Merge pull request #177 from Pikecillo/fix-167-follow-up

fix: Adding default parameter value to ctr of KDTreeSingleIndexAdaptor for backward compatibility
jlblancoc · Jun 21, 2022 · 9eb2142 · 9eb2142
2 parents 325e3d3 + 93f0f20
commit 9eb2142
Show file tree

Hide file tree

Showing 2 changed files with 23 additions and 18 deletions.
diff --git a/examples/pointcloud_adaptor_example.cpp b/examples/pointcloud_adaptor_example.cpp
@@ -91,8 +91,6 @@ void kdtree_demo(const size_t N)
     // Generate points:
     generateRandomPointCloud(cloud, N);
 
-    num_t query_pt[3] = {0.5, 0.5, 0.5};
-
     using PC2KD = PointCloudAdaptor<PointCloud<num_t>>;
     const PC2KD pc2kd(cloud);  // The adaptor
 
@@ -103,22 +101,29 @@ void kdtree_demo(const size_t N)
 
     dump_mem_usage();
 
-    my_kd_tree_t index(3 /*dim*/, pc2kd, {10 /* max leaf */});
+    auto do_knn_search = [](const my_kd_tree_t& index) {
+        // do a knn search
+        const size_t                   num_results = 1;
+        size_t                         ret_index;
+        num_t                          out_dist_sqr;
+        nanoflann::KNNResultSet<num_t> resultSet(num_results);
+        num_t query_pt[3] = {0.5, 0.5, 0.5};
+
+        resultSet.init(&ret_index, &out_dist_sqr);
+        index.findNeighbors(resultSet, &query_pt[0], nanoflann::SearchParams(10));
+
+        std::cout << "knnSearch(nn=" << num_results << "): \n";
+        std::cout << "ret_index=" << ret_index << " out_dist_sqr=" << out_dist_sqr
+                  << std::endl;
+    };
+
+    my_kd_tree_t index1(3 /*dim*/, pc2kd, {10 /* max leaf */});
+    my_kd_tree_t index2(3 /*dim*/, pc2kd);
+
     dump_mem_usage();
 
-    // do a knn search
-    const size_t                   num_results = 1;
-    size_t                         ret_index;
-    num_t                          out_dist_sqr;
-    nanoflann::KNNResultSet<num_t> resultSet(num_results);
-    resultSet.init(&ret_index, &out_dist_sqr);
-    index.findNeighbors(resultSet, &query_pt[0], nanoflann::SearchParams(10));
-    // index.knnSearch(query, indices, dists, num_results,
-    // mrpt_flann::SearchParams(10));
-
-    std::cout << "knnSearch(nn=" << num_results << "): \n";
-    std::cout << "ret_index=" << ret_index << " out_dist_sqr=" << out_dist_sqr
-              << std::endl;
+    do_knn_search(index1);
+    do_knn_search(index2);
 }
 
 int main()

diff --git a/include/nanoflann.hpp b/include/nanoflann.hpp
@@ -1363,7 +1363,7 @@ class KDTreeSingleIndexAdaptor
 
     KDTreeSingleIndexAdaptor(
         const Dimension dimensionality, const DatasetAdaptor& inputData,
-        const KDTreeSingleIndexAdaptorParams& params)
+        const KDTreeSingleIndexAdaptorParams& params = {})
         : dataset(inputData),
           index_params(params),
           distance(inputData)
@@ -2222,7 +2222,7 @@ class KDTreeSingleIndexDynamicAdaptor
             pointCount++;
         }
 
-        for(size_t i = 0; i <= maxIndex; ++i) {
+        for(int i = 0; i <= maxIndex; ++i) {
             index[i].freeIndex(index[i]);
             if(!index[i].vAcc.empty())
                 index[i].buildIndex();