Point Cloud Library (PCL)  1.3.1
Classes | Public Types | Public Member Functions
pcl::octree::OctreePointCloudSearch Class Reference

Octree pointcloud search class More...

#include <pcl/octree/octree_search.h>

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List of all members.

Classes

class  prioBranchQueueEntry
 Priority queue entry for branch nodes More...
class  prioPointQueueEntry
 Priority queue entry for point candidates More...

Public Types

typedef boost::shared_ptr
< std::vector< int > > 
IndicesPtr
typedef boost::shared_ptr
< const std::vector< int > > 
IndicesConstPtr
typedef pcl::PointCloud< PointT > PointCloud
typedef boost::shared_ptr
< PointCloud
PointCloudPtr
typedef boost::shared_ptr
< const PointCloud
PointCloudConstPtr
typedef OctreePointCloudSearch
< PointT, LeafT, OctreeBase
< int, LeafT > > 
SingleBuffer
typedef OctreePointCloudSearch
< PointT, LeafT,
Octree2BufBase< int, LeafT > > 
DoubleBuffer
typedef OctreePointCloudSearch
< PointT, LeafT,
OctreeLowMemBase< int, LeafT > > 
LowMem
typedef boost::shared_ptr
< OctreePointCloudSearch
< PointT, LeafT, OctreeT > > 
Ptr
typedef boost::shared_ptr
< const OctreePointCloudSearch
< PointT, LeafT, OctreeT > > 
ConstPtr
typedef std::vector< PointT,
Eigen::aligned_allocator
< PointT > > 
AlignedPointTVector
typedef OctreeT::OctreeBranch OctreeBranch
typedef OctreeT::OctreeKey OctreeKey
typedef OctreeT::OctreeLeaf OctreeLeaf

Public Member Functions

 OctreePointCloudSearch (const double resolution)
 Constructor.
virtual ~OctreePointCloudSearch ()
 Empty class constructor.
bool voxelSearch (const PointT &point, std::vector< int > &pointIdx_data)
 Search for neighbors within a voxel at given point.
bool voxelSearch (const int index, std::vector< int > &pointIdx_data)
 Search for neighbors within a voxel at given point referenced by a point index.
int nearestKSearch (const PointCloud &cloud, int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
 Search for k-nearest neighbors at the query point.
int nearestKSearch (const PointT &p_q, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
 Search for k-nearest neighbors at given query point.
int nearestKSearch (int index, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances)
 Search for k-nearest neighbors at query point.
void approxNearestSearch (const PointCloud &cloud, int query_index, int &result_index, float &sqr_distance)
 Search for approx.
void approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
 Search for approx.
void approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
 Search for approx.
int radiusSearch (const PointCloud &cloud, int index, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, int max_nn=INT_MAX)
 Search for all neighbors of query point that are within a given radius.
int radiusSearch (const PointT &p_q, const double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, int max_nn=INT_MAX) const
 Search for all neighbors of query point that are within a given radius.
int radiusSearch (int index, const double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, int max_nn=INT_MAX) const
 Search for all neighbors of query point that are within a given radius.
int getIntersectedVoxelCenters (Eigen::Vector3f origin, Eigen::Vector3f direction, AlignedPointTVector &voxelCenterList) const
 Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).
int getIntersectedVoxelIndices (Eigen::Vector3f origin, Eigen::Vector3f direction, std::vector< int > &k_indices) const
 Get indices of all voxels that are intersected by a ray (origin, direction).
void setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
 Provide a pointer to the input data set.
IndicesConstPtr const getIndices ()
 Get a pointer to the vector of indices used.
PointCloudConstPtr getInputCloud ()
 Get a pointer to the input point cloud dataset.
void setEpsilon (double eps)
 Set the search epsilon precision (error bound) for nearest neighbors searches.
double getEpsilon ()
 Get the search epsilon precision (error bound) for nearest neighbors searches.
void setResolution (double resolution_arg)
 Set/change the octree voxel resolution.
double getResolution ()
 Get octree voxel resolution.
void addPointsFromInputCloud ()
 Add points from input point cloud to octree.
void addPointFromCloud (const int pointIdx_arg, IndicesPtr indices_arg)
 Add point at given index from input point cloud to octree.
void addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
 Add point simultaneously to octree and input point cloud.
void addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
 Add point simultaneously to octree and input point cloud.
bool isVoxelOccupiedAtPoint (const PointT &point_arg) const
 Check if voxel at given point exist.
bool isVoxelOccupiedAtPoint (const double pointX_arg, const double pointY_arg, const double pointZ_arg) const
 Check if voxel at given point coordinates exist.
bool isVoxelOccupiedAtPoint (const int &pointIdx_arg) const
 Check if voxel at given point from input cloud exist.
void deleteTree ()
 Delete the octree structure and its leaf nodes.
int getOccupiedVoxelCenters (AlignedPointTVector &voxelCenterList_arg) const
 Get a PointT vector of centers of all occupied voxels.
void deleteVoxelAtPoint (const PointT &point_arg)
 Delete leaf node / voxel at given point.
void deleteVoxelAtPoint (const int &pointIdx_arg)
 Delete leaf node / voxel at given point from input cloud.
void defineBoundingBox ()
 Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.
void defineBoundingBox (const double minX_arg, const double minY_arg, const double minZ_arg, const double maxX_arg, const double maxY_arg, const double maxZ_arg)
 Define bounding box for octree.
void defineBoundingBox (const double maxX_arg, const double maxY_arg, const double maxZ_arg)
 Define bounding box for octree.
void defineBoundingBox (const double cubeLen_arg)
 Define bounding box cube for octree.
void getBoundingBox (double &minX_arg, double &minY_arg, double &minZ_arg, double &maxX_arg, double &maxY_arg, double &maxZ_arg) const
 Get bounding box for octree.
double getVoxelSquaredDiameter (unsigned int treeDepth_arg) const
 Calculates the squared diameter of a voxel at given tree depth.
double getVoxelSquaredDiameter () const
 Calculates the squared diameter of a voxel at leaf depth.
double getVoxelSquaredSideLen (unsigned int treeDepth_arg) const
 Calculates the squared voxel cube side length at given tree depth.
double getVoxelSquaredSideLen () const
 Calculates the squared voxel cube side length at leaf level.

