Octree pointcloud search class More...

#include <pcl/octree/octree_search.h>

Inheritance diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >:

Collaboration diagram for pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >:

Classes
class	prioBranchQueueEntry
	Priority queue entry for branch nodes More...

class	prioPointQueueEntry
	Priority queue entry for point candidates More...

Public Types
using	IndicesPtr = shared_ptr< Indices >

using	IndicesConstPtr = shared_ptr< const Indices >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > >

using	ConstPtr = shared_ptr< const OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > >

using	AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >

using	OctreeT = OctreePointCloud< PointT, LeafContainerT, BranchContainerT >

using	LeafNode = typename OctreeT::LeafNode

using	BranchNode = typename OctreeT::BranchNode

Public Types inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >
using	Base = OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >

using	LeafNode = typename OctreeT::LeafNode

using	BranchNode = typename OctreeT::BranchNode

using	IndicesPtr = shared_ptr< Indices >

using	IndicesConstPtr = shared_ptr< const Indices >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	SingleBuffer = OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices > >

using	Ptr = shared_ptr< OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > >

using	ConstPtr = shared_ptr< const OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty, OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > >

using	AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >

using	AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >

Public Types inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
using	OctreeT = OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >

using	BranchNode = OctreeBranchNode< OctreeContainerEmpty >

using	LeafNode = OctreeLeafNode< OctreeContainerPointIndices >

using	BranchContainer = OctreeContainerEmpty

using	LeafContainer = OctreeContainerPointIndices

using	Iterator = OctreeDepthFirstIterator< OctreeT >

using	ConstIterator = OctreeDepthFirstIterator< const OctreeT >

using	LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >

using	ConstLeafNodeIterator = OctreeLeafNodeDepthFirstIterator< const OctreeT >

using	LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >

using	ConstLeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< const OctreeT >

using	DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >

using	ConstDepthFirstIterator = OctreeDepthFirstIterator< const OctreeT >

using	BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >

using	ConstBreadthFirstIterator = OctreeBreadthFirstIterator< const OctreeT >

using	FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >

using	ConstFixedDepthIterator = OctreeFixedDepthIterator< const OctreeT >

using	LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >

using	ConstLeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< const OctreeT >

Public Member Functions
	OctreePointCloudSearch (const double resolution)
	Constructor. More...

bool	voxelSearch (const PointT &point, Indices &point_idx_data)
	Search for neighbors within a voxel at given point. More...

bool	voxelSearch (uindex_t index, Indices &point_idx_data)
	Search for neighbors within a voxel at given point referenced by a point index. More...

uindex_t	nearestKSearch (const PointCloud &cloud, uindex_t index, uindex_t k, Indices &k_indices, std::vector< float > &k_sqr_distances)
	Search for k-nearest neighbors at the query point. More...

uindex_t	nearestKSearch (const PointT &p_q, uindex_t k, Indices &k_indices, std::vector< float > &k_sqr_distances)
	Search for k-nearest neighbors at given query point. More...

uindex_t	nearestKSearch (uindex_t index, uindex_t k, Indices &k_indices, std::vector< float > &k_sqr_distances)
	Search for k-nearest neighbors at query point. More...

void	approxNearestSearch (const PointCloud &cloud, uindex_t query_index, index_t &result_index, float &sqr_distance)
	Search for approx. More...

void	approxNearestSearch (const PointT &p_q, index_t &result_index, float &sqr_distance)
	Search for approx. More...

void	approxNearestSearch (uindex_t query_index, index_t &result_index, float &sqr_distance)
	Search for approx. More...

uindex_t	radiusSearch (const PointCloud &cloud, uindex_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, index_t max_nn=0)
	Search for all neighbors of query point that are within a given radius. More...

uindex_t	radiusSearch (const PointT &p_q, const double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, uindex_t max_nn=0) const
	Search for all neighbors of query point that are within a given radius. More...

