io.hpp
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#ifndef PCL_KDTREE_IO_IMPL_HPP_
#define PCL_KDTREE_IO_IMPL_HPP_
#include <pcl/kdtree/io.h>
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename Point1T, typename Point2T> void
pcl::getApproximateIndices (
const typename pcl::PointCloud<Point1T>::ConstPtr &cloud_in,
const typename pcl::PointCloud<Point2T>::ConstPtr &cloud_ref,
Indices &indices)
{
pcl::KdTreeFLANN<Point2T> tree;
tree.setInputCloud (cloud_ref);
Indices nn_idx (1);
std::vector<float> nn_dists (1);
indices.resize (cloud_in->size ());
for (std::size_t i = 0; i < cloud_in->size (); ++i)
{
tree.nearestKSearchT ((*cloud_in)[i], 1, nn_idx, nn_dists);
indices[i] = nn_idx[0];
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> void
pcl::getApproximateIndices (
const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
const typename pcl::PointCloud<PointT>::ConstPtr &cloud_ref,
Indices &indices)
{
pcl::KdTreeFLANN<PointT> tree;
tree.setInputCloud (cloud_ref);
Indices nn_idx (1);
std::vector<float> nn_dists (1);
indices.resize (cloud_in->size ());
for (std::size_t i = 0; i < cloud_in->size (); ++i)
{
tree.nearestKSearch (*cloud_in, i, 1, nn_idx, nn_dists);
indices[i] = nn_idx[0];
}
}
#endif // PCL_KDTREE_IO_IMPL_H_
pcl::KdTreeFLANN
KdTreeFLANN is a generic type of 3D spatial locator using kD-tree structures.
Definition: kdtree_flann.h:132
pcl::KdTreeFLANN::nearestKSearch
int nearestKSearch(const PointT &point, unsigned int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
Search for k-nearest neighbors for the given query point.
Definition: kdtree_flann.hpp:233
pcl::KdTreeFLANN::setInputCloud
void setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) override
Provide a pointer to the input dataset.
Definition: kdtree_flann.hpp:102
pcl::KdTree::nearestKSearchT
int nearestKSearchT(const PointTDiff &point, unsigned int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const
Search for k-nearest neighbors for the given query point.
Definition: kdtree.h:172
pcl::PointCloud::size
std::size_t size() const
Definition: point_cloud.h:443
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
pcl::getApproximateIndices
void getApproximateIndices(const typename pcl::PointCloud< PointT >::ConstPtr &cloud_in, const typename pcl::PointCloud< PointT >::ConstPtr &cloud_ref, Indices &indices)
Get a set of approximate indices for a given point cloud into a reference point cloud.
Definition: io.hpp:67
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133