KDTreeMutable_fwd.hpp

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#ifndef MEDUSA_BITS_SPATIAL_SEARCH_KDTREEMUTABLE_FWD_HPP_
#define MEDUSA_BITS_SPATIAL_SEARCH_KDTREEMUTABLE_FWD_HPP_
 
#include <medusa/Config.hpp>
#include <medusa/bits/types/Range_fwd.hpp>
#include <nanoflann/nanoflann.hpp>
#include <array>
#include <iosfwd>
#include "PointCloud.hpp"
 
namespace mm {
 
template <class vec_t>
class KDTreeMutable {
  public:
    typedef vec_t vector_t;   
    typedef typename vector_t::scalar_t scalar_t;   
    enum {  dim = vec_t::dim };
    static_assert(std::is_same<double, scalar_t>::value,
                  "Not Implemented Error: only implemented for double type!");
  private:
    typedef nanoflann::KDTreeSingleIndexDynamicAdaptor<
            nanoflann::L2_Simple_Adaptor<scalar_t, kdtree_internal::PointCloud<vec_t>>,
            kdtree_internal::PointCloud<vec_t>, dim> kd_tree_t;  
 
    kdtree_internal::PointCloud<vec_t> points_;  
    int size_;  
    kd_tree_t tree;  
 
  public:
    explicit KDTreeMutable(const Range<vec_t>& points) :
            points_(points), size_(points.size()),
            tree(dim, points_, nanoflann::KDTreeSingleIndexAdaptorParams(20)) {}
 
    KDTreeMutable() : points_(), size_(0),
            tree(dim, points_, nanoflann::KDTreeSingleIndexAdaptorParams(20)) {}
 
    void reset(const Range<vec_t>& points) {
        points_.setPts(points);
        size_ = points.size();
        tree.reset();
    }
    void insert(const vec_t& point);
 
    void insert(const Range<vec_t>& points);
 
    bool existsPointInSphere(const vec_t& p, scalar_t r) {
        if (size_ == 0) return false;
        return query(p).second[0] <= r*r;
    }
 
    void remove(int index) {
        size_ -= tree.removePoint(index);
    }
 
    int size() const { return size_; }
 
    std::pair<mm::Range<int>, mm::Range<double>> query(const vec_t& point, int k = 1);
 
    template <class V>
    friend std::ostream& operator<<(std::ostream& os, const KDTreeMutable<V>& tree);
};
 
}  // namespace mm
 
#endif  // MEDUSA_BITS_SPATIAL_SEARCH_KDTREEMUTABLE_FWD_HPP_