uindex_t	radiusSearch (uindex_t index, const double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, uindex_t max_nn=0) const
	Search for all neighbors of query point that are within a given radius. More...

uindex_t	getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxel_center_list, uindex_t max_voxel_count=0) const
	Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction). More...

uindex_t	getIntersectedVoxelIndices (Eigen::Vector3f origin, Eigen::Vector3f direction, Indices &k_indices, uindex_t max_voxel_count=0) const
	Get indices of all voxels that are intersected by a ray (origin, direction). More...

uindex_t	boxSearch (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, Indices &k_indices) const
	Search for points within rectangular search area Points exactly on the edges of the search rectangle are included. More...

Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches. More...

double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches. More...

void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution. More...

double	getResolution () const
	Get octree voxel resolution. More...

uindex_t	getTreeDepth () const
	Get the maximum depth of the octree. More...

void	addPointsFromInputCloud ()
	Add points from input point cloud to octree. More...

void	addPointFromCloud (uindex_t point_idx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud. More...

bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist. More...

bool	isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const
	Check if voxel at given point coordinates exist. More...

bool	isVoxelOccupiedAtPoint (const index_t &point_idx_arg) const
	Check if voxel at given point from input cloud exist. More...

void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...

uindex_t	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels. More...

uindex_t	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. More...

void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point. More...

void	deleteVoxelAtPoint (const index_t &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud. More...

void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...

void	defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree. More...

void	getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const
	Get bounding box for octree. More...

double	getVoxelSquaredDiameter (uindex_t tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth. More...

double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth. More...

double	getVoxelSquaredSideLen (uindex_t tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth. More...

double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level. More...

void	getVoxelBounds (const OctreeIteratorBase< OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of the current voxel of an octree iterator. More...

void	enableDynamicDepth (std::size_t maxObjsPerLeaf)
	Enable dynamic octree structure. More...

Public Member Functions inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
Iterator	begin (uindex_t max_depth_arg=0u)

ConstIterator	begin (uindex_t max_depth_arg=0u) const

ConstIterator	cbegin (uindex_t max_depth_arg=0u) const

const Iterator	end ()

const ConstIterator	end () const

const ConstIterator	cend () const

LeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u)

ConstLeafNodeDepthFirstIterator	leaf_depth_begin (uindex_t max_depth_arg=0u) const

const LeafNodeDepthFirstIterator	leaf_depth_end ()

const ConstLeafNodeDepthFirstIterator	leaf_depth_end () const

DepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u)

ConstDepthFirstIterator	depth_begin (uindex_t max_depth_arg=0u) const

const DepthFirstIterator	depth_end ()

const ConstDepthFirstIterator	depth_end () const

BreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u)

ConstBreadthFirstIterator	breadth_begin (uindex_t max_depth_arg=0u) const

const BreadthFirstIterator	breadth_end ()

const ConstBreadthFirstIterator	breadth_end () const

FixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u)

ConstFixedDepthIterator	fixed_depth_begin (uindex_t fixed_depth_arg=0u) const

const FixedDepthIterator	fixed_depth_end ()

const ConstFixedDepthIterator	fixed_depth_end () const

LeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u)

ConstLeafNodeBreadthFirstIterator	leaf_breadth_begin (uindex_t max_depth_arg=0u) const

const LeafNodeBreadthFirstIterator	leaf_breadth_end ()

const ConstLeafNodeBreadthFirstIterator	leaf_breadth_end () const

	OctreeBase ()
	Empty constructor. More...

	OctreeBase (const OctreeBase &source)
	Copy constructor. More...

virtual	~OctreeBase ()
	Empty deconstructor. More...

OctreeBase &	operator= (const OctreeBase &source)
	Copy operator. More...

void	setMaxVoxelIndex (uindex_t max_voxel_index_arg)
	Set the maximum amount of voxels per dimension. More...

void	setTreeDepth (uindex_t max_depth_arg)
	Set the maximum depth of the octree. More...

uindex_t	getTreeDepth () const
	Get the maximum depth of the octree. More...

