3dpcp/.svn/pristine/86/8697e37da110f277db5ce8ce83f48c15d28fbc67.svn-base
2012-09-16 14:33:11 +02:00

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/** @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"
#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>
/**
* @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 KDtreeManagedBase : public SearchTree {
public:
KDtreeManagedBase(const DataXYZ& pts, unsigned int* indices, unsigned int n);
virtual ~KDtreeManagedBase();
virtual double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const { return 0; }
protected:
/**
* storing the parameters of the k-d tree, i.e., the current closest point,
* the distance to the current closest point and the point itself.
* These global variable are needed in this search.
*
* Padded in the parallel case.
*/
#ifdef _OPENMP
#ifdef __INTEL_COMPILER
__declspec (align(16)) static KDParams params[MAX_OPENMP_NUM_THREADS];
#else
static KDParams params[MAX_OPENMP_NUM_THREADS];
#endif //__INTEL_COMPILER
#else
static KDParams params[MAX_OPENMP_NUM_THREADS];
#endif
/**
* number of points. If this is 0: intermediate node. If nonzero: leaf.
*/
int npts;
/**
* Cue the standard rant about anon unions but not structs in C++
*/
union {
/**
* in case of internal node...
*/
struct {
double center[3]; ///< storing the center of the voxel (R^3)
double dx, ///< defining the voxel itself
dy, ///< defining the voxel itself
dz, ///< defining the voxel itself
r2; ///< defining the voxel itself
int splitaxis; ///< defining the kind of splitaxis
KDtreeManagedBase *child1; ///< pointers to the childs
KDtreeManagedBase *child2; ///< pointers to the childs
} node;
/**
* in case of leaf node ...
*/
struct {
//! Content is an array of indices to be put into the dynamically aquired data array
unsigned int* p;
} leaf;
};
void _FindClosest(const DataXYZ& pts, int threadNum) const;
};
class Scan;
class KDtreeManaged : public KDtreeManagedBase {
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