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148 lines
7.9 KiB
148 lines
7.9 KiB
#include "knn.h"
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#include "sort.h"
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#include "parallel_for.h"
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#include <cmath>
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#include <queue>
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#include <set>
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#include <algorithm>
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namespace igl {
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template <typename DerivedP, typename IndexType,
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typename DerivedCH, typename DerivedCN, typename DerivedW,
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typename DerivedI>
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IGL_INLINE void knn(const Eigen::MatrixBase<DerivedP>& P,
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size_t k,
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const std::vector<std::vector<IndexType> > & point_indices,
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const Eigen::MatrixBase<DerivedCH>& CH,
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const Eigen::MatrixBase<DerivedCN>& CN,
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const Eigen::MatrixBase<DerivedW>& W,
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Eigen::PlainObjectBase<DerivedI> & I) {
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knn(P,P,k,point_indices,CH,CN,W,I);
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}
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template <typename DerivedP, typename DerivedV, typename IndexType,
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typename DerivedCH, typename DerivedCN, typename DerivedW,
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typename DerivedI>
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IGL_INLINE void knn(
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const Eigen::MatrixBase<DerivedP>& P,
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const Eigen::MatrixBase<DerivedV>& V,
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size_t k,
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const std::vector<std::vector<IndexType> > & point_indices,
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const Eigen::MatrixBase<DerivedCH>& CH,
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const Eigen::MatrixBase<DerivedCN>& CN,
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const Eigen::MatrixBase<DerivedW>& W,
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Eigen::PlainObjectBase<DerivedI> & I) {
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typedef typename DerivedCN::Scalar CentersType;
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typedef typename DerivedW::Scalar WidthsType;
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using Scalar = typename DerivedP::Scalar;
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typedef Eigen::Matrix<Scalar, 1, 3> RowVector3PType;
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const size_t Psize = P.rows();
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const size_t Vsize = V.rows();
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if(Vsize <= k) {
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I.resize(Psize,Vsize);
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for(size_t i = 0; i < Psize; ++i) {
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Eigen::Matrix<Scalar,Eigen::Dynamic,1> D = (V.rowwise() - P.row(i)).rowwise().norm();
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Eigen::Matrix<Scalar,Eigen::Dynamic,1> S;
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Eigen::VectorXi R;
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igl::sort(D,1,true,S,R);
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I.row(i) = R.transpose();
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}
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return;
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}
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I.resize(Psize,k);
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auto distance_to_width_one_cube = [](const RowVector3PType& point) -> Scalar {
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return std::sqrt(std::pow<Scalar>(std::max<Scalar>(std::abs(point(0))-1,0.0),2)
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+ std::pow<Scalar>(std::max<Scalar>(std::abs(point(1))-1,0.0),2)
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+ std::pow<Scalar>(std::max<Scalar>(std::abs(point(2))-1,0.0),2));
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};
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auto distance_to_cube = [&distance_to_width_one_cube]
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(const RowVector3PType& point,
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Eigen::Matrix<CentersType,1,3> cube_center,
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WidthsType cube_width) -> Scalar {
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RowVector3PType transformed_point = (point-cube_center)/cube_width;
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return cube_width*distance_to_width_one_cube(transformed_point);
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};
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igl::parallel_for(Psize,[&](size_t i)
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{
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int points_found = 0;
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RowVector3PType point_of_interest = P.row(i);
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//To make my priority queue take both points and octree cells,
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//I use the indices 0 to n-1 for the n points,
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// and the indices n to n+m-1 for the m octree cells
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// Using lambda to compare elements.
