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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>Point Cloud Library (PCL): pcl/search/brute_force.h Source File</title>
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 <span id="projectnumber">1.14.1-dev</span>
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<li class="navelem"><a class="el" href="dir_51abff43eeb1b89e88dd778c5f481bfb.html">pcl</a></li><li class="navelem"><a class="el" href="dir_6cce7469e9f855dc2b39b51a8721cb14.html">search</a></li> </ul>
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<div class="title">brute_force.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include <pcl/search/search.h></span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="namespacepcl_1_1search.html"> 44</a></span>  <span class="keyword">namespace </span>search</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  {<span class="comment"></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> /** \brief Implementation of a simple brute force search algorithm.</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> * \author Suat Gedikli</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> * \ingroup search</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html"> 51</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1search_1_1_brute_force.html">BruteForce</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1search_1_1_search.html">Search</a><PointT></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">using</span> PointCloud = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Search<PointT>::PointCloud</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">using</span> PointCloudConstPtr = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html#a694ae0e2148ef8536bfba202926d4546">Search<PointT>::PointCloudConstPtr</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">using</span> IndicesPtr = <a class="code" href="namespacepcl.html#ab11731b62628e35f6adc312d1cdaf372">pcl::IndicesPtr</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">using</span> IndicesConstPtr = <a class="code" href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT>::input_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT>::indices_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT>::sorted_results_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">struct </span>Entry</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  {</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  Entry (<a class="code" href="namespacepcl.html#a45edbae979af563e6a1e39fd1aad3911">index_t</a> idx, <span class="keywordtype">float</span> dist) : index (idx), <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> (dist) {}</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  Entry () : index (0), <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> (0) {}</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="namespacepcl.html#a45edbae979af563e6a1e39fd1aad3911">index_t</a> index;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">float</span> <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  operator < (<span class="keyword">const</span> Entry& other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">return</span> (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> < other.distance);</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  operator > (<span class="keyword">const</span> Entry& other)<span class="keyword"> const</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">return</span> (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> > other.distance);</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  };</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// replace by some metric functor</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordtype">float</span> getDistSqr (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& point1, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& point2) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html#af7301a5e578a337343e3d5e11c884368"> 87</a></span>  <a class="code" href="classpcl_1_1search_1_1_brute_force.html#af7301a5e578a337343e3d5e11c884368">BruteForce</a> (<span class="keywordtype">bool</span> sorted_results = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  : <a class="code" href="classpcl_1_1search_1_1_search.html">Search</a><<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>> (<span class="stringliteral">"BruteForce"</span>, sorted_results)</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"></span> </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> /** \brief Destructor for KdTree. */</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html#a821b755a20a8cf3e15442fbacc7c0239"> 94</a></span>  <a class="code" href="classpcl_1_1search_1_1_brute_force.html#a821b755a20a8cf3e15442fbacc7c0239">~BruteForce</a> () <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"></span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> /** \brief Search for the k-nearest neighbors for the given query point.</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> * \param[in] point the given query point</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment"> * \param[in] k the number of neighbors to search for</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="comment"> * \param[out] k_indices the resultant indices of the neighboring points (must be resized to \a k a priori!)</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="comment"> * \param[out] k_distances the resultant squared distances to the neighboring points (must be resized to \a k</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"> * a priori!)</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> * \return number of neighbors found</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <a class="code" href="classpcl_1_1search_1_1_brute_force.html#a059de152db62d7816028cc198a2f40a3">nearestKSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a> &point, <span class="keywordtype">int</span> k, <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_distances) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"></span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> /** \brief Search for all the nearest neighbors of the query point in a given radius.</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> * \param[in] point the given query point</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> * \param[in] radius the radius of the sphere bounding all of p_q's neighbors</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> <span class="comment"> * \param[out] k_indices the resultant indices of the neighboring points</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="comment"> * \param[out] k_sqr_distances the resultant squared distances to the neighboring points</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="comment"> * \param[in] max_nn if given, bounds the maximum returned neighbors to this value. If \a max_nn is set to</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="comment"> * 0 or to a number higher than the number of points in the input cloud, all neighbors in \a radius will be</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> * returned.</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> * \return number of neighbors found in radius</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <a class="code" href="classpcl_1_1search_1_1_brute_force.html#aa87867f6ee47ecec7d3ba4b7e143487c">radiusSearch</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& point, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_sqr_distances,</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const override</span>;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  denseKSearch (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a> &point, <span class="keywordtype">int</span> k, <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  sparseKSearch (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a> &point, <span class="keywordtype">int</span> k, <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_distances) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  denseRadiusSearch (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& point, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_sqr_distances,</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  </div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">int</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  sparseRadiusSearch (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointT</a>& point, <span class="keywordtype">double</span> radius,</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_sqr_distances,</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  };</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> <span class="preprocessor">#include <pcl/search/impl/brute_force.hpp></span></div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce</a></div><div class="ttdoc">Implementation of a simple brute force search algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="brute__force_8h_source.html#l00051">brute_force.h:52</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html_a059de152db62d7816028cc198a2f40a3"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html#a059de152db62d7816028cc198a2f40a3">pcl::search::BruteForce::nearestKSearch</a></div><div class="ttdeci">int nearestKSearch(const PointT &point, int k, Indices &k_indices, std::vector< float > &k_distances) const override</div><div class="ttdoc">Search for the k-nearest neighbors for the given query point.</div><div class="ttdef"><b>Definition:</b> <a href="brute__force_8hpp_source.html#l00054">brute_force.hpp:54</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html_a821b755a20a8cf3e15442fbacc7c0239"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html#a821b755a20a8cf3e15442fbacc7c0239">pcl::search::BruteForce::~BruteForce</a></div><div class="ttdeci">~BruteForce() override=default</div><div class="ttdoc">Destructor for KdTree.</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html_aa87867f6ee47ecec7d3ba4b7e143487c"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html#aa87867f6ee47ecec7d3ba4b7e143487c">pcl::search::BruteForce::radiusSearch</a></div><div class="ttdeci">int radiusSearch(const PointT &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override</div><div class="ttdoc">Search for all the nearest neighbors of the query point in a given radius.</div><div class="ttdef"><b>Definition:</b> <a href="brute__force_8hpp_source.html#l00334">brute_force.hpp:334</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html_af7301a5e578a337343e3d5e11c884368"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html#af7301a5e578a337343e3d5e11c884368">pcl::search::BruteForce::BruteForce</a></div><div class="ttdeci">BruteForce(bool sorted_results=false)</div><div class="ttdef"><b>Definition:</b> <a href="brute__force_8h_source.html#l00087">brute_force.h:87</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class.</div><div class="ttdef"><b>Definition:</b> <a href="search_8h_source.html#l00074">search.h:75</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a694ae0e2148ef8536bfba202926d4546"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a694ae0e2148ef8536bfba202926d4546">pcl::search::Search::PointCloudConstPtr</a></div><div class="ttdeci">typename PointCloud::ConstPtr PointCloudConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="search_8h_source.html#l00079">search.h:79</a></div></div>
<div class="ttc" id="anamespacepcl_1_1geometry_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &p1, const PointT &p2)</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2geometry_8h_source.html#l00060">geometry.h:60</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a011f84e43d80cb736d9ec9abd0930024"><div class="ttname"><a href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a></div><div class="ttdeci">shared_ptr< const Indices > IndicesConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="pcl__base_8h_source.html#l00059">pcl_base.h:59</a></div></div>
<div class="ttc" id="anamespacepcl_html_a45edbae979af563e6a1e39fd1aad3911"><div class="ttname"><a href="namespacepcl.html#a45edbae979af563e6a1e39fd1aad3911">pcl::index_t</a></div><div class="ttdeci">detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t</div><div class="ttdoc">Type used for an index in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00112">types.h:112</a></div></div>
<div class="ttc" id="anamespacepcl_html_a8bfe09b8680e7129dd0fd6177c1a2ce6"><div class="ttname"><a href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a></div><div class="ttdeci">IndicesAllocator<> Indices</div><div class="ttdoc">Type used for indices in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00133">types.h:133</a></div></div>
<div class="ttc" id="anamespacepcl_html_ab11731b62628e35f6adc312d1cdaf372"><div class="ttname"><a href="namespacepcl.html#ab11731b62628e35f6adc312d1cdaf372">pcl::IndicesPtr</a></div><div class="ttdeci">shared_ptr< Indices > IndicesPtr</div><div class="ttdef"><b>Definition:</b> <a href="pcl__base_8h_source.html#l00058">pcl_base.h:58</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00593">point_types.hpp:594</a></div></div>
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