Move further towards KdTreeNanoflann

CMakeLists.txt

@@ -353,13 +353,16 @@ if(NOT EIGEN3_FOUND AND Eigen3_FOUND)
 endif()
 
 # FLANN
-find_package(FLANN 1.9.1)
-if(NOT FLANN_FOUND)
-  message(WARNING "Flann was not found, so many PCL modules will not be built!")
-else()
-  set(PCL_HAS_FLANN 1)
-  if(NOT (${FLANN_LIBRARY_TYPE} MATCHES ${PCL_FLANN_REQUIRED_TYPE}) AND NOT (${PCL_FLANN_REQUIRED_TYPE} MATCHES "DONTCARE"))
-    message(FATAL_ERROR "Flann was selected with ${PCL_FLANN_REQUIRED_TYPE} but found as ${FLANN_LIBRARY_TYPE}")
+option(WITH_FLANN "Use FLANN library (if available)" TRUE)
+if(WITH_FLANN)
+  find_package(FLANN 1.9.1)
+  if(NOT FLANN_FOUND)
+    message(WARNING "Flann was not found, so many PCL modules will not be built!")
+  else()
+    set(PCL_HAS_FLANN 1)
+    if(NOT (${FLANN_LIBRARY_TYPE} MATCHES ${PCL_FLANN_REQUIRED_TYPE}) AND NOT (${PCL_FLANN_REQUIRED_TYPE} MATCHES "DONTCARE"))
+      message(FATAL_ERROR "Flann was selected with ${PCL_FLANN_REQUIRED_TYPE} but found as ${FLANN_LIBRARY_TYPE}")
+    endif()
   endif()
 endif()
 

apps/src/openni_tracking.cpp

@@ -48,6 +48,7 @@
 #include <pcl/io/openni_grabber.h>
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
+#include <pcl/search/kdtree.h>
 #include <pcl/segmentation/extract_clusters.h>
 #include <pcl/segmentation/extract_polygonal_prism_data.h>
 #include <pcl/segmentation/sac_segmentation.h>

apps/src/pcd_select_object_plane.cpp

@@ -48,6 +48,7 @@
 #include <pcl/geometry/polygon_operations.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/sample_consensus/sac_model_plane.h> // for pointToPlaneDistance
+#include <pcl/search/kdtree.h>
 #include <pcl/segmentation/edge_aware_plane_comparator.h>
 #include <pcl/segmentation/euclidean_cluster_comparator.h>
 #include <pcl/segmentation/extract_clusters.h>

apps/src/ppf_object_recognition.cpp

@@ -6,6 +6,7 @@
 #include <pcl/registration/ppf_registration.h>
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
+#include <pcl/search/kdtree.h>
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl/visualization/pcl_visualizer.h>
 

doc/tutorials/content/sources/conditional_euclidean_clustering/conditional_euclidean_clustering.cpp

@@ -1,7 +1,7 @@
 #include <pcl/point_types.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/console/time.h>
-
+#include <pcl/search/kdtree.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/features/normal_3d.h>
 #include <pcl/segmentation/conditional_euclidean_clustering.h>

doc/tutorials/content/sources/correspondence_grouping/correspondence_grouping.cpp

@@ -12,7 +12,7 @@
 #include <pcl/kdtree/impl/kdtree_flann.hpp>
 #include <pcl/common/transforms.h>
 #include <pcl/console/parse.h>
-
+#include <pcl/search/kdtree.h>
 typedef pcl::PointXYZRGBA PointType;
 typedef pcl::Normal NormalType;
 typedef pcl::ReferenceFrame RFType;

doc/tutorials/content/sources/cylinder_segmentation/cylinder_segmentation.cpp

@@ -7,7 +7,7 @@
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
 #include <pcl/segmentation/sac_segmentation.h>
-
+#include <pcl/search/kdtree.h>
 typedef pcl::PointXYZ PointT;
 
 int

doc/tutorials/content/sources/pairwise_incremental_registration/pairwise_incremental_registration.cpp

