search::FlannSearch is a generic FLANN wrapper class for the new search interface. More...

#include <pcl/search/flann_search.h>

Inheritance diagram for pcl::search::FlannSearch< PointT, FlannDistance >:

Collaboration diagram for pcl::search::FlannSearch< PointT, FlannDistance >:

Classes
class	FlannIndexCreator
	Helper class that creates a FLANN index from a given FLANN matrix. More...

class	KdTreeIndexCreator
	Creates a FLANN KdTreeSingleIndex from the given input data. More...

class	KdTreeMultiIndexCreator
	Creates a FLANN KdTreeIndex of multiple randomized trees from the given input data, suitable for feature matching. More...

class	KMeansIndexCreator
	Creates a FLANN KdTreeSingleIndex from the given input data. More...

Public Types
using	Ptr = shared_ptr< FlannSearch< PointT, FlannDistance > >

using	ConstPtr = shared_ptr< const FlannSearch< PointT, FlannDistance > >

using	PointCloud = typename Search< PointT >::PointCloud

using	PointCloudConstPtr = typename Search< PointT >::PointCloudConstPtr

using	MatrixPtr = shared_ptr< flann::Matrix< float > >

using	MatrixConstPtr = shared_ptr< const flann::Matrix< float > >

using	Index = flann::NNIndex< FlannDistance >

using	IndexPtr = shared_ptr< flann::NNIndex< FlannDistance > >

using	PointRepresentation = pcl::PointRepresentation< PointT >

using	PointRepresentationPtr = typename PointRepresentation::Ptr

using	PointRepresentationConstPtr = typename PointRepresentation::ConstPtr

using	FlannIndexCreatorPtr = shared_ptr< FlannIndexCreator >

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

Public Member Functions
	FlannSearch (bool sorted=true, FlannIndexCreatorPtr creator=FlannIndexCreatorPtr(new KdTreeIndexCreator()))

	~FlannSearch () override
	Destructor for FlannSearch. More...

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

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

void	setChecks (int checks)
	Set the number of checks to perform during approximate searches in multiple randomized trees. More...

int	getChecks ()
	Get the number of checks to perform during approximate searches in multiple randomized trees. More...

bool	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) override
	Provide a pointer to the input dataset. More...

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

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

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. More...

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

void	setPointRepresentation (const PointRepresentationConstPtr &point_representation)
	Provide a pointer to the point representation to use to convert points into k-D vectors. More...

PointRepresentationConstPtr const	getPointRepresentation ()
	Get a pointer to the point representation used when converting points into k-D vectors. More...

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

virtual	~Search ()=default
	Destructor. More...

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

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

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. More...

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

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

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. More...

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. More...

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). More...

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. More...

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. More...

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. More...

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). More...

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. More...

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

Protected Member Functions
void	convertInputToFlannMatrix ()
	converts the input data to a format usable by FLANN More...

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

Protected Attributes
IndexPtr	index_
	The FLANN index. More...

FlannIndexCreatorPtr	creator_
	The index creator, used to (re-) create the index when the search data is passed. More...

MatrixPtr	input_flann_
	Input data in FLANN format. More...

float	eps_ {0.0f}
	Epsilon for approximate NN search. More...

int	checks_ {32}
	Number of checks to perform for approximate NN search using the multiple randomized tree index. More...

bool	input_copied_for_flann_ {false}

PointRepresentationConstPtr	point_representation_ {nullptr}

int	dim_ {0}

Indices	index_mapping_

bool	identity_mapping_ {false}

std::size_t	total_nr_points_ {0}

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. More...

Detailed Description

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
class pcl::search::FlannSearch< PointT, FlannDistance >

search::FlannSearch is a generic FLANN wrapper class for the new search interface.

It is able to wrap any FLANN index type, e.g. the kd tree as well as indices for high-dimensional searches and intended as a more powerful and cleaner successor to KdTreeFlann.

By default, this class creates a single kd tree for indexing the input data. However, for high dimensions (> 10), it is often better to use the multiple randomized kd tree index provided by FLANN in combination with the flann::L2 distance functor. During search in this type of index, the number of checks to perform before terminating the search can be controlled. Here is a code example if a high-dimensional 2-NN search:

// Feature and distance type
using FeatureT = SHOT352;
using DistanceT = flann::L2<float>;
 
// Search and index types
using SearchT = search::FlannSearch<FeatureT, DistanceT>;
using CreatorPtrT = typename SearchT::FlannIndexCreatorPtr;
using IndexT = typename SearchT::KdTreeMultiIndexCreator;
using RepresentationPtrT = typename SearchT::PointRepresentationPtr;
 
// Features
PointCloud<FeatureT>::Ptr query, target;
 
// Fill query and target with calculated features...
 
