kdtree.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: kdtree.h 4826 2012-02-28 21:33:11Z bouffa $
 */

#ifndef PCL_SEARCH_KDTREE_H_
#define PCL_SEARCH_KDTREE_H_

#include <pcl/search/search.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/kdtree/kdtree_flann.h>

namespace pcl
{
  namespace search
  {
    template<typename PointT>
    class KdTree: public Search<PointT>
    {
      public:
        typedef typename Search<PointT>::PointCloud PointCloud;
        typedef typename Search<PointT>::PointCloudConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
        typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;

        using pcl::search::Search<PointT>::indices_;
        using pcl::search::Search<PointT>::input_;
        using pcl::search::Search<PointT>::getIndices;
        using pcl::search::Search<PointT>::getInputCloud;
        using pcl::search::Search<PointT>::nearestKSearch;
        using pcl::search::Search<PointT>::radiusSearch;
        using pcl::search::Search<PointT>::sorted_results_;

        typedef boost::shared_ptr<KdTree<PointT> > Ptr;
        typedef boost::shared_ptr<const KdTree<PointT> > ConstPtr;

        typedef boost::shared_ptr<pcl::KdTreeFLANN<PointT> > KdTreeFLANNPtr;
        typedef boost::shared_ptr<const pcl::KdTreeFLANN<PointT> > KdTreeFLANNConstPtr;

        KdTree (bool sorted = true) 
          : Search<PointT> ("KdTree", sorted)
          , tree_ (new pcl::KdTreeFLANN<PointT> (sorted))
        {
        }

        virtual
        ~KdTree ()
        {
        }

        virtual void 
        setSortedResults (bool sorted_results)
        {
          sorted_results_ = sorted_results;
          tree_->setSortedResults (sorted_results);
        }
        
        inline void
        setEpsilon (float eps)
        {
          tree_->setEpsilon (eps);
        }

        inline float
        getEpsilon () const
        {
          return (tree_->getEpsilon ());
        }

        inline void
        setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices = IndicesConstPtr ())
        {
          tree_->setInputCloud (cloud, indices);
          input_ = cloud;
          indices_ = indices;
        }

        inline int
        nearestKSearch (const PointT &point, int k, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const
        {
          return (tree_->nearestKSearch (point, k, k_indices, k_sqr_distances));
        }

        inline int
        radiusSearch (const PointT& point, double radius, 
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
                      unsigned int max_nn = 0) const
        {
          return (tree_->radiusSearch (point, radius, k_indices, k_sqr_distances, max_nn));
        }

      protected:
        KdTreeFLANNPtr tree_;
    };
  }
}

#define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;

#endif    // PCL_SEARCH_KDTREE_H_