root / rgbdslam / gicp / ann_1.1.1 / src / kd_pr_search.h @ 9240aaa3
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| 1 | 9240aaa3 | Alex | //----------------------------------------------------------------------
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| 2 | // File: kd_pr_search.h
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| 3 | // Programmer: Sunil Arya and David Mount
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| 4 | // Description: Priority kd-tree search
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| 5 | // Last modified: 01/04/05 (Version 1.0)
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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 | //----------------------------------------------------------------------
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| 24 | |||
| 25 | #ifndef ANN_kd_pr_search_H
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| 26 | #define ANN_kd_pr_search_H
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| 27 | |||
| 28 | #include "kd_tree.h" // kd-tree declarations |
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| 29 | #include "kd_util.h" // kd-tree utilities |
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| 30 | #include "pr_queue.h" // priority queue declarations |
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| 31 | #include "pr_queue_k.h" // k-element priority queue |
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| 32 | |||
| 33 | #include <ANN/ANNperf.h> // performance evaluation |
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| 34 | |||
| 35 | //----------------------------------------------------------------------
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| 36 | // Global variables
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| 37 | // Active for the life of each call to Appx_Near_Neigh() or
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| 38 | // Appx_k_Near_Neigh().
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| 39 | //----------------------------------------------------------------------
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| 40 | |||
| 41 | extern double ANNprEps; // the error bound |
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| 42 | extern int ANNprDim; // dimension of space |
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| 43 | extern ANNpoint ANNprQ; // query point |
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| 44 | extern double ANNprMaxErr; // max tolerable squared error |
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| 45 | extern ANNpointArray ANNprPts; // the points |
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| 46 | extern ANNpr_queue *ANNprBoxPQ; // priority queue for boxes |
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| 47 | extern ANNmin_k *ANNprPointMK; // set of k closest points |
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| 48 | |||
| 49 | #endif |