// Instantiate search object with 4 randomized trees and 256 checks
SearchT search (true, CreatorPtrT (new IndexT (4)));
search.setPointRepresentation (RepresentationPtrT (new DefaultFeatureRepresentation<FeatureT>));
search.setChecks (256);
search.setInputCloud (target);
 
// Do search
std::vector<Indices> k_indices;
std::vector<std::vector<float> > k_sqr_distances;
search.nearestKSearch (*query, Indices (), 2, k_indices, k_sqr_distances);

Author: Andreas Muetzel; Anders Glent Buch (multiple randomized kd tree interface)

Definition at line 100 of file flann_search.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::ConstPtr = shared_ptr<const FlannSearch<PointT, FlannDistance> >

Definition at line 108 of file flann_search.h.

◆ FlannIndexCreatorPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::FlannIndexCreatorPtr = shared_ptr<FlannIndexCreator>

Definition at line 141 of file flann_search.h.

◆ Index

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::Index = flann::NNIndex<FlannDistance>

Definition at line 116 of file flann_search.h.

◆ IndexPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::IndexPtr = shared_ptr<flann::NNIndex<FlannDistance> >

Definition at line 117 of file flann_search.h.

◆ MatrixConstPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::MatrixConstPtr = shared_ptr<const flann::Matrix<float> >

Definition at line 114 of file flann_search.h.

◆ MatrixPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::MatrixPtr = shared_ptr<flann::Matrix<float> >

Definition at line 113 of file flann_search.h.

◆ PointCloud

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::PointCloud = typename Search<PointT>::PointCloud

Definition at line 110 of file flann_search.h.

◆ PointCloudConstPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::PointCloudConstPtr = typename Search<PointT>::PointCloudConstPtr

Definition at line 111 of file flann_search.h.

◆ PointRepresentation

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentation = pcl::PointRepresentation<PointT>

Definition at line 119 of file flann_search.h.

◆ PointRepresentationConstPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentationConstPtr = typename PointRepresentation::ConstPtr

Definition at line 121 of file flann_search.h.

◆ PointRepresentationPtr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentationPtr = typename PointRepresentation::Ptr

Definition at line 120 of file flann_search.h.

◆ Ptr

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

using pcl::search::FlannSearch< PointT, FlannDistance >::Ptr = shared_ptr<FlannSearch<PointT, FlannDistance> >

Definition at line 107 of file flann_search.h.

Constructor & Destructor Documentation

◆ FlannSearch()

template<typename PointT , typename FlannDistance >

pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch	(	bool	sorted = `true`,
		FlannIndexCreatorPtr	creator = `FlannIndexCreatorPtr (new KdTreeIndexCreator ())`
	)

Definition at line 78 of file flann_search.hpp.

References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, and pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_.

◆ ~FlannSearch()

template<typename PointT , typename FlannDistance >

pcl::search::FlannSearch< PointT, FlannDistance >::~FlannSearch

override

Destructor for FlannSearch.

Definition at line 86 of file flann_search.hpp.

Member Function Documentation

◆ convertInputToFlannMatrix()

template<typename PointT , typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix

protected

converts the input data to a format usable by FLANN

Definition at line 372 of file flann_search.hpp.

◆ getChecks()

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

int pcl::search::FlannSearch< PointT, FlannDistance >::getChecks ( )

inline

Get the number of checks to perform during approximate searches in multiple randomized trees.

Definition at line 248 of file flann_search.h.

References pcl::search::FlannSearch< PointT, FlannDistance >::checks_.

◆ getEpsilon()

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

double pcl::search::FlannSearch< PointT, FlannDistance >::getEpsilon ( )

inline

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 232 of file flann_search.h.

References pcl::search::FlannSearch< PointT, FlannDistance >::eps_.

◆ getPointRepresentation()

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

PointRepresentationConstPtr const pcl::search::FlannSearch< PointT, FlannDistance >::getPointRepresentation ( )

inline

Get a pointer to the point representation used when converting points into k-D vectors.

Definition at line 326 of file flann_search.h.

References pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_.

◆ nearestKSearch() [1/2]

template<typename PointT , typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch	(	const PointCloud &	cloud,
		const Indices &	indices,
		int	k,
		std::vector< Indices > &	k_indices,
		std::vector< std::vector< float > > &	k_sqr_distances
	)		const

overridevirtual

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

Parameters

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	k	the number of neighbors to search for
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i

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

Definition at line 150 of file flann_search.hpp.

References pcl::knn_search().

◆ nearestKSearch() [2/2]

template<typename PointT , typename FlannDistance >

int pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch	(	const PointT &	point,
		int	k,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_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_sqr_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 106 of file flann_search.hpp.

References pcl::knn_search().

◆ radiusSearch() [1/2]

template<typename PointT , typename FlannDistance >

void pcl::search::FlannSearch< PointT, FlannDistance >::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

overridevirtual

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

Parameters

[in]	cloud	the point cloud data
[in]	indices	a vector of point cloud indices to query for nearest neighbors
[in]	radius	the radius of the sphere bounding all of p_q's neighbors
[out]	k_indices	the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]	k_sqr_distances	the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i
[in]	max_nn	if given, bounds the maximum returned neighbors to this value

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

Definition at line 282 of file flann_search.hpp.

◆ radiusSearch() [2/2]

template<typename PointT , typename FlannDistance >

int pcl::search::FlannSearch< PointT, FlannDistance >::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 240 of file flann_search.hpp.

