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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* SPDX-License-Identifier: BSD-3-Clause</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* Copyright (c) 2025-, Open Perception Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* All rights reserved</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#ifndef PCL_SEARCH_AUTO_IMPL_HPP_</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#define PCL_SEARCH_AUTO_IMPL_HPP_</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <pcl/common/utils.h></span> <span class="comment">// for ignore</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <pcl/search/auto.h></span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <pcl/search/brute_force.h></span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <pcl/search/kdtree.h></span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <pcl/search/kdtree_nanoflann.h></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <pcl/search/octree.h></span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <pcl/search/organized.h></span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="namespacepcl_1_1search.html#a53a69180a2aea6faef8c3a9c91116773"> 22</a></span> <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT></a> * <a class="code" href="namespacepcl_1_1search.html#a7895fe60b7ee80dacd4a0684e67be9a8">pcl::search::autoSelectMethod</a>(<span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud<PointT>::ConstPtr</a>& cloud, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a>& indices, <span class="keywordtype">bool</span> sorted_results, <a class="code" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03">pcl::search::Purpose</a> purpose) {</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="classpcl_1_1search_1_1_search.html">pcl::search::Search<PointT></a> * searcher = <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">if</span> constexpr (pcl::traits::has_xyz_v<PointT>) {</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordflow">if</span> (cloud-><a class="code" href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">isOrganized</a> ()) {</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  searcher = <span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor<PointT></a> (sorted_results);</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordflow">if</span>(searcher-><a class="code" href="classpcl_1_1search_1_1_search.html#a6cdff0285cb44d01d2b43f99ba8a78b5">setInputCloud</a> (cloud, indices)) { <span class="comment">// may return false if OrganizedNeighbor cannot work with the cloud, then use another search method instead</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordflow">return</span> searcher;</div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  }</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">delete</span> searcher;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  }</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  }</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#if PCL_HAS_NANOFLANN</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="comment">// we get the number of search dimensions as a compile-time-constant via NR_DIMS. NR_DIMS may be -1 if it is not possible to determine the dimensions at compile-time (only at run-time), however then searching may be slower. If NR_DIMS is not -1, it must be the same as the return value of getNumberOfDimensions().</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  searcher = <span class="keyword">new</span> pcl::search::KdTreeNanoflann<PointT, pcl::DefaultPointRepresentation<PointT>::NR_DIMS> (sorted_results, (purpose == <a class="code" href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a770022f714929eafced878b33f28b172">pcl::search::Purpose::one_knn_search</a> ? 10 : 20));</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span>(searcher-><a class="code" href="classpcl_1_1search_1_1_search.html#a6cdff0285cb44d01d2b43f99ba8a78b5">setInputCloud</a> (cloud, indices)) {</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">return</span> searcher;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  }</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">delete</span> searcher;</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#else</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="namespacepcl_1_1utils.html#a78a2d5e0d4579c74c29e3022e8045a11">pcl::utils::ignore</a>(purpose);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#if PCL_HAS_FLANN</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  searcher = <span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree<PointT></a> (sorted_results);</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">if</span>(searcher-><a class="code" href="classpcl_1_1search_1_1_search.html#a6cdff0285cb44d01d2b43f99ba8a78b5">setInputCloud</a> (cloud, indices)) {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">return</span> searcher;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  }</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">delete</span> searcher;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> constexpr (pcl::traits::has_xyz_v<PointT>) {</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  searcher = <span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree<PointT></a> (0.01); <span class="comment">// TODO a better heuristic to choose octree resolution?</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  searcher-><a class="code" href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">setSortedResults</a> (sorted_results);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">if</span>(searcher-><a class="code" href="classpcl_1_1search_1_1_search.html#a6cdff0285cb44d01d2b43f99ba8a78b5">setInputCloud</a> (cloud, indices)) {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">return</span> searcher;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">delete</span> searcher;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">// If nothing else works, and the point type has xyz coordinates, use brute force method</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">if</span> constexpr (pcl::traits::has_xyz_v<PointT>) {</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  searcher = <span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce<PointT></a> (sorted_results);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  searcher-><a class="code" href="classpcl_1_1search_1_1_search.html#a6cdff0285cb44d01d2b43f99ba8a78b5">setInputCloud</a> (cloud, indices);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> searcher;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  PCL_ERROR(<span class="stringliteral">"[pcl::search::autoSelectMethod] No suitable method found. Make sure you have nanoflann and/or FLANN installed.