ANN.cpp

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//----------------------------------------------------------------------
// File:                        ANN.cpp
// Programmer:          Sunil Arya and David Mount
// Description:         Methods for ANN.h and ANNx.h
// Last modified:       01/04/05 (Version 1.0)
//----------------------------------------------------------------------
// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and
// David Mount.  All Rights Reserved.
// 
// This software and related documentation is part of the Approximate
// Nearest Neighbor Library (ANN).  This software is provided under
// the provisions of the Lesser GNU Public License (LGPL).  See the
// file ../ReadMe.txt for further information.
// 
// The University of Maryland (U.M.) and the authors make no
// representations about the suitability or fitness of this software for
// any purpose.  It is provided "as is" without express or implied
// warranty.
//----------------------------------------------------------------------
// History:
//      Revision 0.1  03/04/98
//              Initial release
//      Revision 1.0  04/01/05
//              Added performance counting to annDist()
//----------------------------------------------------------------------

#include <stdlib.h>
#include <stereo_wall_detection/ANN/ANNx.h>                                     // all ANN includes
#include <stereo_wall_detection/ANN/ANNperf.h>                          // ANN performance 

using namespace std;                                    // make std:: accessible

//----------------------------------------------------------------------
//      Point methods
//----------------------------------------------------------------------

//----------------------------------------------------------------------
//      Distance utility.
//              (Note: In the nearest neighbor search, most distances are
//              computed using partial distance calculations, not this
//              procedure.)
//----------------------------------------------------------------------

ANNdist annDist(                                                // interpoint squared distance
        int                                     dim,
        ANNpoint                        p,
        ANNpoint                        q)
{
        register int d;
        register ANNcoord diff;
        register ANNcoord dist;

        dist = 0;
        for (d = 0; d < dim; d++) {
                diff = p[d] - q[d];
                dist = ANN_SUM(dist, ANN_POW(diff));
        }
        ANN_FLOP(3*dim)                                 // performance counts
        ANN_PTS(1)
        ANN_COORD(dim)
        return dist;
}

//----------------------------------------------------------------------
//      annPrintPoint() prints a point to a given output stream.
//----------------------------------------------------------------------

void annPrintPt(                                                // print a point
        ANNpoint                        pt,                             // the point
        int                                     dim,                    // the dimension
        std::ostream            &out)                   // output stream
{
        for (int j = 0; j < dim; j++) {
                out << pt[j];
                if (j < dim-1) out << " ";
        }
}

//----------------------------------------------------------------------
//      Point allocation/deallocation:
//
//              Because points (somewhat like strings in C) are stored
//              as pointers.  Consequently, creating and destroying
//              copies of points may require storage allocation.  These
//              procedures do this.
//
//              annAllocPt() and annDeallocPt() allocate a deallocate
//              storage for a single point, and return a pointer to it.
//
//              annAllocPts() allocates an array of points as well a place
//              to store their coordinates, and initializes the points to
//              point to their respective coordinates.  It allocates point
//              storage in a contiguous block large enough to store all the
//              points.  It performs no initialization.
//
//              annDeallocPts() should only be used on point arrays allocated
//              by annAllocPts since it assumes that points are allocated in
//              a block.
//
//              annCopyPt() copies a point taking care to allocate storage
//              for the new point.
//
//              annAssignRect() assigns the coordinates of one rectangle to
//              another.  The two rectangles must have the same dimension
//              (and it is not possible to test this here).
//----------------------------------------------------------------------

ANNpoint annAllocPt(int dim, ANNcoord c)                // allocate 1 point
{
        ANNpoint p = new ANNcoord[dim];
        for (int i = 0; i < dim; i++) p[i] = c;
        return p;
}
   
ANNpointArray annAllocPts(int n, int dim)               // allocate n pts in dim
{
        ANNpointArray pa = new ANNpoint[n];                     // allocate points
        ANNpoint          p  = new ANNcoord[n*dim];             // allocate space for coords
        for (int i = 0; i < n; i++) {
                pa[i] = &(p[i*dim]);
        }
        return pa;
}

void annDeallocPt(ANNpoint &p)                                  // deallocate 1 point
{
        delete [] p;
        p = NULL;
}
   
void annDeallocPts(ANNpointArray &pa)                   // deallocate points
{
        delete [] pa[0];                                                        // dealloc coordinate storage
        delete [] pa;                                                           // dealloc points
        pa = NULL;
}
   
ANNpoint annCopyPt(int dim, ANNpoint source)    // copy point
{
        ANNpoint p = new ANNcoord[dim];
        for (int i = 0; i < dim; i++) p[i] = source[i];
        return p;
}
   
                                                                                                // assign one rect to another
void annAssignRect(int dim, ANNorthRect &dest, const ANNorthRect &source)
{
        for (int i = 0; i < dim; i++) {
                dest.lo[i] = source.lo[i];
                dest.hi[i] = source.hi[i];
        }
}

                                                                                                // is point inside rectangle?
ANNbool ANNorthRect::inside(int dim, ANNpoint p)
{
        for (int i = 0; i < dim; i++) {
                if (p[i] < lo[i] || p[i] > hi[i]) return ANNfalse;
        }
        return ANNtrue;
}

//----------------------------------------------------------------------
//      Error handler
//----------------------------------------------------------------------

void annError(const char *msg, ANNerr level)
{
        if (level == ANNabort) {
                cerr << "ANN: ERROR------->" << msg << "<-------------ERROR\n";
                exit(1);
        }
        else {
                cerr << "ANN: WARNING----->" << msg << "<-------------WARNING\n";
        }
}

//----------------------------------------------------------------------
//      Limit on number of points visited
//              We have an option for terminating the search early if the
//              number of points visited exceeds some threshold.  If the
//              threshold is 0 (its default)  this means there is no limit
//              and the algorithm applies its normal termination condition.
//              This is for applications where there are real time constraints
//              on the running time of the algorithm.
//----------------------------------------------------------------------

int     ANNmaxPtsVisited = 0;   // maximum number of pts visited
int     ANNptsVisited;                  // number of pts visited in search

//----------------------------------------------------------------------
//      Global function declarations
//----------------------------------------------------------------------

void annMaxPtsVisit(                    // set limit on max. pts to visit in search
        int                                     maxPts)                 // the limit
{
        ANNmaxPtsVisited = maxPts;
}

---

stereo_wall_detection
Author(s): Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:37:14 2013