search::FlannSearch is a generic FLANN wrapper class for the new search interface. More...
#include <pcl/search/flann_search.h>
Classes | |
| class | FlannIndexCreator |
| Helper class that creates a FLANN index from a given FLANN matrix. More... | |
| class | KdTreeIndexCreator |
| Creates a FLANN KdTreeSingleIndex from the given input data. More... | |
| class | KMeansIndexCreator |
| Creates a FLANN KdTreeSingleIndex from the given input data. More... | |
Public Types | |
| typedef boost::shared_ptr < FlannSearch< PointT, FlannDistance > > | Ptr |
| typedef boost::shared_ptr < const FlannSearch< PointT, FlannDistance > > | ConstPtr |
| typedef boost::shared_ptr < FlannIndexCreator > | FlannIndexCreatorPtr |
Public Member Functions | |
| FlannSearch (bool sorted=true, FlannIndexCreatorPtr creator=FlannIndexCreatorPtr(new KdTreeIndexCreator())) | |
| virtual | ~FlannSearch () |
| Destructor for FlannSearch. | |
| 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. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) |
| Provide a pointer to the input dataset. | |
| int | nearestKSearch (const PointT &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) const |
| Search for the k-nearest neighbors for the given query point. | |
| virtual void | nearestKSearch (const PointCloud &cloud, const std::vector< int > &indices, int k, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const |
| Search for the k-nearest neighbors for the given query point. | |
| int | radiusSearch (const PointT &point, double radius, std::vector< int > &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. | |
| virtual void | radiusSearch (const PointCloud &cloud, const std::vector< int > &indices, double radius, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const |
| Search for the k-nearest neighbors for the given query point. | |
| void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
| Provide a pointer to the point representation to use to convert points into k-D vectors. | |
| PointRepresentationConstPtr const | getPointRepresentation () |
| Get a pointer to the point representation used when converting points into k-D vectors. | |
Protected Member Functions | |
| void | convertInputToFlannMatrix () |
| converts the input data to a format usable by FLANN | |
Protected Attributes | |
| IndexPtr | index_ |
| The FLANN index. | |
| FlannIndexCreatorPtr | creator_ |
| The index creator, used to (re-) create the index when the search data is passed. | |
| MatrixPtr | input_flann_ |
| Input data in FLANN format. | |
| float | eps_ |
| Epsilon for approximate NN search. | |
| bool | input_copied_for_flann_ |
| PointRepresentationConstPtr | point_representation_ |
| int | dim_ |
| std::vector< int > | index_mapping_ |
| bool | identity_mapping_ |
search::FlannSearch is a generic FLANN wrapper class for the new search interface.
It is able to wrap any FLANN index type, e.g. the kd tree as well as indices for high-dimensional searches and intended as a more powerful and cleaner successor to KdTreeFlann.
Definition at line 67 of file flann_search.h.
| typedef boost::shared_ptr<const FlannSearch<PointT, FlannDistance> > pcl::search::FlannSearch< PointT, FlannDistance >::ConstPtr |
Reimplemented from pcl::search::Search< PointT >.
Definition at line 89 of file flann_search.h.
| typedef boost::shared_ptr<FlannIndexCreator> pcl::search::FlannSearch< PointT, FlannDistance >::FlannIndexCreatorPtr |
Definition at line 109 of file flann_search.h.
| typedef boost::shared_ptr<FlannSearch<PointT, FlannDistance> > pcl::search::FlannSearch< PointT, FlannDistance >::Ptr |
Reimplemented from pcl::search::Search< PointT >.
Definition at line 88 of file flann_search.h.
| pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch | ( | bool | sorted = true, |
|
| FlannIndexCreatorPtr | creator = FlannIndexCreatorPtr (new KdTreeIndexCreator ()) | |||
| ) | [inline] |
Definition at line 64 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, and pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_.
| pcl::search::FlannSearch< PointT, FlannDistance >::~FlannSearch | ( | ) | [inline, virtual] |
Destructor for FlannSearch.
Definition at line 73 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::input_copied_for_flann_, and pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_.
| void pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix | ( | ) | [inline, protected] |
converts the input data to a format usable by FLANN
Definition at line 348 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::search::Search< PointT >::indices_, pcl::search::Search< PointT >::input_, pcl::search::FlannSearch< PointT, FlannDistance >::input_copied_for_flann_, pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_, and pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud().
| double pcl::search::FlannSearch< PointT, FlannDistance >::getEpsilon | ( | ) | [inline] |
Get the search epsilon precision (error bound) for nearest neighbors searches.
Definition at line 177 of file flann_search.h.
References pcl::search::FlannSearch< PointT, FlannDistance >::eps_.
| PointRepresentationConstPtr const pcl::search::FlannSearch< PointT, FlannDistance >::getPointRepresentation | ( | ) | [inline] |
Get a pointer to the point representation used when converting points into k-D vectors.
Definition at line 253 of file flann_search.h.
References pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_.
| void pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch | ( | const PointCloud & | cloud, | |
| const std::vector< int > & | indices, | |||
| int | k, | |||
| std::vector< std::vector< int > > & | k_indices, | |||
| std::vector< std::vector< float > > & | k_sqr_distances | |||
| ) | const [inline, virtual] |
Search for the k-nearest neighbors for the given query point.
| [in] | cloud | the point cloud data |
| [in] | indices | a vector of point cloud indices to query for nearest neighbors |
| [in] | k | the number of neighbors to search for |
| [out] | k_indices | the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i |
| [out] | k_sqr_distances | the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i |
Reimplemented from pcl::search::Search< PointT >.
