OrganizedNeighbor is a class for optimized nearest neighbor search in organized projectable point clouds, for instance from Time-Of-Flight cameras or stereo cameras. More...

#include <pcl/search/organized.h>

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

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

Classes
struct	Entry

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

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

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

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
	OrganizedNeighbor (bool sorted_results=false, float eps=1e-4f, unsigned pyramid_level=5)
	Constructor. More...

	~OrganizedNeighbor () override=default
	Empty deconstructor. More...

bool	isValid () const
	Test whether this search-object is valid (input is organized AND from projective device) User should use this method after setting the input cloud, since setInput just prints an error if input is not organized or a projection matrix could not be determined. More...

void	computeCameraMatrix (Eigen::Matrix3f &camera_matrix) const
	Compute the camera matrix. More...

bool	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) override
	Provide a pointer to the input data set, if user has focal length he must set it before calling this. 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...

bool	estimateProjectionMatrix ()
	estimated the projection matrix from the input cloud. More...

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

bool	projectPoint (const PointT &p, pcl::PointXY &q) const
	projects a point into the image 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...

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. 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...

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. 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...

Protected Member Functions
bool	testPoint (const PointT &query, unsigned k, std::vector< Entry > &queue, index_t index) const
	test if point given by index is among the k NN in results to the query point. More...

void	clipRange (int &begin, int &end, int min, int max) const

void	getProjectedRadiusSearchBox (const PointT &point, float squared_radius, unsigned &minX, unsigned &minY, unsigned &maxX, unsigned &maxY) const
	Obtain a search box in 2D from a sphere with a radius in 3D. More...

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

Protected Attributes
Eigen::Matrix< float, 3, 4, Eigen::RowMajor >	projection_matrix_
	the projection matrix. More...

Eigen::Matrix< float, 3, 3, Eigen::RowMajor >	KR_
	inveser of the left 3x3 projection matrix which is K * R (with K being the camera matrix and R the rotation matrix) More...

Eigen::Matrix< float, 3, 3, Eigen::RowMajor >	KR_KRT_
	inveser of the left 3x3 projection matrix which is K * R (with K being the camera matrix and R the rotation matrix) More...

const float	eps_
	epsilon value for the MSE of the projection matrix estimation More...

const unsigned	pyramid_level_
	using only a subsample of points to calculate the projection matrix. More...

std::vector< unsigned char >	mask_
	mask, indicating whether the point was in the indices list or not. More...

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

IndicesConstPtr	indices_

bool	sorted_results_

std::string	name_

Detailed Description

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

OrganizedNeighbor is a class for optimized nearest neighbor search in organized projectable point clouds, for instance from Time-Of-Flight cameras or stereo cameras.

Note that rotating LIDARs may output organized clouds, but are not projectable via a pinhole camera model into two dimensions and thus will generally not work with this class.

Author: Radu B. Rusu, Julius Kammerl, Suat Gedikli, Koen Buys

Definition at line 64 of file organized.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

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

Definition at line 75 of file organized.h.

◆ PointCloud

template<typename PointT >

using pcl::search::OrganizedNeighbor< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 69 of file organized.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::search::OrganizedNeighbor< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 72 of file organized.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::search::OrganizedNeighbor< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 70 of file organized.h.

◆ Ptr

template<typename PointT >

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

Definition at line 74 of file organized.h.

Constructor & Destructor Documentation

◆ OrganizedNeighbor()

template<typename PointT >

pcl::search::OrganizedNeighbor< PointT >::OrganizedNeighbor	(	bool	sorted_results = `false`,
		float	eps = `1e-4f`,
		unsigned	pyramid_level = `5`
	)

inline

Constructor.

Parameters

[in]	sorted_results	whether the results should be return sorted in ascending order on the distances or not. This applies only for radius search, since knn always returns sorted results
[in]	eps	the threshold for the mean-squared-error of the estimation of the projection matrix. if the MSE is above this value, the point cloud is considered as not from a projective device, thus organized neighbor search can not be applied on that cloud.
[in]	pyramid_level	the level of the down sampled point cloud to be used for projection matrix estimation

Definition at line 89 of file organized.h.

◆ ~OrganizedNeighbor()

template<typename PointT >

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

overridedefault

Empty deconstructor.

