Let setInputCloud of search methods indicate success or failure

filters/include/pcl/filters/impl/local_maximum.hpp

@@ -97,7 +97,13 @@ pcl::LocalMaximum<PointT>::applyFilterIndices (Indices &indices)
     else
       searcher_.reset (new pcl::search::KdTree<PointT> (false));
   }
-  searcher_->setInputCloud (cloud_projected);
+  if (!searcher_->setInputCloud (cloud_projected))
+  {
+    PCL_ERROR ("[pcl::%s::applyFilter] Error when initializing search method!\n", getClassName ().c_str ());
+    indices.clear ();
+    removed_indices_->clear ();
+    return;
+  }
 
   // The arrays to be used
   indices.resize (indices_->size ());

filters/include/pcl/filters/impl/radius_outlier_removal.hpp

@@ -64,7 +64,13 @@ pcl::RadiusOutlierRemoval<PointT>::applyFilterIndices (Indices &indices)
     else
       searcher_.reset (new pcl::search::KdTree<PointT> (false));
   }
-  searcher_->setInputCloud (input_);
+  if (!searcher_->setInputCloud (input_))
+  {
+    PCL_ERROR ("[pcl::%s::applyFilter] Error when initializing search method!\n", getClassName ().c_str ());
+    indices.clear ();
+    removed_indices_->clear ();
+    return;
+  }
 
   // The arrays to be used
   Indices nn_indices (indices_->size ());

filters/include/pcl/filters/impl/statistical_outlier_removal.hpp

@@ -56,7 +56,13 @@ pcl::StatisticalOutlierRemoval<PointT>::applyFilterIndices (Indices &indices)
     else
       searcher_.reset (new pcl::search::KdTree<PointT> (false));
   }
-  searcher_->setInputCloud (input_);
+  if (!searcher_->setInputCloud (input_))
+  {
+    PCL_ERROR ("[pcl::%s::applyFilter] Error when initializing search method!\n", getClassName ().c_str ());
+    indices.clear ();
+    removed_indices_->clear ();
+    return;
+  }
 
   // The arrays to be used
   const int searcher_k = mean_k_ + 1;  // Find one more, since results include the query point.

filters/include/pcl/filters/local_maximum.h

@@ -84,6 +84,12 @@ namespace pcl
       inline float
       getRadius () const { return (radius_); }
 
+      /** \brief Provide a pointer to the search object.
+        * Calling this is optional. If not called, the search method will be chosen automatically.
+        * \param[in] searcher a pointer to the spatial search object.
+        */
+      inline void
+      setSearchMethod (const SearcherPtr &searcher) { searcher_ = searcher; }
     protected:
       using PCLBase<PointT>::input_;
       using PCLBase<PointT>::indices_;

filters/include/pcl/filters/radius_outlier_removal.h

@@ -136,6 +136,12 @@ namespace pcl
         return (min_pts_radius_);
       }
 
+      /** \brief Provide a pointer to the search object.
+        * Calling this is optional. If not called, the search method will be chosen automatically.
+        * \param[in] searcher a pointer to the spatial search object.
+        */
+      inline void
+      setSearchMethod (const SearcherPtr &searcher) { searcher_ = searcher; }
     protected:
       using PCLBase<PointT>::input_;
       using PCLBase<PointT>::indices_;

filters/include/pcl/filters/statistical_outlier_removal.h

@@ -140,6 +140,12 @@ namespace pcl
         return (std_mul_);
       }
 
+      /** \brief Provide a pointer to the search object.
+        * Calling this is optional. If not called, the search method will be chosen automatically.
+        * \param[in] searcher a pointer to the spatial search object.
+        */
+      inline void
+      setSearchMethod (const SearcherPtr &searcher) { searcher_ = searcher; }
     protected:
       using PCLBase<PointT>::input_;
       using PCLBase<PointT>::indices_;

search/include/pcl/search/flann_search.h

@@ -254,7 +254,7 @@ namespace pcl
           * \param[in] cloud the const boost shared pointer to a PointCloud message
           * \param[in] indices the point indices subset that is to be used from \a cloud
           */
-        void
+        bool
         setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices = IndicesConstPtr ()) override;
 
         using Search<PointT>::nearestKSearch;

search/include/pcl/search/impl/flann_search.hpp

@@ -91,14 +91,15 @@ pcl::search::FlannSearch<PointT, FlannDistance>::~FlannSearch()
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT, typename FlannDistance> void
+template <typename PointT, typename FlannDistance> bool
 pcl::search::FlannSearch<PointT, FlannDistance>::setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices)
 {
   input_ = cloud;
   indices_ = indices;
   convertInputToFlannMatrix ();
   index_ = creator_->createIndex (input_flann_);
   index_->buildIndex ();
+  return true;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////

search/include/pcl/search/impl/kdtree.hpp

@@ -72,14 +72,15 @@ pcl::search::KdTree<PointT,Tree>::setEpsilon (float eps)
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT, class Tree> void
+template <typename PointT, class Tree> bool
 pcl::search::KdTree<PointT,Tree>::setInputCloud (
     const PointCloudConstPtr& cloud, 
     const IndicesConstPtr& indices)
 {
   tree_->setInputCloud (cloud, indices);
   input_ = cloud;
   indices_ = indices;
+  return true;
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////

