Point Cloud Library (PCL)
1.3.1
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Octree pointcloud search class More...
#include <pcl/octree/octree_search.h>
Classes | |
class | prioBranchQueueEntry |
Priority queue entry for branch nodes More... | |
class | prioPointQueueEntry |
Priority queue entry for point candidates More... | |
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. | |
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. |
Octree pointcloud search class
typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloudSearch::AlignedPointTVector |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 81 of file octree_search.h.
typedef boost::shared_ptr<const OctreePointCloudSearch<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloudSearch::ConstPtr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 78 of file octree_search.h.
typedef OctreePointCloudSearch<PointT, LeafT, Octree2BufBase<int, LeafT> > pcl::octree::OctreePointCloudSearch::DoubleBuffer |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 73 of file octree_search.h.
typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloudSearch::IndicesConstPtr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 65 of file octree_search.h.
typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloudSearch::IndicesPtr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 64 of file octree_search.h.
typedef OctreePointCloudSearch<PointT, LeafT, OctreeLowMemBase<int, LeafT> > pcl::octree::OctreePointCloudSearch::LowMem |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 74 of file octree_search.h.
typedef OctreeT::OctreeBranch pcl::octree::OctreePointCloudSearch::OctreeBranch |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 83 of file octree_search.h.
typedef OctreeT::OctreeKey pcl::octree::OctreePointCloudSearch::OctreeKey |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 84 of file octree_search.h.
typedef OctreeT::OctreeLeaf pcl::octree::OctreePointCloudSearch::OctreeLeaf |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 85 of file octree_search.h.
typedef pcl::PointCloud<PointT> pcl::octree::OctreePointCloudSearch::PointCloud |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 67 of file octree_search.h.
typedef boost::shared_ptr<const PointCloud> pcl::octree::OctreePointCloudSearch::PointCloudConstPtr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 69 of file octree_search.h.
typedef boost::shared_ptr<PointCloud> pcl::octree::OctreePointCloudSearch::PointCloudPtr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 68 of file octree_search.h.
typedef boost::shared_ptr<OctreePointCloudSearch<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloudSearch::Ptr |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 77 of file octree_search.h.
typedef OctreePointCloudSearch<PointT, LeafT, OctreeBase<int, LeafT> > pcl::octree::OctreePointCloudSearch::SingleBuffer |
Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.
Definition at line 72 of file octree_search.h.
pcl::octree::OctreePointCloudSearch::OctreePointCloudSearch | ( | const double | resolution | ) | [inline] |
Constructor.
resolution,: | octree resolution at lowest octree level |
Definition at line 90 of file octree_search.h.
virtual pcl::octree::OctreePointCloudSearch::~OctreePointCloudSearch | ( | ) | [inline, virtual] |
Empty class constructor.
Definition at line 97 of file octree_search.h.
void pcl::octree::OctreePointCloud::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.
pointIdx_arg | index of point to be added |
indices_arg | pointer to indices vector of the dataset (given by setInputCloud) |
void pcl::octree::OctreePointCloud::addPointsFromInputCloud | ( | ) | [inherited] |
Add points from input point cloud to octree.
void pcl::octree::OctreePointCloud::addPointToCloud | ( | const PointT & | point_arg, |
PointCloudPtr | cloud_arg | ||
) | [inherited] |
Add point simultaneously to octree and input point cloud.
point_arg | point to be added |
cloud_arg | pointer to input point cloud dataset (given by setInputCloud) |
void pcl::octree::OctreePointCloud::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.
point_arg | point to be added |
cloud_arg | pointer to input point cloud dataset (given by setInputCloud) |
indices_arg | pointer to indices vector of the dataset (given by setInputCloud) |
void pcl::octree::OctreePointCloudSearch::approxNearestSearch | ( | const PointCloud & | cloud, |
int | query_index, | ||
int & | result_index, | ||
float & | sqr_distance | ||
) | [inline] |
Search for approx.
nearest neighbor at the query point.
cloud | the point cloud data |
query_index | the index in cloud representing the query point |
result_index | the resultant index of the neighbor point |
sqr_distance | the resultant squared distance to the neighboring point |
Definition at line 165 of file octree_search.h.
void pcl::octree::OctreePointCloudSearch::approxNearestSearch | ( | const PointT & | p_q, |
int & | result_index, | ||
float & | sqr_distance | ||
) |
Search for approx.
nearest neighbor at the query point.
p_q | the given query point |
result_index | the resultant index of the neighbor point |
sqr_distance | the resultant squared distance to the neighboring point |
Definition at line 127 of file octree_search.hpp.
void pcl::octree::OctreePointCloudSearch::approxNearestSearch | ( | int | query_index, |
int & | result_index, | ||
float & | sqr_distance | ||
) |
Search for approx.
nearest neighbor at the query point.
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 |
Definition at line 140 of file octree_search.hpp.
void pcl::octree::OctreePointCloud::defineBoundingBox | ( | ) | [inherited] |
Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
void pcl::octree::OctreePointCloud::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.
minX_arg | X coordinate of lower bounding box corner |
minY_arg | Y coordinate of lower bounding box corner |
minZ_arg | Z coordinate of lower bounding box corner |
maxX_arg | X coordinate of upper bounding box corner |
maxY_arg | Y coordinate of upper bounding box corner |
maxZ_arg | Z coordinate of upper bounding box corner |
void pcl::octree::OctreePointCloud::defineBoundingBox | ( | const double | maxX_arg, |
const double | maxY_arg, | ||
const double | maxZ_arg | ||
) | [inherited] |
Define bounding box for octree.
maxX_arg | X coordinate of upper bounding box corner |
maxY_arg | Y coordinate of upper bounding box corner |
maxZ_arg | Z coordinate of upper bounding box corner |
void pcl::octree::OctreePointCloud::defineBoundingBox | ( | const double | cubeLen_arg | ) | [inherited] |
Define bounding box cube for octree.
cubeLen_arg | side length of bounding box cube. |
void pcl::octree::OctreePointCloud::deleteTree | ( | ) | [inline, inherited] |
Delete the octree structure and its leaf nodes.
Definition at line 215 of file octree_pointcloud.h.
void pcl::octree::OctreePointCloud::deleteVoxelAtPoint | ( | const PointT & | point_arg | ) | [inherited] |
Delete leaf node / voxel at given point.
point_arg | point addressing the voxel to be deleted. |
void pcl::octree::OctreePointCloud::deleteVoxelAtPoint | ( | const int & | pointIdx_arg | ) | [inherited] |
Delete leaf node / voxel at given point from input cloud.
pointIdx_arg | index of point addressing the voxel to be deleted. |
void pcl::octree::OctreePointCloud::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.
minX_arg | X coordinate of lower bounding box corner |
minY_arg | Y coordinate of lower bounding box corner |
minZ_arg | Z coordinate of lower bounding box corner |
maxX_arg | X coordinate of upper bounding box corner |
maxY_arg | Y coordinate of upper bounding box corner |
maxZ_arg | Z coordinate of upper bounding box corner |
double pcl::octree::OctreePointCloud::getEpsilon | ( | ) | [inline, inherited] |
Get the search epsilon precision (error bound) for nearest neighbors searches.
Definition at line 155 of file octree_pointcloud.h.
IndicesConstPtr const pcl::octree::OctreePointCloud::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 130 of file octree_pointcloud.h.
PointCloudConstPtr pcl::octree::OctreePointCloud::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 139 of file octree_pointcloud.h.
int pcl::octree::OctreePointCloudSearch::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).
[in] | origin | ray origin |
[in] | direction | ray direction vector |
[out] | voxelCenterList | results are written to this vector of PointT elements |
Definition at line 486 of file octree_search.hpp.
int pcl::octree::OctreePointCloudSearch::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).
[in] | origin | ray origin |
[in] | direction | ray direction vector |
[out] | k_indices | resulting indices |
Definition at line 511 of file octree_search.hpp.
int pcl::octree::OctreePointCloud::getOccupiedVoxelCenters | ( | AlignedPointTVector & | voxelCenterList_arg | ) | const [inherited] |
Get a PointT vector of centers of all occupied voxels.
voxelCenterList_arg | results are written to this vector of PointT elements |
double pcl::octree::OctreePointCloud::getResolution | ( | ) | [inline, inherited] |
Get octree voxel resolution.
