Changed KDTree convenience typedefs to template aliases

kzampog · May 8, 2020 · c11cc8d · c11cc8d
1 parent 8dd77c4
commit c11cc8d
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Showing 5 changed files with 21 additions and 10 deletions.
diff --git a/examples/kd_tree.cpp b/examples/kd_tree.cpp
@@ -12,7 +12,7 @@ int main(int argc, char ** argv) {
     points.emplace_back(1, 1, 0);
     points.emplace_back(1, 1, 1);
 
-    cilantro::KDTree3f tree(points);
+    cilantro::KDTree3f<> tree(points);
 
     cilantro::NeighborSet<float> nn = tree.kNNInRadiusSearch(Eigen::Vector3f(0.1, 0.1, 0.4), 2, 1.001);
 

diff --git a/examples/normal_estimation.cpp b/examples/normal_estimation.cpp
@@ -23,7 +23,7 @@ int main(int argc, char ** argv) {
 
     cilantro::Timer tree_timer;
     tree_timer.start();
-    cilantro::KDTree3f tree(cloud.points);
+    cilantro::KDTree3f<> tree(cloud.points);
     // cilantro::NormalEstimation3f ne(tree);
     // cilantro::NormalEstimation3f ne(cloud.points);
     tree_timer.stop();

diff --git a/examples/robust_normal_estimation.cpp b/examples/robust_normal_estimation.cpp
@@ -39,7 +39,7 @@ int main(int argc, char ** argv) {
 
     cilantro::Timer tree_timer;
     tree_timer.start();
-    cilantro::KDTree3f tree(cloud.points);
+    cilantro::KDTree3f<> tree(cloud.points);
     tree_timer.stop();
 
     cilantro::Timer ne_timer;

diff --git a/examples/spectral_clustering.cpp b/examples/spectral_clustering.cpp
@@ -17,7 +17,7 @@ void generate_input_data(cilantro::VectorSet3f &points, Eigen::SparseMatrix<floa
 
     // Build neighborhood graph
     // 30 neighbors
-    cilantro::NeighborhoodSet<float> nn = cilantro::KDTree3f(points).search(points, cilantro::KNNNeighborhoodSpecification<>(30));
+    cilantro::NeighborhoodSet<float> nn = cilantro::KDTree3f<>(points).search(points, cilantro::KNNNeighborhoodSpecification<>(30));
     affinities = cilantro::getNNGraphFunctionValueSparseMatrix(nn, cilantro::RBFKernelWeightEvaluator<float>(), true);
 }
 

diff --git a/include/cilantro/core/kd_tree.hpp b/include/cilantro/core/kd_tree.hpp
@@ -396,10 +396,21 @@ namespace cilantro {
         nanoflann::SearchParams params_;
     };
 
-    typedef KDTree<float,2,KDTreeDistanceAdaptors::L2> KDTree2f;
-    typedef KDTree<double,2,KDTreeDistanceAdaptors::L2> KDTree2d;
-    typedef KDTree<float,3,KDTreeDistanceAdaptors::L2> KDTree3f;
-    typedef KDTree<double,3,KDTreeDistanceAdaptors::L2> KDTree3d;
-    typedef KDTree<float,Eigen::Dynamic,KDTreeDistanceAdaptors::L2> KDTreeXf;
-    typedef KDTree<double,Eigen::Dynamic,KDTreeDistanceAdaptors::L2> KDTreeXd;
+    template <template <class> class DistAdaptor = KDTreeDistanceAdaptors::L2, typename IndexT = size_t>
+    using KDTree2f = KDTree<float,2,DistAdaptor,IndexT>;
+
+    template <template <class> class DistAdaptor = KDTreeDistanceAdaptors::L2, typename IndexT = size_t>
+    using KDTree2d = KDTree<double,2,DistAdaptor,IndexT>;
+
+    template <template <class> class DistAdaptor = KDTreeDistanceAdaptors::L2, typename IndexT = size_t>
+    using KDTree3f = KDTree<float,3,DistAdaptor,IndexT>;
+
+    template <template <class> class DistAdaptor = KDTreeDistanceAdaptors::L2, typename IndexT = size_t>
+    using KDTree3d = KDTree<double,3,DistAdaptor,IndexT>;
+
+    template <template <class> class DistAdaptor = KDTreeDistanceAdaptors::L2, typename IndexT = size_t>
+    using KDTreeXf = KDTree<float,Eigen::Dynamic,DistAdaptor,IndexT>;
+
+    template <template <class> class DistAdaptor = KDTreeDistanceAdaptors::L2, typename IndexT = size_t>
+    using KDTreeXd = KDTree<double,Eigen::Dynamic,DistAdaptor,IndexT>;
 }