kdtree_flann.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: kdtree_flann.h 35946 2011-02-10 22:58:55Z rusu $
 *
 */

#ifndef PCL_KDTREE_KDTREE_FLANN_H_
#define PCL_KDTREE_KDTREE_FLANN_H_

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

namespace pcl
{

  template <typename PointT>
  class KdTreeFLANN : public 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< flann::L2_Simple<float> > FLANNIndex;

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


      KdTreeFLANN (bool sorted = true) : KdTree<PointT> (sorted), flann_index_(NULL), cloud_(NULL)
      {
        cleanup ();
      }

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

      inline Ptr makeShared () const { 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_distances);

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

      inline int 
      nearestKSearch (int index, int k, 
                      std::vector<int> &k_indices, std::vector<float> &k_distances)
      {
        if (indices_ == NULL)
        {
          if (index >= (int)input_->points.size ())
            return (0);
          return (nearestKSearch (input_->points[index], k, k_indices, k_distances));
        }
        else
        {
          if (index >= (int)indices_->size())
            return (0);
          return (nearestKSearch (input_->points[(*indices_)[index]], k, k_indices, k_distances));
        }
      }

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

    private:
      void cleanup ();

      bool initParameters ();

      void initData ();

      void convertCloudToArray (const PointCloud &ros_cloud);

      void convertCloudToArray (const PointCloud &ros_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_;

      int dim_;
  };

}

#endif

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013