Detailed Description

Octree pointcloud search class

Note:
This class provides several methods for spatial neighbor search based on octree structure
typename: PointT: type of point used in pointcloud
Author:
Julius Kammerl (julius@kammerl.de)

Member Typedef Documentation

typedef std::vector<PointT, Eigen::aligned_allocator<PointT> > pcl::octree::OctreePointCloudSearch::AlignedPointTVector

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 81 of file octree_search.h.

typedef boost::shared_ptr<const OctreePointCloudSearch<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloudSearch::ConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 78 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 73 of file octree_search.h.

typedef boost::shared_ptr<const std::vector<int> > pcl::octree::OctreePointCloudSearch::IndicesConstPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 65 of file octree_search.h.

typedef boost::shared_ptr<std::vector<int> > pcl::octree::OctreePointCloudSearch::IndicesPtr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 64 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 74 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 83 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 84 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 85 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 67 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 69 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 68 of file octree_search.h.

typedef boost::shared_ptr<OctreePointCloudSearch<PointT, LeafT, OctreeT> > pcl::octree::OctreePointCloudSearch::Ptr

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 77 of file octree_search.h.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafT, OctreeT >.

Definition at line 72 of file octree_search.h.


Constructor & Destructor Documentation

pcl::octree::OctreePointCloudSearch::OctreePointCloudSearch ( const double  resolution) [inline]

Constructor.

Parameters:
resolution,:octree resolution at lowest octree level

Definition at line 90 of file octree_search.h.

virtual pcl::octree::OctreePointCloudSearch::~OctreePointCloudSearch ( ) [inline, virtual]

Empty class constructor.

Definition at line 97 of file octree_search.h.


Member Function Documentation

void pcl::octree::OctreePointCloud::addPointFromCloud ( const int  pointIdx_arg,
IndicesPtr  indices_arg 
) [inherited]

Add point at given index from input point cloud to octree.

