Point Cloud Library (PCL)  1.3.1
organized.h
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00001 /*
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00036  * $Id: organized.h 3054 2011-11-01 08:02:31Z rusu $
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00039 
00040 #ifndef PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_
00041 #define PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_
00042 
00043 #include <pcl/point_cloud.h>
00044 #include <pcl/point_types.h>
00045 #include <pcl/search/search.h>
00046 
00047 #include <algorithm>
00048 #include <math.h>
00049 #include <queue>
00050 #include <vector>
00051 
00052 namespace pcl
00053 {
00054   namespace search
00055   {
00060     template<typename PointT>
00061     class OrganizedNeighbor : public pcl::search::Search<PointT>
00062     {
00063       // public typedefs
00064       typedef pcl::PointCloud<PointT> PointCloud;
00065       typedef boost::shared_ptr<PointCloud> PointCloudPtr;
00066       typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
00067       typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;
00068 
00069       public:
00070 
00072         OrganizedNeighbor ()
00073         {
00074           max_distance_ = std::numeric_limits<double>::max ();
00075           horizontal_window_ = 0;
00076           vertical_window_ = 0;
00077         }
00078 
00080         ~OrganizedNeighbor ()
00081         {
00082         }
00083 
00087         inline void
00088         setInputCloud (const PointCloudConstPtr &cloud)
00089         {
00090           if (input_ != cloud)
00091             input_ = cloud;
00092         }
00093 
00095         PointCloudConstPtr
00096         getInputCloud ()
00097         {
00098           return input_;
00099         }
00100 
00102         inline double
00103         getMaxDistance () const
00104         {
00105           return (max_distance_);
00106         }
00107 
00109         inline void
00110         setMaxDistance (double max_dist)
00111         {
00112           max_distance_ = max_dist;
00113         }
00114 
00119         inline void
00120         setSearchWindow (int horizontal, int vertical)
00121         {
00122           horizontal_window_ = horizontal;
00123           vertical_window_ = vertical;
00124         }
00125 
00129         void
00130         setSearchWindowAsK (int k);
00131 
00133         int
00134         getHorizontalSearchWindow () const
00135         {
00136           return (horizontal_window_);
00137         }
00138 
00140         int
00141         getVerticalSearchWindow () const
00142         {
00143           return (vertical_window_);
00144         }
00145 
00154         int
00155         nearestKSearch (const PointT &p_q, int k, std::vector<int> &k_indices,
00156                               std::vector<float> &k_sqr_distances)
00157         {
00158           PCL_ERROR ("[pcl::search::OrganizedNeighbor::approxNearestKSearch] Method not implemented!\n");
00159           return (0);
00160         }
00161 
00171         int
00172         nearestKSearch (int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances);
00173 
00183         int
00184         nearestKSearch (const pcl::PointCloud<PointT> &cloud, int index, int k, 
00185                               std::vector<int> &k_indices, std::vector<float> &k_distances);
00186 
00195         int
00196         radiusSearch (const pcl::PointCloud<PointT> &cloud, int index, double radius, 
00197                             std::vector<int> &k_indices, std::vector<float> &k_distances, 
00198                             int max_nn = INT_MAX);
00199 
00207         int
00208         radiusSearch (int index, double radius, 
00209                             std::vector<int> &k_indices, std::vector<float> &k_distances, 
00210                             int max_nn = INT_MAX) const;
00211 
00219         int
00220         radiusSearch (const PointT &p_q, double radius, 
00221                             std::vector<int> &k_indices, std::vector<float> &k_distances, 
00222                             int max_nn = INT_MAX) const
00223         {
00224           PCL_ERROR ("[pcl::search::OrganizedNeighbor::radiusSearch] Method not implemented!\n");
00225           return (0);
00226         }
00227 
00228       protected:
00230         virtual std::string
00231         getName () const
00232         {
00233           return ("Organized_Neighbor_Search");
00234         }
00235 
00237         int horizontal_window_;int vertical_window_;int min_pts_;
00238 
00240         PointCloudConstPtr input_;
00241 
00243         double max_distance_;
00244     };
00245   }
00246 }
00247 
00248 #endif
00249 
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