* updated @pcl::search:OrganizedNeighbor@ to be back functional, radiusSearch...

* updated @pcl::search:OrganizedNeighbor@ to be back functional, radiusSearch is working back, 4-6x faster then KdTree, Knearest still need to implement this

git-svn-id: svn+ssh://svn.pointclouds.org/pcl/trunk@3215 a9d63959-f2ad-4865-b262-bf0e56cfafb6

segmentation/include/pcl/segmentation/extract_clusters.h

@@ -306,7 +306,9 @@ namespace pcl
         */
       inline void setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
 
-      /** \brief Get a pointer to the search method used. */
+      /** \brief Get a pointer to the search method used. 
+       *  @todo fix this for a generic search tree
+       */
       inline KdTreePtr getSearchMethod () { return (tree_); }
 
       /** \brief Set the spatial cluster tolerance as a measure in the L2 Euclidean space

segmentation/include/pcl/segmentation/impl/extract_clusters.hpp

@@ -110,6 +110,7 @@ pcl::extractEuclideanClusters (const PointCloud<PointT> &cloud,
 }
 
 //////////////////////////////////////////////////////////////////////////////////////////////
+/** @todo: fix the return value, make sure the exit is not needed anymore*/
 template <typename PointT> void
 pcl::extractEuclideanClusters (const PointCloud<PointT> &cloud, 
                                const std::vector<int> &indices,
@@ -151,7 +152,13 @@ pcl::extractEuclideanClusters (const PointCloud<PointT> &cloud,
     while (sq_idx < (int)seed_queue.size ())
     {
       // Search for sq_idx
-      if (!tree->radiusSearch (seed_queue[sq_idx], tolerance, nn_indices, nn_distances))
+      int ret = tree->radiusSearch (seed_queue[sq_idx], tolerance, nn_indices, nn_distances);
+      if( ret == -1)
+      {
+        PCL_ERROR("[pcl::extractEuclideanClusters] Received error code -1 from radiusSearch\n");
+        exit(0);
+      }
+      if (!ret)
       {
         sq_idx++;
         continue;

segmentation/include/pcl/segmentation/impl/extract_labeled_clusters.hpp

@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
- *
+ * $id $
  */
 
 #ifndef PCL_SEGMENTATION_IMPL_EXTRACT_LABELED_CLUSTERS_H_