search.h

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 * $Id: search.h 3536 2011-12-14 22:24:39Z rusu $
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#ifndef PCL_SEARCH_SEARCH_H_
#define PCL_SEARCH_SEARCH_H_

#include <pcl/point_cloud.h>
#include <pcl/common/io.h>

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

        typedef boost::shared_ptr<pcl::search::Search<PointT> > Ptr;
        typedef boost::shared_ptr<const pcl::search::Search<PointT> > ConstPtr;

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

        Search ()
        {
        }

        virtual
        ~Search ()
        {
        }

        virtual void
        setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices) {}

        virtual void
        setInputCloud (const PointCloudConstPtr& cloud) = 0;

        virtual PointCloudConstPtr
        getInputCloud () = 0;

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

        virtual int
        nearestKSearch (const PointT &point, int k, std::vector<int> &k_indices,
                        std::vector<float> &k_sqr_distances) = 0;

        template <typename PointTDiff> int
        nearestKSearchT (const PointTDiff &point, int k, std::vector<int> &k_indices,
                         std::vector<float> &k_sqr_distances)
        {
          PointT p;
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
          pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (
                point, p));
          return (nearestKSearch (p, k, k_indices, k_sqr_distances));
        }

        virtual int
        nearestKSearch (const PointCloud& cloud, int index, int k, std::vector<int>& k_indices,
                        std::vector<float>& k_sqr_distances) = 0;

        virtual int
        nearestKSearch (int index, int k, std::vector<int>& k_indices, std::vector<float>& k_sqr_distances) = 0;

        virtual void
        nearestKSearch (const PointCloud& cloud, const std::vector<int>& indices, int k, std::vector< std::vector<int> >& k_indices,
                        std::vector< std::vector<float> >& k_sqr_distances)
        {
          if (indices.empty ())
          {
            k_indices.resize (cloud.size ());
            k_sqr_distances.resize (cloud.size ());
            for (size_t i = 0; i < cloud.size (); i++)
              nearestKSearch (cloud,(int) i,k,k_indices[i],k_sqr_distances[i]);
          }
          else
          {
            k_indices.resize (indices.size ());
            k_sqr_distances.resize (indices.size ());
            for (size_t i = 0; i < indices.size (); i++)
              nearestKSearch (cloud,indices[i],k,k_indices[i],k_sqr_distances[i]);
          }
        }

        template <typename PointTDiff> void
        nearestKSearchT (const pcl::PointCloud<PointTDiff> &cloud, const std::vector<int>& indices, int k, std::vector< std::vector<int> > &k_indices,
                         std::vector< std::vector<float> > &k_sqr_distances)
        {
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;

          pcl::PointCloud<PointT> pc;
          if (indices.empty ())
          {
            pc.resize (cloud.size());
            for (size_t i = 0; i < cloud.size(); i++)
            {
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (
                                              cloud[i], pc[i]));
            }
            nearestKSearch (pc,std::vector<int>(),k,k_indices,k_sqr_distances);
          }
          else
          {
            pc.resize (indices.size());
            for (size_t i = 0; i < indices.size(); i++)
            {
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (
                                              cloud[indices[i]], pc[i]));
            }
            nearestKSearch (pc,std::vector<int>(),k,k_indices,k_sqr_distances);
          }
        }

        virtual int
        radiusSearch (const PointT& point, double radius, std::vector<int>& k_indices,
                      std::vector<float>& k_sqr_distances, int max_nn = -1) const = 0;

        template <typename PointTDiff> int
        radiusSearchT (const PointTDiff& point, double radius, std::vector<int>& k_indices,
                       std::vector<float>& k_sqr_distances, int max_nn = -1)
        {
          PointT p;
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
          pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (
                point, p));
          return (radiusSearch (p, radius, k_indices, k_sqr_distances, max_nn));
        }

        virtual int
        radiusSearch (const PointCloud& cloud, int index, double radius, std::vector<int>& k_indices,
                      std::vector<float>& k_sqr_distances, int max_nn = -1) = 0;

        virtual int
        radiusSearch (int index, double radius, std::vector<int>& k_indices, std::vector<float>& k_sqr_distances,
                      int max_nn = -1) const = 0;

        virtual void
        radiusSearch (const PointCloud& cloud, const std::vector<int>& indices, double radius, std::vector< std::vector<int> >& k_indices,
                std::vector< std::vector<float> > & k_sqr_distances, int max_nn = -1)
        {
          if (indices.empty ())
          {
            k_indices.resize (cloud.size ());
            k_sqr_distances.resize (cloud.size ());
            for (size_t i = 0; i < cloud.size (); i++)
              radiusSearch (cloud,(int) i,radius,k_indices[i],k_sqr_distances[i], max_nn);
          }
          else
          {
            k_indices.resize (indices.size ());
            k_sqr_distances.resize (indices.size ());
            for (size_t i = 0; i < indices.size (); i++)
              radiusSearch (cloud,indices[i],radius,k_indices[i],k_sqr_distances[i], max_nn);
          }
        }


        template <typename PointTDiff> void
        radiusSearchT (const pcl::PointCloud<PointTDiff> &cloud, const std::vector<int>& indices, double radius, std::vector< std::vector<int> > &k_indices,
                         std::vector< std::vector<float> > & k_sqr_distances, int max_nn = -1)
        {
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;

          pcl::PointCloud<PointT> pc;
          if (indices.empty ())
          {
            pc.resize (cloud.size ());
            for (size_t i = 0; i < cloud.size (); ++i)
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (cloud[i], pc[i]));
            radiusSearch (pc, std::vector<int> (), radius, k_indices, k_sqr_distances, max_nn);
          }
          else
          {
            pc.resize (indices.size ());
            for (size_t i = 0; i < indices.size (); ++i)
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (cloud[indices[i]], pc[i]));
            radiusSearch (pc, std::vector<int>(), radius, k_indices, k_sqr_distances, max_nn);
          }
        }
    };
  }
}

#endif  //#ifndef _PCL_SEARCH_GENERIC_SEARCH_H_