Point Cloud Library (PCL)  1.15.0-dev
kdtree.hpp
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37 
38 #ifndef PCL_SEARCH_KDTREE_IMPL_HPP_
39 #define PCL_SEARCH_KDTREE_IMPL_HPP_
40 
41 #include <pcl/search/kdtree.h>
42 
43 ///////////////////////////////////////////////////////////////////////////////////////////
44 template <typename PointT, class Tree>
46  : pcl::search::Search<PointT> ("KdTree", sorted)
47  , tree_ (new Tree (sorted))
48 {
49 }
50 
51 template <typename PointT, class Tree>
52 pcl::search::KdTree<PointT,Tree>::KdTree (const std::string& name, bool sorted)
53  : pcl::search::Search<PointT> (name, sorted)
54 {
55 }
56 
57 ///////////////////////////////////////////////////////////////////////////////////////////
58 template <typename PointT, class Tree> void
60  const PointRepresentationConstPtr &point_representation)
61 {
62  if(tree_)
63  tree_->setPointRepresentation (point_representation);
64  else
65  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");
66 }
67 
68 ///////////////////////////////////////////////////////////////////////////////////////////
69 template <typename PointT, class Tree> void
71 {
72  sorted_results_ = sorted_results;
73  tree_->setSortedResults (sorted_results);
74 }
75 
76 ///////////////////////////////////////////////////////////////////////////////////////////
77 template <typename PointT, class Tree> void
79 {
80  if(tree_)
81  tree_->setEpsilon (eps);
82  else
83  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");
84 }
85 
86 ///////////////////////////////////////////////////////////////////////////////////////////
87 template <typename PointT, class Tree> bool
89  const PointCloudConstPtr& cloud,
90  const IndicesConstPtr& indices)
91 {
92  tree_->setInputCloud (cloud, indices);
93  input_ = cloud;
94  indices_ = indices;
95  return true;
96 }
97 
98 ///////////////////////////////////////////////////////////////////////////////////////////
99 template <typename PointT, class Tree> int
101  const PointT &point, int k, Indices &k_indices,
102  std::vector<float> &k_sqr_distances) const
103 {
104  return (tree_->nearestKSearch (point, k, k_indices, k_sqr_distances));
105 }
106 
107 ///////////////////////////////////////////////////////////////////////////////////////////
108 template <typename PointT, class Tree> int
110  const PointT& point, double radius,
111  Indices &k_indices, std::vector<float> &k_sqr_distances,
112  unsigned int max_nn) const
113 {
114  return (tree_->radiusSearch (point, radius, k_indices, k_sqr_distances, max_nn));
115 }
116 
117 #define PCL_INSTANTIATE_KdTree(T) template class PCL_EXPORTS pcl::search::KdTree<T>;
118 
119 #endif //#ifndef _PCL_SEARCH_KDTREE_IMPL_HPP_
120 
121 
int nearestKSearch(const PointT &point, int k, Indices &k_indices, std::vector< float > &k_sqr_distances) const override
Search for the k-nearest neighbors for the given query point.
Definition: kdtree.hpp:100
void setEpsilon(float eps)
Set the search epsilon precision (error bound) for nearest neighbors searches.
Definition: kdtree.hpp:78
void setSortedResults(bool sorted_results) override
Sets whether the results have to be sorted or not.
Definition: kdtree.hpp:70
typename PointRepresentation< PointT >::ConstPtr PointRepresentationConstPtr
Definition: kdtree.h:80
void setPointRepresentation(const PointRepresentationConstPtr &point_representation)
Provide a pointer to the point representation to use to convert points into k-D vectors.
Definition: kdtree.hpp:59
bool setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr()) override
Provide a pointer to the input dataset.
Definition: kdtree.hpp:88
KdTree(bool sorted=true)
Constructor for KdTree.
Definition: kdtree.hpp:45
int radiusSearch(const PointT &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
Search for all the nearest neighbors of the query point in a given radius.
Definition: kdtree.hpp:109
Generic search class.
Definition: search.h:75
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: search.h:79
pcl::IndicesConstPtr IndicesConstPtr
Definition: search.h:85
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.