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67 lines
2.1 KiB
67 lines
2.1 KiB
2 years ago
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#ifndef MEDUSA_BITS_SPATIAL_SEARCH_KDTREEMUTABLE_HPP_
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#define MEDUSA_BITS_SPATIAL_SEARCH_KDTREEMUTABLE_HPP_
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/**
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* @file
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* Implementation of KDTreeMutable.
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*/
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#include "KDTreeMutable_fwd.hpp"
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#include <medusa/bits/utils/assert.hpp>
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#include <cmath>
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namespace mm
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{
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/// Output basic info about given tree.
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template <class V>
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std::ostream &operator<<(std::ostream &os, const KDTreeMutable<V> &tree)
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{
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return os << "KDTreeMutable:\n"
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<< " dimension: " << tree.dim << '\n'
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<< " num of points: " << tree.size() << std::endl;
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}
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template <class vec_t>
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void KDTreeMutable<vec_t>::insert(const vec_t &point)
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{
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assert_msg(point.array().isFinite().prod() == 1, "Invalid point.");
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auto n = points_.kdtree_get_point_count();
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points_.add(point);
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tree.addPoints(n, n);
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++size_;
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}
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template <class vec_t>
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void KDTreeMutable<vec_t>::insert(const Range<vec_t> &points)
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{
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auto n = points_.kdtree_get_point_count();
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for (const auto &p : points)
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{
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assert_msg(p.array().isFinite().prod() == 1, "One of the points is invalid.");
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points_.add(p);
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}
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size_ += points.size();
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tree.addPoints(n, n + points.size() - 1);
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}
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template <class vec_t>
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std::pair<mm::Range<int>, mm::Range<double>>
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KDTreeMutable<vec_t>::query(const vec_t &point, int k)
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{
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assert_msg(point.array().isFinite().prod() == 1, "Invalid query point.");
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nanoflann::KNNResultSet<scalar_t, int> resultSet(k);
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Range<int> ret_index(k);
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Range<scalar_t> out_dist_sqr(k);
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resultSet.init(&ret_index[0], &out_dist_sqr[0]);
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tree.findNeighbors(resultSet, point.data(), nanoflann::SearchParams(k));
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assert_msg(resultSet.full(), "Not enough points in the tree, you requested %d points, "
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"but the tree contains only %d points.",
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k, size());
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return {ret_index, out_dist_sqr};
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}
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} // namespace mm
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#endif // MEDUSA_BITS_SPATIAL_SEARCH_KDTREEMUTABLE_HPP_
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