helpers.h
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1 /*
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3 Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland
4 You can contact the author at <stephane at magnenat dot net>
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30 */
31 
32 #ifndef __NABE_TEST_HELPERS_H
33 #define __NABE_TEST_HELPERS_H
34 
35 #include "nabo/nabo.h"
36 #include <chrono>
37 #include <limits>
38 #include <iostream>
39 #include <fstream>
40 
41 #include <cstdint>
42 
43 using namespace std;
44 using namespace Nabo;
45 
46 template<typename T>
47 typename NearestNeighbourSearch<T>::Matrix load(const char *fileName)
48 {
49  typedef typename NearestNeighbourSearch<T>::Matrix Matrix;
50 
51  ifstream ifs(fileName);
52  if (!ifs.good())
53  {
54  cerr << "Cannot open file "<< fileName << endl;
55  exit(1);
56  }
57 
58  vector<T> data;
59  int dim(0);
60  bool firstLine(true);
61 
62  while (!ifs.eof())
63  {
64  char line[1024];
65  ifs.getline(line, sizeof(line));
66  line[sizeof(line)-1] = 0;
67 
68  char *token = strtok(line, " \t,;");
69  while (token)
70  {
71  if (firstLine)
72  ++dim;
73  data.push_back(atof(token));
74  token = strtok(NULL, " \t,;"); // FIXME: non reentrant, use strtok_r
75  }
76  firstLine = false;
77  }
78 
79  return Matrix::Map(&data[0], dim, data.size() / dim);
80 }
81 
82 template<typename T>
83 typename NearestNeighbourSearch<T>::Vector createQuery(const typename NearestNeighbourSearch<T>::Matrix& d, const NearestNeighbourSearch<T>& kdt, const int i, const int method)
84 {
85  typedef typename NearestNeighbourSearch<T>::Vector VectorT;
86  if (method < 0)
87  {
88  VectorT q = d.col(i % d.cols());
89  T absBound = 0;
90  for (int j = 0; j < q.size(); ++j)
91  absBound += kdt.maxBound(j) - kdt.minBound(j);
92  absBound /= (-method); // divided by -method
93 #ifdef EIGEN3_API
94  if (i < d.cols())
95  q.array() += absBound;
96  else
97  q.array() -= absBound;
98 #else // EIGEN3_API
99  if (i < d.cols())
100  q.cwise() += absBound;
101  else
102  q.cwise() -= absBound;
103 #endif // EIGEN3_API
104  return q;
105  }
106  else
107  {
108  VectorT q(kdt.minBound.size());
109  for (int j = 0; j < q.size(); ++j)
110  q(j) = kdt.minBound(j) + T(rand()) * (kdt.maxBound(j) - kdt.minBound(j)) / T(RAND_MAX);
111  return q;
112  }
113 }
114 
115 template<typename T>
116 typename NearestNeighbourSearch<T>::Matrix createQuery(const typename NearestNeighbourSearch<T>::Matrix& d, const int itCount, const int method)
117 {
118  typedef typename NearestNeighbourSearch<T>::Matrix MatrixT;
120  NNS* nns = NNS::create(d, d.rows(), typename NNS::SearchType(0));
121  MatrixT q(d.rows(), itCount);
122  for (int i = 0; i < itCount; ++i)
123  q.col(i) = createQuery<T>(d, *nns, i, method);
124  delete nns;
125  return q;
126 }
127 
128 struct timer
129 {
130  using Clock = std::chrono::high_resolution_clock;
131  using Time = Clock::time_point;
132 
133  timer():_start_time(curTime()){ }
134  void restart() { _start_time = curTime(); }
135  double elapsed() const // return elapsed time in seconds
136  {
137  using namespace std::chrono;
138  return duration_cast<duration<double>>(curTime() - _start_time).count();
139  }
140 
141 private:
142  Time curTime() const {
143  return Clock::now();
144  }
146 };
147 
148 #endif // __NABE_TEST_HELPERS_H
149 
150 /* vim: set ts=8 sw=8 tw=0 noexpandtab cindent softtabstop=8 :*/
timer::Clock
std::chrono::high_resolution_clock Clock
Definition: helpers.h:130
Nabo
Namespace for Nabo.
Definition: experimental/kdtree_cpu.cpp:40
timer
Definition: helpers.h:128
nabo.h
public interface
Nabo::NearestNeighbourSearch::maxBound
const Vector maxBound
the high bound of the search space (axis-aligned bounding box)
Definition: nabo.h:282
SearchType
NNSNabo::SearchType SearchType
Definition: python/nabo.cpp:12
timer::restart
void restart()
Definition: helpers.h:134
timer::_start_time
Time _start_time
Definition: helpers.h:145
Nabo::NearestNeighbourSearch
Nearest neighbour search interface, templatized on scalar type.
Definition: nabo.h:258
createQuery
NearestNeighbourSearch< T >::Vector createQuery(const typename NearestNeighbourSearch< T >::Matrix &d, const NearestNeighbourSearch< T > &kdt, const int i, const int method)
Definition: helpers.h:83
test.nns
nns
Definition: test.py:7
timer::Time
Clock::time_point Time
Definition: helpers.h:131
timer::elapsed
double elapsed() const
Definition: helpers.h:135
timer::curTime
Time curTime() const
Definition: helpers.h:142
Nabo::NearestNeighbourSearch::minBound
const Vector minBound
the low bound of the search space (axis-aligned bounding box)
Definition: nabo.h:280
std
Definition: any.hpp:450
timer::timer
timer()
Definition: helpers.h:133
test.q
q
Definition: test.py:8
load
NearestNeighbourSearch< T >::Matrix load(const char *fileName)
Definition: helpers.h:47


libnabo
Author(s): St├ęphane Magnenat
autogenerated on Sun Jun 2 2024 02:51:47