kdtree_flann.h

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 * $Id: kdtree_flann.h 3749 2011-12-31 22:58:01Z rusu $
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#ifndef PCL_KDTREE_KDTREE_FLANN_H_
#define PCL_KDTREE_KDTREE_FLANN_H_

#include <cstdio>
#include <flann/flann.hpp>
#include <pcl/kdtree/kdtree.h>
#include <boost/thread/mutex.hpp>

namespace pcl
{
  template <typename PointT, typename Dist = flann::L2_Simple<float> >
  class KdTreeFLANN : public pcl::KdTree<PointT>
  {
    using KdTree<PointT>::input_;
    using KdTree<PointT>::indices_;
    using KdTree<PointT>::epsilon_;
    using KdTree<PointT>::sorted_;
    using KdTree<PointT>::point_representation_;

    typedef typename KdTree<PointT>::PointCloud PointCloud;
    typedef typename KdTree<PointT>::PointCloudConstPtr PointCloudConstPtr;

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

    typedef flann::Index<Dist> FLANNIndex;

    public:
      // Boost shared pointers
      typedef boost::shared_ptr<KdTreeFLANN<PointT> > Ptr;
      typedef boost::shared_ptr<const KdTreeFLANN<PointT> > ConstPtr;

      KdTreeFLANN (bool sorted = true) : pcl::KdTree<PointT> (sorted), flann_index_(NULL), cloud_(NULL)
      {
        param_k_ = flann::SearchParams (-1 ,epsilon_);
        param_radius_ = flann::SearchParams (-1 ,epsilon_, sorted);
        cleanup ();
      }

      KdTreeFLANN (KdTreeFLANN& tree) : pcl::KdTree<PointT> (tree)
      {
        shallowCopy (tree);
      }

      inline void
      setEpsilon (double eps)
      {
        epsilon_ = eps;
        param_k_ = flann::SearchParams (-1 ,epsilon_);
        param_radius_ = flann::SearchParams (-1 ,epsilon_, sorted_);
      }

      inline Ptr makeShared () { return Ptr (new KdTreeFLANN<PointT> (*this)); } 

      KdTreeFLANN& operator= (const KdTreeFLANN& tree)
      {
        if (this != &tree) 
          shallowCopy (tree);
        return (*this);
      }


      inline void 
      shallowCopy (const KdTreeFLANN& tree)
      {
        flann_index_ = tree.flann_index_;
        cloud_ = tree.cloud_;
        index_mapping_ = tree.index_mapping_;
        dim_ = tree.dim_;
        sorted_ = tree.sorted_;
      }


      virtual ~KdTreeFLANN ()
      {
        cleanup ();
      }

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

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

      inline int 
      nearestKSearch (const PointCloud &cloud, int index, int k, 
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
      {
        if (index >= (int)cloud.points.size () || index < 0)
          return (0);
        return (nearestKSearch (cloud.points[index], k, k_indices, k_sqr_distances));
      }

      inline int 
      nearestKSearch (int index, int k, 
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
      {
        if (indices_ == NULL)
        {
          if (index >= (int)input_->points.size () || index < 0)
            return (0);
          return (nearestKSearch (input_->points[index], k, k_indices, k_sqr_distances));
        }
        else
        {
          if (index >= (int)indices_->size() || index < 0)
            return (0);
          return (nearestKSearch (input_->points[(*indices_)[index]], k, k_indices, k_sqr_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_sqr_distances, 
                    int max_nn = -1) const
      {
        if (index >= (int)cloud.points.size () || index < 0)
          return (0);
        return (radiusSearch(cloud.points[index], radius, k_indices, k_sqr_distances, max_nn));
      }

      inline int 
      radiusSearch (int index, double radius, std::vector<int> &k_indices,
                    std::vector<float> &k_sqr_distances, int max_nn = -1) const
      {
        if (indices_ == NULL)
        {
          if (index >= (int)input_->points.size () || index < 0)
            return (0);
          return (radiusSearch (input_->points[index], radius, k_indices, k_sqr_distances, max_nn));
        }
        else
        {
          if (index >= (int)indices_->size () || index < 0)
            return (0);
          return (radiusSearch (input_->points[(*indices_)[index]], radius, k_indices, k_sqr_distances, max_nn));
        }
      }

    private:
      void 
      cleanup ();

      bool 
      initParameters ();

      void 
      initData ();

      void 
      convertCloudToArray (const PointCloud &cloud);

      void 
      convertCloudToArray (const PointCloud &cloud, const std::vector<int> &indices);

    private:
      virtual std::string 
      getName () const { return ("KdTreeFLANN"); }

      boost::mutex m_lock_;

      FLANNIndex* flann_index_;

      float* cloud_;
      
      std::vector<int> index_mapping_;
      
      bool identity_mapping_;

      int dim_;

      flann::SearchParams param_k_;

      flann::SearchParams param_radius_;
   };
}

#endif