search.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  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 copyright holder(s) 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 THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */

#ifndef PCL_SEARCH_SEARCH_H_
#define PCL_SEARCH_SEARCH_H_

#include <pcl/point_cloud.h>
#include <pcl/for_each_type.h>
#include <pcl/common/concatenate.h>

namespace pcl
{
  namespace search
  {
    template<typename PointT>
    class Search
    {
      public:
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef typename PointCloud::Ptr PointCloudPtr;
        typedef typename PointCloud::ConstPtr PointCloudConstPtr;

        typedef boost::shared_ptr<pcl::search::Search<PointT> > Ptr;
        typedef boost::shared_ptr<const pcl::search::Search<PointT> > ConstPtr;

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

        Search (const std::string& name = "", bool sorted = false);

        virtual
        ~Search ()
        {
        }

        virtual const std::string& 
        getName () const;

        virtual void 
        setSortedResults (bool sorted);

        virtual bool 
        getSortedResults ();

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

        virtual PointCloudConstPtr
        getInputCloud () const
        {
          return (input_);
        }

        virtual IndicesConstPtr
        getIndices () const
        {
          return (indices_);
        }

        virtual int
        nearestKSearch (const PointT &point, int k, std::vector<int> &k_indices,
                        std::vector<float> &k_sqr_distances) const = 0;

        template <typename PointTDiff> inline int
        nearestKSearchT (const PointTDiff &point, int k,
                         std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const
        {
          PointT p;
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
          pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (point, p));
          return (nearestKSearch (p, k, k_indices, k_sqr_distances));
        }

        virtual int
        nearestKSearch (const PointCloud &cloud, int index, int k,
                        std::vector<int> &k_indices, 
                        std::vector<float> &k_sqr_distances) const;

        virtual int
        nearestKSearch (int index, int k,
                        std::vector<int> &k_indices, 
                        std::vector<float> &k_sqr_distances) const;

        virtual void
        nearestKSearch (const PointCloud& cloud, const std::vector<int>& indices, 
                        int k, std::vector< std::vector<int> >& k_indices,
                        std::vector< std::vector<float> >& k_sqr_distances) const;

        template <typename PointTDiff> void
        nearestKSearchT (const pcl::PointCloud<PointTDiff> &cloud, const std::vector<int>& indices, int k, std::vector< std::vector<int> > &k_indices,
                         std::vector< std::vector<float> > &k_sqr_distances) const
        {
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;

          pcl::PointCloud<PointT> pc;
          if (indices.empty ())
          {
            pc.resize (cloud.size());
            for (size_t i = 0; i < cloud.size(); i++)
            {
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (
                                              cloud[i], pc[i]));
            }
            nearestKSearch (pc,std::vector<int>(),k,k_indices,k_sqr_distances);
          }
          else
          {
            pc.resize (indices.size());
            for (size_t i = 0; i < indices.size(); i++)
            {
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (
                                              cloud[indices[i]], pc[i]));
            }
            nearestKSearch (pc,std::vector<int>(),k,k_indices,k_sqr_distances);
          }
        }

        virtual int
        radiusSearch (const PointT& point, double radius, std::vector<int>& k_indices,
                      std::vector<float>& k_sqr_distances, unsigned int max_nn = 0) const = 0;

        template <typename PointTDiff> inline int
        radiusSearchT (const PointTDiff &point, double radius, std::vector<int> &k_indices,
                       std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const
        {
          PointT p;
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;
          pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (point, p));
          return (radiusSearch (p, radius, k_indices, k_sqr_distances, max_nn));
        }

        virtual int
        radiusSearch (const PointCloud &cloud, int index, double radius,
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances,
                      unsigned int max_nn = 0) const;

        virtual int
        radiusSearch (int index, double radius, std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const;

        virtual void
        radiusSearch (const PointCloud& cloud,
                      const std::vector<int>& indices,
                      double radius,
                      std::vector< std::vector<int> >& k_indices,
                      std::vector< std::vector<float> > &k_sqr_distances,
                      unsigned int max_nn = 0) const;

        template <typename PointTDiff> void
        radiusSearchT (const pcl::PointCloud<PointTDiff> &cloud,
                       const std::vector<int>& indices,
                       double radius,
                       std::vector< std::vector<int> > &k_indices,
                       std::vector< std::vector<float> > &k_sqr_distances,
                       unsigned int max_nn = 0) const
        {
          // Copy all the data fields from the input cloud to the output one
          typedef typename pcl::traits::fieldList<PointT>::type FieldListInT;
          typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT;
          typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList;

          pcl::PointCloud<PointT> pc;
          if (indices.empty ())
          {
            pc.resize (cloud.size ());
            for (size_t i = 0; i < cloud.size (); ++i)
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (cloud[i], pc[i]));
            radiusSearch (pc, std::vector<int> (), radius, k_indices, k_sqr_distances, max_nn);
          }
          else
          {
            pc.resize (indices.size ());
            for (size_t i = 0; i < indices.size (); ++i)
              pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointTDiff, PointT> (cloud[indices[i]], pc[i]));
            radiusSearch (pc, std::vector<int>(), radius, k_indices, k_sqr_distances, max_nn);
          }
        }

      protected:
        void 
        sortResults (std::vector<int>& indices, std::vector<float>& distances) const;

        PointCloudConstPtr input_;
        IndicesConstPtr indices_;
        bool sorted_results_;
        std::string name_;
        
      private:
        struct Compare
        {
          Compare (const std::vector<float>& distances)
          : distances_ (distances)
          {
          }
          
          bool 
          operator () (int first, int second) const
          {
            return (distances_ [first] < distances_[second]);
          }

          const std::vector<float>& distances_;
        };
    }; // class Search    
  } // namespace search
} // namespace pcl

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

#endif  //#ifndef _PCL_SEARCH_SEARCH_H_