41 #ifndef PCL_KDTREE_KDTREE_FLANN_H_
42 #define PCL_KDTREE_KDTREE_FLANN_H_
44 #include <pcl/kdtree/kdtree.h>
45 #include <pcl/kdtree/flann.h>
52 template <
typename T>
class Index;
58 template <
typename T>
class PointRepresentation;
66 template <
typename Po
intT,
typename Dist = ::flann::L2_Simple<
float> >
87 typedef boost::shared_ptr<KdTreeFLANN<PointT> >
Ptr;
88 typedef boost::shared_ptr<const KdTreeFLANN<PointT> >
ConstPtr;
109 flann_index_ = k.flann_index_;
111 index_mapping_ = k.index_mapping_;
112 identity_mapping_ = k.identity_mapping_;
114 total_nr_points_ = k.total_nr_points_;
115 param_k_ = k.param_k_;
116 param_radius_ = k.param_radius_;
162 std::vector<int> &k_indices, std::vector<float> &k_sqr_distances)
const;
182 std::vector<float> &k_sqr_distances,
unsigned int max_nn = 0)
const;
194 convertCloudToArray (
const PointCloud &cloud);
202 convertCloudToArray (
const PointCloud &cloud,
const std::vector<int> &indices);
207 getName ()
const {
return (
"KdTreeFLANN"); }
210 boost::shared_ptr<FLANNIndex> flann_index_;
216 std::vector<int> index_mapping_;
219 bool identity_mapping_;
225 int total_nr_points_;
228 ::flann::SearchParams param_k_;
231 ::flann::SearchParams param_radius_;
235 #ifdef PCL_NO_PRECOMPILE
236 #include <pcl/kdtree/impl/kdtree_flann.hpp>