GASD signature not available for nearest neighbor search using pcl::search::KdTree

[AchimG]

The GASD signatures are not available when using pcl::search::KdTree for nearest neighbor search.

Your Environment

• Operating System and version: Ubuntu 16.04
• Compiler: gcc (Ubuntu 5.4.0-6ubuntu1~16.04.9) 5.4.0 20160609
• PCL Version: master branch

Context

When working with the GASD global descriptor, a nearest neighbor search has to be performed in the descriptor space. However, using the current version of pcl::search::KdTree leads to compilation errors since KdTree has not been specialized for the GASD signatures.

Possible Solution

Add the GASD features to the point types which are used to specify KdTree during pre-compiling.

[taketwo]

Quick fix: include "impl" file for KdTree in your code.

But actually this is a bug. pcl::search::KdTree is instantiated for all point types listed in PCL_POINT_TYPES macro list. This list does not include GASD descriptors, although it should. You are welcome to send a patch adding them to the list. (Also update PCL_FEATURE_POINT_TYPES list for completeness.)

[AchimG]

Thanks for the fast reply.

I will work on this and send a patch in the next days.

[taketwo]

Fixed with #2295.