brute_force_cpu.cpp

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/*

Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the author at <stephane at magnenat dot net>

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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#include "nabo_private.h"
#include "index_heap.h"

namespace Nabo
{
        using namespace std;
        
        template<typename T, typename CloudType>
        BruteForceSearch<T, CloudType>::BruteForceSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags):
                NearestNeighbourSearch<T, CloudType>::NearestNeighbourSearch(cloud, dim, creationOptionFlags)
        {
#ifdef EIGEN3_API
                const_cast<Vector&>(this->minBound) = cloud.topRows(this->dim).rowwise().minCoeff();
                const_cast<Vector&>(this->maxBound) = cloud.topRows(this->dim).rowwise().maxCoeff();
#else // EIGEN3_API
                // compute bounds
                for (int i = 0; i < cloud.cols(); ++i)
                {
                        const Vector& v(cloud.block(0,i,this->dim,1));
                        const_cast<Vector&>(this->minBound) = this->minBound.cwise().min(v);
                        const_cast<Vector&>(this->maxBound) = this->maxBound.cwise().max(v);
                }
#endif // EIGEN3_API
        }
        

        template<typename T, typename CloudType>
        unsigned long BruteForceSearch<T, CloudType>::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const
        {
                const Vector maxRadii(Vector::Constant(query.cols(), maxRadius));
                return knn(query, indices, dists2, maxRadii, k, epsilon, optionFlags);
        }
        
        template<typename T, typename CloudType>
        unsigned long BruteForceSearch<T, CloudType>::knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k, const T /*epsilon*/, const unsigned optionFlags) const
        {
                checkSizesKnn(query, indices, dists2, k, optionFlags, &maxRadii);
                
                const bool allowSelfMatch(optionFlags & NearestNeighbourSearch<T>::ALLOW_SELF_MATCH);
                const bool sortResults(optionFlags & NearestNeighbourSearch<T>::SORT_RESULTS);
                const bool collectStatistics(creationOptionFlags & NearestNeighbourSearch<T>::TOUCH_STATISTICS);
                
                IndexHeapSTL<Index, T> heap(k);
                
                for (int c = 0; c < query.cols(); ++c)
                {
                        const T maxRadius(maxRadii[c]);
                        const T maxRadius2(maxRadius * maxRadius);
                        const Vector& q(query.block(0,c,dim,1));
                        heap.reset();
                        for (int i = 0; i < this->cloud.cols(); ++i)
                        {
                                const T dist(dist2<T>(this->cloud.block(0,i,dim,1), q));
                                if ((dist <= maxRadius2) &&
                                        (dist < heap.headValue()) &&
                                        (allowSelfMatch || (dist > numeric_limits<T>::epsilon())))
                                        heap.replaceHead(i, dist);
                        }
                        if (sortResults)
                                heap.sort();    
                        heap.getData(indices.col(c), dists2.col(c));
                }
                if (collectStatistics)
                        return (unsigned long)query.cols() * (unsigned long)this->cloud.cols();
                else
                        return 0;
        }
        
        template struct BruteForceSearch<float>;
        template struct BruteForceSearch<double>;
        template struct BruteForceSearch<float, Eigen::Matrix3Xf>;
        template struct BruteForceSearch<double, Eigen::Matrix3Xd>;
        template struct BruteForceSearch<float, Eigen::Map<const Eigen::Matrix3Xf, Eigen::Aligned> >;
        template struct BruteForceSearch<double, Eigen::Map<const Eigen::Matrix3Xd, Eigen::Aligned> >;
}