linear_index.h

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 * Software License Agreement (BSD License)
 *
 * Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
 * Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
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#ifndef RTABMAP_FLANN_LINEAR_INDEX_H_
#define RTABMAP_FLANN_LINEAR_INDEX_H_
 
#include "rtflann/general.h"
#include "nn_index.h"
 
namespace rtflann
{
 
struct LinearIndexParams : public IndexParams
{
    LinearIndexParams()
    {
        (* this)["algorithm"] = FLANN_INDEX_LINEAR;
    }
};
 
template <typename Distance>
class LinearIndex : public NNIndex<Distance>
{
public:
 
    typedef typename Distance::ElementType ElementType;
    typedef typename Distance::ResultType DistanceType;
 
    typedef NNIndex<Distance> BaseClass;
 
    LinearIndex(const IndexParams& params = LinearIndexParams(), Distance d = Distance()) :
        BaseClass(params, d)
    {
    }
 
    LinearIndex(const Matrix<ElementType>& input_data, const IndexParams& params = LinearIndexParams(), Distance d = Distance()) :
        BaseClass(params, d)
    {
        setDataset(input_data);
    }
 
    LinearIndex(const LinearIndex& other) : BaseClass(other)
    {
    }
 
    LinearIndex& operator=(LinearIndex other)
    {
        this->swap(other);
        return *this;
    }
 
    virtual ~LinearIndex()
    {
    }
 
    BaseClass* clone() const
    {
        return new LinearIndex(*this);
    }
 
    void addPoints(const Matrix<ElementType>& points, float rebuild_threshold = 2)
    {
        assert(points.cols==veclen_);
        extendDataset(points);
    }
 
    flann_algorithm_t getType() const
    {
        return FLANN_INDEX_LINEAR;
    }
 
 
    int usedMemory() const
    {
        return 0;
    }
 
    template<typename Archive>
    void serialize(Archive& ar)
    {
        ar.setObject(this);
 
        ar & *static_cast<NNIndex<Distance>*>(this);
 
        if (Archive::is_loading::value) {
            index_params_["algorithm"] = getType();
        }
    }
 
    void saveIndex(FILE* stream)
    {
        serialization::SaveArchive sa(stream);
        sa & *this;
    }
 
    void loadIndex(FILE* stream)
    {
        serialization::LoadArchive la(stream);
        la & *this;
    }
 
    void findNeighbors(ResultSet<DistanceType>& resultSet, const ElementType* vec, const SearchParams& /*searchParams*/) const
    {
        if (removed_) {
                for (size_t i = 0; i < points_.size(); ++i) {
                        if (removed_points_.test(i)) continue;
                        DistanceType dist = distance_(points_[i], vec, veclen_);
                        resultSet.addPoint(dist, i);
                }
        }
        else {
                for (size_t i = 0; i < points_.size(); ++i) {
                        DistanceType dist = distance_(points_[i], vec, veclen_);
                        resultSet.addPoint(dist, i);
                }
        }
    }
protected:
    void buildIndexImpl()
    {
        /* nothing to do here for linear search */
    }
 
    void freeIndex()
    {
        /* nothing to do here for linear search */
    }
 
private:
 
    USING_BASECLASS_SYMBOLS
};
 
}
 
#endif // FLANN_LINEAR_INDEX_H_