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<div id="projectname">Point Cloud Library (PCL)<span id="projectnumber"> 1.15.1-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="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">* SPDX-License-Identifier: BSD-3-Clause</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">*</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment">* Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">* Copyright (c) 2025-, Open Perception Inc.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">*</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment">* All rights reserved</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment">*/</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span> </div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="preprocessor">#include <pcl/point_cloud.h></span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#include <pcl/search/search.h></span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span> </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacepcl.html">pcl</a> {</div>
<div class="foldopen" id="foldopen00016" data-start="{" data-end="}">
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="namespacepcl_1_1search.html"> 16</a></span> <span class="keyword">namespace </span>search {</div>
<div class="foldopen" id="foldopen00017" data-start="{" data-end="};">
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03"> 17</a></span> <span class="keyword">enum class</span> <a class="code hl_enumeration" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03">Purpose</a> : std::uint32_t {</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span> <a class="code hl_enumvalue" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a5e543256c480ac577d30f76f9120eb74">undefined</a> = 0, <span class="comment">///< Default value, for general-purpose search method</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span> <a class="code hl_enumvalue" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a7e3d21d20ba2a4f28b09b4c5f1f56ad2">radius_search</a> = 1, <span class="comment">///< The search method will mainly be used for radiusSearch</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> <a class="code hl_enumvalue" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a770022f714929eafced878b33f28b172">one_knn_search</a> = 2, <span class="comment">///< The search method will mainly be used for nearestKSearch where k is 1</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> <a class="code hl_enumvalue" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03adada865d3e71f08bb37c84ff6e608821">many_knn_search</a> = 4 <span class="comment">///< The search method will mainly be used for nearestKSearch where k is larger than 1</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> };</div>
</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"></span> </div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> /**</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * Automatically select the fastest search method for the given point cloud. Make sure to delete the returned object after use!</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * \param[in] cloud Point cloud, this function will pass it to the search method via setInputCloud</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * \param[in] sorted_results Whether the search method should always return results sorted by distance (may be slower than unsorted)</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * \param[in] purpose Optional, can be used to give more information about what this search method will be used for, to achieve optimal performance</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> */</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="namespacepcl_1_1search.html#acbb04932d0b5564607ac2d700c3c4aee"> 31</a></span> <a class="code hl_class" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT></a> * <a class="code hl_function" href="namespacepcl_1_1search.html#acbb04932d0b5564607ac2d700c3c4aee">autoSelectMethod</a>(<span class="keyword">const</span> <span class="keyword">typename</span> <a class="code hl_typedef" href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud<PointT>::ConstPtr</a>& cloud, <span class="keywordtype">bool</span> sorted_results, <a class="code hl_enumeration" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03">Purpose</a> purpose = <a class="code hl_enumvalue" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a5e543256c480ac577d30f76f9120eb74">Purpose::undefined</a>)</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> {</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <span class="keywordflow">return</span> autoSelectMethod<PointT>(cloud, <a class="code hl_typedef" href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a>(), sorted_results, purpose);</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> }</div>
</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment"></span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment"> /**</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment"> * Automatically select the fastest search method for the given point cloud. Make sure to delete the returned object after use!</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="comment"> * \param[in] cloud Point cloud, this function will pass it to the search method via setInputCloud</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="comment"> * \param[in] indices Will be passed to the search method via setInputCloud, together with the point cloud</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="comment"> * \param[in] sorted_results Whether the search method should always return results sorted by distance (may be slower than unsorted)</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="comment"> * \param[in] purpose Optional, can be used to give more information about what this search method will be used for, to achieve optimal performance</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="comment"> */</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <a class="code hl_class" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT></a> * <a class="code hl_function" href="namespacepcl_1_1search.html#acbb04932d0b5564607ac2d700c3c4aee">autoSelectMethod</a>(<span class="keyword">const</span> <span class="keyword">typename</span> <a class="code hl_typedef" href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud<PointT>::ConstPtr</a>& cloud, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a>& indices, <span class="keywordtype">bool</span> sorted_results, <a class="code hl_enumeration" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03">Purpose</a> purpose = <a class="code hl_enumvalue" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a5e543256c480ac577d30f76f9120eb74">Purpose::undefined</a>);</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> } <span class="comment">// namespace search</span></div>
</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>} <span class="comment">// namespace pcl</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="preprocessor">#include <pcl/search/impl/auto.hpp></span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af70fd81ce582ccabf683dd782ed3f032"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud::ConstPtr</a></div><div class="ttdeci">shared_ptr< const PointCloud< PointT > > ConstPtr</div><div class="ttdef"><b>Definition</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00415">point_cloud.h:415</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="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03">pcl::search::Purpose</a></div><div class="ttdeci">Purpose</div><div class="ttdef"><b>Definition</b> <a href="auto_8h_source.html#l00017">auto.h:17</a></div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03a5e543256c480ac577d30f76f9120eb74"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a5e543256c480ac577d30f76f9120eb74">pcl::search::Purpose::undefined</a></div><div class="ttdeci">@ undefined</div><div class="ttdoc">Default value, for general-purpose search method.</div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03a770022f714929eafced878b33f28b172"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a770022f714929eafced878b33f28b172">pcl::search::Purpose::one_knn_search</a></div><div class="ttdeci">@ one_knn_search</div><div class="ttdoc">The search method will mainly be used for nearestKSearch where k is 1.</div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03a7e3d21d20ba2a4f28b09b4c5f1f56ad2"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a7e3d21d20ba2a4f28b09b4c5f1f56ad2">pcl::search::Purpose::radius_search</a></div><div class="ttdeci">@ radius_search</div><div class="ttdoc">The search method will mainly be used for radiusSearch.</div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03adada865d3e71f08bb37c84ff6e608821"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03adada865d3e71f08bb37c84ff6e608821">pcl::search::Purpose::many_knn_search</a></div><div class="ttdeci">@ many_knn_search</div><div class="ttdoc">The search method will mainly be used for nearestKSearch where k is larger than 1.</div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_acbb04932d0b5564607ac2d700c3c4aee"><div class="ttname"><a href="namespacepcl_1_1search.html#acbb04932d0b5564607ac2d700c3c4aee">pcl::search::autoSelectMethod</a></div><div class="ttdeci">pcl::search::Search< PointT > * autoSelectMethod(const typename pcl::PointCloud< PointT >::ConstPtr &cloud, bool sorted_results, Purpose purpose=Purpose::undefined)</div><div class="ttdoc">Automatically select the fastest search method for the given point cloud.</div><div class="ttdef"><b>Definition</b> <a href="auto_8h_source.html#l00031">auto.h:31</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>
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