OctreeContainerPointIndices *	createLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

OctreeContainerPointIndices *	findLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

bool	existLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg) const
	idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

void	removeLeaf (uindex_t idx_x_arg, uindex_t idx_y_arg, uindex_t idx_z_arg)
	Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree. More...

std::size_t	getBranchCount () const
	Return the amount of existing branch nodes in the octree. More...

void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...

void	serializeTree (std::vector< char > &binary_tree_out_arg) const
	Serialize octree into a binary output vector describing its branch node structure. More...

void	serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg) const
	Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More...

void	serializeLeafs (std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg)
	Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More...

void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure. More...

void	deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< OctreeContainerPointIndices * > &leaf_container_vector_arg)
	Deserialize a binary octree description and create a corresponding octree structure. More...

Protected Member Functions
float	pointSquaredDist (const PointT &point_a, const PointT &point_b) const
	Helper function to calculate the squared distance between two points. More...

void	getNeighborsWithinRadiusRecursive (const PointT &point, const double radiusSquared, const BranchNode *node, const OctreeKey &key, uindex_t tree_depth, Indices &k_indices, std::vector< float > &k_sqr_distances, uindex_t max_nn) const
	Recursive search method that explores the octree and finds neighbors within a given radius. More...

double	getKNearestNeighborRecursive (const PointT &point, uindex_t K, const BranchNode *node, const OctreeKey &key, uindex_t tree_depth, const double squared_search_radius, std::vector< prioPointQueueEntry > &point_candidates) const
	Recursive search method that explores the octree and finds the K nearest neighbors. More...

void	approxNearestSearchRecursive (const PointT &point, const BranchNode *node, const OctreeKey &key, uindex_t tree_depth, index_t &result_index, float &sqr_distance)
	Recursive search method that explores the octree and finds the approximate nearest neighbor. More...

uindex_t	getIntersectedVoxelCentersRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, AlignedPointTVector &voxel_center_list, uindex_t max_voxel_count) const
	Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers. More...

void	boxSearchRecursive (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, const BranchNode *node, const OctreeKey &key, uindex_t tree_depth, Indices &k_indices) const
	Recursive search method that explores the octree and finds points within a rectangular search area. More...

uindex_t	getIntersectedVoxelIndicesRecursive (double min_x, double min_y, double min_z, double max_x, double max_y, double max_z, unsigned char a, const OctreeNode *node, const OctreeKey &key, Indices &k_indices, uindex_t max_voxel_count) const
	Recursively search the tree for all intersected leaf nodes and return a vector of indices. More...

void	initIntersectedVoxel (Eigen::Vector3f &origin, Eigen::Vector3f &direction, double &min_x, double &min_y, double &min_z, double &max_x, double &max_y, double &max_z, unsigned char &a) const
	Initialize raytracing algorithm. More...

int	getFirstIntersectedNode (double min_x, double min_y, double min_z, double mid_x, double mid_y, double mid_z) const
	Find first child node ray will enter. More...

int	getNextIntersectedNode (double x, double y, double z, int a, int b, int c) const
	Get the next visited node given the current node upper bounding box corner. More...

Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >
virtual void	addPointIdx (uindex_t point_idx_arg)
	Add point at index from input pointcloud dataset to octree. More...

void	expandLeafNode (LeafNode leaf_node, BranchNode parent_branch, unsigned char child_idx, uindex_t depth_mask)
	Add point at index from input pointcloud dataset to octree. More...

const PointT &	getPointByIndex (uindex_t index_arg) const
	Get point at index from input pointcloud dataset. More...

