kdtree.hpp
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#ifndef PCL_SEARCH_KDTREE_IMPL_HPP_
#define PCL_SEARCH_KDTREE_IMPL_HPP_
#include <pcl/search/kdtree.h>
#include <pcl/search/impl/search.hpp>
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree>
pcl::search::KdTree<PointT,Tree>::KdTree (bool sorted)
: pcl::search::Search<PointT> ("KdTree", sorted)
, tree_ (new Tree (sorted))
{
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> void
pcl::search::KdTree<PointT,Tree>::setPointRepresentation (
const PointRepresentationConstPtr &point_representation)
{
tree_->setPointRepresentation (point_representation);
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> void
pcl::search::KdTree<PointT,Tree>::setSortedResults (bool sorted_results)
{
sorted_results_ = sorted_results;
tree_->setSortedResults (sorted_results);
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> void
pcl::search::KdTree<PointT,Tree>::setEpsilon (float eps)
{
tree_->setEpsilon (eps);
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> void
pcl::search::KdTree<PointT,Tree>::setInputCloud (
const PointCloudConstPtr& cloud,
const IndicesConstPtr& indices)
{
tree_->setInputCloud (cloud, indices);
input_ = cloud;
indices_ = indices;
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> int
pcl::search::KdTree<PointT,Tree>::nearestKSearch (
const PointT &point, int k, std::vector<int> &k_indices,
std::vector<float> &k_sqr_distances) const
{
return (tree_->nearestKSearch (point, k, k_indices, k_sqr_distances));
}
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> int
pcl::search::KdTree<PointT,Tree>::radiusSearch (
const PointT& point, double radius,
std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
unsigned int max_nn) const
{
return (tree_->radiusSearch (point, radius, k_indices, k_sqr_distances, max_nn));
}
#define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;
#endif //#ifndef _PCL_SEARCH_KDTREE_IMPL_HPP_
pcl::search::KdTree::KdTree
KdTree(bool sorted=true)
Constructor for KdTree.
Definition: kdtree.hpp:46
pcl
Definition: convolution.h:45
pcl::search::KdTree::setPointRepresentation
void setPointRepresentation(const PointRepresentationConstPtr &point_representation)
Provide a pointer to the point representation to use to convert points into k-D vectors.
Definition: kdtree.hpp:54
pcl::search::KdTree::nearestKSearch
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.
Definition: kdtree.hpp:88
pcl::search::KdTree::setEpsilon
void setEpsilon(float eps)
Set the search epsilon precision (error bound) for nearest neighbors searches.
Definition: kdtree.hpp:70
pcl::search::KdTree::radiusSearch
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.
Definition: kdtree.hpp:97
pcl::search::KdTree::setInputCloud
void setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
Provide a pointer to the input dataset.
Definition: kdtree.hpp:77
pcl::search::KdTree::setSortedResults
void setSortedResults(bool sorted_results)
Sets whether the results have to be sorted or not.
Definition: kdtree.hpp:62
pcl::KdTree< PointTarget >::IndicesConstPtr
boost::shared_ptr< const std::vector< int > > IndicesConstPtr
Definition: kdtree.h:60
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:606
pcl::search::KdTree< PointTarget >::PointRepresentationConstPtr
boost::shared_ptr< const PointRepresentation< PointTarget > > PointRepresentationConstPtr
Definition: kdtree.h:84
pcl::KdTree< PointTarget >::PointCloudConstPtr
boost::shared_ptr< const PointCloud > PointCloudConstPtr
Definition: kdtree.h:64
pcl::search::Search
Generic search class.
Definition: search.h:74