kdtree.hpp

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#ifndef PCL_SEARCH_KDTREE_IMPL_HPP_
#define PCL_SEARCH_KDTREE_IMPL_HPP_
 
#include <pcl/search/kdtree.h>
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree>
pcl::search::KdTree<PointT,Tree>::KdTree (bool sorted)
  : pcl::search::Search<PointT> ("KdTree", sorted)
  , tree_ (new Tree (sorted))
{
}
 
template <typename PointT, class Tree>
pcl::search::KdTree<PointT,Tree>::KdTree (const std::string& name, bool sorted)
  : pcl::search::Search<PointT> (name, sorted)
{
}
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> bool
pcl::search::KdTree<PointT,Tree>::setPointRepresentation (
    const PointRepresentationConstPtr &point_representation)
{
  if(tree_) {
    tree_->setPointRepresentation (point_representation);
    return true;
  } else {
    PCL_ERROR("Calling setPointRepresentation on KdTreeNanoflann that has been cast to KdTree is not possible in this PCL version. Call setPointRepresentation directly on the KdTreeNanoflann object.\n");
    return false;
  }
}
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> void
pcl::search::KdTree<PointT,Tree>::setSortedResults (bool sorted_results)
{
  sorted_results_ = sorted_results;
  tree_->setSortedResults (sorted_results);
}
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> void
pcl::search::KdTree<PointT,Tree>::setEpsilon (float eps)
{
  if(tree_)
    tree_->setEpsilon (eps);
  else
    PCL_ERROR("Calling setEpsilon on KdTreeNanoflann that has been cast to KdTree is not possible in this PCL version. Call setEpsilon directly on the KdTreeNanoflann object.\n");
}
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> bool
pcl::search::KdTree<PointT,Tree>::setInputCloud (
    const PointCloudConstPtr& cloud, 
    const IndicesConstPtr& indices)
{
  tree_->setInputCloud (cloud, indices);
  input_ = cloud;
  indices_ = indices;
  return true;
}
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> int
pcl::search::KdTree<PointT,Tree>::nearestKSearch (
    const PointT &point, int k, Indices &k_indices,
    std::vector<float> &k_sqr_distances) const
{
  return (tree_->nearestKSearch (point, k, k_indices, k_sqr_distances));
}
 
///////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT, class Tree> int
pcl::search::KdTree<PointT,Tree>::radiusSearch (
    const PointT& point, double radius, 
    Indices &k_indices, std::vector<float> &k_sqr_distances,
    unsigned int max_nn) const
{
  return (tree_->radiusSearch (point, radius, k_indices, k_sqr_distances, max_nn));
}
 
#define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;
 
#endif  //#ifndef _PCL_SEARCH_KDTREE_IMPL_HPP_