Index will be also added to indices vector.

Parameters:
pointIdx_argindex of point to be added
indices_argpointer to indices vector of the dataset (given by setInputCloud)
void pcl::octree::OctreePointCloud::addPointsFromInputCloud ( ) [inherited]

Add points from input point cloud to octree.

void pcl::octree::OctreePointCloud::addPointToCloud ( const PointT &  point_arg,
PointCloudPtr  cloud_arg 
) [inherited]

Add point simultaneously to octree and input point cloud.

Parameters:
point_argpoint to be added
cloud_argpointer to input point cloud dataset (given by setInputCloud)
void pcl::octree::OctreePointCloud::addPointToCloud ( const PointT &  point_arg,
PointCloudPtr  cloud_arg,
IndicesPtr  indices_arg 
) [inherited]

Add point simultaneously to octree and input point cloud.

A corresponding index will be added to the indices vector.

Parameters:
point_argpoint to be added
cloud_argpointer to input point cloud dataset (given by setInputCloud)
indices_argpointer to indices vector of the dataset (given by setInputCloud)
void pcl::octree::OctreePointCloudSearch::approxNearestSearch ( const PointCloud cloud,
int  query_index,
int &  result_index,
float &  sqr_distance 
) [inline]

Search for approx.

nearest neighbor at the query point.

Parameters:
cloudthe point cloud data
query_indexthe index in cloud representing the query point
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 165 of file octree_search.h.

void pcl::octree::OctreePointCloudSearch::approxNearestSearch ( const PointT &  p_q,
int &  result_index,
float &  sqr_distance 
)

Search for approx.

nearest neighbor at the query point.

Parameters:
p_qthe given query point
result_indexthe resultant index of the neighbor point
sqr_distancethe resultant squared distance to the neighboring point

Definition at line 127 of file octree_search.hpp.

void pcl::octree::OctreePointCloudSearch::approxNearestSearch ( int  query_index,
int &  result_index,
float &  sqr_distance 
)

Search for approx.

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 140 of file octree_search.hpp.

void pcl::octree::OctreePointCloud::defineBoundingBox ( ) [inherited]

Investigate dimensions of pointcloud data set and define corresponding bounding box for octree.

void pcl::octree::OctreePointCloud::defineBoundingBox ( const double  minX_arg,
const double  minY_arg,
const double  minZ_arg,
const double  maxX_arg,
const double  maxY_arg,
const double  maxZ_arg 
) [inherited]

Define bounding box for octree.

Note:
Bounding box cannot be changed once the octree contains elements.
Parameters:
minX_argX coordinate of lower bounding box corner
minY_argY coordinate of lower bounding box corner
minZ_argZ coordinate of lower bounding box corner
maxX_argX coordinate of upper bounding box corner
maxY_argY coordinate of upper bounding box corner
maxZ_argZ coordinate of upper bounding box corner
void pcl::octree::OctreePointCloud::defineBoundingBox ( const double  maxX_arg,
const double  maxY_arg,
const double  maxZ_arg 
) [inherited]

Define bounding box for octree.

Note:
Lower bounding box point is set to (0, 0, 0)
Bounding box cannot be changed once the octree contains elements.
Parameters:
maxX_argX coordinate of upper bounding box corner
maxY_argY coordinate of upper bounding box corner
maxZ_argZ coordinate of upper bounding box corner
void pcl::octree::OctreePointCloud::defineBoundingBox ( const double  cubeLen_arg) [inherited]

Define bounding box cube for octree.

Note:
Lower bounding box corner is set to (0, 0, 0)
Bounding box cannot be changed once the octree contains elements.
Parameters:
cubeLen_argside length of bounding box cube.
void pcl::octree::OctreePointCloud::deleteTree ( ) [inline, inherited]

Delete the octree structure and its leaf nodes.

Definition at line 215 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud::deleteVoxelAtPoint ( const PointT &  point_arg) [inherited]

Delete leaf node / voxel at given point.

