OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds. More...

#include <organized_neighbor2.h>

Inheritance diagram for pcl::search::OrganizedNeighbor2< PointT >:

Classes
struct	Entry

Public Types
typedef pcl::PointCloud< PointT >	PointCloud

typedef boost::shared_ptr< PointCloud >	PointCloudPtr

typedef boost::shared_ptr< const PointCloud >	PointCloudConstPtr

typedef boost::shared_ptr< const std::vector< int > >	IndicesConstPtr

typedef boost::shared_ptr< pcl::search::OrganizedNeighbor2< PointT > >	Ptr

typedef boost::shared_ptr< const pcl::search::OrganizedNeighbor2< PointT > >	ConstPtr

Public Member Functions
	OrganizedNeighbor2 (bool sorted_results=false)
	Constructor. More...

virtual	~OrganizedNeighbor2 ()
	Empty deconstructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
	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, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
	Search for all neighbors of query point that are within a given radius. More...

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

Eigen::Vector2f	projectPoint (const Eigen::Vector3f &p) const
	projects a point into the image More...

void	setIntrinsicsMatrix (const Eigen::Matrix3d &intrinsics_matrix)

Protected Member Functions
bool	testPoint (const PointT &query, unsigned k, std::priority_queue< Entry > &queue, unsigned 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 Attributes
Eigen::Matrix3f	intrinsics_matrix_
	the intrinsics matrix. More...

Eigen::Matrix3f	KR_KRT_

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

Detailed Description

template<typename PointT>
class pcl::search::OrganizedNeighbor2< PointT >

OrganizedNeighbor is a class for optimized nearest neigbhor search in organized point clouds.

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

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

typedef boost::shared_ptr<const pcl::search::OrganizedNeighbor2<PointT> > pcl::search::OrganizedNeighbor2< PointT >::ConstPtr

◆ IndicesConstPtr

template<typename PointT >

typedef boost::shared_ptr<const std::vector<int> > pcl::search::OrganizedNeighbor2< PointT >::IndicesConstPtr

◆ PointCloud

template<typename PointT >

typedef pcl::PointCloud<PointT> pcl::search::OrganizedNeighbor2< PointT >::PointCloud

◆ PointCloudConstPtr

template<typename PointT >

typedef boost::shared_ptr<const PointCloud> pcl::search::OrganizedNeighbor2< PointT >::PointCloudConstPtr

◆ PointCloudPtr

template<typename PointT >

typedef boost::shared_ptr<PointCloud> pcl::search::OrganizedNeighbor2< PointT >::PointCloudPtr

◆ Ptr

template<typename PointT >

typedef boost::shared_ptr<pcl::search::OrganizedNeighbor2<PointT> > pcl::search::OrganizedNeighbor2< PointT >::Ptr

Constructor & Destructor Documentation

◆ OrganizedNeighbor2()

template<typename PointT >

pcl::search::OrganizedNeighbor2< PointT >::OrganizedNeighbor2 ( bool sorted_results = false )

inlineexplicit

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 resutls

◆ ~OrganizedNeighbor2()

template<typename PointT >

virtual pcl::search::OrganizedNeighbor2< PointT >::~OrganizedNeighbor2 ( )

inlinevirtual

Empty deconstructor.

Member Function Documentation

◆ clipRange()

template<typename PointT >

void pcl::search::OrganizedNeighbor2< PointT >::clipRange	(	int &	begin,
		int &	end,
		int	min,
		int	max
	)		const

inlineprotected

◆ getProjectedRadiusSearchBox()

template<typename PointT >

void pcl::search::OrganizedNeighbor2< 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

◆ nearestKSearch()

template<typename PointT >

int pcl::search::OrganizedNeighbor2< PointT >::nearestKSearch	(	const PointT &	p_q,
		int	k,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances
	)		const

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

◆ projectPoint()

template<typename PointT >

Eigen::Vector2f pcl::search::OrganizedNeighbor2< PointT >::projectPoint ( const Eigen::Vector3f & p ) const

projects a point into the image

Parameters

[in] p point in 3D World Coordinate Frame to be projected onto the image plane

Returns: The 2D projected point in pixel coordinates (u,v)

◆ radiusSearch()

template<typename PointT >

int pcl::search::OrganizedNeighbor2< PointT >::radiusSearch	(	const PointT &	p_q,
		double	radius,
		std::vector< int > &	k_indices,
		std::vector< float > &	k_sqr_distances,
		unsigned int	max_nn = `0`
	)		const

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

◆ setInputCloud()

template<typename PointT >

virtual void pcl::search::OrganizedNeighbor2< PointT >::setInputCloud	(	const PointCloudConstPtr &	cloud,
		const IndicesConstPtr &	indices = `IndicesConstPtr()`
	)

inlinevirtual

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

◆ setIntrinsicsMatrix()

template<typename PointT >

void pcl::search::OrganizedNeighbor2< PointT >::setIntrinsicsMatrix ( const Eigen::Matrix3d & intrinsics_matrix )

inline

◆ testPoint()

template<typename PointT >

bool pcl::search::OrganizedNeighbor2< PointT >::testPoint	(	const PointT &	query,
		unsigned	k,
		std::priority_queue< Entry > &	queue,
		unsigned	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]	queue	priority queue with k NN
[in]	index	index on point to be tested

Returns: wheter the top element changed or not.

Member Data Documentation

◆ intrinsics_matrix_

template<typename PointT >

Eigen::Matrix3f pcl::search::OrganizedNeighbor2< PointT >::intrinsics_matrix_

protected

the intrinsics matrix.

◆ KR_KRT_

template<typename PointT >

Eigen::Matrix3f pcl::search::OrganizedNeighbor2< PointT >::KR_KRT_

protected

◆ mask_

template<typename PointT >

std::vector<unsigned char> pcl::search::OrganizedNeighbor2< PointT >::mask_

protected

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

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

localization/point_cloud_common/include/point_cloud_common/organized_neighbor2.h
localization/point_cloud_common/include/point_cloud_common/organized_neighbor2_impl.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::search::OrganizedNeighbor2< PointT >

Member Typedef Documentation

◆ ConstPtr

◆ IndicesConstPtr

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

Constructor & Destructor Documentation

◆ OrganizedNeighbor2()

◆ ~OrganizedNeighbor2()

Member Function Documentation

◆ clipRange()

◆ getProjectedRadiusSearchBox()

◆ nearestKSearch()

◆ projectPoint()

◆ radiusSearch()

◆ setInputCloud()

◆ setIntrinsicsMatrix()

◆ testPoint()

Member Data Documentation

◆ intrinsics_matrix_

◆ KR_KRT_

◆ mask_

template<typename PointT>
class pcl::search::OrganizedNeighbor2< PointT >