Implementation of a simple brute force search algorithm. More...

#include <pcl/search/brute_force.h>

Inheritance diagram for pcl::search::BruteForce< PointT >:

Collaboration diagram for pcl::search::BruteForce< PointT >:

Public Member Functions
	BruteForce (bool sorted_results=false)

	~BruteForce () override=default
	Destructor for KdTree.

void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a pointer to the point representation used for converting points into k-D vectors.

PointRepresentationConstPtr	getPointRepresentation () const
	Get the point representation used for converting points into k-D vectors.

int	nearestKSearch (const PointT &point, int k, Indices &k_indices, std::vector< float > &k_distances) const override
	Search for the k-nearest neighbors for the given query point.

int	radiusSearch (const PointT &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
	Search for all the nearest neighbors of the query point in a given radius.

Public Member Functions inherited from pcl::search::Search< PointT >
	Search (const std::string &name="", bool sorted=false)
	Constructor.

virtual	~Search ()=default
	Destructor.

virtual const std::string &	getName () const
	Returns the search method name.

virtual void	setSortedResults (bool sorted)
	sets whether the results should be sorted (ascending in the distance) or not

virtual bool	getSortedResults ()
	Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results may be returned in any order.

virtual bool	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
	Pass the input dataset that the search will be performed on.

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

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

template<typename PointTDiff >
int	nearestKSearchT (const PointTDiff &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const
	Search for k-nearest neighbors for the given query point.

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

virtual int	nearestKSearch (index_t index, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const
	Search for k-nearest neighbors for the given query point (zero-copy).

virtual void	nearestKSearch (const PointCloud &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.

template<typename PointTDiff >
void	nearestKSearchT (const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
	Search for the k-nearest neighbors for the given query point.

template<typename PointTDiff >
int	radiusSearchT (const PointTDiff &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius.

virtual int	radiusSearch (const PointCloud &cloud, index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius.

virtual int	radiusSearch (index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius (zero-copy).

virtual void	radiusSearch (const PointCloud &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query point in a given radius.

template<typename PointTDiff >
void	radiusSearchT (const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all the nearest neighbors of the query points in a given radius.

void	setNumberOfThreads (unsigned int nr_threads)
	Set the number of threads to use for searching over multiple points or indices.

Additional Inherited Members
Public Types inherited from pcl::search::Search< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	Ptr = shared_ptr< pcl::search::Search< PointT > >

using	ConstPtr = shared_ptr< const pcl::search::Search< PointT > >

using	IndicesPtr = pcl::IndicesPtr

using	IndicesConstPtr = pcl::IndicesConstPtr

Protected Member Functions inherited from pcl::search::Search< PointT >
void	sortResults (Indices &indices, std::vector< float > &distances) const

Protected Attributes inherited from pcl::search::Search< PointT >
PointCloudConstPtr	input_

IndicesConstPtr	indices_

bool	sorted_results_

std::string	name_

unsigned int	num_threads_ {1}
	The number of threads to use when searching over multiple points or indices.

Detailed Description

template<typename PointT>
class pcl::search::BruteForce< PointT >

Implementation of a simple brute force search algorithm.

Author: Suat Gedikli

Definition at line 52 of file brute_force.h.

Constructor & Destructor Documentation

◆ BruteForce()

template<typename PointT >

pcl::search::BruteForce< PointT >::BruteForce ( bool sorted_results = false )

inline

Definition at line 90 of file brute_force.h.

◆ ~BruteForce()

template<typename PointT >

pcl::search::BruteForce< PointT >::~BruteForce ( )

overridedefault

Destructor for KdTree.

Member Function Documentation

◆ getPointRepresentation()

template<typename PointT >

PointRepresentationConstPtr pcl::search::BruteForce< PointT >::getPointRepresentation ( ) const

inline

Get the point representation used for converting points into k-D vectors.

Definition at line 112 of file brute_force.h.

◆ nearestKSearch()

template<typename PointT >

int pcl::search::BruteForce< PointT >::nearestKSearch	(	const PointT &	point,
		int	k,
		Indices &	k_indices,
		std::vector< float > &	k_distances
	)		const

overridevirtual

Search for the k-nearest neighbors for the given query point.

Parameters

[in]	point	the given query point
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points (must be resized to k a priori!)
[out]	k_distances	the 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 73 of file brute_force.hpp.

◆ radiusSearch()

template<typename PointT >

int pcl::search::BruteForce< PointT >::radiusSearch	(	const PointT &	point,
		double	radius,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

overridevirtual

Search for all the nearest neighbors of the query point in a given radius.

Parameters

[in]	point	the given query point
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points
[out]	k_sqr_distances	the resultant squared distances to the neighboring points
[in]	max_nn	if given, bounds the maximum returned neighbors to this value. If max_nn is set to 0 or to a number higher than the number of points in the input cloud, all neighbors in radius will be returned.

Returns: number of neighbors found in radius

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

Definition at line 357 of file brute_force.hpp.

◆ setPointRepresentation()

template<typename PointT >

void pcl::search::BruteForce< PointT >::setPointRepresentation ( const PointRepresentationConstPtr & point_representation )

inline

Provide a pointer to the point representation used for converting points into k-D vectors.

Parameters

[in] point_representation the const shared pointer to a PointRepresentation

Definition at line 105 of file brute_force.h.

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

pcl/search/brute_force.h
pcl/search/impl/brute_force.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BruteForce()

◆ ~BruteForce()

Member Function Documentation

◆ getPointRepresentation()

◆ nearestKSearch()

◆ radiusSearch()

◆ setPointRepresentation()