nabo.h

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/*

Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the author at <stephane at magnenat dot net>

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 the <organization> 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 ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/

#ifndef __NABO_H
#define __NABO_H

#include "Eigen/Core"
#if EIGEN_VERSION_AT_LEAST(2,92,0)
    #define EIGEN3_API
#endif
#ifndef EIGEN3_API
    #include "Eigen/Array"
#endif
#include <vector>
#include <map>
#include <boost/any.hpp>


namespace Nabo
{

    
    #define NABO_VERSION "1.0.1"

    #define NABO_VERSION_INT 10001
    
    struct Parameters: public std::map<std::string, boost::any>
    {
        Parameters(){}

        Parameters(const std::string& key, const boost::any& value){(*this)[key] = value;}

        template<typename  T>
        T get(const std::string& key, const T& defaultValue) const
        {
            const_iterator it(find(key));
            if (it != end())
                return boost::any_cast<T>(it->second);
            else
                return defaultValue;
        }
    };
    
    template<typename T>
    struct NearestNeighbourSearch
    {
        typedef typename Eigen::Matrix<T, Eigen::Dynamic, 1> Vector; 
        typedef typename Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Matrix;
        typedef int Index;
        typedef typename Eigen::Matrix<Index, Eigen::Dynamic, 1> IndexVector;
        typedef typename Eigen::Matrix<Index, Eigen::Dynamic, Eigen::Dynamic> IndexMatrix;
        
        const Matrix& cloud;
        const Index dim;
        const unsigned creationOptionFlags;
        const Vector minBound;
        const Vector maxBound;
        
        enum SearchType
        {
            BRUTE_FORCE = 0, 
            KDTREE_LINEAR_HEAP, 
            KDTREE_TREE_HEAP, 
            KDTREE_CL_PT_IN_NODES, 
            KDTREE_CL_PT_IN_LEAVES, 
            BRUTE_FORCE_CL, 
            SEARCH_TYPE_COUNT 
        };
        
        enum CreationOptionFlags
        {
            TOUCH_STATISTICS = 1, 
        };
        
        enum SearchOptionFlags
        {
            ALLOW_SELF_MATCH = 1, 
            SORT_RESULTS = 2 
        };
        

        unsigned long knn(const Vector& query, IndexVector& indices, Vector& dists2, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0, const T maxRadius = std::numeric_limits<T>::infinity()) const;
        

        virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0, const T maxRadius = std::numeric_limits<T>::infinity()) const = 0;
        

        virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0) const = 0;
        

        static NearestNeighbourSearch* create(const Matrix& cloud, const Index dim = std::numeric_limits<Index>::max(), const SearchType preferedType = KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters());
        

        static NearestNeighbourSearch* createBruteForce(const Matrix& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0);
        

        static NearestNeighbourSearch* createKDTreeLinearHeap(const Matrix& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters());
        

        static NearestNeighbourSearch* createKDTreeTreeHeap(const Matrix& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters());
        
        virtual ~NearestNeighbourSearch() {}
        
    protected:
        NearestNeighbourSearch(const Matrix& cloud, const Index dim, const unsigned creationOptionFlags);
        

        void checkSizesKnn(const Matrix& query, const IndexMatrix& indices, const Matrix& dists2, const Index k, const Vector* maxRadii = 0) const;
    };
    
    // Convenience typedefs
    
    typedef NearestNeighbourSearch<float> NNSearchF;
    typedef NearestNeighbourSearch<double> NNSearchD;
    
}

#endif // __NABO_H