\n"</span>);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> }</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="preprocessor">#define PCL_INSTANTIATE_AutoSelectMethod(T) template PCL_EXPORTS pcl::search::Search<T> * pcl::search::autoSelectMethod<T>(const typename pcl::PointCloud<T>::ConstPtr& cloud, const pcl::IndicesConstPtr& indices, bool sorted_results, pcl::search::Purpose purpose);</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="preprocessor">#endif </span><span class="comment">//#ifndef PCL_SEARCH_AUTO_IMPL_HPP_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a914dbcef25abdb46f32991ac112002e7"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a914dbcef25abdb46f32991ac112002e7">pcl::PointCloud::isOrganized</a></div><div class="ttdeci">bool isOrganized() const</div><div class="ttdoc">Return whether a dataset is organized (e.g., arranged in a structured grid).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00311">point_cloud.h:311</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af70fd81ce582ccabf683dd782ed3f032"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af70fd81ce582ccabf683dd782ed3f032">pcl::PointCloud::ConstPtr</a></div><div class="ttdeci">shared_ptr< const PointCloud< PointT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00415">point_cloud.h:415</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_brute_force_html"><div class="ttname"><a href="classpcl_1_1search_1_1_brute_force.html">pcl::search::BruteForce</a></div><div class="ttdoc">Implementation of a simple brute force search algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="brute__force_8h_source.html#l00051">brute_force.h:52</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> <a href="search_2include_2pcl_2search_2kdtree_8h_source.html#l00061">kdtree.h:62</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_octree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_octree.html">pcl::search::Octree</a></div><div class="ttdoc">search::Octree is a wrapper class which implements nearest neighbor search operations based on the pc...</div><div class="ttdef"><b>Definition:</b> <a href="search_2include_2pcl_2search_2octree_8h_source.html#l00068">octree.h:69</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_organized_neighbor_html"><div class="ttname"><a href="classpcl_1_1search_1_1_organized_neighbor.html">pcl::search::OrganizedNeighbor</a></div><div class="ttdoc">OrganizedNeighbor is a class for optimized nearest neighbor search in organized projectable point clo...</div><div class="ttdef"><b>Definition:</b> <a href="organized_8h_source.html#l00065">organized.h:66</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a></div><div class="ttdoc">Generic search class.</div><div class="ttdef"><b>Definition:</b> <a href="search_8h_source.html#l00074">search.h:75</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_a6cdff0285cb44d01d2b43f99ba8a78b5"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#a6cdff0285cb44d01d2b43f99ba8a78b5">pcl::search::Search::setInputCloud</a></div><div class="ttdeci">virtual bool setInputCloud(const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())</div><div class="ttdoc">Pass the input dataset that the search will be performed on.</div><div class="ttdef"><b>Definition:</b> <a href="search_8hpp_source.html#l00075">search.hpp:75</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_af5e9ca2efdb199e64d05c399ea4a4412"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#af5e9ca2efdb199e64d05c399ea4a4412">pcl::search::Search::setSortedResults</a></div><div class="ttdeci">virtual void setSortedResults(bool sorted)</div><div class="ttdoc">sets whether the results should be sorted (ascending in the distance) or not</div><div class="ttdef"><b>Definition:</b> <a href="search_8hpp_source.html#l00061">search.hpp:61</a></div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03">pcl::search::Purpose</a></div><div class="ttdeci">Purpose</div><div class="ttdef"><b>Definition:</b> <a href="auto_8h_source.html#l00017">auto.h:17</a></div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a1b317f9dc7133a5187594366ae497a03a770022f714929eafced878b33f28b172"><div class="ttname"><a href="namespacepcl_1_1search.html#a1b317f9dc7133a5187594366ae497a03a770022f714929eafced878b33f28b172">pcl::search::Purpose::one_knn_search</a></div><div class="ttdeci">@ one_knn_search</div><div class="ttdoc">The search method will mainly be used for nearestKSearch where k is 1.</div></div>
<div class="ttc" id="anamespacepcl_1_1search_html_a7895fe60b7ee80dacd4a0684e67be9a8"><div class="ttname"><a href="namespacepcl_1_1search.html#a7895fe60b7ee80dacd4a0684e67be9a8">pcl::search::autoSelectMethod</a></div><div class="ttdeci">pcl::search::Search< PointT > * autoSelectMethod(const typename pcl::PointCloud< PointT >::ConstPtr &cloud, bool sorted_results, Purpose purpose=Purpose::undefined)</div><div class="ttdoc">Automatically select the fastest search method for the given point cloud.</div><div class="ttdef"><b>Definition:</b> <a href="auto_8h_source.html#l00031">auto.h:31</a></div></div>
<div class="ttc" id="anamespacepcl_1_1utils_html_a78a2d5e0d4579c74c29e3022e8045a11"><div class="ttname"><a href="namespacepcl_1_1utils.html#a78a2d5e0d4579c74c29e3022e8045a11">pcl::utils::ignore</a></div><div class="ttdeci">void ignore(const T &...)</div><div class="ttdoc">Utility function to eliminate unused variable warnings.</div><div class="ttdef"><b>Definition:</b> <a href="utils_8h_source.html#l00062">utils.h:62</a></div></div>
<div class="ttc" id="anamespacepcl_html_a011f84e43d80cb736d9ec9abd0930024"><div class="ttname"><a href="namespacepcl.html#a011f84e43d80cb736d9ec9abd0930024">pcl::IndicesConstPtr</a></div><div class="ttdeci">shared_ptr< const Indices > IndicesConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="pcl__base_8h_source.html#l00059">pcl_base.h:59</a></div></div>
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