OctreeContainerPointIndices *	findLeafAtPoint (const PointT &point_arg) const
	Find octree leaf node at a given point. More...

void	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box. More...

void	adoptBoundingBoxToPoint (const PointT &point_idx_arg)
	Grow the bounding box/octree until point fits. More...

bool	isPointWithinBoundingBox (const PointT &point_idx_arg) const
	Checks if given point is within the bounding box of the octree. More...

void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

void	genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

virtual bool	genOctreeKeyForDataT (const index_t &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index. More...

void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel. More...

void	genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, PointT &point_arg) const
	Generate a point at center of octree voxel at given tree level. More...

void	genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, uindex_t tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of an octree voxel using octree key and tree depth arguments. More...

uindex_t	getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const
	Recursively search the tree for all leaf nodes and return a vector of voxel centers. More...

Protected Member Functions inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
OctreeContainerPointIndices *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node. More...

OctreeContainerPointIndices *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node. More...

bool	existLeaf (const OctreeKey &key_arg) const
	Check for existence of a leaf node in the octree. More...

void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree. More...

OctreeNode *	getRootNode () const
	Retrieve root node. More...

bool	branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Check if branch is pointing to a particular child node. More...

OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx. More...

void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch. More...

char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers. More...

void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree. More...

void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree. More...

BranchNode *	createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new branch child to a branch class. More...

LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new leaf child to a branch class. More...

uindex_t	createLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, LeafNode &return_leaf_arg, BranchNode *&parent_of_leaf_arg)
	Create a leaf node at octree key. More...

void	findLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode branch_arg, OctreeContainerPointIndices &result_arg) const
	Recursively search for a given leaf node and return a pointer. More...

bool	deleteLeafRecursive (const OctreeKey &key_arg, uindex_t depth_mask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node. More...

void	serializeTreeRecursive (const BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binary_tree_out_arg, typename std::vector< OctreeContainerPointIndices * > *leaf_container_vector_arg) const
	Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. More...

void	deserializeTreeRecursive (BranchNode branch_arg, uindex_t depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< OctreeContainerPointIndices >::const_iterator leaf_container_vector_it_arg, typename std::vector< OctreeContainerPointIndices >::const_iterator *leaf_container_vector_it_end_arg)
	Recursive method for deserializing octree structure. More...

virtual void	serializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &) const
	Callback executed for every leaf node during serialization. More...

virtual void	deserializeTreeCallback (OctreeContainerPointIndices &, const OctreeKey &)
	Callback executed for every leaf node during deserialization. More...

bool	octreeCanResize () const
	Test if octree is able to dynamically change its depth. More...

Additional Inherited Members
Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >
PointCloudConstPtr	input_
	Pointer to input point cloud dataset. More...

IndicesConstPtr	indices_
	A pointer to the vector of point indices to use. More...

double	epsilon_
	Epsilon precision (error bound) for nearest neighbors searches. More...

double	resolution_
	Octree resolution. More...

double	min_x_

double	max_x_

double	min_y_

double	max_y_

double	min_z_

double	max_z_

bool	bounding_box_defined_
	Flag indicating if octree has defined bounding box. More...

std::size_t	max_objs_per_leaf_
	Amount of DataT objects per leafNode before expanding branch. More...

Protected Attributes inherited from pcl::octree::OctreeBase< OctreeContainerPointIndices, OctreeContainerEmpty >
std::size_t	leaf_count_
	Amount of leaf nodes More...

std::size_t	branch_count_
	Amount of branch nodes More...

BranchNode *	root_node_
	Pointer to root branch node of octree More...

uindex_t	depth_mask_
	Depth mask based on octree depth More...

uindex_t	octree_depth_
	Octree depth. More...

bool	dynamic_depth_enabled_
	Enable dynamic_depth. More...

OctreeKey	max_key_
	key range More...

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >

Octree pointcloud search class

Note: This class provides several methods for spatial neighbor search based on octree structure

Template Parameters

PointT type of point used in pointcloud

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

Definition at line 57 of file octree_search.h.

Member Typedef Documentation

◆ AlignedPointTVector

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::AlignedPointTVector = std::vector<PointT, Eigen::aligned_allocator<PointT> >

Definition at line 75 of file octree_search.h.

