KdTree implementation based on Richard Keiser's KdTree code. More...

#include <easy3d/kdtree/kdtree_search_eth.h>

Inheritance diagram for KdTreeSearch_ETH:

Public Member Functions
	KdTreeSearch_ETH (const PointCloud *cloud)
	Constructor.

	KdTreeSearch_ETH (const std::vector< vec3 > &points)
	Constructor.

Closest point query
int	find_closest_point (const vec3 &p, float &squared_distance) const override
	Queries the closest point for a given point.

int	find_closest_point (const vec3 &p) const override
	Queries the closest point for a given point.

K nearest neighbors search
void	find_closest_k_points (const vec3 &p, int k, std::vector< int > &neighbors, std::vector< float > &squared_distances) const override
	Queries the K nearest neighbors for a given point.

void	find_closest_k_points (const vec3 &p, int k, std::vector< int > &neighbors) const override
	Queries the K nearest neighbors for a given point.

Fixed radius search
void	find_points_in_range (const vec3 &p, float squared_radius, std::vector< int > &neighbors, std::vector< float > &squared_distances) const override
	Queries the nearest neighbors within a fixed range.

void	find_points_in_range (const vec3 &p, float squared_radius, std::vector< int > &neighbors) const override
	Queries the nearest neighbors within a fixed range.

Cylinder range search
int	find_points_in_cylinder (const vec3 &p1, const vec3 &p2, float radius, std::vector< int > &neighbors, std::vector< float > &squared_distances, bool to_line=true) const
	Queries the nearest neighbors within a cylinder range.

int	find_points_in_cylinder (const vec3 &p1, const vec3 &p2, float radius, std::vector< int > &neighbors, bool to_line=true) const
	Queries the nearest neighbors within a cylinder range.

Cone range search
int	find_points_in_cone (const vec3 &eye, const vec3 &p1, const vec3 &p2, float angle_range, std::vector< int > &neighbors, std::vector< float > &squared_distances, bool to_line=true) const
	Queries the nearest neighbors within a cone.

int	find_points_in_cone (const vec3 &eye, const vec3 &p1, const vec3 &p2, float angle_range, std::vector< int > &neighbors, bool bToLine=true) const
	Queries the nearest neighbors within a cone.

Public Member Functions inherited from KdTreeSearch
	KdTreeSearch (const PointCloud *cloud)
	Constructor.

	KdTreeSearch (const std::vector< vec3 > &points)
	Constructor.

Detailed Description

KdTree implementation based on Richard Keiser's KdTree code.

See also: KdTreeSearch_ANN, KdTreeSearch_FLANN, and KdTreeSearch_NanoFLANN.

Constructor & Destructor Documentation

◆ KdTreeSearch_ETH() [1/2]

KdTreeSearch_ETH ( const PointCloud * cloud )

explicit

Constructor.

Parameters

cloud The point cloud for which a KdTree will be constructed.

◆ KdTreeSearch_ETH() [2/2]

KdTreeSearch_ETH ( const std::vector< vec3 > & points )

explicit

Constructor.

Parameters

points The points for which a KdTree will be constructed.

Member Function Documentation

◆ find_closest_k_points() [1/2]

void find_closest_k_points	(	const vec3 &	p,
		int	k,
		std::vector< int > &	neighbors ) const

overridevirtual

Queries the K nearest neighbors for a given point.

Parameters

p	The query point.
k	The number of required neighbors.
neighbors	The indices of the neighbors found.

Implements KdTreeSearch.

◆ find_closest_k_points() [2/2]

void find_closest_k_points	(	const vec3 &	p,
		int	k,
		std::vector< int > &	neighbors,
		std::vector< float > &	squared_distances ) const

overridevirtual

Queries the K nearest neighbors for a given point.

Parameters

p	The query point.
k	The number of required neighbors.
neighbors	The indices of the neighbors found.
squared_distances	The squared distances between the query point and its K nearest neighbors. The values are stored in accordance with their indices.

Note: The squared distances are returned by the argument squared_distances.

Implements KdTreeSearch.

◆ find_closest_point() [1/2]

int find_closest_point ( const vec3 & p ) const

overridevirtual

Queries the closest point for a given point.

Parameters

p	The query point.

Returns: The index of the nearest neighbor found.

Implements KdTreeSearch.

◆ find_closest_point() [2/2]

int find_closest_point	(	const vec3 &	p,
		float &	squared_distance ) const

overridevirtual

Queries the closest point for a given point.

Parameters

p	The query point.
squared_distance	The squared distance between the query point and its closest neighbor.

Note: A squared distance is returned by the second argument squared_distance.

Returns: The index of the nearest neighbor found.

Implements KdTreeSearch.

◆ find_points_in_cone() [1/2]

int find_points_in_cone	(	const vec3 &	eye,
		const vec3 &	p1,
		const vec3 &	p2,
		float	angle_range,
		std::vector< int > &	neighbors,
		bool	bToLine = true ) const

Queries the nearest neighbors within a cone.

Searches for the nearest points with a cone from p1 to p2.

Parameters

eye	The view point.
p1	One end point of a line segment.
p2	The other end point of a line segment.
angle_range	The maximal angle in radian allowed between `p1` - `p` and `p1` - `p2`, where `p` is a candidate point.
neighbors	The indices of the neighbors found.
bToLine	Specifies how the points found are ordered. If `bToLine=true`, the points found are ordered by their distances to the line. Otherwise, they are ordered by their distances to the view point `eye`.

Note: The angle is specified in radian and squared distances are returned.

◆ find_points_in_cone() [2/2]

int find_points_in_cone	(	const vec3 &	eye,
		const vec3 &	p1,
		const vec3 &	p2,
		float	angle_range,
		std::vector< int > &	neighbors,
		std::vector< float > &	squared_distances,
		bool	to_line = true ) const

Queries the nearest neighbors within a cone.

Searches for the nearest points with a cone from p1 to p2.

Parameters

eye	The view point.
p1	One end point of a line segment.
p2	The other end point of a line segment.
angle_range	The maximal angle in radian allowed between `p1` - `p` and `p1` - `p2`, where `p` is a candidate point.
neighbors	The indices of the neighbors found.
squared_distances	The squared distances between the found neighbors to the query line segment. The values are stored in accordance with their indices.
to_line	Specifies how the points found are ordered. If `to_line` is true, the points found are ordered by their distances to the line. Otherwise, they are ordered by their distances to the view point `eye`.

Note: The angle is specified in radian and squared distances are returned.

◆ find_points_in_cylinder() [1/2]

int find_points_in_cylinder	(	const vec3 &	p1,
		const vec3 &	p2,
		float	radius,
		std::vector< int > &	neighbors,
		bool	to_line = true ) const

Queries the nearest neighbors within a cylinder range.

Searches for the nearest points whose distances to line segment p1 - p2 are smaller than radius (not squared).

Parameters

p1	One end point of the query line segment.
p2	The other end point of the query line segment.
radius	The search range (which is not squared).
neighbors	The indices of the neighbors found.
to_line	Specifies how the points found are ordered. If `to_line` is true, the points found are ordered by their distances to the line. Otherwise, they are ordered by their distances to `p1`.

Note: The range is specified by radius (not squared) but squared distances are returned.

◆ find_points_in_cylinder() [2/2]

int find_points_in_cylinder	(	const vec3 &	p1,
		const vec3 &	p2,
		float	radius,
		std::vector< int > &	neighbors,
		std::vector< float > &	squared_distances,
		bool	to_line = true ) const

Queries the nearest neighbors within a cylinder range.

Searches for the nearest points whose distances to line segment p1 - p2 are smaller than radius (not squared).

Parameters

p1	One end point of the query line segment.
p2	The other end point of the query line segment.
radius	The search range (which is not squared).
neighbors	The indices of the neighbors found.
squared_distances	The squared distances between the found neighbors to the query line. The values are stored in accordance with their indices.
to_line	Specifies how the points found are ordered. If `to_line` is true, the points found are ordered by their distances to the line. Otherwise, they are ordered by their distances to `p1`.

Note: The range is specified by radius (not squared) but squared distances are returned.

◆ find_points_in_range() [1/2]

void find_points_in_range	(	const vec3 &	p,
		float	squared_radius,
		std::vector< int > &	neighbors ) const

overridevirtual

Queries the nearest neighbors within a fixed range.

Parameters

p	The query point.
squared_radius	The search range (which is required to be squared).
neighbors	The indices of the neighbors found.

Implements KdTreeSearch.

◆ find_points_in_range() [2/2]

void find_points_in_range	(	const vec3 &	p,
		float	squared_radius,
		std::vector< int > &	neighbors,
		std::vector< float > &	squared_distances ) const

overridevirtual

Queries the nearest neighbors within a fixed range.

Parameters

p	The query point.
squared_radius	The search range (which is required to be squared).
neighbors	The indices of the neighbors found.
squared_distances	The squared distances between the query point and the neighbors found. The values are stored in accordance with their indices.

Note: The squared distances are returned by the argument squared_distances.

Implements KdTreeSearch.

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

G:/3_code/Easy3D/easy3d/kdtree/kdtree_search_eth.h
G:/3_code/Easy3D/easy3d/kdtree/kdtree_search_eth.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ KdTreeSearch_ETH() [1/2]

◆ KdTreeSearch_ETH() [2/2]

Member Function Documentation

◆ find_closest_k_points() [1/2]

◆ find_closest_k_points() [2/2]

◆ find_closest_point() [1/2]

◆ find_closest_point() [2/2]

◆ find_points_in_cone() [1/2]

◆ find_points_in_cone() [2/2]

◆ find_points_in_cylinder() [1/2]

◆ find_points_in_cylinder() [2/2]

◆ find_points_in_range() [1/2]

◆ find_points_in_range() [2/2]