first working version and more or less well-documented

CMakeLists.txt

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+# ----------------------------------------------------------------------------
+# Root CMake file for nanoflann
+#
+#  2011 - Jose Luis Blanco 
+# ----------------------------------------------------------------------------
+cmake_minimum_required(VERSION 2.6)
+
+PROJECT(nanoflann)
+
+# --------------------------------------------------------------
+# Indicate CMake 2.7 and above that we don't want to mix relative
+#  and absolute paths in lib lists. Run "cmake --help-policy CMP0003" for info
+# --------------------------------------------------------------
+if(COMMAND cmake_policy)
+      cmake_policy(SET CMP0003 NEW)
+endif(COMMAND cmake_policy)
+
+SET( EXECUTABLE_OUTPUT_PATH ${nanoflann_BINARY_DIR}/bin CACHE PATH "Output directory for programs" )
+
+
+# Compiler options:
+IF(CMAKE_COMPILER_IS_GNUCXX)
+	 SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -mtune=native ")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX)
+
+
+
+# Include dir:
+INCLUDE_DIRECTORIES(${nanoflann_SOURCE_DIR}/include)
+
+# Examples
+add_subdirectory(examples)
+
+# Tests
+#add_subdirectory(tests)
+
+

examples/CMakeLists.txt

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+
+# example: "pointcloud_example"
+ADD_EXECUTABLE(pointcloud_example pointcloud_example.cpp)
+

examples/pointcloud_example.cpp

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+/***********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ * Copyright 2011 Jose Luis Blanco (joseluisblancoc@gmail.com).
+ *   All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
+ * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
+ * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+ * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *************************************************************************/
+
+#include <nanoflann.hpp>
+
+#include <cstdlib>
+#include <iostream>
+
+using namespace std;
+using namespace nanoflann;
+
+// This is an exampleof a custom data set class
+template <typename T>
+struct PointCloud
+{
+	struct Point
+	{
+		T  x,y,z;
+	};
+
+	std::vector<Point>  pts;
+
+	typedef  PointCloud Derived; //!< In this case the dataset class is myself.
+
+	/// CRTP helper method
+	inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+	/// CRTP helper method
+	inline       Derived& derived()       { return *static_cast<Derived*>(this); }
+
+	// Must return the number of data points
+	inline size_t kdtree_get_point_count() const { return pts.size(); }
+
+	// Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:
+	inline float kdtree_distance(const float *p1, const size_t idx_p2,size_t size) const
+	{
+		float d0=p1[0]-pts[idx_p2].x;
+		float d1=p1[1]-pts[idx_p2].y;
+		float d2=p1[2]-pts[idx_p2].z;
+		return d0*d0+d1*d1+d2*d2;
+	}
+
+	// Returns the dim'th component of the idx'th point in the class:
+	// Since this is inlined and the "dim" argument is typically an immediate value, the
+	//  "if/else's" are actually solved at compile time.
+	inline float kdtree_get_pt(const size_t idx, int dim) const
+	{
+		if (dim==0) return pts[idx].x;
+		else if (dim==1) return pts[idx].y;
+		else return pts[idx].z;
+	}
+
+	// Optional bounding-box computation: return false to default to a standard bbox computation loop.
+	//   Return true if the BBOX was already computed by the class and returned in "bb" so it can be avoided to redo it again.
+	//   Look at bb.size() to find out the expected dimensionality (e.g. 2 or 3 for point clouds)
+	template <class BBOX>
+	bool kdtree_get_bbox(BBOX &bb) const { return false; }
+
+};
+
+template <typename T>
+void generateRandomPointCloud(PointCloud<T> &point, const size_t N, const T max_range = 10)
+{
+	std::cout << "Generating "<< N << " point cloud...";
+	point.pts.resize(N);
+	for (size_t i=0;i<N;i++)
+	{
+		point.pts[i].x = max_range * (rand() % 1000) / T(1000);
+		point.pts[i].y = max_range * (rand() % 1000) / T(1000);
+		point.pts[i].z = max_range * (rand() % 1000) / T(1000);
+	}
+
+	std::cout << "done\n";
+}
+
+template <typename num_t>
+void perf_test(const size_t N)
+{
+	PointCloud<num_t> cloud;
+
+	// Generate points:
+	generateRandomPointCloud(cloud, N);
+
+	num_t query_pt[3] = { 0.5, 0.5, 0.5};
+
+
+	// construct an randomized kd-tree index using 4 kd-trees
+	typedef KDTreeSingleIndexAdaptor<
+		L2_Simple_Adaptor<num_t, PointCloud<num_t> > ,
+		PointCloud<num_t>,
+		3 /* dim */
+		> my_kd_tree_t;
+
+	my_kd_tree_t   index(3 /*dim*/, cloud, KDTreeSingleIndexAdaptorParams(10 /* max leaf */) );
+	index.buildIndex();
+
+	// do a knn search
+	const size_t num_results = 1;
+	int 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 << endl;
+
+}
+
+int main(int argc, char** argv)
+{
+	perf_test<float>(1e5);
+
+	return 0;
+}
+