moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/NearestNeighbor.h

@@ -0,0 +1,152 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map 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 RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef NEARESTNEIGHBOR_H_
+#define NEARESTNEIGHBOR_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <opencv2/imgproc/imgproc_c.h>
+#include <map>
+#include "rtabmap/core/Parameters.h"
+
+namespace rtabmap
+{
+
+class VisualWord;
+
+class RTABMAP_EXP NearestNeighbor
+{
+public:
+
+public:
+	virtual ~NearestNeighbor() {}
+
+	virtual void setData(const cv::Mat & data) = 0;
+
+	virtual void search(
+			const cv::Mat & queries,
+			cv::Mat & indices,
+			cv::Mat & dists,
+			int knn = 1,
+			int emax = 64) = 0;
+
+	virtual void search(
+			const cv::Mat & data,
+			const cv::Mat & queries,
+			cv::Mat & indices,
+			cv::Mat & dists,
+			int knn = 1,
+			int emax = 64) const = 0;
+
+	virtual bool isDist64F() const = 0;
+	virtual bool isDistSquared() const = 0;
+
+	virtual void parseParameters(const ParametersMap & parameters) {}
+
+protected:
+	NearestNeighbor() {}
+};
+
+
+
+/////////////////////////
+// KdTreeNN
+/////////////////////////
+class RTABMAP_EXP KdTreeNN : public NearestNeighbor
+{
+public:
+	KdTreeNN(const ParametersMap & parameters = ParametersMap());
+	virtual ~KdTreeNN();
+
+	virtual void setData(const cv::Mat & data);
+
+	virtual void search(const cv::Mat & queries,
+			cv::Mat & indices,
+			cv::Mat & dists,
+			int knn = 1,
+			int emax = 64);
+
+	virtual void search(const cv::Mat & data,
+			const cv::Mat & queries,
+			cv::Mat & indices,
+			cv::Mat & dists,
+			int knn = 1,
+			int emax = 64) const;
+
+	virtual bool isDist64F() const {return true;}
+	virtual bool isDistSquared() const {return false;}
+	virtual void parseParameters(const ParametersMap & parameters);
+private:
+	CvFeatureTree * _tree;
+	CvMat _dataMat;
+};
+
+
+
+
+
+
+/////////////////////////
+// FlannKdTreeNN
+/////////////////////////
+class RTABMAP_EXP FlannKdTreeNN : public NearestNeighbor
+{
+public:
+	enum Strategy{kLinear, kKDTree, kMeans, kComposite, kAutoTuned, kUndefined};
+
+public:
+	FlannKdTreeNN(const ParametersMap & parameters = ParametersMap());
+	FlannKdTreeNN(Strategy s, const ParametersMap & parameters = ParametersMap());
+	virtual ~FlannKdTreeNN();
+
+	void setStrategy(Strategy s) {if(_strategy!=kUndefined) _strategy = s;}
+
+	virtual void setData(const cv::Mat & data);
+
+	virtual void search(const cv::Mat & queries,
+			cv::Mat & indices,
+			cv::Mat & dists,
+			int knn = 1,
+			int emax = 64);
+
+	virtual void search(const cv::Mat & data,
+				const cv::Mat & queries,
+				cv::Mat & indices,
+				cv::Mat & dists,
+				int knn = 1,
+				int emax = 64) const;
+
+	virtual bool isDist64F() const {return false;}
+	virtual bool isDistSquared() const {return true;}
+	virtual void parseParameters(const ParametersMap & parameters);
+
+private:
+	cv::flann::Index * createIndex(const cv::Mat & data, Strategy s) const;
+
+private:
+	cv::flann::Index * _treeFlannIndex;
+	Strategy _strategy;
+};
+
+}
+
+#endif /* NEARESTNEIGHBOR_H_ */