◆ BranchNode

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::BranchNode = typename OctreeT::BranchNode

Definition at line 79 of file octree_search.h.

◆ ConstPtr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::ConstPtr = shared_ptr< const OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> >

Definition at line 71 of file octree_search.h.

◆ IndicesConstPtr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::IndicesConstPtr = shared_ptr<const Indices>

Definition at line 62 of file octree_search.h.

◆ IndicesPtr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::IndicesPtr = shared_ptr<Indices>

Definition at line 61 of file octree_search.h.

◆ LeafNode

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::LeafNode = typename OctreeT::LeafNode

Definition at line 78 of file octree_search.h.

◆ OctreeT

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::OctreeT = OctreePointCloud<PointT, LeafContainerT, BranchContainerT>

Definition at line 77 of file octree_search.h.

◆ PointCloud

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 64 of file octree_search.h.

◆ PointCloudConstPtr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 66 of file octree_search.h.

◆ PointCloudPtr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 65 of file octree_search.h.

◆ Ptr

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::Ptr = shared_ptr<OctreePointCloudSearch<PointT, LeafContainerT, BranchContainerT> >

Definition at line 69 of file octree_search.h.

Constructor & Destructor Documentation

◆ OctreePointCloudSearch()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudSearch ( const double resolution )

inline

Constructor.

Parameters

[in] resolution octree resolution at lowest octree level

Definition at line 84 of file octree_search.h.

Member Function Documentation

◆ approxNearestSearch() [1/3]

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch	(	const PointCloud &	cloud,
		uindex_t	query_index,
		index_t &	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 165 of file octree_search.h.

◆ approxNearestSearch() [2/3]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch	(	const PointT &	p_q,
		index_t &	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 134 of file octree_search.hpp.

◆ approxNearestSearch() [3/3]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearch	(	uindex_t	query_index,
		index_t &	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 152 of file octree_search.hpp.

◆ approxNearestSearchRecursive()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::approxNearestSearchRecursive	(	const PointT &	point,
		const BranchNode *	node,
		const OctreeKey &	key,
		uindex_t	tree_depth,
		index_t &	result_index,
		float &	sqr_distance
	)

protected

Recursive search method that explores the octree and finds the approximate nearest neighbor.

Parameters

[in]	point	query point
[in]	node	current octree node to be explored
[in]	key	octree key addressing a leaf node.
[in]	tree_depth	current depth/level in the octree
[out]	result_index	result index is written to this reference
[out]	sqr_distance	squared distance to search

Definition at line 422 of file octree_search.hpp.

◆ boxSearch()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::boxSearch	(	const Eigen::Vector3f &	min_pt,
		const Eigen::Vector3f &	max_pt,
		Indices &	k_indices
	)		const

Search for points within rectangular search area Points exactly on the edges of the search rectangle are included.

Parameters

[in]	min_pt	lower corner of search area
[in]	max_pt	upper corner of search area
[out]	k_indices	the resultant point indices

Returns: number of points found within search area

Definition at line 205 of file octree_search.hpp.

References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::applyMorphologicalOperator().

◆ boxSearchRecursive()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::boxSearchRecursive	(	const Eigen::Vector3f &	min_pt,
		const Eigen::Vector3f &	max_pt,
		const BranchNode *	node,
		const OctreeKey &	key,
		uindex_t	tree_depth,
		Indices &	k_indices
	)		const

protected

Recursive search method that explores the octree and finds points within a rectangular search area.

Parameters

[in]	min_pt	lower corner of search area
[in]	max_pt	upper corner of search area
[in]	node	current octree node to be explored
[in]	key	octree key addressing a leaf node.
[in]	tree_depth	current depth/level in the octree
[out]	k_indices	the resultant point indices

Definition at line 519 of file octree_search.hpp.

