00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: tree_types.hpp 34692 2010-12-12 06:12:22Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_KDTREE_IMPL_TREE_TYPES_H_ 00039 #define PCL_KDTREE_IMPL_TREE_TYPES_H_ 00040 00041 #include <pcl/kdtree/kdtree.h> 00042 #include <pcl/kdtree/kdtree_flann.h> 00043 #include <pcl/kdtree/organized_data.h> 00044 00046 template <typename PointT> void 00047 pcl::initTree (const int &spatial_locator, boost::shared_ptr<pcl::KdTree<PointT> > &tree, int k) 00048 { 00049 // This should be a bit more dynamic, but since dynamic_reconfigure's API needs similar entries, we're fine for now 00050 switch (spatial_locator) 00051 { 00052 case KDTREE_FLANN: 00053 { 00054 tree.reset (new KdTreeFLANN<PointT> ()); 00055 break; 00056 } 00057 case KDTREE_ORGANIZED_INDEX: 00058 { 00059 tree.reset (new OrganizedDataIndex<PointT> ()); 00060 if (k != 0) 00061 { 00062 boost::shared_ptr<OrganizedDataIndex<PointT> > tree_organized = boost::static_pointer_cast<OrganizedDataIndex<PointT> > (tree); 00063 // Special case: use k as a rectangular window. 00064 tree_organized->setSearchWindowAsK (k); 00065 ROS_DEBUG ("[pcl::initTree] Setting the horizontal/vertical window to %d/%d, given k = %d.", 00066 tree_organized->getHorizontalSearchWindow (), tree_organized->getVerticalSearchWindow (), k); 00067 00068 // Default parameters 00069 tree_organized->setMinPts (3); // Need at least 3 nearest neighbors to estimate a viable feature 00070 tree_organized->setMaxDistance (0.1); 00071 } 00072 break; 00073 } 00074 default: 00075 { 00076 ROS_WARN ("[pcl::initTree] No spatial locator or wrong spatial locator given (%d)!", spatial_locator); 00077 tree.reset (); 00078 break; 00079 } 00080 } 00081 } 00082 00083 #define PCL_INSTANTIATE_initTree(T) template void pcl::initTree<T> (const int &, boost::shared_ptr<pcl::KdTree<T> > &, int); 00084 00085 #endif //#ifndef PCL_KDTREE_IMPL_TREE_TYPES_H_