Parameters:
point_argpoint addressing the voxel to be deleted.
void pcl::octree::OctreePointCloud::deleteVoxelAtPoint ( const int &  pointIdx_arg) [inherited]

Delete leaf node / voxel at given point from input cloud.

Parameters:
pointIdx_argindex of point addressing the voxel to be deleted.
void pcl::octree::OctreePointCloud::getBoundingBox ( double &  minX_arg,
double &  minY_arg,
double &  minZ_arg,
double &  maxX_arg,
double &  maxY_arg,
double &  maxZ_arg 
) const [inherited]

Get bounding box for octree.

Note:
Bounding box cannot be changed once the octree contains elements.
Parameters:
minX_argX coordinate of lower bounding box corner
minY_argY coordinate of lower bounding box corner
minZ_argZ coordinate of lower bounding box corner
maxX_argX coordinate of upper bounding box corner
maxY_argY coordinate of upper bounding box corner
maxZ_argZ coordinate of upper bounding box corner
double pcl::octree::OctreePointCloud::getEpsilon ( ) [inline, inherited]

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

Definition at line 155 of file octree_pointcloud.h.

IndicesConstPtr const pcl::octree::OctreePointCloud::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Returns:
pointer to vector of indices used.

Definition at line 130 of file octree_pointcloud.h.

PointCloudConstPtr pcl::octree::OctreePointCloud::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Returns:
pointer to pointcloud input class.

Definition at line 139 of file octree_pointcloud.h.

int pcl::octree::OctreePointCloudSearch::getIntersectedVoxelCenters ( Eigen::Vector3f  origin,
Eigen::Vector3f  direction,
AlignedPointTVector voxelCenterList 
) const

Get a PointT vector of centers of all voxels that intersected by a ray (origin, direction).

Parameters:
[in]originray origin
[in]directionray direction vector
[out]voxelCenterListresults are written to this vector of PointT elements
Returns:
number of intersected voxels

Definition at line 486 of file octree_search.hpp.

int pcl::octree::OctreePointCloudSearch::getIntersectedVoxelIndices ( Eigen::Vector3f  origin,
Eigen::Vector3f  direction,
std::vector< int > &  k_indices 
) const

Get indices of all voxels that are intersected by a ray (origin, direction).

Parameters:
[in]originray origin
[in]directionray direction vector
[out]k_indicesresulting indices
Returns:
number of intersected voxels

Definition at line 511 of file octree_search.hpp.

int pcl::octree::OctreePointCloud::getOccupiedVoxelCenters ( AlignedPointTVector voxelCenterList_arg) const [inherited]

Get a PointT vector of centers of all occupied voxels.

Parameters:
voxelCenterList_argresults are written to this vector of PointT elements
Returns:
number of occupied voxels
double pcl::octree::OctreePointCloud::getResolution ( ) [inline, inherited]

Get octree voxel resolution.

Returns:
voxel resolution at lowest tree level

Definition at line 175 of file octree_pointcloud.h.

double pcl::octree::OctreePointCloud::getVoxelSquaredDiameter ( unsigned int  treeDepth_arg) const [inherited]

Calculates the squared diameter of a voxel at given tree depth.

Parameters:
treeDepth_argdepth/level in octree
Returns:
squared diameter
double pcl::octree::OctreePointCloud::getVoxelSquaredDiameter ( ) const [inline, inherited]

Calculates the squared diameter of a voxel at leaf depth.

Returns:
squared diameter

Definition at line 325 of file octree_pointcloud.h.

double pcl::octree::OctreePointCloud::getVoxelSquaredSideLen ( unsigned int  treeDepth_arg) const [inherited]

Calculates the squared voxel cube side length at given tree depth.

Parameters:
treeDepth_argdepth/level in octree
Returns:
squared voxel cube side length
double pcl::octree::OctreePointCloud::getVoxelSquaredSideLen ( ) const [inline, inherited]

Calculates the squared voxel cube side length at leaf level.

Returns:
squared voxel cube side length

Definition at line 341 of file octree_pointcloud.h.

bool pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint ( const PointT &  point_arg) const [inherited]

Check if voxel at given point exist.