search/include/pcl/search/impl/organized.hpp

@@ -329,15 +329,15 @@ pcl::search::OrganizedNeighbor<PointT>::computeCameraMatrix (Eigen::Matrix3f& ca
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
-template<typename PointT> void
+template<typename PointT> bool
 pcl::search::OrganizedNeighbor<PointT>::estimateProjectionMatrix ()
 {
   // internally we calculate with double but store the result into float matrices.
   projection_matrix_.setZero ();
   if (input_->height == 1 || input_->width == 1)
   {
     PCL_ERROR ("[pcl::%s::estimateProjectionMatrix] Input dataset is not organized!\n", this->getName ().c_str ());
-    return;
+    return false;
   }
 
   const unsigned ySkip = (std::max) (input_->height >> pyramid_level_, static_cast<unsigned>(1));
@@ -363,7 +363,7 @@ pcl::search::OrganizedNeighbor<PointT>::estimateProjectionMatrix ()
   if (std::abs (residual_sqr) > eps_ * static_cast<float>(indices.size ()))
   {
     PCL_ERROR ("[pcl::%s::estimateProjectionMatrix] Input dataset is not from a projective device!\nResidual (MSE) %g, using %d valid points\n", this->getName ().c_str (), residual_sqr / double (indices.size()), indices.size ());
-    return;
+    return false;
   }
 
   // get left 3x3 sub matrix, which contains K * R, with K = camera matrix = [[fx s cx] [0 fy cy] [0 0 1]]
@@ -383,8 +383,10 @@ pcl::search::OrganizedNeighbor<PointT>::estimateProjectionMatrix ()
     if (!projectPoint(test_point, q) || std::abs(q.x-test_index%input_->width)>1 || std::abs(q.y-test_index/input_->width)>1) {
       PCL_WARN ("[pcl::%s::estimateProjectionMatrix] Input dataset does not seem to be from a projective device! (point %zu (%g,%g,%g) projected to pixel coordinates (%g,%g), but actual pixel coordinates are (%zu,%zu))\n",
                 this->getName ().c_str (), test_index, test_point.x, test_point.y, test_point.z, q.x, q.y, static_cast<std::size_t>(test_index%input_->width), static_cast<std::size_t>(test_index/input_->width));
+      return false;
     }
   }
+  return true;
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////

search/include/pcl/search/impl/search.hpp

@@ -71,12 +71,13 @@ pcl::search::Search<PointT>::getSortedResults ()
 }
 
 ///////////////////////////////////////////////////////////////////////////////////////////
-template <typename PointT> void
+template <typename PointT> bool
 pcl::search::Search<PointT>::setInputCloud (
     const PointCloudConstPtr& cloud, const IndicesConstPtr &indices)
 {
   input_ = cloud;
   indices_ = indices;
+  return true;
 }
 
 

search/include/pcl/search/kdtree.h

@@ -128,7 +128,7 @@ namespace pcl
           * \param[in] cloud the const boost shared pointer to a PointCloud message
           * \param[in] indices the point indices subset that is to be used from \a cloud 
           */
-        void
+        bool
         setInputCloud (const PointCloudConstPtr& cloud, 
                        const IndicesConstPtr& indices = IndicesConstPtr ()) override;
 

search/include/pcl/search/octree.h

@@ -114,14 +114,15 @@ namespace pcl
           * \param[in] cloud the const boost shared pointer to a PointCloud message
           * \param[in] indices the point indices subset that is to be used from \a cloud 
           */
-        inline void
+        inline bool
         setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr& indices) override
         {
           tree_->deleteTree ();
           tree_->setInputCloud (cloud, indices);
           tree_->addPointsFromInputCloud ();
           input_ = cloud;
           indices_ = indices;
+          return true;
         }
 
         /** \brief Search for the k-nearest neighbors for the given query point.

search/include/pcl/search/organized.h

@@ -125,7 +125,7 @@ namespace pcl
           * \param[in] cloud the const boost shared pointer to a PointCloud message
           * \param[in] indices the const boost shared pointer to PointIndices
           */
-        void
+        bool
         setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override
         {
           input_ = cloud;
@@ -143,7 +143,7 @@ namespace pcl
           else
             mask_.assign (input_->size (), 1);
 
-          estimateProjectionMatrix ();
+          return estimateProjectionMatrix () && isValid ();
         }
 
         /** \brief Search for all neighbors of query point that are within a given radius.
@@ -164,7 +164,7 @@ namespace pcl
                       unsigned int max_nn = 0) const override;
 
         /** \brief estimated the projection matrix from the input cloud. */
-        void 
+        bool
         estimateProjectionMatrix ();
 
          /** \brief Search for the k-nearest neighbors for a given query point.

search/include/pcl/search/search.h

@@ -113,8 +113,9 @@ namespace pcl
         /** \brief Pass the input dataset that the search will be performed on.
           * \param[in] cloud a const pointer to the PointCloud data
           * \param[in] indices the point indices subset that is to be used from the cloud
+          * \return True if successful, false if an error occurred, for example because the point cloud is unsuited for the search method.
           */
-        virtual void
+        virtual bool
         setInputCloud (const PointCloudConstPtr& cloud, 
                        const IndicesConstPtr &indices = IndicesConstPtr ());