nearest_neighbor_search.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2021  Kenji Koide (k.koide@aist.go.jp)
 
#pragma once
 
#include <memory>
#include <vector>
#include <limits>
#include <iostream>
 
namespace gtsam_points {
 
struct NearestNeighborSearch {
public:
  using Ptr = std::shared_ptr<NearestNeighborSearch>;
  using ConstPtr = std::shared_ptr<const NearestNeighborSearch>;
 
  NearestNeighborSearch() {}
  virtual ~NearestNeighborSearch() {}
 
  virtual size_t
  knn_search(const double* pt, size_t k, size_t* k_indices, double* k_sq_dists, double max_sq_dist = std::numeric_limits<double>::max()) const {
    std::cerr << "NearestNeighborSearch::knn_search() is not implemented" << std::endl;
    return 0;
  };
 
  virtual size_t radius_search(
    const double* pt,
    double radius,
    std::vector<size_t>& indices,
    std::vector<double>& sq_dists,
    int max_num_neighbors = std::numeric_limits<int>::max()) const {
    std::cerr << "NearestNeighborSearch::radius_search() is not implemented" << std::endl;
    return 0;
  };
};
}  // namespace gtsam_points