kdtree.h

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 * $Id: kdtree.h 4502 2012-02-17 00:44:05Z gedikli $
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#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_.reset (new pcl::KdTreeFLANN<PointT> (sorted));
        }

        virtual
        ~KdTree ()
        {
        }

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

        inline double
        getEpsilon ()
        {
          return (tree_->getEpsilon ());
        }

        inline void
        setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices = IndicesConstPtr ())
        {
          // if same input and same indices or same input and empty indices do nothing
          if ((getInputCloud () == cloud && indices == getIndices ()) || 
              (getInputCloud () == cloud && indices->empty () && getIndices ()->empty ()))
            return;
          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, const 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_