213 lines
7.9 KiB
C++
213 lines
7.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_SEARCH_SEARCH_IMPL_HPP_
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#define PCL_SEARCH_SEARCH_IMPL_HPP_
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#include <pcl/search/search.h>
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT>
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pcl::search::Search<PointT>::Search (const std::string& name, bool sorted)
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: input_ ()
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, sorted_results_ (sorted)
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, name_ (name)
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> const std::string&
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pcl::search::Search<PointT>::getName () const
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{
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return (name_);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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pcl::search::Search<PointT>::setSortedResults (bool sorted)
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{
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sorted_results_ = sorted;
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> bool
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pcl::search::Search<PointT>::getSortedResults ()
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{
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return (sorted_results_);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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pcl::search::Search<PointT>::setInputCloud (
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const PointCloudConstPtr& cloud, const IndicesConstPtr &indices)
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{
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input_ = cloud;
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indices_ = indices;
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> int
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pcl::search::Search<PointT>::nearestKSearch (
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const PointCloud &cloud, index_t index, int k,
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Indices &k_indices, std::vector<float> &k_sqr_distances) const
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{
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assert (index >= 0 && index < static_cast<index_t> (cloud.size ()) && "Out-of-bounds error in nearestKSearch!");
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return (nearestKSearch (cloud[index], k, k_indices, k_sqr_distances));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> int
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pcl::search::Search<PointT>::nearestKSearch (
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index_t index, int k,
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Indices &k_indices,
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std::vector<float> &k_sqr_distances) const
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{
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if (!indices_)
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{
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assert (index >= 0 && index < static_cast<index_t> (input_->size ()) && "Out-of-bounds error in nearestKSearch!");
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return (nearestKSearch ((*input_)[index], k, k_indices, k_sqr_distances));
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}
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assert (index >= 0 && index < static_cast<index_t> (indices_->size ()) && "Out-of-bounds error in nearestKSearch!");
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if (index >= static_cast<index_t> (indices_->size ()) || index < 0)
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return (0);
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return (nearestKSearch ((*input_)[(*indices_)[index]], k, k_indices, k_sqr_distances));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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pcl::search::Search<PointT>::nearestKSearch (
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const PointCloud& cloud, const Indices& indices,
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int k, std::vector<Indices>& k_indices,
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std::vector< std::vector<float> >& k_sqr_distances) const
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{
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if (indices.empty ())
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{
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k_indices.resize (cloud.size ());
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k_sqr_distances.resize (cloud.size ());
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for (std::size_t i = 0; i < cloud.size (); i++)
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nearestKSearch (cloud, static_cast<index_t> (i), k, k_indices[i], k_sqr_distances[i]);
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}
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else
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{
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k_indices.resize (indices.size ());
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k_sqr_distances.resize (indices.size ());
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for (std::size_t i = 0; i < indices.size (); i++)
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nearestKSearch (cloud, indices[i], k, k_indices[i], k_sqr_distances[i]);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> int
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pcl::search::Search<PointT>::radiusSearch (
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const PointCloud &cloud, index_t index, double radius,
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Indices &k_indices, std::vector<float> &k_sqr_distances,
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unsigned int max_nn) const
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{
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assert (index >= 0 && index < static_cast<index_t> (cloud.size ()) && "Out-of-bounds error in radiusSearch!");
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return (radiusSearch(cloud[index], radius, k_indices, k_sqr_distances, max_nn));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> int
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pcl::search::Search<PointT>::radiusSearch (
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index_t index, double radius, Indices &k_indices,
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std::vector<float> &k_sqr_distances, unsigned int max_nn ) const
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{
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if (!indices_)
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{
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assert (index >= 0 && index < static_cast<index_t> (input_->size ()) && "Out-of-bounds error in radiusSearch!");
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return (radiusSearch ((*input_)[index], radius, k_indices, k_sqr_distances, max_nn));
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}
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assert (index >= 0 && index < static_cast<index_t> (indices_->size ()) && "Out-of-bounds error in radiusSearch!");
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return (radiusSearch ((*input_)[(*indices_)[index]], radius, k_indices, k_sqr_distances, max_nn));
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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pcl::search::Search<PointT>::radiusSearch (
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const PointCloud& cloud,
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const Indices& indices,
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double radius,
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std::vector<Indices>& k_indices,
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std::vector< std::vector<float> > &k_sqr_distances,
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unsigned int max_nn) const
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{
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if (indices.empty ())
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{
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k_indices.resize (cloud.size ());
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k_sqr_distances.resize (cloud.size ());
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for (std::size_t i = 0; i < cloud.size (); i++)
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radiusSearch (cloud, static_cast<index_t> (i), radius,k_indices[i], k_sqr_distances[i], max_nn);
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}
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else
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{
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k_indices.resize (indices.size ());
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k_sqr_distances.resize (indices.size ());
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for (std::size_t i = 0; i < indices.size (); i++)
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radiusSearch (cloud,indices[i],radius,k_indices[i],k_sqr_distances[i], max_nn);
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}
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointT> void
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pcl::search::Search<PointT>::sortResults (
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Indices& indices, std::vector<float>& distances) const
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{
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Indices order (indices.size ());
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for (std::size_t idx = 0; idx < order.size (); ++idx)
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order [idx] = static_cast<index_t> (idx);
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Compare compare (distances);
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sort (order.begin (), order.end (), compare);
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Indices sorted (indices.size ());
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for (std::size_t idx = 0; idx < order.size (); ++idx)
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sorted [idx] = indices[order [idx]];
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indices = sorted;
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// sort the according distances.
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sort (distances.begin (), distances.end ());
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}
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#define PCL_INSTANTIATE_Search(T) template class PCL_EXPORTS pcl::search::Search<T>;
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#endif //#ifndef _PCL_SEARCH_SEARCH_IMPL_HPP_
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