81 lines
1.9 KiB
Text
81 lines
1.9 KiB
Text
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/** @file
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* @brief Representation of the optimized k-d tree. MetaScan variant.
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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_META_H__
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#define __KD_META_H__
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#include "kdparams.h"
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#include "searchTree.h"
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#include "data_types.h"
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#include "kdTreeImpl.h"
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#include <boost/thread/mutex.hpp>
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#include <boost/thread/locks.hpp>
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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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class Scan;
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struct Index {
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unsigned int s, i;
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inline void set(unsigned int _s, unsigned int _i) { s = _s; i = _i; }
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};
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struct IndexAccessor {
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inline double* operator() (const DataXYZ* const* pts, const Index& i) const {
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return (*pts[i.s])[i.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 KDtreeMetaManaged :
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public SearchTree,
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private KDTreeImpl<const DataXYZ* const*, Index, IndexAccessor>
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{
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public:
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KDtreeMetaManaged(const vector<Scan*>& scans);
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virtual ~KDtreeMetaManaged();
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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_scans;
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DataXYZ** m_data;
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unsigned int m_size;
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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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Index* m_temp_indices;
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Index* prepareTempIndices(const vector<Scan*>& scans);
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unsigned int getPointsSize(const vector<Scan*>& scans);
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};
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#endif
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