72 lines
1.6 KiB
Text
72 lines
1.6 KiB
Text
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/** @file
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* @brief Representation of the optimized k-d tree.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Thomas Escher
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*/
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#ifndef __KD_MANAGED_H__
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#define __KD_MANAGED_H__
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#include "slam6d/kdparams.h"
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#include "slam6d/searchTree.h"
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#include "slam6d/data_types.h"
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#include "slam6d/kdTreeImpl.h"
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#ifdef _MSC_VER
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#if !defined _OPENMP && defined OPENMP
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#define _OPENMP
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#endif
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#endif
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#ifdef _OPENMP
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#include <omp.h>
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#endif
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#include <boost/thread/mutex.hpp>
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#include <boost/thread/locks.hpp>
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class Scan;
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struct ArrayAccessor {
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inline double *operator() (const DataXYZ& pts, unsigned int i) {
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return pts[i];
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}
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};
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/**
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* @brief The optimized k-d tree.
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*
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* A kD tree for points, with limited
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* capabilities (find nearest point to
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* a given point, or to a ray).
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**/
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class KDtreeManaged :
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public SearchTree,
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private KDTreeImpl<const DataXYZ&, unsigned int, ArrayAccessor>
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{
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public:
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KDtreeManaged(Scan* scan);
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virtual ~KDtreeManaged() {}
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virtual void lock();
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virtual void unlock();
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//! Aquires cached data first to pass on to the usual KDtree to process
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virtual double* FindClosest(double *_p, double maxdist2, int threadNum = 0) const;
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private:
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Scan* m_scan;
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DataXYZ* m_data;
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//! Mutex for safely reducing points just once in a multithreaded environment
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boost::mutex m_mutex_locking;
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volatile unsigned int m_count_locking;
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// constructor initializer list hacks
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unsigned int* m_temp_indices;
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unsigned int* prepareTempIndices(unsigned int n);
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};
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#endif
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