KdTree.cpp

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
 
#include <CVKdTree.h>
#include <GenericProgressCallback.h>
 
namespace py = pybind11;
using namespace pybind11::literals;
 
#include "cccorelib.h"
 
void define_KdTree(py::module &cccorelib)
{
 
    py::class_<cloudViewer::KDTree> a(cccorelib, "KDTree");
    py::bind_vector<std::vector<unsigned>>(a, "IndicesVector", py::module_local(true));
 
    a.def(py::init<>())
        .def("buildFromCloud", &cloudViewer::KDTree::buildFromCloud, "cloud"_a, "progressCb"_a = nullptr)
        .def("getAssociatedCloud",
             &cloudViewer::KDTree::getAssociatedCloud,
             py::return_value_policy::reference)
        .def(
            "findNearestNeighbour",
            [](cloudViewer::KDTree &self, py::sequence &queryPoint, ScalarType maxDist)
            {
                PointCoordinateType point[3];
                point[0] = queryPoint[0].cast<PointCoordinateType>();
                point[1] = queryPoint[1].cast<PointCoordinateType>();
                point[2] = queryPoint[2].cast<PointCoordinateType>();
 
                unsigned nearestIndex{0};
                py::object ret = py::none();
                if (self.findNearestNeighbour(point, nearestIndex, maxDist))
                {
                    ret = py::cast(nearestIndex);
                }
                return ret;
            },
            "queryPoint"_a,
            "maxDist"_a)
        .def(
            "findNearestNeighbourWithMaxDist",
            [](cloudViewer::KDTree &self, py::sequence &queryPoint, ScalarType maxDist)
            {
                PointCoordinateType point[3];
                point[0] = queryPoint[0].cast<PointCoordinateType>();
                point[1] = queryPoint[1].cast<PointCoordinateType>();
                point[2] = queryPoint[2].cast<PointCoordinateType>();
                return self.findNearestNeighbourWithMaxDist(point, maxDist);
            },
            "queryPoint"_a,
            "maxDist"_a)
        .def(
            "radiusSearch",
            [](cloudViewer::KDTree &self,
               py::sequence &queryPoint,
               ScalarType distance,
               ScalarType tolerance,
               std::vector<unsigned> &points)
            {
                PointCoordinateType point[3];
                point[0] = queryPoint[0].cast<PointCoordinateType>();
                point[1] = queryPoint[1].cast<PointCoordinateType>();
                point[2] = queryPoint[2].cast<PointCoordinateType>();
                return self.radiusSearch(point, distance, tolerance, points);
            },
            "queryPoint"_a,
            "distance"_a,
            "tolerance"_a,
            "points"_a);
}