Member Function Documentation

◆ clipRange()

template<typename PointT >

void pcl::search::OrganizedNeighbor< PointT >::clipRange	(	int &	begin,
		int &	end,
		int	min,
		int	max
	)		const

inlineprotected

Definition at line 247 of file organized.h.

◆ computeCameraMatrix()

template<typename PointT >

void pcl::search::OrganizedNeighbor< PointT >::computeCameraMatrix ( Eigen::Matrix3f & camera_matrix ) const

Compute the camera matrix.

Parameters

[out] camera_matrix the resultant computed camera matrix

Definition at line 326 of file organized.hpp.

References pcl::getCameraMatrixFromProjectionMatrix().

◆ estimateProjectionMatrix()

template<typename PointT >

bool pcl::search::OrganizedNeighbor< PointT >::estimateProjectionMatrix

estimated the projection matrix from the input cloud.

Definition at line 333 of file organized.hpp.

References pcl::projectPoint(), pcl::PointXY::x, and pcl::PointXY::y.

Referenced by pcl::search::OrganizedNeighbor< PointT >::setInputCloud().

◆ getProjectedRadiusSearchBox()

template<typename PointT >

void pcl::search::OrganizedNeighbor< PointT >::getProjectedRadiusSearchBox	(	const PointT &	point,
		float	squared_radius,
		unsigned &	minX,
		unsigned &	minY,
		unsigned &	maxX,
		unsigned &	maxY
	)		const

protected

Obtain a search box in 2D from a sphere with a radius in 3D.

Parameters

[in]	point	the query point (sphere center)
[in]	squared_radius	the squared sphere radius
[out]	minX	the min X box coordinate
[out]	minY	the min Y box coordinate
[out]	maxX	the max X box coordinate
[out]	maxY	the max Y box coordinate

Definition at line 269 of file organized.hpp.

◆ isValid()

template<typename PointT >

bool pcl::search::OrganizedNeighbor< PointT >::isValid ( ) const

inline

Test whether this search-object is valid (input is organized AND from projective device) User should use this method after setting the input cloud, since setInput just prints an error if input is not organized or a projection matrix could not be determined.

Returns: true if the input data is organized and from a projective device, false otherwise

Definition at line 108 of file organized.h.

References pcl::search::Search< PointT >::input_, pcl::search::OrganizedNeighbor< PointT >::KR_, and pcl::search::OrganizedNeighbor< PointT >::KR_KRT_.

Referenced by pcl::search::OrganizedNeighbor< PointT >::setInputCloud().

◆ nearestKSearch()

template<typename PointT >

int pcl::search::OrganizedNeighbor< PointT >::nearestKSearch	(	const PointT &	p_q,
		int	k,
		Indices &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const

overridevirtual

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

Note: limiting the maximum search radius (with setMaxDistance) can lead to a significant improvement in search speed

Parameters

[in]	p_q	the given query point (setInputCloud must be given a-priori!)
[in]	k	the number of neighbors to search for (used only if horizontal and vertical window not given already!)
[out]	k_indices	the resultant point indices (must be resized to k beforehand!)
[out]	k_sqr_distances

Note: this function does not return distances

Returns: number of neighbors found

Todo:: still need to implements this functionality

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

Definition at line 114 of file organized.hpp.

References pcl::isFinite().

◆ projectPoint()

template<typename PointT >

bool pcl::search::OrganizedNeighbor< PointT >::projectPoint	(	const PointT &	p,
		pcl::PointXY &	q
	)		const

projects a point into the image

Parameters

[in]	p	point in 3D World Coordinate Frame to be projected onto the image plane
[out]	q	the 2D projected point in pixel coordinates (u,v)

Returns: true if projection is valid, false otherwise

Definition at line 394 of file organized.hpp.

References pcl::PointXY::x, and pcl::PointXY::y.

Referenced by pcl::visualization::ImageViewer::addMask(), pcl::visualization::ImageViewer::addPlanarPolygon(), and pcl::visualization::ImageViewer::addRectangle().

◆ radiusSearch()

template<typename PointT >

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

overridevirtual

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. 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 49 of file organized.hpp.

References pcl::isFinite().

