kdtree.h

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#ifndef PCL_SEARCH_KDTREE_H_
#define PCL_SEARCH_KDTREE_H_

#include <pcl/search/search.h>
#include <pcl/kdtree/kdtree_flann.h>

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

  namespace search
  {
    template<typename PointT>
    class KdTree: public Search<PointT>
    {
      public:
        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>::indices_;
        using pcl::search::Search<PointT>::input_;
        using pcl::search::Search<PointT>::getIndices;
        using pcl::search::Search<PointT>::getInputCloud;
        using pcl::search::Search<PointT>::nearestKSearch;
        using pcl::search::Search<PointT>::radiusSearch;
        using pcl::search::Search<PointT>::sorted_results_;

        typedef boost::shared_ptr<KdTree<PointT> > Ptr;
        typedef boost::shared_ptr<const KdTree<PointT> > ConstPtr;

        typedef boost::shared_ptr<pcl::KdTreeFLANN<PointT> > KdTreeFLANNPtr;
        typedef boost::shared_ptr<const pcl::KdTreeFLANN<PointT> > KdTreeFLANNConstPtr;
        typedef boost::shared_ptr<const PointRepresentation<PointT> > PointRepresentationConstPtr;

        KdTree (bool sorted = true); 

        virtual
        ~KdTree ()
        {
        }

        void
        setPointRepresentation (const PointRepresentationConstPtr &point_representation);

        inline PointRepresentationConstPtr
        getPointRepresentation () const
        {
          return (tree_->getPointRepresentation ());
        }

        void 
        setSortedResults (bool sorted_results);
        
        void
        setEpsilon (float eps);

        inline float
        getEpsilon () const
        {
          return (tree_->getEpsilon ());
        }

        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;
      protected:
        KdTreeFLANNPtr tree_;
    };
  }
}

#define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;

#endif    // PCL_SEARCH_KDTREE_H_