kdtree.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2009-2011, Willow Garage, 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 Willow Garage, Inc. 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.
 *
 * $Id: kdtree.h 6121 2012-07-03 18:53:38Z aichim $
 *
 */

#ifndef PCL_KDTREE_KDTREE_H_
#define PCL_KDTREE_KDTREE_H_

#include <limits.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_representation.h>
#include <pcl/common/io.h>

namespace pcl
{
  template <typename PointT>
  class KdTree
  {
    public:
      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;

      typedef pcl::PointCloud<PointT> PointCloud;
      typedef boost::shared_ptr<PointCloud> PointCloudPtr;
      typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

      typedef pcl::PointRepresentation<PointT> PointRepresentation;
      //typedef boost::shared_ptr<PointRepresentation> PointRepresentationPtr;
      typedef boost::shared_ptr<const PointRepresentation> PointRepresentationConstPtr;

      // Boost shared pointers
      typedef boost::shared_ptr<KdTree<PointT> > Ptr;
      typedef boost::shared_ptr<const KdTree<PointT> > ConstPtr;

      KdTree (bool sorted = true) : input_(), indices_(), 
                                    epsilon_(0.0f), min_pts_(1), sorted_(sorted), 
                                    point_representation_ (new DefaultPointRepresentation<PointT>)
      {
      };

      virtual void
      setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ())
      {
        input_   = cloud;
        indices_ = indices;
      }

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

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

      inline void
      setPointRepresentation (const PointRepresentationConstPtr &point_representation)
      {
        point_representation_ = point_representation;
        setInputCloud (input_, indices_);  // Makes sense in derived classes to reinitialize the tree
      }

      inline PointRepresentationConstPtr
      getPointRepresentation () const
      {
        return (point_representation_);
      }

      virtual ~KdTree () {};

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

      virtual int 
      nearestKSearch (const PointCloud &cloud, int index, int k, 
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const
      {
        assert (index >= 0 && index < static_cast<int> (cloud.points.size ()) && "Out-of-bounds error in nearestKSearch!");
        return (nearestKSearch (cloud.points[index], k, k_indices, k_sqr_distances));
      }

      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 (int index, int k, 
                      std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const
      {
        if (indices_ == NULL)
        {
          assert (index >= 0 && index < static_cast<int> (input_->points.size ()) && "Out-of-bounds error in nearestKSearch!");
          return (nearestKSearch (input_->points[index], k, k_indices, k_sqr_distances));
        }
        else
        {
          assert (index >= 0 && index < static_cast<int> (indices_->size ()) && "Out-of-bounds error in nearestKSearch!");
          return (nearestKSearch (input_->points[(*indices_)[index]], k, k_indices, k_sqr_distances));
        }
      }

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

      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
      {
        assert (index >= 0 && index < static_cast<int> (cloud.points.size ()) && "Out-of-bounds error in radiusSearch!");
        return (radiusSearch(cloud.points[index], radius, k_indices, k_sqr_distances, max_nn));
      }

      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 (int index, double radius, std::vector<int> &k_indices,
                    std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const
      {
        if (indices_ == NULL)
        {
          assert (index >= 0 && index < static_cast<int> (input_->points.size ()) && "Out-of-bounds error in radiusSearch!");
          return (radiusSearch (input_->points[index], radius, k_indices, k_sqr_distances, max_nn));
        }
        else
        {
          assert (index >= 0 && index < static_cast<int> (indices_->size ()) && "Out-of-bounds error in radiusSearch!");
          return (radiusSearch (input_->points[(*indices_)[index]], radius, k_indices, k_sqr_distances, max_nn));
        }
      }

      virtual inline void
      setEpsilon (float eps)
      {
        epsilon_ = eps;
      }

      inline float
      getEpsilon () const
      {
        return (epsilon_);
      }

      inline void
      setMinPts (int min_pts)
      {
        min_pts_ = min_pts;
      }

      inline int
      getMinPts () const
      {
        return (min_pts_);
      }

    protected:
      PointCloudConstPtr input_;

      IndicesConstPtr indices_;

      float epsilon_;

      int min_pts_;

      bool sorted_;

      PointRepresentationConstPtr point_representation_;

      virtual std::string 
      getName () const = 0;
  };
}

#endif  //#ifndef _PCL_KDTREE_KDTREE_H_