Point Cloud Library (PCL)  1.12.1-dev
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pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > Class Template Reference

search::Octree is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure. More...

#include <pcl/search/octree.h>

+ Inheritance diagram for pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >:
+ Collaboration diagram for pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >:

Public Types

using Ptr = shared_ptr< pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > >
 
using ConstPtr = shared_ptr< const pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using OctreePointCloudSearchPtr = typename pcl::octree::OctreePointCloudSearch< PointT, LeafTWrap, BranchTWrap >::Ptr
 
using OctreePointCloudSearchConstPtr = typename pcl::octree::OctreePointCloudSearch< PointT, LeafTWrap, BranchTWrap >::ConstPtr
 

Public Member Functions

 Octree (const double resolution)
 Octree constructor. More...
 
 ~Octree () override=default
 Empty Destructor. More...
 
void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
void setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices) override
 Provide a pointer to the input dataset. More...
 
int nearestKSearch (const PointCloud &cloud, index_t index, 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...
 
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...
 
int nearestKSearch (index_t index, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
 Search for the k-nearest neighbors for the given query point (zero-copy). More...
 
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 override
 search for all neighbors of query point that are within a given radius. More...
 
int radiusSearch (const PointT &p_q, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
 search for all neighbors of query point that are within a given radius. More...
 
int radiusSearch (index_t index, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
 search for all neighbors of query point that are within a given radius. More...
 
void approxNearestSearch (const PointCloudConstPtr &cloud, index_t query_index, index_t &result_index, float &sqr_distance)
 Search for approximate nearest neighbor at the query point. More...
 
void approxNearestSearch (const PointT &p_q, index_t &result_index, float &sqr_distance)
 Search for approximate nearest neighbor at the query point. More...
 
void approxNearestSearch (index_t query_index, index_t &result_index, float &sqr_distance)
 Search for approximate nearest neighbor at the query point. 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. More...
 

Public Attributes

OctreePointCloudSearchPtr tree_
 

Additional Inherited Members

Detailed Description

template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
class pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >

search::Octree is a wrapper class which implements nearest neighbor search operations based on the pcl::octree::Octree structure.

The octree pointcloud class needs to be initialized with its voxel resolution. Its bounding box is automatically adjusted according to the pointcloud dimension or it can be predefined. Note: The tree depth equates to the resolution and the bounding box dimensions of the octree.

Note
typename: PointT: type of point used in pointcloud
typename: LeafT: leaf node class (usuallt templated with integer indices values)
typename: OctreeT: octree implementation ()
Author
Julius Kammerl

Definition at line 68 of file octree.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::ConstPtr = shared_ptr<const pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> >

Definition at line 73 of file octree.h.

◆ OctreePointCloudSearchConstPtr

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchConstPtr = typename pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap>::ConstPtr

Definition at line 81 of file octree.h.

◆ OctreePointCloudSearchPtr

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::OctreePointCloudSearchPtr = typename pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap>::Ptr

Definition at line 80 of file octree.h.

◆ PointCloud

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 75 of file octree.h.

◆ PointCloudConstPtr

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 77 of file octree.h.

◆ PointCloudPtr

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 76 of file octree.h.

◆ Ptr

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
using pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Ptr = shared_ptr<pcl::search::Octree<PointT,LeafTWrap,BranchTWrap,OctreeT> >

Definition at line 72 of file octree.h.

Constructor & Destructor Documentation

◆ Octree()

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::Octree ( const double  resolution)
inline

Octree constructor.

Parameters
[in]resolutionoctree resolution at lowest octree level

Definition at line 91 of file octree.h.

◆ ~Octree()

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::~Octree ( )
overridedefault

Empty Destructor.

Member Function Documentation

◆ approxNearestSearch() [1/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch ( const PointCloudConstPtr cloud,
index_t  query_index,
index_t result_index,
float &  sqr_distance 
)
inline

Search for approximate nearest neighbor at the query point.

Parameters
[in]cloudthe point cloud data
[in]query_indexthe index in cloud representing the query point
[out]result_indexthe resultant index of the neighbor point
[out]sqr_distancethe resultant squared distance to the neighboring point
Returns
number of neighbors found

Definition at line 247 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ approxNearestSearch() [2/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch ( const PointT p_q,
index_t result_index,
float &  sqr_distance 
)
inline

Search for approximate nearest neighbor at the query point.

