brute_force.h

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#pragma once
 
#include <pcl/point_representation.h>
#include <pcl/search/search.h>
 
namespace pcl
{
  namespace search
  {
    /** \brief Implementation of a simple brute force search algorithm.
      * \author Suat Gedikli
      * \ingroup search
      */
    template<typename PointT>
    class BruteForce: public Search<PointT>
    {
      using PointCloud = typename Search<PointT>::PointCloud;
      using PointCloudConstPtr = typename Search<PointT>::PointCloudConstPtr;
      using PointRepresentationConstPtr = typename PointRepresentation<PointT>::ConstPtr;
 
      using IndicesPtr = pcl::IndicesPtr;
      using IndicesConstPtr = pcl::IndicesConstPtr;
 
      using pcl::search::Search<PointT>::input_;
      using pcl::search::Search<PointT>::indices_;
      using pcl::search::Search<PointT>::sorted_results_;
 
      struct Entry
      {
        Entry (index_t idx, float dist) : index (idx), distance (dist) {}
 
        Entry () : index (0), distance (0) {}
        index_t index;
        float distance;
        
        inline bool 
        operator < (const Entry& other) const
        {
          return (distance < other.distance);
        }
        
        inline bool 
        operator > (const Entry& other) const
        {
          return (distance > other.distance);
        }
      };
 
      // replace by some metric functor
      float getDistSqr (const PointT& point1, const PointT& point2) const;
 
      public:
        BruteForce (bool sorted_results = false)
        : Search<PointT> ("BruteForce", sorted_results)
        , point_representation_ (new DefaultPointRepresentation<PointT>)
        {
        }
 
        /** \brief Destructor for KdTree. */
        
        ~BruteForce () override = default;
 
        /** \brief Provide a pointer to the point representation used for converting
          * points into k-D vectors.
          * \param[in] point_representation the const shared pointer to a PointRepresentation
          */
        bool
        setPointRepresentation (const PointRepresentationConstPtr &point_representation) override
        {
          point_representation_ = point_representation;
          return true;
        }
 
        /** \brief Get the point representation used for converting points into k-D vectors. */
        inline PointRepresentationConstPtr
        getPointRepresentation () const
        {
          return (point_representation_);
        }
 
        /** \brief Search for the k-nearest neighbors for the given query point.
          * \param[in] point the given query point
          * \param[in] k the number of neighbors to search for
          * \param[out] k_indices the resultant indices of the neighboring points (must be resized to \a k a priori!)
          * \param[out] k_distances the resultant squared distances to the neighboring points (must be resized to \a k
          * a priori!)
          * \return number of neighbors found
          */
        int
        nearestKSearch (const PointT &point, int k, Indices &k_indices, std::vector<float> &k_distances) const override;
 
        /** \brief Search for all the nearest neighbors of the query point in a given radius.
          * \param[in] point the given query point
          * \param[in] radius the radius of the sphere bounding all of p_q's neighbors
          * \param[out] k_indices the resultant indices of the neighboring points
          * \param[out] k_sqr_distances the resultant squared distances to the neighboring points
          * \param[in] max_nn if given, bounds the maximum returned neighbors to this value. If \a max_nn is set to
          * 0 or to a number higher than the number of points in the input cloud, all neighbors in \a radius will be
          * returned.
          * \return number of neighbors found in radius
          */
        int
        radiusSearch (const PointT& point, double radius,
                      Indices &k_indices, std::vector<float> &k_sqr_distances,
                      unsigned int max_nn = 0) const override;
 
      private:
        int
        denseKSearch (const PointT &point, int k, Indices &k_indices, std::vector<float> &k_distances) const;
 
        int
        sparseKSearch (const PointT &point, int k, Indices &k_indices, std::vector<float> &k_distances) const;
 
        int
        denseRadiusSearch (const PointT& point, double radius,
                           Indices &k_indices, std::vector<float> &k_sqr_distances,
                           unsigned int max_nn = 0) const;
 
        int
        sparseRadiusSearch (const PointT& point, double radius,
                            Indices &k_indices, std::vector<float> &k_sqr_distances,
                            unsigned int max_nn = 0) const;
 
        PointRepresentationConstPtr point_representation_;
    };
  }
}
 
#ifdef PCL_NO_PRECOMPILE
#include <pcl/search/impl/brute_force.hpp>
#endif