SearchTreeFlann.hpp

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/*
 * SearchTreeFlann.hpp
 *
 *  Created on: Sep 22, 2015
 *      Author: Thomas Wiemann
 */
 
#ifndef LVR2_RECONSTRUCTION_SEARCHTREEFLANN_HPP_
#define LVR2_RECONSTRUCTION_SEARCHTREEFLANN_HPP_
 
#include <vector>
#include <memory>
 
#include <flann/flann.hpp>
 
#include "lvr2/io/Timestamp.hpp"
#include "lvr2/io/PointBuffer.hpp"
#include "lvr2/reconstruction/SearchTree.hpp"
 
using std::vector;
using std::unique_ptr;
 
namespace lvr2
{
 
template<typename BaseVecT>
class SearchTreeFlann : public SearchTree<BaseVecT>
{
private:
    using CoordT = typename BaseVecT::CoordType;
 
public:
 
    SearchTreeFlann(PointBufferPtr buffer);
 
    virtual int kSearch(
        const BaseVecT& qp,
        int k,
        vector<size_t>& indices,
        vector<CoordT>& distances
    ) const override;
 
    virtual void radiusSearch(
        const BaseVecT& qp,
        CoordT r,
        vector<size_t>& indices
    ) const override;
 
    void kSearchMany(
        const BaseVecT* query,
        int n,
        int k,
        size_t* indices,
        CoordT* distances
    ) const;
 
protected:
 
    unique_ptr<flann::Index<flann::L2_Simple<CoordT>>> m_tree;
 
    boost::shared_array<CoordT> m_data;
};
 
} // namespace lvr2
 
#include "lvr2/reconstruction/SearchTreeFlann.tcc"
 
#endif /* LVR2_RECONSTRUCTION_SEARCHTREEFLANN_HPP_ */