root / rgbdslam / gicp / ann_1.1.1 / src / brute.cpp @ 9240aaa3
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1 | 9240aaa3 | Alex | //----------------------------------------------------------------------
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2 | // File: brute.cpp
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3 | // Programmer: Sunil Arya and David Mount
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4 | // Description: Brute-force nearest neighbors
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5 | // Last modified: 05/03/05 (Version 1.1)
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6 | //----------------------------------------------------------------------
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7 | // Copyright (c) 1997-2005 University of Maryland and Sunil Arya and
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8 | // David Mount. All Rights Reserved.
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9 | //
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10 | // This software and related documentation is part of the Approximate
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11 | // Nearest Neighbor Library (ANN). This software is provided under
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12 | // the provisions of the Lesser GNU Public License (LGPL). See the
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13 | // file ../ReadMe.txt for further information.
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14 | //
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15 | // The University of Maryland (U.M.) and the authors make no
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16 | // representations about the suitability or fitness of this software for
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17 | // any purpose. It is provided "as is" without express or implied
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18 | // warranty.
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19 | //----------------------------------------------------------------------
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20 | // History:
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21 | // Revision 0.1 03/04/98
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22 | // Initial release
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23 | // Revision 1.1 05/03/05
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24 | // Added fixed-radius kNN search
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25 | //----------------------------------------------------------------------
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26 | |||
27 | #include <ANN/ANNx.h> // all ANN includes |
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28 | #include "pr_queue_k.h" // k element priority queue |
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29 | |||
30 | //----------------------------------------------------------------------
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31 | // Brute-force search simply stores a pointer to the list of
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32 | // data points and searches linearly for the nearest neighbor.
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33 | // The k nearest neighbors are stored in a k-element priority
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34 | // queue (which is implemented in a pretty dumb way as well).
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35 | //
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36 | // If ANN_ALLOW_SELF_MATCH is ANNfalse then data points at distance
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37 | // zero are not considered.
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38 | //
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39 | // Note that the error bound eps is passed in, but it is ignored.
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40 | // These routines compute exact nearest neighbors (which is needed
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41 | // for validation purposes in ann_test.cpp).
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42 | //----------------------------------------------------------------------
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43 | |||
44 | ANNbruteForce::ANNbruteForce( // constructor from point array
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45 | ANNpointArray pa, // point array
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46 | int n, // number of points |
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47 | int dd) // dimension |
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48 | { |
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49 | dim = dd; n_pts = n; pts = pa; |
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50 | } |
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51 | |||
52 | ANNbruteForce::~ANNbruteForce() { } // destructor (empty)
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53 | |||
54 | void ANNbruteForce::annkSearch( // approx k near neighbor search |
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55 | ANNpoint q, // query point
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56 | int k, // number of near neighbors to return |
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57 | ANNidxArray nn_idx, // nearest neighbor indices (returned)
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58 | ANNdistArray dd, // dist to near neighbors (returned)
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59 | double eps) // error bound (ignored) |
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60 | { |
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61 | ANNmin_k mk(k); // construct a k-limited priority queue
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62 | int i;
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63 | |||
64 | if (k > n_pts) { // too many near neighbors? |
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65 | annError("Requesting more near neighbors than data points", ANNabort);
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66 | } |
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67 | // run every point through queue
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68 | for (i = 0; i < n_pts; i++) { |
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69 | // compute distance to point
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70 | ANNdist sqDist = annDist(dim, pts[i], q); |
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71 | if (ANN_ALLOW_SELF_MATCH || sqDist != 0) |
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72 | mk.insert(sqDist, i); |
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73 | } |
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74 | for (i = 0; i < k; i++) { // extract the k closest points |
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75 | dd[i] = mk.ith_smallest_key(i); |
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76 | nn_idx[i] = mk.ith_smallest_info(i); |
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77 | } |
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78 | } |
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79 | |||
80 | int ANNbruteForce::annkFRSearch( // approx fixed-radius kNN search |
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81 | ANNpoint q, // query point
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82 | ANNdist sqRad, // squared radius
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83 | int k, // number of near neighbors to return |
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84 | ANNidxArray nn_idx, // nearest neighbor array (returned)
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85 | ANNdistArray dd, // dist to near neighbors (returned)
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86 | double eps) // error bound |
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87 | { |
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88 | ANNmin_k mk(k); // construct a k-limited priority queue
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89 | int i;
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90 | int pts_in_range = 0; // number of points in query range |
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91 | // run every point through queue
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92 | for (i = 0; i < n_pts; i++) { |
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93 | // compute distance to point
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94 | ANNdist sqDist = annDist(dim, pts[i], q); |
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95 | if (sqDist <= sqRad && // within radius bound |
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96 | (ANN_ALLOW_SELF_MATCH || sqDist != 0)) { // ...and no self match |
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97 | mk.insert(sqDist, i); |
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98 | pts_in_range++; |
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99 | } |
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100 | } |
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101 | for (i = 0; i < k; i++) { // extract the k closest points |
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102 | if (dd != NULL) |
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103 | dd[i] = mk.ith_smallest_key(i); |
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104 | if (nn_idx != NULL) |
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105 | nn_idx[i] = mk.ith_smallest_info(i); |
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106 | } |
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107 | |||
108 | return pts_in_range;
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109 | } |