest neighbors of the query points in the given radiuses.
point | the given query points |
radiuses | the radiuses of the sphere bounding all of point's neighbors |
k_indices | the resultant indices of the neighboring points |
k_distances | the resultant squared distances to the neighboring points |
max_nn | if given, bounds the maximum returned neighbors to this value |
int pcl::search::Search::radiusSearchT | ( | const PointTDiff & | point, |
double | radius, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_distances, | ||
int | max_nn = -1 |
||
) | [inline, inherited] |
Search for all the nearest neighbors of the query point in a given radius.
[in] | point | 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_distances | the resultant squared distances to the neighboring points |
[in] | max_nn | if given, bounds the maximum returned neighbors to this value |
virtual void pcl::search::Search::setInputCloud | ( | const PointCloudConstPtr & | cloud, |
const IndicesConstPtr & | indices | ||
) | [inline, virtual, inherited] |
virtual void pcl::search::Search::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [pure virtual, inherited] |
Pass the input dataset that the search will be performed on.
[in] | cloud | a const pointer to the PointCloud data |
void pcl::search::AutotunedSearch::setInputCloud | ( | const PointCloudConstPtr & | cloud, |
const IndicesConstPtr & | indices | ||
) | [virtual] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
indices | the point indices subset that is to be used from cloud - if NULL the whole point cloud is used |
void pcl::search::AutotunedSearch::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [virtual] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |