Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::search::AutotunedSearch Class Reference

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>

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List of all members.

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.

Detailed Description

search::AutotunedSearch is a wrapper class which inherits all the search functions written in PCL and provides an intutive interface to all the functions.


Member Typedef Documentation

typedef boost::shared_ptr<const pcl::search::Search<PointT> > pcl::search::Search::ConstPtr [inherited]

Reimplemented in pcl::search::Octree, and pcl::search::KdTree.

Definition at line 60 of file search.h.

typedef boost::shared_ptr<const std::vector<int> > pcl::search::AutotunedSearch::IndicesConstPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 73 of file auto.h.

typedef boost::shared_ptr<std::vector<int> > pcl::search::AutotunedSearch::IndicesPtr

Reimplemented from pcl::search::Search< PointT >.

Definition at line 72 of file auto.h.

Reimplemented from pcl::search::Search< PointT >.

Definition at line 65 of file auto.h.

Reimplemented from pcl::search::Search< PointT >.

Definition at line 67 of file auto.h.

Reimplemented from pcl::search::Search< PointT >.

Definition at line 66 of file auto.h.

typedef boost::shared_ptr<pcl::search::Search<PointT> > pcl::search::Search::Ptr [inherited]

Reimplemented in pcl::search::Octree, and pcl::search::KdTree.

Definition at line 59 of file search.h.

typedef boost::shared_ptr<const pcl::search::Search<PointT> > pcl::search::AutotunedSearch::SearchConstPtr

Definition at line 70 of file auto.h.

typedef boost::shared_ptr<pcl::search::Search<PointT> > pcl::search::AutotunedSearch::SearchPtr

Definition at line 69 of file auto.h.


Constructor & Destructor Documentation

pcl::search::AutotunedSearch::AutotunedSearch ( int  spatial_locator) [inline]

constructor for AutotunedSearch.

Definition at line 76 of file auto.h.

pcl::search::AutotunedSearch::AutotunedSearch ( ) [inline]

Definition at line 82 of file auto.h.

virtual pcl::search::AutotunedSearch::~AutotunedSearch ( ) [inline, virtual]

Definition at line 89 of file auto.h.


Member Function Documentation

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.

Parameters:
cloudthe const boost shared pointer to a PointCloud message
indexthe index in cloud representing the query point
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Definition at line 292 of file auto.h.

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.

Parameters:
cloud_argthe const boost shared pointer to a PointCloud message
query_index_argthe index in cloud representing the query point
result_index_argthe resultant index of the neighbor point
sqr_distance_argthe resultant squared distance to the neighboring point
Returns:
number of neighbors found

Definition at line 310 of file auto.hpp.

void pcl::search::AutotunedSearch::approxNearestSearch ( const PointT &  p_q_arg,
int &  result_index_arg,
float &  sqr_distance_arg 
) [virtual]

search for approximate nearest neighbor at the query point.

Parameters:
p_q_argthe given query point
result_index_argthe resultant index of the neighbor point
sqr_distance_argthe resultant squared distance to the neighboring point

Definition at line 322 of file auto.hpp.

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.

Parameters:
query_index_argindex 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_argthe resultant index of the neighbor point
sqr_distance_argthe resultant squared distance to the neighboring point

Definition at line 334 of file auto.hpp.

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.

Parameters:
cloudthe const boost shared pointer to a PointCloud message
indexthe index in cloud representing the query point
radiusthe radius of the sphere bounding all of point's neighbors
k_indicesthe resultant indices of the neighboring points
k_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns:
number of neighbors found in radius

Definition at line 276 of file auto.h.

void pcl::search::AutotunedSearch::evaluateSearchMethods ( const PointCloudConstPtr cloud,
const int  search_type 
)

Evaluate the search Methods for the given cloud.

Parameters:
cloudthe const boost shared pointer to a PointCloud message
search_typethe search type NEAREST_K_SEARCH and NEAREST_RADIUS_SEARCH

Definition at line 67 of file auto.hpp.

virtual IndicesConstPtr const pcl::search::AutotunedSearch::getIndices ( ) [inline, virtual]

Get a pointer to the vector of indices used.

