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/*=========================================================================
*
* Copyright NumFOCUS
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* https://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
#ifndef itkPointsLocator_h
#define itkPointsLocator_h
#include "itkObject.h"
#include "itkPoint.h"
#include "itkIntTypes.h"
#include "itkKdTree.h"
#include "itkKdTreeGenerator.h"
#include "itkVectorContainer.h"
#include "itkVectorContainerToListSampleAdaptor.h"
namespace itk
{
/** \class PointsLocator
* \brief Accelerate geometric searches for points.
*
* This class accelerates the search for the closest point to a user-provided
* point, by using constructing a Kd-Tree structure for the PointSetContainer.
*
* \ingroup ITKRegistrationCommon
*/
template <typename TPointsContainer = VectorContainer<IdentifierType, Point<float, 3>>>
class ITK_TEMPLATE_EXPORT PointsLocator : public Object
{
public:
ITK_DISALLOW_COPY_AND_MOVE(PointsLocator);
/** Standard class type aliases. */
using Self = PointsLocator;
using Superclass = Object;
using Pointer = SmartPointer<Self>;
using ConstPointer = SmartPointer<const Self>;
/** Method for creation through the object factory. */
itkNewMacro(Self);
/** \see LightObject::GetNameOfClass() */
itkOverrideGetNameOfClassMacro(PointsLocator);
/** Hold on to the type information specified by the template parameters. */
using PointsContainer = TPointsContainer;
using PointsContainerPointer = typename PointsContainer::Pointer;
using PointsContainerConstPointer = typename PointsContainer::ConstPointer;
using PointIdentifier = typename PointsContainer::ElementIdentifier;
using PointType = typename PointsContainer::Element;
/** Hold on to the dimensions specified by the template parameters. */
static constexpr unsigned int PointDimension = PointType::PointDimension;
/** Convenient type alias. */
using PointsContainerConstIterator = typename PointsContainer::ConstIterator;
using PointsContainerIterator = typename PointsContainer::Iterator;
/** Type of the PointsContainer to List Adaptor. */
using SampleAdaptorType = Statistics::VectorContainerToListSampleAdaptor<PointsContainer>;
using SampleAdaptorPointer = typename SampleAdaptorType::Pointer;
/** Types fo the KdTreeGenerator */
using TreeGeneratorType = Statistics::KdTreeGenerator<SampleAdaptorType>;
using TreeGeneratorPointer = typename TreeGeneratorType::Pointer;
using TreeType = typename TreeGeneratorType::KdTreeType;
using TreeConstPointer = typename TreeType::ConstPointer;
using NeighborsIdentifierType = typename TreeType::InstanceIdentifierVectorType;
/** Set/Get the points from which the bounding box should be computed. */
itkSetObjectMacro(Points, PointsContainer);
/** Set/Get the points from which the bounding box should be computed. */
itkGetModifiableObjectMacro(Points, PointsContainer);
/** Compute the kd-tree that will facilitate the querying the points. */
void
Initialize();
/** Find the closest point */
PointIdentifier
FindClosestPoint(const PointType & query) const;
/** Find the closest N points. Returns the point ids. */
void
FindClosestNPoints(const PointType &, unsigned int, NeighborsIdentifierType &) const;
/** Find the closest N points. Returns the point ids and save the distances */
void
FindClosestNPoints(const PointType &, unsigned int, NeighborsIdentifierType &, std::vector<double> &) const;
/** Find all the points within a specified radius. Returns the point ids. */
void
FindPointsWithinRadius(const PointType &, double, NeighborsIdentifierType &) const;
protected:
PointsLocator();
~PointsLocator() override = default;
void
PrintSelf(std::ostream & os, Indent indent) const override;
private:
PointsContainerPointer m_Points{};
SampleAdaptorPointer m_SampleAdaptor{};
TreeGeneratorPointer m_KdTreeGenerator{};
TreeConstPointer m_Tree{};
};
} // end namespace itk
#ifndef ITK_MANUAL_INSTANTIATION
# include "itkPointsLocator.hxx"
#endif
#endif
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