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>
    BruteForceSearch<T>::BruteForceSearch(const Matrix& cloud, const Index dim, const unsigned creationOptionFlags):
        NearestNeighbourSearch<T>::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>
    unsigned long BruteForceSearch<T>::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>
    unsigned long BruteForceSearch<T>::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, &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>;
}