Reimplemented from pcl::search::Search< PointT >.

Definition at line 120 of file auto.h.

virtual PointCloudConstPtr pcl::search::AutotunedSearch::getInputCloud ( ) [inline, virtual]

Get a pointer to the input point cloud dataset.

Implements pcl::search::Search< PointT >.

Definition at line 114 of file auto.h.

void pcl::search::AutotunedSearch::initSearchDS ( int  spatial_locator)

Initiate the search DS to point to spatial_locator.

Parameters:
spatial_locatorthe spatial locator KDTREE, ORGANIZED_INDEX, OCTREE or AUTO_TUNED

Definition at line 49 of file auto.hpp.

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.

Parameters:
pointthe given query point
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Implements pcl::search::Search< PointT >.

Definition at line 253 of file auto.hpp.

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.

Parameters:
cloudthe point cloud data
indexthe index in cloud representing the query point
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Implements pcl::search::Search< PointT >.

Definition at line 262 of file auto.hpp.

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).

Parameters:
indexthe 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
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Implements pcl::search::Search< PointT >.

Definition at line 272 of file auto.hpp.

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.

Parameters:
pointthe given query points
kthe numbers of the query point's neighbors to search for
k_indicesthe resultant indices of the neighboring points
k_sqr_distancesthe resultant squared distances to the neighboring points
Returns:
number of neighbors found

Definition at line 175 of file auto.h.

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.

Parameters:
[in]pointthe given query point
[in]kthe number of neighbors to search for
[out]k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
[out]k_sqr_distancesthe 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 search.h.

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.

Parameters:
pointthe given query point
radiusthe radius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns:
number of neighbors found in radius

Implements pcl::search::Search< PointT >.

Definition at line 281 of file auto.hpp.

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.

Parameters:
cloudthe point cloud data
indexthe index in cloud representing the query point
radiusthe radius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns:
number of neighbors found in radius

Implements pcl::search::Search< PointT >.

Definition at line 291 of file auto.hpp.

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).

Parameters:
indexthe 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
radiusthe radius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns:
number of neighbors found in radius

Implements pcl::search::Search< PointT >.

Definition at line 301 of file auto.hpp.

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.

Parameters:
pointthe given query points
radiusesthe radiuses of the sphere bounding all of point's neighbors
k_indicesthe resultant indices of the neighboring points
k_distancesthe resultant squared distances to the neighboring points
max_nnif given, bounds the maximum returned neighbors to this value
Returns:
number of neighbors found in radiuses

Definition at line 258 of file auto.h.

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.

Parameters:
[in]pointthe given query point
[in]radiusthe radius of the sphere bounding all of p_q's neighbors
[out]k_indicesthe resultant indices of the neighboring points
[out]k_distancesthe resultant squared distances to the neighboring points
[in]max_nnif given, bounds the maximum returned neighbors to this value
Returns:
number of neighbors found in radius

Definition at line 177 of file search.h.

virtual void pcl::search::Search::setInputCloud ( const PointCloudConstPtr cloud,
const IndicesConstPtr indices 
) [inline, virtual, inherited]

Pass the input dataset that the search will be performed on.

Parameters:
[in]clouda const pointer to the PointCloud data
[in]indicesthe point indices subset that is to be used from the cloud

Definition at line 81 of file search.h.

virtual void pcl::search::Search::setInputCloud ( const PointCloudConstPtr cloud) [pure virtual, inherited]

Pass the input dataset that the search will be performed on.

Parameters:
[in]clouda 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.

Parameters:
cloudthe const boost shared pointer to a PointCloud message
indicesthe point indices subset that is to be used from cloud - if NULL the whole point cloud is used

Definition at line 234 of file auto.hpp.

void pcl::search::AutotunedSearch::setInputCloud ( const PointCloudConstPtr cloud) [virtual]

Provide a pointer to the input dataset.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 244 of file auto.hpp.


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