Parameters:
point_argpoint to be checked
Returns:
"true" if voxel exist; "false" otherwise
bool pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint ( const double  pointX_arg,
const double  pointY_arg,
const double  pointZ_arg 
) const [inherited]

Check if voxel at given point coordinates exist.

Parameters:
pointX_argX coordinate of point to be checked
pointY_argY coordinate of point to be checked
pointZ_argZ coordinate of point to be checked
Returns:
"true" if voxel exist; "false" otherwise
bool pcl::octree::OctreePointCloud::isVoxelOccupiedAtPoint ( const int &  pointIdx_arg) const [inherited]

Check if voxel at given point from input cloud exist.

Parameters:
pointIdx_argpoint to be checked
Returns:
"true" if voxel exist; "false" otherwise
int pcl::octree::OctreePointCloudSearch::nearestKSearch ( const PointCloud cloud,
int  index,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
) [inline]

Search for k-nearest neighbors at the query point.

Parameters:
cloudthe point cloud data
indexthe index in cloud representing the query point
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Definition at line 127 of file octree_search.h.

int pcl::octree::OctreePointCloudSearch::nearestKSearch ( const PointT &  p_q,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
)

Search for k-nearest neighbors at given query point.

Parameters:
p_qthe given query point
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Definition at line 78 of file octree_search.hpp.

int pcl::octree::OctreePointCloudSearch::nearestKSearch ( int  index,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
)

Search for k-nearest neighbors at query point.

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.
kthe number of neighbors to search for
k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns:
number of neighbors found

Definition at line 118 of file octree_search.hpp.

int pcl::octree::OctreePointCloudSearch::radiusSearch ( const PointCloud cloud,
int  index,
double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances,
int  max_nn = INT_MAX 
) [inline]

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

Definition at line 199 of file octree_search.h.

int pcl::octree::OctreePointCloudSearch::radiusSearch ( const PointT &  p_q,
const double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances,
int  max_nn = INT_MAX 
) const

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

Definition at line 150 of file octree_search.hpp.

int pcl::octree::OctreePointCloudSearch::radiusSearch ( int  index,
const double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances,
int  max_nn = INT_MAX 
) const

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

Definition at line 168 of file octree_search.hpp.

void pcl::octree::OctreePointCloud::setEpsilon ( double  eps) [inline, inherited]

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

Parameters:
epsprecision (error bound) for nearest neighbors searches

Definition at line 148 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud::setInputCloud ( const PointCloudConstPtr cloud_arg,
const IndicesConstPtr indices_arg = IndicesConstPtr () 
) [inline, inherited]

Provide a pointer to the input data set.

Parameters:
cloud_argthe const boost shared pointer to a PointCloud message
indices_argthe point indices subset that is to be used from cloud - if 0 the whole point cloud is used

Definition at line 115 of file octree_pointcloud.h.

void pcl::octree::OctreePointCloud::setResolution ( double  resolution_arg) [inline, inherited]

Set/change the octree voxel resolution.

Parameters:
resolution_argside length of voxels at lowest tree level

Definition at line 164 of file octree_pointcloud.h.

bool pcl::octree::OctreePointCloudSearch::voxelSearch ( const PointT &  point,
std::vector< int > &  pointIdx_data 
)

Search for neighbors within a voxel at given point.

Parameters:
[in]pointpoint addressing a leaf node voxel
[out]pointIdx_datathe resultant indices of the neighboring voxel points
Returns:
"true" if leaf node exist; "false" otherwise

Definition at line 47 of file octree_search.hpp.

bool pcl::octree::OctreePointCloudSearch::voxelSearch ( const int  index,
std::vector< int > &  pointIdx_data 
)

Search for neighbors within a voxel at given point referenced by a point index.

Parameters:
[in]indexthe index in input cloud defining the query point
[out]pointIdx_datathe resultant indices of the neighboring voxel points
Returns:
"true" if leaf node exist; "false" otherwise

Definition at line 69 of file octree_search.hpp.


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