References pcl::octree::BRANCH_NODE, pcl::octree::OctreeNode::getNodeType(), pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getFirstIntersectedNode()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getFirstIntersectedNode	(	double	min_x,
		double	min_y,
		double	min_z,
		double	mid_x,
		double	mid_y,
		double	mid_z
	)		const

inlineprotected

Find first child node ray will enter.

Parameters

[in]	min_x	octree nodes X coordinate of lower bounding box corner
[in]	min_y	octree nodes Y coordinate of lower bounding box corner
[in]	min_z	octree nodes Z coordinate of lower bounding box corner
[in]	mid_x	octree nodes X coordinate of bounding box mid line
[in]	mid_y	octree nodes Y coordinate of bounding box mid line
[in]	mid_z	octree nodes Z coordinate of bounding box mid line

Returns: the first child node ray will enter

Definition at line 585 of file octree_search.h.

◆ getIntersectedVoxelCenters()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelCenters	(	Eigen::Vector3f	origin,
		Eigen::Vector3f	direction,
		AlignedPointTVector &	voxel_center_list,
		uindex_t	max_voxel_count = `0`
	)		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]	voxel_center_list	results are written to this vector of PointT elements
[in]	max_voxel_count	stop raycasting when this many voxels intersected (0: disable)

Returns: number of intersected voxels

Definition at line 594 of file octree_search.hpp.

References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getIntersectedVoxelCentersRecursive()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelCentersRecursive	(	double	min_x,
		double	min_y,
		double	min_z,
		double	max_x,
		double	max_y,
		double	max_z,
		unsigned char	a,
		const OctreeNode *	node,
		const OctreeKey &	key,
		AlignedPointTVector &	voxel_center_list,
		uindex_t	max_voxel_count
	)		const

protected

Recursively search the tree for all intersected leaf nodes and return a vector of voxel centers.

This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf

Parameters

[in]	min_x	octree nodes X coordinate of lower bounding box corner
[in]	min_y	octree nodes Y coordinate of lower bounding box corner
[in]	min_z	octree nodes Z coordinate of lower bounding box corner
[in]	max_x	octree nodes X coordinate of upper bounding box corner
[in]	max_y	octree nodes Y coordinate of upper bounding box corner
[in]	max_z	octree nodes Z coordinate of upper bounding box corner
[in]	a	number used for voxel child index remapping
[in]	node	current octree node to be explored
[in]	key	octree key addressing a leaf node.
[out]	voxel_center_list	results are written to this vector of PointT elements
[in]	max_voxel_count	stop raycasting when this many voxels intersected (0: disable)

Returns: number of voxels found

Definition at line 664 of file octree_search.hpp.

References pcl::octree::OctreeNode::getNodeType(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getIntersectedVoxelIndices()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelIndices	(	Eigen::Vector3f	origin,
		Eigen::Vector3f	direction,
		Indices &	k_indices,
		uindex_t	max_voxel_count = `0`
	)		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 point indices from intersected voxels
[in]	max_voxel_count	stop raycasting when this many voxels intersected (0: disable)

Returns: number of intersected voxels

Definition at line 630 of file octree_search.hpp.

References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::TextureMapping< PointInT >::removeOccludedPoints(), and pcl::TextureMapping< PointInT >::showOcclusions().

◆ getIntersectedVoxelIndicesRecursive()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getIntersectedVoxelIndicesRecursive	(	double	min_x,
		double	min_y,
		double	min_z,
		double	max_x,
		double	max_y,
		double	max_z,
		unsigned char	a,
		const OctreeNode *	node,
		const OctreeKey &	key,
		Indices &	k_indices,
		uindex_t	max_voxel_count
	)		const

protected

Recursively search the tree for all intersected leaf nodes and return a vector of indices.

