41#include <pcl/pcl_base.h>
42#include <pcl/point_cloud.h>
43#include <pcl/for_each_type.h>
44#include <pcl/common/concatenate.h>
45#include <pcl/common/copy_point.h>
73 template<
typename Po
intT>
88 Search (
const std::string& name =
"",
bool sorted =
false);
98 virtual const std::string&
124 virtual PointCloudConstPtr
158 template <
typename Po
intTDiff>
inline int
230 template <
typename Po
intTDiff>
void
235 using FieldListInT =
typename pcl::traits::fieldList<PointT>::type;
236 using FieldListOutT =
typename pcl::traits::fieldList<PointTDiff>::type;
240 if (indices.empty ())
243 for (std::size_t i = 0; i < cloud.
size(); i++)
252 pc.resize (indices.size());
253 for (std::size_t i = 0; i < indices.size(); i++)
256 cloud[indices[i]],
pc[i]));
286 template <
typename Po
intTDiff>
inline int
315 unsigned int max_nn = 0)
const;
356 unsigned int max_nn = 0)
const;
369 template <
typename Po
intTDiff>
void
375 unsigned int max_nn = 0)
const
378 using FieldListInT =
typename pcl::traits::fieldList<PointT>::type;
379 using FieldListOutT =
typename pcl::traits::fieldList<PointTDiff>::type;
383 if (indices.empty ())
385 pc.resize (cloud.
size ());
386 for (std::size_t i = 0; i < cloud.
size (); ++i)
392 pc.resize (indices.size ());
393 for (std::size_t i = 0; i < indices.size (); ++i)
411 Compare (
const std::vector<float>& distances)
412 : distances_ (distances)
419 return (distances_ [first] < distances_[second]);
422 const std::vector<float>& distances_;
428#ifdef PCL_NO_PRECOMPILE
429#include <pcl/search/impl/search.hpp>
Iterator class for point clouds with or without given indices.
std::size_t size() const
Size of the range the iterator is going through.
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
virtual bool getSortedResults()
Gets whether the results should be sorted (ascending in the distance) or not Otherwise the results ma...
virtual IndicesConstPtr getIndices() const
Get a pointer to the vector of indices used.
virtual ~Search()
Destructor.
PointCloudConstPtr input_
virtual void setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
Pass the input dataset that the search will be performed on.
void sortResults(Indices &indices, std::vector< float > &distances) const
virtual const std::string & getName() const
Returns the search method name.
void nearestKSearchT(const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, int k, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
Search for the k-nearest neighbors for the given query point.
typename PointCloud::ConstPtr PointCloudConstPtr
Search(const std::string &name="", bool sorted=false)
Constructor.
pcl::IndicesConstPtr IndicesConstPtr
pcl::IndicesPtr IndicesPtr
void radiusSearchT(const pcl::PointCloud< PointTDiff > &cloud, const Indices &indices, double radius, std::vector< Indices > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
Search for all the nearest neighbors of the query points in a given radius.
shared_ptr< pcl::search::Search< PointT > > Ptr
virtual PointCloudConstPtr getInputCloud() const
Get a pointer to the input point cloud dataset.
int radiusSearchT(const PointTDiff &point, double radius, Indices &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.
typename PointCloud::Ptr PointCloudPtr
virtual int nearestKSearch(const PointT &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const =0
Search for the k-nearest neighbors for the given query point.
virtual void setSortedResults(bool sorted)
sets whether the results should be sorted (ascending in the distance) or not
virtual int radiusSearch(const PointT &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const =0
Search for all the nearest neighbors of the query point in a given radius.
int nearestKSearchT(const PointTDiff &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const
Search for k-nearest neighbors for the given query point.
void copyPoint(const PointInT &point_in, PointOutT &point_out)
Copy the fields of a source point into a target point.
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
shared_ptr< Indices > IndicesPtr
IndicesAllocator<> Indices
Type used for indices in PCL.
shared_ptr< const Indices > IndicesConstPtr
A point structure representing Euclidean xyz coordinates, and the RGB color.
typename boost::mpl::remove_if< Sequence1, boost::mpl::not_< boost::mpl::contains< Sequence2, boost::mpl::_1 > > >::type type