66 lines
1.4 KiB
Text
66 lines
1.4 KiB
Text
/** @file
|
|
* @brief Encapsules the implementation of ANN k-d trees.
|
|
* @author Ulugbek Makhmudov, Jacobs University Bremen, Bremen, Germany.
|
|
* @author Andreas Nuechter, Jacobs University Bremen, Bremen, Germany.
|
|
*/
|
|
|
|
#ifndef __ANN_KD_H__
|
|
#define __ANN_KD_H__
|
|
|
|
#include "slam6d/kdparams.h"
|
|
#include "slam6d/searchTree.h"
|
|
#include "ANN/ANN.h"
|
|
|
|
/**
|
|
* @brief Encapsulating class to create and store ANN KD Trees.
|
|
*
|
|
* A kD tree for points, with limited
|
|
* capabilities (find nearest point to
|
|
* a given point, or in a fixed radius distance).
|
|
**/
|
|
class ANNtree : public SearchTree {
|
|
|
|
public:
|
|
|
|
/**
|
|
* default constructor
|
|
*/
|
|
ANNtree();
|
|
|
|
/**
|
|
* Constructor using the point set pts and the num_of_pts n
|
|
*/
|
|
ANNtree(double **_pts, int n);
|
|
|
|
/**
|
|
* destructor
|
|
*/
|
|
virtual ~ANNtree();
|
|
|
|
|
|
/**
|
|
* Finds the closest point within the tree,
|
|
* wrt. the point given as first parameter.
|
|
* @param _p point
|
|
* @param maxdist2 maximal search distance.
|
|
* @param threadNum Thread number, for parallelization
|
|
* @return Pointer to the closest point
|
|
*/
|
|
double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const;
|
|
|
|
private:
|
|
|
|
/**
|
|
* a pointer to ANNkd_tree instance
|
|
*/
|
|
ANNkd_tree* annkd;
|
|
ANNdistArray nn; //temporary ANNdistArray instance to use for storing the nearest neighbor
|
|
ANNidxArray nn_idx; //temporary ANNdistArray instance to use for storing the nearest neighbor
|
|
|
|
double** pts;
|
|
|
|
};
|
|
|
|
#endif
|
|
|
|
|