brute_force.h

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#ifndef PCL_SEARCH_BRUTE_FORCE_H_
#define PCL_SEARCH_BRUTE_FORCE_H_

#include <pcl/search/search.h>

namespace pcl
{
  namespace search
  {
    template<typename PointT>
    class BruteForce: public Search<PointT>
    {
      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>::input_;
      using pcl::search::Search<PointT>::indices_;
      using pcl::search::Search<PointT>::sorted_results_;

      struct Entry
      {
        Entry (int idx, float dist) : index (idx), distance (dist) {}

        Entry () : index (0), distance (0) {}
        unsigned index;
        float distance;
        
        inline bool 
        operator < (const Entry& other) const
        {
          return (distance < other.distance);
        }
        
        inline bool 
        operator > (const Entry& other) const
        {
          return (distance > other.distance);
        }
      };

      // replace by some metric functor
      float getDistSqr (const PointT& point1, const PointT& point2) const;
      public:
        BruteForce (bool sorted_results = false)
        : Search<PointT> ("BruteForce", sorted_results)
        {
        }

        virtual
        ~BruteForce ()
        {
        }

        int
        nearestKSearch (const PointT &point, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const;

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

      private:
        int
        denseKSearch (const PointT &point, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const;

        int
        sparseKSearch (const PointT &point, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const;

        int
        denseRadiusSearch (const PointT& point, double radius,
                           std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
                           unsigned int max_nn = 0) const;

        int
        sparseRadiusSearch (const PointT& point, double radius,
                            std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
                            unsigned int max_nn = 0) const;
    };
  }
}

#endif    // PCL_SEARCH_BRUTE_FORCE_H_