kdtree_search_nanoflann.h

/********************************************************************
 * Copyright (C) 2015 Liangliang Nan <liangliang.nan@gmail.com>
 * https://3d.bk.tudelft.nl/liangliang/
 *
 * This file is part of Easy3D. If it is useful in your research/work,
 * I would be grateful if you show your appreciation by citing it:
 * ------------------------------------------------------------------
 *      Liangliang Nan.
 *      Easy3D: a lightweight, easy-to-use, and efficient C++ library
 *      for processing and rendering 3D data.
 *      Journal of Open Source Software, 6(64), 3255, 2021.
 * ------------------------------------------------------------------
 *
 * Easy3D is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License Version 3
 * as published by the Free Software Foundation.
 *
 * Easy3D is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 ********************************************************************/
 
#ifndef EASY3D_KD_TREE_SEARCH_NANOFLANN_H
#define EASY3D_KD_TREE_SEARCH_NANOFLANN_H
 
#include <easy3d/kdtree/kdtree_search.h>
 
namespace easy3d {
 
    class PointCloud;

    class KdTreeSearch_NanoFLANN : public KdTreeSearch {
    public:
        explicit KdTreeSearch_NanoFLANN(const PointCloud *cloud);

        explicit KdTreeSearch_NanoFLANN(const std::vector<vec3>& points);
 
        ~KdTreeSearch_NanoFLANN() override;


        int find_closest_point(const vec3 &p, float &squared_distance) const override;

        int find_closest_point(const vec3 &p) const override;


        void find_closest_k_points(
                const vec3 &p, int k,
                std::vector<int> &neighbors, std::vector<float> &squared_distances
        ) const override;

        void find_closest_k_points(
                const vec3 &p, int k,
                std::vector<int> &neighbors
        ) const override;


        void find_points_in_range(
                const vec3 &p, float squared_radius,
                std::vector<int> &neighbors, std::vector<float> &squared_distances
        ) const override;

        void find_points_in_range(
                const vec3 &p, float squared_radius,
                std::vector<int> &neighbors
        ) const override;
 
    protected:
        std::vector<vec3> *points_; // reference of the original point cloud data
        void *tree_;
    };
 
} // namespace easy3d
 
#endif  // EASY3D_KD_TREE_SEARCH_NANOFLANN_H