brute_force.h

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#ifndef PCL_SEARCH_BRUTE_FORCE_H_
#define PCL_SEARCH_BRUTE_FORCE_H_

#include <pcl/search/search.h>

namespace pcl
{
  namespace search
  {
    template<typename PointT>
    class BruteForce: public Search<PointT>
    {
      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;

      struct Entry
      {
        Entry (int idx, float dist) : index (idx), distance (dist) {}
        Entry () {}
        unsigned index;
        float distance;
        bool operator < (const Entry& other) const
        {
          return distance < other.distance;
        }
      };

      // replace by some metric functor
      float getDistSqr (const PointT& point1, const PointT& point2) const;
      public:
        BruteForce ()
        {
        }

        virtual
        ~BruteForce ()
        {
        }

        inline void
        setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices)
        {
          cloud_ = cloud;
          indices_ = indices;
        }

        inline void
        setInputCloud (const PointCloudConstPtr& cloud)
        {
          const IndicesConstPtr& indices = IndicesConstPtr ();
          setInputCloud (cloud, indices);
        }

        PointCloudConstPtr
        getInputCloud ()
        {
          return (cloud_);
        }

        virtual IndicesConstPtr const
        getIndices ()
        {
          return (indices_);
        }

        int
        nearestKSearch (const PointT &point, int k, std::vector<int> &k_indices, std::vector<float> &k_distances);


        inline int
        nearestKSearch (const PointCloud &cloud, int index, int k, std::vector<int> &k_indices,
                        std::vector<float> &k_distances)
        {
          return nearestKSearch (cloud[index], k, k_indices, k_distances);
        }

        inline int
        nearestKSearch (int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances)
        {
          return nearestKSearch (cloud_->operator[](index), k, k_indices, k_distances);
        }

        int
        radiusSearch (const PointT& point, double radius,
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
                      int max_nn = -1) const;

        inline int
        radiusSearch (const PointCloud& cloud, int index, double radius, std::vector<int> &k_indices,
                      std::vector<float> &k_distances, int max_nn = -1)
        {
          return (radiusSearch (cloud[index], radius, k_indices, k_distances, max_nn));
        }

        inline int
        radiusSearch (int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_distances,
                      int max_nn = -1) const
        {
          return (radiusSearch (cloud_->operator[](index), radius, k_indices, k_distances, max_nn));
        }

      protected:
        PointCloudConstPtr cloud_;
        IndicesConstPtr indices_;
    };
  }
}

#endif    // PCL_SEARCH_BRUTE_FORCE_H_