◆ setChecks()

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

void pcl::search::FlannSearch< PointT, FlannDistance >::setChecks ( int checks )

inline

Set the number of checks to perform during approximate searches in multiple randomized trees.

Parameters

[in] checks number of checks to perform during approximate searches in multiple randomized trees.

Definition at line 241 of file flann_search.h.

References pcl::search::FlannSearch< PointT, FlannDistance >::checks_.

◆ setEpsilon()

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

void pcl::search::FlannSearch< PointT, FlannDistance >::setEpsilon ( double eps )

inline

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters

[in] eps precision (error bound) for nearest neighbors searches

Definition at line 225 of file flann_search.h.

References pcl::search::FlannSearch< PointT, FlannDistance >::eps_.

◆ setInputCloud()

template<typename PointT , typename FlannDistance >

bool pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices = `IndicesConstPtr ()`
	)

overridevirtual

Provide a pointer to the input dataset.

Parameters

[in]	cloud	the const boost shared pointer to a PointCloud message
[in]	indices	the point indices subset that is to be used from cloud

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

Definition at line 94 of file flann_search.hpp.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation().

◆ setPointRepresentation()

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

void pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation ( const PointRepresentationConstPtr & point_representation )

inline

Provide a pointer to the point representation to use to convert points into k-D vectors.

Parameters

[in] point_representation the const boost shared pointer to a PointRepresentation

Definition at line 316 of file flann_search.h.

References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::Search< PointT >::indices_, pcl::search::Search< PointT >::input_, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, and pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud().

Member Data Documentation

◆ checks_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

int pcl::search::FlannSearch< PointT, FlannDistance >::checks_ {32}

protected

Number of checks to perform for approximate NN search using the multiple randomized tree index.

Definition at line 355 of file flann_search.h.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::getChecks(), and pcl::search::FlannSearch< PointT, FlannDistance >::setChecks().

◆ creator_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

FlannIndexCreatorPtr pcl::search::FlannSearch< PointT, FlannDistance >::creator_

protected

The index creator, used to (re-) create the index when the search data is passed.

Definition at line 343 of file flann_search.h.

◆ dim_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

int pcl::search::FlannSearch< PointT, FlannDistance >::dim_ {0}

protected

Definition at line 361 of file flann_search.h.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch(), and pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation().

◆ eps_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

float pcl::search::FlannSearch< PointT, FlannDistance >::eps_ {0.0f}

protected

Epsilon for approximate NN search.

Definition at line 351 of file flann_search.h.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::getEpsilon(), and pcl::search::FlannSearch< PointT, FlannDistance >::setEpsilon().

◆ identity_mapping_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

bool pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_ {false}

protected

Definition at line 364 of file flann_search.h.

◆ index_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

IndexPtr pcl::search::FlannSearch< PointT, FlannDistance >::index_

protected

The FLANN index.

Definition at line 339 of file flann_search.h.

◆ index_mapping_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

Indices pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_

protected

Definition at line 363 of file flann_search.h.

◆ input_copied_for_flann_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

bool pcl::search::FlannSearch< PointT, FlannDistance >::input_copied_for_flann_ {false}

protected

Definition at line 357 of file flann_search.h.

◆ input_flann_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

MatrixPtr pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_

protected

Input data in FLANN format.

Definition at line 347 of file flann_search.h.

◆ point_representation_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

PointRepresentationConstPtr pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_ {nullptr}

protected

Definition at line 359 of file flann_search.h.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::getPointRepresentation(), and pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation().

◆ total_nr_points_

template<typename PointT , typename FlannDistance = flann::L2_Simple <float>>

std::size_t pcl::search::FlannSearch< PointT, FlannDistance >::total_nr_points_ {0}

protected

Definition at line 366 of file flann_search.h.

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

pcl/search/flann_search.h
pcl/search/impl/flann_search.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>> class pcl::search::FlannSearch< PointT, FlannDistance >

Member Typedef Documentation

◆ ConstPtr

◆ FlannIndexCreatorPtr

◆ Index

◆ IndexPtr

◆ MatrixConstPtr

◆ MatrixPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointRepresentation

◆ PointRepresentationConstPtr

◆ PointRepresentationPtr

◆ Ptr

Constructor & Destructor Documentation

◆ FlannSearch()

◆ ~FlannSearch()

Member Function Documentation

◆ convertInputToFlannMatrix()

◆ getChecks()

◆ getEpsilon()

◆ getPointRepresentation()

◆ nearestKSearch() [1/2]

◆ nearestKSearch() [2/2]

◆ radiusSearch() [1/2]

◆ radiusSearch() [2/2]

◆ setChecks()

◆ setEpsilon()

◆ setInputCloud()

◆ setPointRepresentation()

Member Data Documentation

◆ checks_

◆ creator_

◆ dim_

◆ eps_

◆ identity_mapping_

◆ index_

◆ index_mapping_

◆ input_copied_for_flann_

◆ input_flann_

◆ point_representation_

◆ total_nr_points_

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
class pcl::search::FlannSearch< PointT, FlannDistance >