Definition at line 175 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud::getVoxelSquaredDiameter | ( | unsigned int | treeDepth_arg | ) | const [inherited] |
Calculates the squared diameter of a voxel at given tree depth.
treeDepth_arg | depth/level in octree |
double pcl::octree::OctreePointCloud::getVoxelSquaredDiameter | ( | ) | const [inline, inherited] |
Calculates the squared diameter of a voxel at leaf depth.
Definition at line 325 of file octree_pointcloud.h.
double pcl::octree::OctreePointCloud::getVoxelSquaredSideLen | ( | unsigned int | treeDepth_arg | ) | const [inherited] |
Calculates the squared voxel cube side length at given tree depth.
treeDepth_arg | depth/level in octree |
double pcl::octree::OctreePointCloud::getVoxelSquaredSideLen | ( | ) | const [inline, inherited] |
Calculates the squared voxel cube side length at leaf level.
Definition at line 341 of file octree_pointcloud.h.
bool pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint | ( | const PointT & | point_arg | ) | const [inherited] |
Check if voxel at given point exist.
point_arg | point to be checked |
bool pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint | ( | const double | pointX_arg, |
const double | pointY_arg, | ||
const double | pointZ_arg | ||
) | const [inherited] |
Check if voxel at given point coordinates exist.
pointX_arg | X coordinate of point to be checked |
pointY_arg | Y coordinate of point to be checked |
pointZ_arg | Z coordinate of point to be checked |
bool pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint | ( | const int & | pointIdx_arg | ) | const [inherited] |
Check if voxel at given point from input cloud exist.
pointIdx_arg | point to be checked |
int pcl::octree::OctreePointCloudSearch::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.
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!) |
Definition at line 127 of file octree_search.h.
int pcl::octree::OctreePointCloudSearch::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.
p_q | 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!) |
Definition at line 78 of file octree_search.hpp.
int pcl::octree::OctreePointCloudSearch::nearestKSearch | ( | int | index, |
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) |
Search for k-nearest neighbors at query point.
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. |
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!) |
Definition at line 118 of file octree_search.hpp.
int pcl::octree::OctreePointCloudSearch::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.
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 |
Definition at line 199 of file octree_search.h.
int pcl::octree::OctreePointCloudSearch::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.
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 |
Definition at line 150 of file octree_search.hpp.
int pcl::octree::OctreePointCloudSearch::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.
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 |
Definition at line 168 of file octree_search.hpp.
void pcl::octree::OctreePointCloud::setEpsilon | ( | double | eps | ) | [inline, inherited] |
Set the search epsilon precision (error bound) for nearest neighbors searches.
eps | precision (error bound) for nearest neighbors searches |
Definition at line 148 of file octree_pointcloud.h.
void pcl::octree::OctreePointCloud::setInputCloud | ( | const PointCloudConstPtr & | cloud_arg, |
const IndicesConstPtr & | indices_arg = IndicesConstPtr () |
||
) | [inline, inherited] |
Provide a pointer to the input data set.
cloud_arg | the const boost shared pointer to a PointCloud message |
indices_arg | the point indices subset that is to be used from cloud - if 0 the whole point cloud is used |
Definition at line 115 of file octree_pointcloud.h.
void pcl::octree::OctreePointCloud::setResolution | ( | double | resolution_arg | ) | [inline, inherited] |
Set/change the octree voxel resolution.
resolution_arg | side length of voxels at lowest tree level |
Definition at line 164 of file octree_pointcloud.h.
bool pcl::octree::OctreePointCloudSearch::voxelSearch | ( | const PointT & | point, |
std::vector< int > & | pointIdx_data | ||
) |
Search for neighbors within a voxel at given point.
[in] | point | point addressing a leaf node voxel |
[out] | pointIdx_data | the resultant indices of the neighboring voxel points |
Definition at line 47 of file octree_search.hpp.
bool pcl::octree::OctreePointCloudSearch::voxelSearch | ( | const int | index, |
std::vector< int > & | pointIdx_data | ||
) |
Search for neighbors within a voxel at given point referenced by a point index.
[in] | index | the index in input cloud defining the query point |
[out] | pointIdx_data | the resultant indices of the neighboring voxel points |
Definition at line 69 of file octree_search.hpp.