Parameters
[in]p_qthe given query point
[out]result_indexthe resultant index of the neighbor point
[out]sqr_distancethe resultant squared distance to the neighboring point

Definition at line 259 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ approxNearestSearch() [3/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::approxNearestSearch ( index_t  query_index,
index_t result_index,
float &  sqr_distance 
)
inline

Search for approximate nearest neighbor at the query point.

Parameters
query_indexindex 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_indexthe resultant index of the neighbor point
sqr_distancethe resultant squared distance to the neighboring point
Returns
number of neighbors found

Definition at line 272 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ boxSearch()

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
uindex_t pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::boxSearch ( const Eigen::Vector3f &  min_pt,
const Eigen::Vector3f &  max_pt,
Indices k_indices 
) const
inline

Search for points within rectangular search area.

Parameters
[in]min_ptlower corner of search area
[in]max_ptupper corner of search area
[out]k_indicesthe resultant point indices
Returns
number of points found within search area

Definition at line 283 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ nearestKSearch() [1/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch ( const PointCloud cloud,
index_t  index,
int  k,
Indices k_indices,
std::vector< float > &  k_sqr_distances 
) const
inlineoverridevirtual

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

Parameters
[in]cloudthe point cloud data
[in]indexthe index in cloud representing the 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

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

Definition at line 137 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ nearestKSearch() [2/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch ( const PointT point,
int  k,
Indices k_indices,
std::vector< float > &  k_sqr_distances 
) const
inlineoverridevirtual

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

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

Definition at line 152 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ nearestKSearch() [3/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::nearestKSearch ( index_t  index,
int  k,
Indices k_indices,
std::vector< float > &  k_sqr_distances 
) const
inlineoverridevirtual

Search for the k-nearest neighbors for the given query point (zero-copy).

Parameters
[in]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
[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

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

Definition at line 170 of file octree.h.

References pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ radiusSearch() [1/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch ( const PointCloud cloud,
index_t  index,
double  radius,
Indices k_indices,
std::vector< float > &  k_sqr_distances,
unsigned int  max_nn = 0 
) const
inlineoverridevirtual

search for all neighbors of query point that are within 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_sqr_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

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

Definition at line 185 of file octree.h.

References pcl::search::Search< PointT >::sorted_results_, pcl::search::Search< PointT >::sortResults(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ radiusSearch() [2/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch ( const PointT p_q,
double  radius,
Indices k_indices,
std::vector< float > &  k_sqr_distances,
unsigned int  max_nn = 0 
) const
inlineoverridevirtual

search for all neighbors of query point that are within a given radius.

Parameters
p_qthe given query point
radiusthe radius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_sqr_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 207 of file octree.h.

References pcl::search::Search< PointT >::sorted_results_, pcl::search::Search< PointT >::sortResults(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ radiusSearch() [3/3]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
int pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::radiusSearch ( index_t  index,
double  radius,
Indices k_indices,
std::vector< float > &  k_sqr_distances,
unsigned int  max_nn = 0 
) const
inlineoverridevirtual

search for all neighbors of query point that are within a given radius.

Parameters
indexindex 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
radiusradius of the sphere bounding all of p_q's neighbors
k_indicesthe resultant indices of the neighboring points
k_sqr_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

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

Definition at line 229 of file octree.h.

References pcl::search::Search< PointT >::sorted_results_, pcl::search::Search< PointT >::sortResults(), and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ setInputCloud() [1/2]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud ( const PointCloudConstPtr cloud)
inline

Provide a pointer to the input dataset.

Parameters
[in]cloudthe const boost shared pointer to a PointCloud message

Definition at line 105 of file octree.h.

References pcl::search::Search< PointT >::input_, and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

◆ setInputCloud() [2/2]

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
void pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::setInputCloud ( const PointCloudConstPtr cloud,
const IndicesConstPtr indices 
)
inlineoverridevirtual

Provide a pointer to the input dataset.

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

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

Definition at line 118 of file octree.h.

References pcl::search::Search< PointT >::indices_, pcl::search::Search< PointT >::input_, and pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_.

Member Data Documentation

◆ tree_

template<typename PointT , typename LeafTWrap = pcl::octree::OctreeContainerPointIndices, typename BranchTWrap = pcl::octree::OctreeContainerEmpty, typename OctreeT = pcl::octree::OctreeBase<LeafTWrap, BranchTWrap >>
OctreePointCloudSearchPtr pcl::search::Octree< PointT, LeafTWrap, BranchTWrap, OctreeT >::tree_

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