This algorithm is based off the paper An Efficient Parametric Algorithm for Octree Traversal: http://wscg.zcu.cz/wscg2000/Papers_2000/X31.pdf

Parameters

[in]	min_x	octree nodes X coordinate of lower bounding box corner
[in]	min_y	octree nodes Y coordinate of lower bounding box corner
[in]	min_z	octree nodes Z coordinate of lower bounding box corner
[in]	max_x	octree nodes X coordinate of upper bounding box corner
[in]	max_y	octree nodes Y coordinate of upper bounding box corner
[in]	max_z	octree nodes Z coordinate of upper bounding box corner
[in]	a	number used for voxel child index remapping
[in]	node	current octree node to be explored
[in]	key	octree key addressing a leaf node.
[out]	k_indices	resulting indices
[in]	max_voxel_count	stop raycasting when this many voxels intersected (0: disable)

Returns: number of voxels found

Definition at line 860 of file octree_search.hpp.

References pcl::octree::OctreeNode::getNodeType(), pcl::octree::LEAF_NODE, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getKNearestNeighborRecursive()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

double pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getKNearestNeighborRecursive	(	const PointT &	point,
		uindex_t	K,
		const BranchNode *	node,
		const OctreeKey &	key,
		uindex_t	tree_depth,
		const double	squared_search_radius,
		std::vector< prioPointQueueEntry > &	point_candidates
	)		const

protected

Recursive search method that explores the octree and finds the K nearest neighbors.

Parameters

[in]	point	query point
[in]	K	amount of nearest neighbors to be found
[in]	node	current octree node to be explored
[in]	key	octree key addressing a leaf node.
[in]	tree_depth	current depth/level in the octree
[in]	squared_search_radius	squared search radius distance
[out]	point_candidates	priority queue of nearest neighbor point candidates

Returns: squared search radius based on current point candidate set found

Definition at line 223 of file octree_search.hpp.

◆ getNeighborsWithinRadiusRecursive()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getNeighborsWithinRadiusRecursive	(	const PointT &	point,
		const double	radiusSquared,
		const BranchNode *	node,
		const OctreeKey &	key,
		uindex_t	tree_depth,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		uindex_t	max_nn
	)		const

protected

Recursive search method that explores the octree and finds neighbors within a given radius.

Parameters

[in]	point	query point
[in]	radiusSquared	squared search radius
[in]	node	current octree node to be explored
[in]	key	octree key addressing a leaf node.
[in]	tree_depth	current depth/level in the octree
[out]	k_indices	vector of indices found to be neighbors of query point
[out]	k_sqr_distances	squared distances of neighbors to query point
[in]	max_nn	maximum of neighbors to be found

Definition at line 335 of file octree_search.hpp.

References pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ getNextIntersectedNode()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

int pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::getNextIntersectedNode	(	double	x,
		double	y,
		double	z,
		int	a,
		int	b,
		int	c
	)		const

inlineprotected

Get the next visited node given the current node upper bounding box corner.

This function accepts three float values, and three int values. The function returns the ith integer where the ith float value is the minimum of the three float values.

Parameters

[in]	x	current nodes X coordinate of upper bounding box corner
[in]	y	current nodes Y coordinate of upper bounding box corner
[in]	z	current nodes Z coordinate of upper bounding box corner
[in]	a	next node if exit Plane YZ
[in]	b	next node if exit Plane XZ
[in]	c	next node if exit Plane XY

Returns: the next child node ray will enter or 8 if exiting

Definition at line 643 of file octree_search.h.

◆ initIntersectedVoxel()

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::initIntersectedVoxel	(	Eigen::Vector3f &	origin,
		Eigen::Vector3f &	direction,
		double &	min_x,
		double &	min_y,
		double &	min_z,
		double &	max_x,
		double &	max_y,
		double &	max_z,
		unsigned char &	a
	)		const

inlineprotected

Initialize raytracing algorithm.

