kdtree_flann.h

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 * $Id: kdtree_flann.h 36261 2011-02-26 01:34:42Z mariusm $
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#ifndef PCL_KDTREE_KDTREE_FLANN_H_
#define PCL_KDTREE_KDTREE_FLANN_H_

#include <pcl/kdtree/kdtree.h>

// Forward declarations
namespace flann
{
  struct SearchParams;
  template <typename T> struct L2_Simple;
  template <typename T> class Index;
}

namespace pcl
{
  // Forward declarations
  template <typename T> class PointRepresentation;

  template <typename PointT, typename Dist = ::flann::L2_Simple<float> >
  class KdTreeFLANN : public pcl::KdTree<PointT>
  {
    public:
      using KdTree<PointT>::input_;
      using KdTree<PointT>::indices_;
      using KdTree<PointT>::epsilon_;
      using KdTree<PointT>::sorted_;
      using KdTree<PointT>::point_representation_;
      using KdTree<PointT>::nearestKSearch;
      using KdTree<PointT>::radiusSearch;

      typedef typename KdTree<PointT>::PointCloud PointCloud;
      typedef typename KdTree<PointT>::PointCloudConstPtr PointCloudConstPtr;

      typedef boost::shared_ptr<std::vector<int> > IndicesPtr;
      typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;

      typedef ::flann::Index<Dist> FLANNIndex;

      // Boost shared pointers
      typedef boost::shared_ptr<KdTreeFLANN<PointT> > Ptr;
      typedef boost::shared_ptr<const KdTreeFLANN<PointT> > ConstPtr;

      KdTreeFLANN (bool sorted = true);

      KdTreeFLANN (const KdTreeFLANN<PointT> &k);

      inline KdTreeFLANN<PointT>&
      operator = (const KdTreeFLANN<PointT>& k)
      {
        KdTree<PointT>::operator=(k);
        flann_index_ = k.flann_index_;
        cloud_ = k.cloud_;
        index_mapping_ = k.index_mapping_;
        identity_mapping_ = k.identity_mapping_;
        dim_ = k.dim_;
        total_nr_points_ = k.total_nr_points_;
        param_k_ = k.param_k_;
        param_radius_ = k.param_radius_;
        return (*this);
      }

      void
      setEpsilon (float eps);

      void 
      setSortedResults (bool sorted);
      
      inline Ptr makeShared () { return Ptr (new KdTreeFLANN<PointT> (*this)); } 

      virtual ~KdTreeFLANN ()
      {
        cleanup ();
      }

      void 
      setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ());

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

      void 
      convertCloudToArray (const PointCloud &cloud);

      void 
      convertCloudToArray (const PointCloud &cloud, const std::vector<int> &indices);

    private:
      virtual std::string 
      getName () const { return ("KdTreeFLANN"); }

      boost::shared_ptr<FLANNIndex> flann_index_;

      float* cloud_;
      
      std::vector<int> index_mapping_;
      
      bool identity_mapping_;

      int dim_;

      int total_nr_points_;

      boost::shared_ptr<flann::SearchParams> param_k_;

      boost::shared_ptr<flann::SearchParams> param_radius_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/kdtree/impl/kdtree_flann.hpp>
#endif

#endif