@@ -53,7 +53,7 @@
 #include <pcl/registration/icp.h>
 #include <pcl/registration/icp_nl.h>
 #include <pcl/common/transforms.h>
-
+#include <pcl/search/kdtree.h>
 #include <pcl/visualization/pcl_visualizer.h>
 
 using pcl::visualization::PointCloudColorHandlerGenericField;

doc/tutorials/content/sources/pcl_visualizer/pcl_visualizer_demo.cpp

@@ -8,7 +8,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/console/parse.h>
-
+#include <pcl/search/kdtree.h>
 using namespace std::chrono_literals;
 
 // --------------

doc/tutorials/content/sources/rops_feature/rops_feature.cpp

@@ -1,6 +1,6 @@
 #include <pcl/features/rops_estimation.h>
 #include <pcl/io/pcd_io.h>
-
+#include <pcl/search/kdtree.h>
 int main (int argc, char** argv)
 {
   if (argc != 4)

doc/tutorials/content/sources/template_alignment/template_alignment.cpp

@@ -7,7 +7,7 @@
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 #include <pcl/io/pcd_io.h>
-#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/search/kdtree.h>
 #include <pcl/filters/passthrough.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/features/normal_3d.h>

examples/features/example_difference_of_normals.cpp

@@ -14,6 +14,7 @@
 #include <pcl/segmentation/extract_clusters.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/search/organized.h> // for OrganizedNeighbor
+#include <pcl/search/kdtree.h>
 #include <pcl/point_types.h>
 
 #include <pcl/features/don.h>

examples/segmentation/example_extract_clusters_normals.cpp

@@ -42,6 +42,7 @@
 
 #include <pcl/io/pcd_io.h>
 #include <pcl/features/normal_3d.h>
+#include <pcl/search/auto.h>
 #include <pcl/segmentation/extract_clusters.h>
 #define PCL_NO_PRECOMPILE // ConditionalEuclideanClustering is not always instantiated with PointNormal
 #include <pcl/segmentation/conditional_euclidean_clustering.h>
@@ -74,9 +75,8 @@ main (int argc, char **argv)
   ne.compute (*cloud_normals);
   std::cout << "Estimated the normals" << std::endl;
 
-  // Creating the kdtree object for the search method of the extraction
-  pcl::KdTree<pcl::PointXYZ>::Ptr tree_ec  (new pcl::KdTreeFLANN<pcl::PointXYZ> ());
-  tree_ec->setInputCloud (cloud_ptr);
+  // Creating the search method of the extraction
+  pcl::search::Search<pcl::PointXYZ>::Ptr tree_ec(pcl::search::autoSelectMethod<pcl::PointXYZ>(cloud_ptr, false));
 
   // Extracting Euclidean clusters using cloud and its normals
   std::vector<pcl::PointIndices> cluster_indices;

features/CMakeLists.txt

@@ -1,9 +1,9 @@
 set(SUBSYS_NAME features)
 set(SUBSYS_DESC "Point cloud features library")
-set(SUBSYS_DEPS common search kdtree octree filters 2d)
+set(SUBSYS_DEPS common search octree filters 2d)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP kdtree)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
@@ -167,7 +167,7 @@ endif()
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_2d pcl_search pcl_kdtree pcl_octree pcl_filters)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_2d pcl_search pcl_octree pcl_filters)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install headers
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})

features/include/pcl/features/impl/cppf.hpp

@@ -42,7 +42,7 @@
 #define PCL_FEATURES_IMPL_CPPF_H_
 
 #include <pcl/features/cppf.h>
-#include <pcl/search/kdtree.h> // for KdTree
+//#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT>
@@ -51,7 +51,7 @@ pcl::CPPFEstimation<PointInT, PointNT, PointOutT>::CPPFEstimation ()
 {
   feature_name_ = "CPPFEstimation";
   // Slight hack in order to pass the check for the presence of a search method in Feature::initCompute ()
-  Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
+  //Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
   Feature<PointInT, PointOutT>::search_radius_ = 1.0f;
 }
 