Parameters

[in]	origin	ray origin
[in]	direction	ray direction vector
[out]	min_x	octree nodes X coordinate of lower bounding box corner
[out]	min_y	octree nodes Y coordinate of lower bounding box corner
[out]	min_z	octree nodes Z coordinate of lower bounding box corner
[out]	max_x	octree nodes X coordinate of upper bounding box corner
[out]	max_y	octree nodes Y coordinate of upper bounding box corner
[out]	max_z	octree nodes Z coordinate of upper bounding box corner
[out]	a	number used for voxel child index remapping

Definition at line 526 of file octree_search.h.

References pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::max_x_, pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::max_y_, pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::max_z_, pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::min_x_, pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::min_y_, and pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::min_z_.

◆ nearestKSearch() [1/3]

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch	(	const PointCloud &	cloud,
		uindex_t	index,
		uindex_t	k,
		Indices &	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 116 of file octree_search.h.

◆ nearestKSearch() [2/3]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch	(	const PointT &	p_q,
		uindex_t	k,
		Indices &	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 82 of file octree_search.hpp.

References pcl::isFinite().

◆ nearestKSearch() [3/3]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::nearestKSearch	(	uindex_t	index,
		uindex_t	k,
		Indices &	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 125 of file octree_search.hpp.

◆ pointSquaredDist()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

float pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::pointSquaredDist	(	const PointT &	point_a,
		const PointT &	point_b
	)		const

protected

Helper function to calculate the squared distance between two points.

Parameters

[in]	point_a	point A
[in]	point_b	point B

Returns: squared distance between point A and point B

Definition at line 511 of file octree_search.hpp.

◆ radiusSearch() [1/3]

template<typename PointT , typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch	(	const PointCloud &	cloud,
		uindex_t	index,
		double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		index_t	max_nn = `0`
	)

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 203 of file octree_search.h.

◆ radiusSearch() [2/3]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch	(	const PointT &	p_q,
		const double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		uindex_t	max_nn = `0`
	)		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 162 of file octree_search.hpp.

References pcl::isFinite(), pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

◆ radiusSearch() [3/3]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

uindex_t pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::radiusSearch	(	uindex_t	index,
		const double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		uindex_t	max_nn = `0`
	)		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 191 of file octree_search.hpp.

◆ voxelSearch() [1/2]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch	(	const PointT &	point,
		Indices &	point_idx_data
	)

Search for neighbors within a voxel at given point.

Parameters

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

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

Definition at line 50 of file octree_search.hpp.

References pcl::isFinite().

Referenced by pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::computeFeature().

◆ voxelSearch() [2/2]

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch	(	uindex_t	index,
		Indices &	point_idx_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]	point_idx_data	the resultant indices of the neighboring voxel points

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

Definition at line 73 of file octree_search.hpp.

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

pcl/octree/octree_search.h
pcl/octree/impl/octree_search.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty> class pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >

Member Typedef Documentation

◆ AlignedPointTVector

◆ BranchNode

◆ ConstPtr

◆ IndicesConstPtr

◆ IndicesPtr

◆ LeafNode

◆ OctreeT

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ OctreePointCloudSearch()

Member Function Documentation

◆ approxNearestSearch() [1/3]

◆ approxNearestSearch() [2/3]

◆ approxNearestSearch() [3/3]

◆ approxNearestSearchRecursive()

◆ boxSearch()

◆ boxSearchRecursive()

◆ getFirstIntersectedNode()

◆ getIntersectedVoxelCenters()

◆ getIntersectedVoxelCentersRecursive()

◆ getIntersectedVoxelIndices()

◆ getIntersectedVoxelIndicesRecursive()

◆ getKNearestNeighborRecursive()

◆ getNeighborsWithinRadiusRecursive()

◆ getNextIntersectedNode()

◆ initIntersectedVoxel()

◆ nearestKSearch() [1/3]

◆ nearestKSearch() [2/3]

◆ nearestKSearch() [3/3]

◆ pointSquaredDist()

◆ radiusSearch() [1/3]

◆ radiusSearch() [2/3]

◆ radiusSearch() [3/3]

◆ voxelSearch() [1/2]

◆ voxelSearch() [2/2]

template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >