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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/common/point_tests.h></span> <span class="comment">// for pcl::isFinite</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <pcl/search/brute_force.h></span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <queue></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"></span> </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce<PointT>::getDistSqr</a> (</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <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="l00048"></a><span class="lineno"> 48</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">return</span> (point1.getVector3fMap () - point2.getVector3fMap ()).squaredNorm ();</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> }</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"></span> </div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html#a059de152db62d7816028cc198a2f40a3"> 54</a></span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html#a059de152db62d7816028cc198a2f40a3">pcl::search::BruteForce<PointT>::nearestKSearch</a> (</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <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="l00056"></a><span class="lineno"> 56</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  assert (<a class="code" href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">isFinite</a> (point) && <span class="stringliteral">"Invalid (NaN, Inf) point coordinates given to nearestKSearch!"</span>);</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>  k_indices.clear ();</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  k_distances.clear ();</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">if</span> (k < 1)</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">if</span> (input_->is_dense)</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">return</span> denseKSearch (point, k, k_indices, k_distances);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> sparseKSearch (point, k, k_indices, k_distances);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"></span> </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce<PointT>::denseKSearch</a> (</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <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="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="comment">// container for first k elements -> O(1) for insertion, since order not required here</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  std::vector<Entry> result;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  result.reserve (k);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  std::priority_queue<Entry> queue;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  {</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">auto</span> iIt = indices_->cbegin ();</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">auto</span> iEnd = indices_->cbegin () + std::min (<span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span><span class="keyword">></span> (k), <span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span><span class="keyword">></span> (indices_->size ()));</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">for</span> (; iIt != iEnd; ++iIt)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  result.push_back (Entry (*iIt, getDistSqr ((*input_)[*iIt], point)));</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  queue = std::priority_queue<Entry> (result.begin (), result.end ());</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  Entry entry;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">for</span> (; iIt != indices_->cend (); ++iIt)</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>  entry.distance = getDistSqr ((*input_)[*iIt], point);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">if</span> (queue.top ().distance > entry.distance)</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  {</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  entry.index = *iIt;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  queue.pop ();</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  queue.push (entry);</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  }</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  Entry entry;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">for</span> (entry.index = 0; entry.index < std::min<pcl::index_t> (k, input_->size ()); ++entry.index)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  {</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  entry.distance = getDistSqr ((*input_)[entry.index], point);</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  result.push_back (entry);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  queue = std::priority_queue<Entry> (result.begin (), result.end ());</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">for</span> (; entry.index < <span class="keyword">static_cast<</span><a class="code" href="namespacepcl.html#a45edbae979af563e6a1e39fd1aad3911">pcl::index_t</a><span class="keyword">></span>(input_->size ()); ++entry.index)</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  entry.distance = getDistSqr ((*input_)[entry.index], point);</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">if</span> (queue.top ().distance > entry.distance)</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  {</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  queue.pop ();</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  queue.push (entry);</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  } </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</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>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  k_indices.resize (queue.size ());</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  k_distances.resize (queue.size ());</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  std::size_t idx = queue.size () - 1;</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">while</span> (!queue.empty ())</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  {</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  k_indices [idx] = queue.top ().index;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  k_distances [idx] = queue.top ().distance;</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  queue.pop ();</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  --idx;</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</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="keywordflow">return</span> (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (k_indices.size ()));</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="comment"></span> </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce<PointT>::sparseKSearch</a> (</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <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="l00141"></a><span class="lineno"> 141</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// result used to collect the first k neighbors -> unordered</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  std::vector<Entry> result;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  result.reserve (k);</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  std::priority_queue<Entry> queue;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  {</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">auto</span> iIt =indices_->cbegin ();</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">for</span> (; iIt != indices_->cend () && result.size () < <span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span><span class="keyword">></span> (k); ++iIt)</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  {</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">if</span> (std::isfinite ((*input_)[*iIt].x))</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  result.push_back (Entry (*iIt, getDistSqr ((*input_)[*iIt], point)));</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  queue = std::priority_queue<Entry> (result.begin (), result.end ());</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// either we have k elements, or there are none left to iterate >in either case we're fine</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  Entry entry;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">for</span> (; iIt != indices_->cend (); ++iIt)</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  {</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">if</span> (!std::isfinite ((*input_)[*iIt].x))</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  </div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  entry.distance = getDistSqr ((*input_)[*iIt], point);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">if</span> (queue.top ().distance > entry.distance)</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  {</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  entry.index = *iIt;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  queue.pop ();</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  queue.push (entry);</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  }</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  {</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  Entry entry;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">for</span> (entry.index = 0; (entry.index < <span class="keyword">static_cast<</span><a class="code" href="namespacepcl.html#a45edbae979af563e6a1e39fd1aad3911">pcl::index_t</a><span class="keyword">></span>(input_->size ())) && (result.size () < <span class="keyword">static_cast<</span>std::size_t<span class="keyword">></span> (k)); ++entry.index)</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  {</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span> (std::isfinite ((*input_)[entry.index].x))</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  {</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  entry.distance = getDistSqr ((*input_)[entry.index], point);</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  result.push_back (entry);</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  }</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  queue = std::priority_queue<Entry> (result.begin (), result.end ());</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="comment">// add the rest</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">for</span> (; entry.index < <span class="keyword">static_cast<</span><a class="code" href="namespacepcl.html#a45edbae979af563e6a1e39fd1aad3911">pcl::index_t</a><span class="keyword">></span>(input_->size ()); ++entry.index)</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  {</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span> (!std::isfinite ((*input_)[entry.index].x))</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  entry.distance = getDistSqr ((*input_)[entry.index], point);</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">if</span> (queue.top ().distance > entry.distance)</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  {</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  queue.pop ();</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  queue.push (entry);</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  }</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  k_indices.resize (queue.size ());</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  k_distances.resize (queue.size ());</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  std::size_t idx = queue.size () - 1;</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">while</span> (!queue.empty ())</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  {</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  k_indices [idx] = queue.top ().index;</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  k_distances [idx] = queue.top ().distance;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  queue.pop ();</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  --idx;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  }</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordflow">return</span> (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (k_indices.size ()));</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="comment"></span> </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce<PointT>::denseRadiusSearch</a> (</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <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="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_sqr_distances,</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="keyword"></span>{ </div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  radius *= radius;</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  </div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  std::size_t reserve = max_nn;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">if</span> (reserve == 0)</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  {</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  reserve = std::min (indices_->size (), input_->size ());</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  reserve = input_->size ();</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  }</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  k_indices.reserve (reserve);</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  k_sqr_distances.reserve (reserve);</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordtype">float</span> <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  {</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& idx : *indices_)</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  {</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr ((*input_)[idx], point);</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordflow">if</span> (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> <= radius)</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  {</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  k_indices.push_back (idx);</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  k_sqr_distances.push_back (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>);</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// max_nn = 0 -> never true</span></div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  }</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  }</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  }</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  {</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keywordflow">for</span> (std::size_t index = 0; index < input_->size (); ++index)</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  {</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr ((*input_)[index], point);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordflow">if</span> (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> <= radius)</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  {</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  k_indices.push_back (index);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  k_sqr_distances.push_back (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>);</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// never true if max_nn = 0</span></div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  }</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  }</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  this->sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordflow">return</span> (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (k_indices.size ()));</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> }</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> <span class="comment"></span> </div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce<PointT>::sparseRadiusSearch</a> (</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <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="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices, std::vector<float> &k_sqr_distances,</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  radius *= radius;</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  std::size_t reserve = max_nn;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">if</span> (reserve == 0)</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  {</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  reserve = std::min (indices_->size (), input_->size ());</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  reserve = input_->size ();</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  k_indices.reserve (reserve);</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  k_sqr_distances.reserve (reserve);</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  </div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordtype">float</span> <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>;</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">if</span> (indices_)</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  {</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& idx : *indices_)</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  {</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">if</span> (!std::isfinite ((*input_)[idx].x))</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr ((*input_)[idx], point);</div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keywordflow">if</span> (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> <= radius)</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  {</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  k_indices.push_back (idx);</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  k_sqr_distances.push_back (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>);</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// never true if max_nn = 0</span></div>
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  }</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  }</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  }</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  {</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordflow">for</span> (std::size_t index = 0; index < input_->size (); ++index)</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  {</div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">if</span> (!std::isfinite ((*input_)[index].x))</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> = getDistSqr ((*input_)[index], point);</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordflow">if</span> (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a> <= radius)</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  {</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  k_indices.push_back (index);</div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  k_sqr_distances.push_back (<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>);</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">if</span> (k_indices.size () == max_nn) <span class="comment">// never true if max_nn = 0</span></div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  }</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  }</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  }</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordflow">if</span> (sorted_results_)</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  this->sortResults (k_indices, k_sqr_distances);</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  </div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordflow">return</span> (<span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (k_indices.size ()));</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> }</div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="comment"></span> </div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1search_1_1_brute_force.html#aa87867f6ee47ecec7d3ba4b7e143487c"> 334</a></span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html#aa87867f6ee47ecec7d3ba4b7e143487c">pcl::search::BruteForce<PointT>::radiusSearch</a> (</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <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, <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &k_indices,</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  std::vector<float> &k_sqr_distances, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_nn)<span class="keyword"> const</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  assert (<a class="code" href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">isFinite</a> (point) && <span class="stringliteral">"Invalid (NaN, Inf) point coordinates given to nearestKSearch!"</span>);</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  </div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  k_indices.clear ();</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  k_sqr_distances.clear ();</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordflow">if</span> (radius <= 0)</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  </div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordflow">if</span> (input_->is_dense)</div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordflow">return</span> denseRadiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keywordflow">return</span> sparseRadiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> }</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> <span class="preprocessor">#define PCL_INSTANTIATE_BruteForce(T) template class PCL_EXPORTS pcl::search::BruteForce<T>;</span></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_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="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_a2adb775f2d234f57c4e7c1209eb95a1d"><div class="ttname"><a href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">pcl::isFinite</a></div><div class="ttdeci">bool isFinite(const PointT &pt)</div><div class="ttdoc">Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00055">point_tests.h:55</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="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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