Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: kdtree.h 3020 2011-11-01 03:41:16Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_KDTREE_KDTREE_H_ 00039 #define PCL_KDTREE_KDTREE_H_ 00040 00041 #include <limits.h> 00042 #include <pcl/pcl_macros.h> 00043 #include <pcl/point_cloud.h> 00044 #include <pcl/point_representation.h> 00045 #include <pcl/common/io.h> 00046 00047 namespace pcl 00048 { 00054 template <typename PointT> 00055 class KdTree 00056 { 00057 typedef boost::shared_ptr <std::vector<int> > IndicesPtr; 00058 typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr; 00059 00060 public: 00061 typedef pcl::PointCloud<PointT> PointCloud; 00062 typedef boost::shared_ptr<PointCloud> PointCloudPtr; 00063 typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr; 00064 00065 typedef pcl::PointRepresentation<PointT> PointRepresentation; 00066 //typedef boost::shared_ptr<PointRepresentation> PointRepresentationPtr; 00067 typedef boost::shared_ptr<const PointRepresentation> PointRepresentationConstPtr; 00068 00069 // Boost shared pointers 00070 typedef boost::shared_ptr<KdTree<PointT> > Ptr; 00071 typedef boost::shared_ptr<const KdTree<PointT> > ConstPtr; 00072 00076 KdTree (bool sorted = true) : input_(), indices_(), 00077 epsilon_(0.0), min_pts_(1), sorted_(sorted) 00078 { 00079 point_representation_.reset (new DefaultPointRepresentation<PointT>); 00080 }; 00081 00082 00087 virtual inline void 00088 setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) 00089 { 00090 input_ = cloud; 00091 indices_ = indices; 00092 } 00093 00095 inline IndicesConstPtr const 00096 getIndices () 00097 { 00098 return (indices_); 00099 } 00100 00102 inline PointCloudConstPtr 00103 getInputCloud () 00104 { 00105 return (input_); 00106 } 00107 00111 inline void 00112 setPointRepresentation (const PointRepresentationConstPtr &point_representation) 00113 { 00114 point_representation_ = point_representation; 00115 setInputCloud (input_, indices_); // Makes sense in derived classes to reinitialize the tree 00116 } 00117 00119 inline PointRepresentationConstPtr const 00120 getPointRepresentation () 00121 { 00122 return (point_representation_); 00123 } 00124 00126 virtual ~KdTree () {}; 00127 00137 virtual int 00138 nearestKSearch (const PointCloud &cloud, int index, int k, 00139 std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) = 0; 00140 00149 virtual int 00150 nearestKSearch (const PointT &p_q, int k, 00151 std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) = 0; 00152 00161 template <typename PointTDiff> inline int 00162 nearestKSearchT (const PointTDiff &point, int k, 00163 std::vector<int> &k_indices, std::vector<float> &k_distances) 00164 { 00165 PointT p; 00166 // Copy all the data fields from the input cloud to the output one 00167 typedef typename pcl::traits::fieldList<PointT>::type FieldListInT; 00168 typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT; 00169 typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 00170 pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointT, PointTDiff> ( 00171 point, p)); 00172 return (nearestKSearch (p, k, k_indices, k_distances)); 00173 } 00174 00184 virtual int 00185 nearestKSearch (int index, int k, std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) = 0; 00186 00196 virtual int 00197 radiusSearch (const PointCloud &cloud, int index, double radius, std::vector<int> &k_indices, 00198 std::vector<float> &k_sqr_distances, int max_nn = INT_MAX) const = 0; 00199 00208 virtual int 00209 radiusSearch (const PointT &p_q, double radius, std::vector<int> &k_indices, 00210 std::vector<float> &k_sqr_distances, int max_nn = INT_MAX) const = 0; 00211 00220 template <typename PointTDiff> inline int 00221 radiusSearchT (const PointTDiff &point, double radius, std::vector<int> &k_indices, 00222 std::vector<float> &k_distances, int max_nn = -1) const 00223 { 00224 PointT p; 00225 // Copy all the data fields from the input cloud to the output one 00226 typedef typename pcl::traits::fieldList<PointT>::type FieldListInT; 00227 typedef typename pcl::traits::fieldList<PointTDiff>::type FieldListOutT; 00228 typedef typename pcl::intersect<FieldListInT, FieldListOutT>::type FieldList; 00229 pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointT, PointTDiff> ( 00230 point, p)); 00231 return (radiusSearch (p, radius, k_indices, k_distances, max_nn)); 00232 } 00233 00243 virtual int 00244 radiusSearch (int index, double radius, std::vector<int> &k_indices, 00245 std::vector<float> &k_sqr_distances, int max_nn = INT_MAX) const = 0; 00246 00250 inline void 00251 setEpsilon (double eps) 00252 { 00253 epsilon_ = eps; 00254 } 00255 00257 inline double 00258 getEpsilon () 00259 { 00260 return (epsilon_); 00261 } 00262 00266 inline void 00267 setMinPts (int min_pts) 00268 { 00269 min_pts_ = min_pts; 00270 } 00271 00273 inline float 00274 getMinPts () 00275 { 00276 return (min_pts_); 00277 } 00278 00279 protected: 00281 PointCloudConstPtr input_; 00282 00284 IndicesConstPtr indices_; 00285 00287 double epsilon_; 00288 00290 int min_pts_; 00291 00293 bool sorted_; 00294 00296 PointRepresentationConstPtr point_representation_; 00297 00299 virtual std::string 00300 getName () const = 0; 00301 }; 00302 } 00303 00304 #endif //#ifndef _PCL_KDTREE_KDTREE_H_