rtc: rtcPoint3DKdTree.h Source File

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00001 /*
00002  * Copyright (C) 2008
00003  * Robert Bosch LLC
00004  * Research and Technology Center North America
00005  * Palo Alto, California
00006  *
00007  * All rights reserved.
00008  *
00009  *------------------------------------------------------------------------------
00010  * project ....: PUMA: Probablistic Unsupervised Model Acquisition
00011  * file .......: Point3DKdTree.h
00012  * authors ....: Benjamin Pitzer
00013  * organization: Robert Bosch LLC
00014  * creation ...: 10/29/2008
00015  * modified ...: $Date:2008-03-03 10:26:02 -0800 (Mon, 03 Mar 2008) $
00016  * changed by .: $Author:benjaminpitzer $
00017  * revision ...: $Revision:141 $
00018  */
00019 #ifndef POINT3DKDTREE_H_
00020 #define POINT3DKDTREE_H_
00021 
00022 //== INCLUDES ==================================================================
00023 #include "ANN/ANN.h"
00024 #include "rtc/rtcVec3.h"
00025 
00026 //== NAMESPACES ================================================================
00027 namespace rtc {
00028 
00029 //== FORWARD DECLARATIONS ======================================================
00030 
00031 //== CLASS DEFINITION ==========================================================
00032 class Point3DKdTree
00033 {
00034 public:
00035   Point3DKdTree(float* x, float* y, float* z, int num_points);
00036   virtual ~Point3DKdTree();
00037   // find closest point in kd-tree, returns index to this point
00038   int findNearest(const Vec3f& p);
00039   int findNearest(float x, float y, float z);
00040   // find closest k points in kd-tree
00041   void findNearest(float x, float y, float z, int k, int* points);
00042   void findNearest(float x, float y, float z, int k, std::vector<int>& points);
00043   void findNearest(const Vec3f& p, int k, int* points);
00044   void findNearest(const Vec3f& p, int k, std::vector<int>& points);
00045 
00046   // find all points within range
00047   int findWithinRange(float x, float y, float z, float range, std::vector<int>& points);
00048   int findWithinRange(const Vec3f& p, float range, std::vector<int>& points);
00049 protected:
00050   // internal search method
00051   void findNearest(float* ann_sample, ANNidx* i, ANNdist* d);
00052   // KD-Tree data
00053   ANNkd_tree *ann_tree;
00054   ANNpointArray dataPts;
00055 };
00056 
00057 //==============================================================================
00058 } // NAMESPACE puma
00059 //==============================================================================
00060 #endif // POINT2DKDTREE_H_ defined
00061 //==============================================================================