stereo_wall_detection: kdtree.h Source File

00001 /*
00002  * Copyright (c) 2009 Radu Bogdan Rusu <rusu -=- cs.tum.edu>
00003  *
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are met:
00008  *
00009  *     * Redistributions of source code must retain the above copyright
00010  *       notice, this list of conditions and the following disclaimer.
00011  *     * Redistributions in binary form must reproduce the above copyright
00012  *       notice, this list of conditions and the following disclaimer in the
00013  *       documentation and/or other materials provided with the distribution.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  *
00027  * $Id: kdtree.h 20633 2009-08-04 07:19:09Z tfoote $
00028  *
00029  */
00030 
00033 #ifndef _CLOUD_KDTREE_KDTREE_H_
00034 #define _CLOUD_KDTREE_KDTREE_H_
00035 
00036 // ROS includes
00037 #include <sensor_msgs/PointCloud.h>
00038 #include <geometry_msgs/Point32.h>
00039 
00040 namespace cloud_kdtree
00041 {
00042   class KdTree
00043   {
00044     public:
00045 
00047 
00049       KdTree ()
00050       {
00051         epsilon_     = 0.0;   // default error bound value
00052       }
00053 
00055 
00058       KdTree (const sensor_msgs::PointCloud &points);
00059 
00061 
00068       KdTree (const sensor_msgs::PointCloud &points, const std::vector<int> &indices);
00069 
00071 
00072       virtual ~KdTree () { }
00073 
00074       virtual void nearestKSearch (const geometry_msgs::Point32 &p_q, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) = 0;
00075       virtual void nearestKSearch (const sensor_msgs::PointCloud &points, int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) = 0;
00076       virtual void nearestKSearch (int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) = 0;
00077 
00078       virtual bool radiusSearch (const geometry_msgs::Point32 &p_q, double radius, std::vector<int> &k_indices, std::vector<float> &k_distances,
00079                                  int max_nn = INT_MAX) = 0;
00080       virtual bool radiusSearch (const sensor_msgs::PointCloud &points, int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_distances,
00081                                  int max_nn = INT_MAX) = 0;
00082       virtual bool radiusSearch (int index, double radius, std::vector<int> &k_indices, std::vector<float> &k_distances,
00083                                  int max_nn = INT_MAX) = 0;
00084 
00085 
00086     protected:
00088       double epsilon_;
00089 
00090   };
00091 
00092 }
00093 
00094 #endif