87 lines
3.1 KiB
C++
87 lines
3.1 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) 2010-2011, Willow Garage, 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 Willow Garage, Inc. 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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* $Id$
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*
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*/
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#ifndef PCL_KDTREE_IO_IMPL_HPP_
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#define PCL_KDTREE_IO_IMPL_HPP_
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#include <pcl/kdtree/io.h>
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename Point1T, typename Point2T> void
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pcl::getApproximateIndices (
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const typename pcl::PointCloud<Point1T>::ConstPtr &cloud_in,
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const typename pcl::PointCloud<Point2T>::ConstPtr &cloud_ref,
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Indices &indices)
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{
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pcl::KdTreeFLANN<Point2T> tree;
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tree.setInputCloud (cloud_ref);
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Indices nn_idx (1);
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std::vector<float> nn_dists (1);
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indices.resize (cloud_in->size ());
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for (std::size_t i = 0; i < cloud_in->size (); ++i)
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{
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tree.nearestKSearchT ((*cloud_in)[i], 1, nn_idx, nn_dists);
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indices[i] = nn_idx[0];
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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::getApproximateIndices (
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const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
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const typename pcl::PointCloud<PointT>::ConstPtr &cloud_ref,
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Indices &indices)
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{
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pcl::KdTreeFLANN<PointT> tree;
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tree.setInputCloud (cloud_ref);
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Indices nn_idx (1);
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std::vector<float> nn_dists (1);
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indices.resize (cloud_in->size ());
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for (std::size_t i = 0; i < cloud_in->size (); ++i)
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{
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tree.nearestKSearch (*cloud_in, i, 1, nn_idx, nn_dists);
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indices[i] = nn_idx[0];
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}
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}
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#endif // PCL_KDTREE_IO_IMPL_H_
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