features/include/pcl/features/impl/ppf.hpp

@@ -43,7 +43,7 @@
 #include <pcl/features/ppf.h>
 #include <pcl/features/pfh.h>
 #include <pcl/features/pfh_tools.h> // for computePairFeatures
-#include <pcl/search/kdtree.h> // for KdTree
+//#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT>
@@ -52,7 +52,7 @@ pcl::PPFEstimation<PointInT, PointNT, PointOutT>::PPFEstimation ()
 {
   feature_name_ = "PPFEstimation";
   // Slight hack in order to pass the check for the presence of a search method in Feature::initCompute ()
-  Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
+  //Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
   Feature<PointInT, PointOutT>::search_radius_ = 1.0f;
 }
 

features/include/pcl/features/impl/ppfrgb.hpp

@@ -40,7 +40,7 @@
 
 #include <pcl/features/ppfrgb.h>
 #include <pcl/features/pfhrgb.h>
-#include <pcl/search/kdtree.h> // for KdTree
+//#include <pcl/search/kdtree.h> // for KdTree
 
 //////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename PointNT, typename PointOutT>
@@ -49,7 +49,7 @@ pcl::PPFRGBEstimation<PointInT, PointNT, PointOutT>::PPFRGBEstimation ()
 {
   feature_name_ = "PPFRGBEstimation";
   // Slight hack in order to pass the check for the presence of a search method in Feature::initCompute ()
-  Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
+  //Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
   Feature<PointInT, PointOutT>::search_radius_ = 1.0f;
 }
 

filters/CMakeLists.txt

@@ -1,9 +1,9 @@
 set(SUBSYS_NAME filters)
 set(SUBSYS_DESC "Point cloud filters library")
-set(SUBSYS_DEPS common sample_consensus search kdtree octree)
+set(SUBSYS_DEPS common sample_consensus search octree)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP kdtree)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
@@ -132,7 +132,7 @@ set(impl_incs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_sample_consensus pcl_search pcl_kdtree pcl_octree)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_sample_consensus pcl_search pcl_octree)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 
 # Install include files

keypoints/CMakeLists.txt

@@ -1,9 +1,9 @@
 set(SUBSYS_NAME keypoints)
 set(SUBSYS_DESC "Point cloud keypoints library")
-set(SUBSYS_DEPS common search kdtree octree features filters)
+set(SUBSYS_DEPS common search octree features filters)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP kdtree)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 

people/CMakeLists.txt

@@ -1,9 +1,9 @@
 set(SUBSYS_NAME people)
 set(SUBSYS_DESC "Point cloud people library")
-set(SUBSYS_DEPS common kdtree search sample_consensus filters io visualization geometry segmentation octree)
+set(SUBSYS_DEPS common search sample_consensus filters io visualization geometry segmentation octree)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS kdtree)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
@@ -34,7 +34,7 @@ set(srcs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-target_link_libraries(${LIB_NAME} pcl_common pcl_filters pcl_kdtree pcl_sample_consensus pcl_segmentation pcl_visualization)
+target_link_libraries(${LIB_NAME} pcl_common pcl_filters pcl_sample_consensus pcl_segmentation pcl_visualization)
 
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install include files
@@ -43,5 +43,5 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
 
 if(WITH_OPENNI)
   PCL_ADD_EXECUTABLE(pcl_ground_based_rgbd_people_detector COMPONENT ${SUBSYS_NAME} SOURCES apps/main_ground_based_people_detection.cpp BUNDLE)
-  target_link_libraries(pcl_ground_based_rgbd_people_detector pcl_common pcl_kdtree pcl_search pcl_sample_consensus pcl_filters pcl_io pcl_visualization pcl_segmentation pcl_people)
+  target_link_libraries(pcl_ground_based_rgbd_people_detector pcl_common pcl_search pcl_sample_consensus pcl_filters pcl_io pcl_visualization pcl_segmentation pcl_people)
 endif()

people/include/pcl/people/ground_based_people_detection_app.h

@@ -43,7 +43,6 @@
 #include <pcl/point_types.h>
 #include <pcl/sample_consensus/sac_model_plane.h>
 #include <pcl/sample_consensus/ransac.h>
-#include <pcl/kdtree/kdtree.h>
 #include <pcl/people/person_cluster.h>
 #include <pcl/people/head_based_subcluster.h>
 #include <pcl/people/person_classifier.h>