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auto cmp = [&point_of_interest, &V, &CN, &W,
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Vsize, &distance_to_cube](int left, int right) {
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Scalar leftdistance, rightdistance;
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if(left < Vsize){ //left is a point index
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leftdistance = (V.row(left) - point_of_interest).norm();
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} else { //left is an octree cell
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leftdistance = distance_to_cube(point_of_interest,
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CN.row(left-Vsize),
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W(left-Vsize));
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}
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if(right < Vsize){ //left is a point index
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rightdistance = (V.row(right) - point_of_interest).norm();
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} else { //left is an octree cell
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rightdistance = distance_to_cube(point_of_interest,
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CN.row(right-Vsize),
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W(right-Vsize));
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}
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return leftdistance > rightdistance;
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};
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std::priority_queue<IndexType, std::vector<IndexType>,
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decltype(cmp)> queue(cmp);
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queue.push(Vsize); //This is the 0th octree cell (ie the root)
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while(points_found < k){
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IndexType curr_cell_or_point = queue.top();
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queue.pop();
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if(curr_cell_or_point < Vsize){ //current index is for is a point
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I(i,points_found) = curr_cell_or_point;
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points_found++;
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} else {
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IndexType curr_cell = curr_cell_or_point - Vsize;
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if(CH(curr_cell,0) == -1){ //In the case of a leaf
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if(point_indices.at(curr_cell).size() > 0){
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//Assumption: Leaves either have one point, or none
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queue.push(point_indices.at(curr_cell).at(0));
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}
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} else { //Not a leaf
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for(int j = 0; j < 8; j++){
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//+n to adjust for the octree cells
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queue.push(CH(curr_cell,j)+Vsize);
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}
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}
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}
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}
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},1000);
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}
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}
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#ifdef IGL_STATIC_LIBRARY
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// Explicit template instantiation
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// generated by autoexplicit.sh
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template void igl::knn<Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, int, Eigen::Matrix<int, -1, 8, 0, -1, 8>, Eigen::Matrix<double, -1, 3, 0, -1, 3>, Eigen::Matrix<double, -1, 1, 0, -1, 1>, Eigen::Matrix<int, -1, -1, 0, -1, -1> >(Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, unsigned long, std::vector<std::vector<int, std::allocator<int> >, std::allocator<std::vector<int, std::allocator<int> > > > const&, Eigen::MatrixBase<Eigen::Matrix<int, -1, 8, 0, -1, 8> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, 3, 0, -1, 3> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> >&);
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template void igl::knn<Eigen::Matrix<double, -1, -1, 0, -1, -1>, int, Eigen::Matrix<int, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, -1, 0, -1, -1>, Eigen::Matrix<double, -1, 1, 0, -1, 1>, Eigen::Matrix<int, -1, -1, 0, -1, -1> >(Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, unsigned long, std::vector<std::vector<int, std::allocator<int> >, std::allocator<std::vector<int, std::allocator<int> > > > const&, Eigen::MatrixBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, -1> > const&, Eigen::MatrixBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> > const&, Eigen::PlainObjectBase<Eigen::Matrix<int, -1, -1, 0, -1, -1> >&);
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#ifdef WIN32
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template void igl::knn<Eigen::Matrix<double,-1,-1,0,-1,-1>,int,Eigen::Matrix<int,-1,-1,0,-1,-1>,Eigen::Matrix<double,-1,-1,0,-1,-1>,Eigen::Matrix<double,-1,1,0,-1,1>,Eigen::Matrix<int,-1,-1,0,-1,-1> >(Eigen::MatrixBase<Eigen::Matrix<double,-1,-1,0,-1,-1> > const &,unsigned __int64,std::vector<std::vector<int,std::allocator<int> >,std::allocator<std::vector<int,std::allocator<int> > > > const &,Eigen::MatrixBase<Eigen::Matrix<int,-1,-1,0,-1,-1> > const &,Eigen::MatrixBase<Eigen::Matrix<double,-1,-1,0,-1,-1> > const &,Eigen::MatrixBase<Eigen::Matrix<double,-1,1,0,-1,1> > const &,Eigen::PlainObjectBase<Eigen::Matrix<int,-1,-1,0,-1,-1> > &);
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template void igl::knn<Eigen::Matrix<double,-1,-1,0,-1,-1>,Eigen::Matrix<double,-1,-1,0,-1,-1>,int,Eigen::Matrix<int,-1,8,0,-1,8>,Eigen::Matrix<double,-1,3,0,-1,3>,Eigen::Matrix<double,-1,1,0,-1,1>,Eigen::Matrix<int,-1,-1,0,-1,-1> >(Eigen::MatrixBase<Eigen::Matrix<double,-1,-1,0,-1,-1> > const &,Eigen::MatrixBase<Eigen::Matrix<double,-1,-1,0,-1,-1> > const &,unsigned __int64,std::vector<std::vector<int,std::allocator<int> >,std::allocator<std::vector<int,std::allocator<int> > > > const &,Eigen::MatrixBase<Eigen::Matrix<int,-1,8,0,-1,8> > const &,Eigen::MatrixBase<Eigen::Matrix<double,-1,3,0,-1,3> > const &,Eigen::MatrixBase<Eigen::Matrix<double,-1,1,0,-1,1> > const &,Eigen::PlainObjectBase<Eigen::Matrix<int,-1,-1,0,-1,-1> > &);
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#endif
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#endif
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