Definition at line 133 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::PointCloud< PointT >::is_dense, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, pcl::PointCloud< PointT >::size(), and pcl::search::Search< PointT >::sorted_results_.
| int pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch | ( | const PointT & | point, | |
| int | k, | |||
| std::vector< int > & | k_indices, | |||
| std::vector< float > & | k_sqr_distances | |||
| ) | const [inline, virtual] |
Search for the k-nearest neighbors for the given query point.
| [in] | point | the given query point |
| [in] | k | the number of neighbors to search for |
| [out] | k_indices | the resultant indices of the neighboring points (must be resized to k a priori!) |
| [out] | k_sqr_distances | the resultant squared distances to the neighboring points (must be resized to k a priori!) |
Implements pcl::search::Search< PointT >.
Definition at line 92 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, and pcl::search::Search< PointT >::sorted_results_.
| void pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch | ( | const PointCloud & | cloud, | |
| const std::vector< int > & | indices, | |||
| double | radius, | |||
| std::vector< std::vector< int > > & | k_indices, | |||
| std::vector< std::vector< float > > & | k_sqr_distances, | |||
| unsigned int | max_nn = 0 | |||
| ) | const [inline, virtual] |
Search for the k-nearest neighbors for the given query point.
| [in] | cloud | the point cloud data |
| [in] | indices | a vector of point cloud indices to query for nearest neighbors |
| [in] | radius | the radius of the sphere bounding all of p_q's neighbors |
| [out] | k_indices | the resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i |
| [out] | k_sqr_distances | the resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i |
| [in] | max_nn | if given, bounds the maximum returned neighbors to this value |
Reimplemented from pcl::search::Search< PointT >.
Definition at line 261 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::PointCloud< PointT >::is_dense, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, pcl::PointCloud< PointT >::size(), and pcl::search::Search< PointT >::sorted_results_.
| int pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch | ( | const PointT & | point, | |
| double | radius, | |||
| std::vector< int > & | k_indices, | |||
| std::vector< float > & | k_sqr_distances, | |||
| unsigned int | max_nn = 0 | |||
| ) | const [inline, virtual] |
Search for all the nearest neighbors of the query point in a given radius.
| [in] | point | 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. |
Implements pcl::search::Search< PointT >.
Definition at line 219 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, and pcl::search::Search< PointT >::sorted_results_.
| void pcl::search::FlannSearch< PointT, FlannDistance >::setEpsilon | ( | double | eps | ) | [inline] |
Set the search epsilon precision (error bound) for nearest neighbors searches.
| [in] | eps | precision (error bound) for nearest neighbors searches |
Definition at line 170 of file flann_search.h.
References pcl::search::FlannSearch< PointT, FlannDistance >::eps_.
| void pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud | ( | const PointCloudConstPtr & | cloud, | |
| const IndicesConstPtr & | indices = IndicesConstPtr () | |||
| ) | [inline, virtual] |
Provide a pointer to the input dataset.
| [in] | cloud | the const boost shared pointer to a PointCloud message |
| [in] | indices | the point indices subset that is to be used from cloud |
Definition at line 81 of file flann_search.hpp.
References pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix(), pcl::search::FlannSearch< PointT, FlannDistance >::creator_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::Search< PointT >::indices_, pcl::search::Search< PointT >::input_, and pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation().
| void pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation | ( | const PointRepresentationConstPtr & | point_representation | ) | [inline] |
Provide a pointer to the point representation to use to convert points into k-D vectors.
| [in] | point_representation | the const boost shared pointer to a PointRepresentation |
Definition at line 243 of file flann_search.h.
References pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::Search< PointT >::indices_, pcl::search::Search< PointT >::input_, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, and pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud().
FlannIndexCreatorPtr pcl::search::FlannSearch< PointT, FlannDistance >::creator_ [protected] |
The index creator, used to (re-) create the index when the search data is passed.
Definition at line 270 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud().
int pcl::search::FlannSearch< PointT, FlannDistance >::dim_ [protected] |
Definition at line 283 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix(), pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch(), and pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation().
float pcl::search::FlannSearch< PointT, FlannDistance >::eps_ [protected] |
Epsilon for approximate NN search.
Definition at line 278 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::getEpsilon(), pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch(), and pcl::search::FlannSearch< PointT, FlannDistance >::setEpsilon().
bool pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_ [protected] |
IndexPtr pcl::search::FlannSearch< PointT, FlannDistance >::index_ [protected] |
The FLANN index.
Definition at line 266 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch(), and pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud().
std::vector<int> pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_ [protected] |
bool pcl::search::FlannSearch< PointT, FlannDistance >::input_copied_for_flann_ [protected] |
Definition at line 279 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix(), and pcl::search::FlannSearch< PointT, FlannDistance >::~FlannSearch().
MatrixPtr pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_ [protected] |
Input data in FLANN format.
Definition at line 274 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix(), pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud(), and pcl::search::FlannSearch< PointT, FlannDistance >::~FlannSearch().
PointRepresentationConstPtr pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_ [protected] |
Definition at line 281 of file flann_search.h.
Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix(), pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::getPointRepresentation(), pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch(), pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch(), and pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation().
