3dpcp/include/slam6d/kdManaged.h
2012-10-24 11:22:27 +02:00

71 lines
1.6 KiB
C++

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