octree.h

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 * $Id: octree.h 6031 2012-06-26 10:54:13Z jkammerl $
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#ifndef PCL_SEARCH_OCTREE_H
#define PCL_SEARCH_OCTREE_H

#include <pcl/search/search.h>
#include <pcl/octree/octree_search.h>

namespace pcl
{
  namespace search
  {
    template<typename PointT, typename LeafTWrap = pcl::octree::OctreeContainerDataTVector<int>, typename BranchTWrap = pcl::octree::OctreeContainerEmpty<int>,
             typename OctreeT = pcl::octree::OctreeBase<int, LeafTWrap, BranchTWrap > >
    class Octree: public Search<PointT>
    {
      public:
        // public typedefs
        typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
        typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;

        typedef pcl::PointCloud<PointT> PointCloud;
        typedef boost::shared_ptr<PointCloud> PointCloudPtr;
        typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

        // Boost shared pointers
        typedef boost::shared_ptr<pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > Ptr;
        typedef boost::shared_ptr<const pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> > ConstPtr;
        Ptr tree_;

        using pcl::search::Search<PointT>::input_;
        using pcl::search::Search<PointT>::indices_;
        using pcl::search::Search<PointT>::sorted_results_;

        Octree (const double resolution)
          : Search<PointT> ("Octree")
          , tree_ (new pcl::octree::OctreePointCloudSearch<PointT, LeafTWrap, BranchTWrap> (resolution))
        {
        }

        virtual
        ~Octree ()
        {
        }

        inline void
        setInputCloud (const PointCloudConstPtr &cloud)
        {
          tree_->deleteTree ();
          tree_->setInputCloud (cloud);
          tree_->addPointsFromInputCloud ();
          input_ = cloud;
        }

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

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

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

        inline int
        radiusSearch (const PointCloud &cloud, 
                      int index, 
                      double radius,
                      std::vector<int> &k_indices, 
                      std::vector<float> &k_sqr_distances, 
                      unsigned int max_nn = 0) const
        {
          tree_->radiusSearch (cloud, index, radius, k_indices, k_sqr_distances, max_nn);
          if (sorted_results_)
            this->sortResults (k_indices, k_sqr_distances);
          return (static_cast<int> (k_indices.size ()));
        }

        inline int
        radiusSearch (const PointT &p_q, 
                      double radius, 
                      std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances, 
                      unsigned int max_nn = 0) const
        {
          tree_->radiusSearch (p_q, radius, k_indices, k_sqr_distances, max_nn);
          if (sorted_results_)
            this->sortResults (k_indices, k_sqr_distances);
          return (static_cast<int> (k_indices.size ()));
        }

        inline int
        radiusSearch (int index, double radius, std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const
        {
          tree_->radiusSearch (index, radius, k_indices, k_sqr_distances, max_nn);
          if (sorted_results_)
            this->sortResults (k_indices, k_sqr_distances);
          return (static_cast<int> (k_indices.size ()));
        }


        inline void
        approxNearestSearch (const PointCloudConstPtr &cloud, int query_index, int &result_index,
                             float &sqr_distance)
        {
          return (tree_->approxNearestSearch (cloud->points[query_index], result_index, sqr_distance));
        }

        inline void
        approxNearestSearch (const PointT &p_q, int &result_index, float &sqr_distance)
        {
          return (tree_->approxNearestSearch (p_q, result_index, sqr_distance));
        }

        inline void
        approxNearestSearch (int query_index, int &result_index, float &sqr_distance)
        {
          return (tree_->approxNearestSearch (query_index, result_index, sqr_distance));
        }

    };
  }
}

#define PCL_INSTANTIATE_Octree(T) template class PCL_EXPORTS pcl::search::Octree<T>;

#endif    // PCL_SEARCH_OCTREE_H