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106 lines
2.2 KiB
Plaintext
106 lines
2.2 KiB
Plaintext
/*
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* ann_kd implementation
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*
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* Copyright (C) Andreas Nuechter, Ulugbek Makhmudov
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*
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* Released under the GPL version 3.
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*
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*/
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/** @file
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* @brief Encapsules the implementation of ANN k-d trees.
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* @author Ulugbek Makhmudov, Jacobs University Bremen, Bremen, Germany.
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* @author Andreas Nuechter, Jacobs University Bremen, Bremen, Germany.
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*/
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#ifdef _MSC_VER
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#define _USE_MATH_DEFINES
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#endif
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#include "slam6d/ann_kd.h"
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#include "slam6d/globals.icc"
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#include <iostream>
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using std::cout;
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using std::cerr;
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using std::endl;
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#include <algorithm>
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using std::swap;
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#include <cmath>
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#include <cstring>
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/**
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* Constructor
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*
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* Create ANN KD tree from the points pointed to by the array pts
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*
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* @param pts 3D array of points
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* @param n number of points
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*/
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ANNtree::ANNtree(PointerArray<double>&_pts, int n)
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{
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/*
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pts = new double*[n];
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for(unsigned int i = 0; i < n; i++) {
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pts[i] = new double[3];
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pts[i][0] = _pts.get()[i][0];
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pts[i][1] = _pts.get()[i][1];
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pts[i][2] = _pts.get()[i][2];
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}
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*/
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pts = new double*[n];
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double* tpts = new double[3*n];
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for(unsigned int i = 0, j = 0; i < n; i++) {
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pts[i] = &tpts[j];
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tpts[j++] = _pts.get()[i][0];
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tpts[j++] = _pts.get()[i][1];
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tpts[j++] = _pts.get()[i][2];
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}
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annkd = new ANNkd_tree(pts, n, 3, 1, ANN_KD_SUGGEST); // links to the constructor of ANNkd_tree
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cout << "ANNkd_tree was generated with " << n << " points" << endl;
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nn = new ANNdist[1];
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nn_idx = new ANNidx[1];
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}
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/**
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* Destructor
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*
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* Cleans up the instance of ANN KD tree
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*
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*
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*/
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ANNtree::~ANNtree()
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{
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delete annkd; //links to the destructor of ANNkd_tree
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delete [] nn;
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delete [] nn_idx;
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delete [] pts[0];
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delete [] pts;
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}
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/**
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* Finds the closest point within the tree,
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* wrt. the point given as first parameter.
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* @param _p point
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* @param maxdist2 maximal search distance.
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* @param threadNum Thread number, for parallelization
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* @return Pointer to the closest point
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*/
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double *ANNtree::FindClosest(double *_p, double maxdist2, int threadNum) const
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{
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#pragma omp critical
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annkd->annkSearch(_p, 1, nn_idx, nn, 0.0);
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int idx = nn_idx[0];
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if (Dist2(_p, pts[idx]) > maxdist2) return 0;
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return pts[idx];
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}
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