◆ setInputCloud()

template<typename PointT >

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

inlineoverridevirtual

Provide a pointer to the input data set, if user has focal length he must set it before calling this.

Parameters

[in]	cloud	the const boost shared pointer to a PointCloud message
[in]	indices	the const boost shared pointer to PointIndices

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

Definition at line 129 of file organized.h.

References pcl::search::OrganizedNeighbor< PointT >::estimateProjectionMatrix(), pcl::search::Search< PointT >::indices_, pcl::search::Search< PointT >::input_, pcl::search::OrganizedNeighbor< PointT >::isValid(), and pcl::search::OrganizedNeighbor< PointT >::mask_.

Referenced by pcl::visualization::ImageViewer::addMask(), pcl::visualization::ImageViewer::addPlanarPolygon(), and pcl::visualization::ImageViewer::addRectangle().

◆ testPoint()

template<typename PointT >

bool pcl::search::OrganizedNeighbor< PointT >::testPoint	(	const PointT &	query,
		unsigned	k,
		std::vector< Entry > &	queue,
		index_t	index
	)		const

inlineprotected

test if point given by index is among the k NN in results to the query point.

Parameters

[in]	query	query point
[in]	k	number of maximum nn interested in
[in,out]	queue	priority queue with k NN
[in]	index	index on point to be tested

Returns: whether the top element changed or not.

Definition at line 216 of file organized.h.

References pcl::search::Search< PointT >::input_, and pcl::search::OrganizedNeighbor< PointT >::mask_.

Member Data Documentation

◆ eps_

template<typename PointT >

const float pcl::search::OrganizedNeighbor< PointT >::eps_

protected

epsilon value for the MSE of the projection matrix estimation

Definition at line 276 of file organized.h.

◆ KR_

template<typename PointT >

Eigen::Matrix<float, 3, 3, Eigen::RowMajor> pcl::search::OrganizedNeighbor< PointT >::KR_

protected

inveser of the left 3x3 projection matrix which is K * R (with K being the camera matrix and R the rotation matrix)

Definition at line 270 of file organized.h.

Referenced by pcl::search::OrganizedNeighbor< PointT >::isValid().

◆ KR_KRT_

template<typename PointT >

Eigen::Matrix<float, 3, 3, Eigen::RowMajor> pcl::search::OrganizedNeighbor< PointT >::KR_KRT_

protected

inveser of the left 3x3 projection matrix which is K * R (with K being the camera matrix and R the rotation matrix)

Definition at line 273 of file organized.h.

Referenced by pcl::search::OrganizedNeighbor< PointT >::isValid().

◆ mask_

template<typename PointT >

std::vector<unsigned char> pcl::search::OrganizedNeighbor< PointT >::mask_

protected

mask, indicating whether the point was in the indices list or not.

Definition at line 282 of file organized.h.

Referenced by pcl::search::OrganizedNeighbor< PointT >::setInputCloud(), and pcl::search::OrganizedNeighbor< PointT >::testPoint().

◆ projection_matrix_

template<typename PointT >

Eigen::Matrix<float, 3, 4, Eigen::RowMajor> pcl::search::OrganizedNeighbor< PointT >::projection_matrix_

protected

the projection matrix.

Either set by user or calculated by the first / each input cloud

Definition at line 267 of file organized.h.

◆ pyramid_level_

template<typename PointT >

const unsigned pcl::search::OrganizedNeighbor< PointT >::pyramid_level_

protected

using only a subsample of points to calculate the projection matrix.

pyramid_level_ = use down sampled cloud given by pyramid_level_

Definition at line 279 of file organized.h.

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

pcl/search/organized.h
pcl/search/impl/organized.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ OrganizedNeighbor()

◆ ~OrganizedNeighbor()

Member Function Documentation

◆ clipRange()

◆ computeCameraMatrix()

◆ estimateProjectionMatrix()

◆ getProjectedRadiusSearchBox()

◆ isValid()

◆ nearestKSearch()

◆ projectPoint()

◆ radiusSearch()

◆ setInputCloud()

◆ testPoint()

Member Data Documentation

◆ eps_

◆ KR_

◆ KR_KRT_

◆ mask_

◆ projection_matrix_

◆ pyramid_level_

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