recognition/CMakeLists.txt

@@ -1,11 +1,11 @@
 set(SUBSYS_NAME recognition)
 set(SUBSYS_DESC "Point cloud recognition library")
-set(SUBSYS_DEPS common io search kdtree octree features filters registration sample_consensus ml)
+set(SUBSYS_DEPS common io search octree features filters registration sample_consensus ml)
 
 set(DEFAULT ON)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS kdtree)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
@@ -134,7 +134,7 @@ set(metslib_incs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${face_detection_incs} ${ransac_based_incs} ${ransac_based_impl_incs} ${hv_incs} ${hv_impl_incs} ${cg_incs} ${cg_impl_incs} ${metslib_incs})
-target_link_libraries("${LIB_NAME}" pcl_common pcl_kdtree pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io)
+target_link_libraries("${LIB_NAME}" pcl_common pcl_octree pcl_search pcl_features pcl_registration pcl_sample_consensus pcl_filters pcl_ml pcl_io)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install include files
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})

recognition/include/pcl/recognition/hv/hypotheses_verification.h

@@ -37,9 +37,10 @@
 #pragma once
 
 #include <pcl/pcl_macros.h>
+#include <pcl/point_types.h> // for pcl::Normal
 #include "pcl/recognition/hv/occlusion_reasoning.h"
 #include "pcl/recognition/impl/hv/occlusion_reasoning.hpp"
-#include <pcl/search/kdtree.h>
+#include <pcl/search/auto.h>
 #include <pcl/filters/voxel_grid.h>
 
 namespace pcl
@@ -79,7 +80,7 @@ namespace pcl
     /*
      * \brief Scene tree of the downsampled cloud
      */
-    typename pcl::search::KdTree<SceneT>::Ptr scene_downsampled_tree_;
+    typename pcl::search::Search<SceneT>::Ptr scene_downsampled_tree_;
 
     /*
      * \brief Vector of point clouds representing the 3D models after occlusion reasoning
@@ -307,8 +308,7 @@ namespace pcl
       voxel_grid.filter (*scene_cloud_downsampled_);
 
       //initialize kdtree for search
-      scene_downsampled_tree_.reset (new pcl::search::KdTree<SceneT>);
-      scene_downsampled_tree_->setInputCloud(scene_cloud_downsampled_);
+      scene_downsampled_tree_.reset (pcl::search::autoSelectMethod<SceneT>(scene_cloud_downsampled_, true));
     }
 
     void setOcclusionCloud (const typename pcl::PointCloud<SceneT>::Ptr & occ_cloud)

recognition/include/pcl/recognition/impl/hv/hv_go.hpp

@@ -242,8 +242,7 @@ void pcl::GlobalHypothesesVerification<ModelT, SceneT>::initialize()
   if (detect_clutter_)
   {
     //initialize kdtree for search
-    scene_downsampled_tree_.reset (new pcl::search::KdTree<SceneT>);
-    scene_downsampled_tree_->setInputCloud (scene_cloud_downsampled_);
+    scene_downsampled_tree_.reset (pcl::search::autoSelectMethod<SceneT>(scene_cloud_downsampled_, true, pcl::search::Purpose::radius_search));
 
     std::vector<pcl::PointIndices> clusters;
     double eps_angle_threshold = 0.2;

registration/CMakeLists.txt

@@ -1,9 +1,9 @@
 set(SUBSYS_NAME registration)
 set(SUBSYS_DESC "Point cloud registration library")
-set(SUBSYS_DEPS common octree kdtree search sample_consensus features filters)
+set(SUBSYS_DEPS common octree search sample_consensus features filters)
 
 PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP kdtree)
 
 PCL_ADD_DOC("${SUBSYS_NAME}")
 
@@ -168,7 +168,7 @@ set(srcs
 
 set(LIB_NAME "pcl_${SUBSYS_NAME}")
 PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
-target_link_libraries("${LIB_NAME}" pcl_kdtree pcl_search pcl_sample_consensus pcl_features pcl_filters)
+target_link_libraries("${LIB_NAME}" pcl_search pcl_sample_consensus pcl_features pcl_filters)
 PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
 # Install include files
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})