brute_force.hpp
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#pragma once
#include <pcl/common/point_tests.h> // for pcl::isFinite
#include <pcl/search/brute_force.h>
#include <queue>
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> float
pcl::search::BruteForce<PointT>::getDistSqr (
const PointT& point1, const PointT& point2) const
{
return (point1.getVector3fMap () - point2.getVector3fMap ()).squaredNorm ();
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::search::BruteForce<PointT>::nearestKSearch (
const PointT& point, int k, Indices& k_indices, std::vector<float>& k_distances) const
{
assert (isFinite (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!");
k_indices.clear ();
k_distances.clear ();
if (k < 1)
return 0;
if (input_->is_dense)
return denseKSearch (point, k, k_indices, k_distances);
return sparseKSearch (point, k, k_indices, k_distances);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::search::BruteForce<PointT>::denseKSearch (
const PointT &point, int k, Indices &k_indices, std::vector<float> &k_distances) const
{
// container for first k elements -> O(1) for insertion, since order not required here
std::vector<Entry> result;
result.reserve (k);
std::priority_queue<Entry> queue;
if (indices_)
{
auto iIt = indices_->cbegin ();
auto iEnd = indices_->cbegin () + std::min (static_cast<unsigned> (k), static_cast<unsigned> (indices_->size ()));
for (; iIt != iEnd; ++iIt)
result.push_back (Entry (*iIt, getDistSqr ((*input_)[*iIt], point)));
queue = std::priority_queue<Entry> (result.begin (), result.end ());
// add the rest
Entry entry;
for (; iIt != indices_->cend (); ++iIt)
{
entry.distance = getDistSqr ((*input_)[*iIt], point);
if (queue.top ().distance > entry.distance)
{
entry.index = *iIt;
queue.pop ();
queue.push (entry);
}
}
}
else
{
Entry entry;
for (entry.index = 0; entry.index < std::min<pcl::index_t> (k, input_->size ()); ++entry.index)
{
entry.distance = getDistSqr ((*input_)[entry.index], point);
result.push_back (entry);
}
queue = std::priority_queue<Entry> (result.begin (), result.end ());
// add the rest
for (; entry.index < static_cast<pcl::index_t>(input_->size ()); ++entry.index)
{
entry.distance = getDistSqr ((*input_)[entry.index], point);
if (queue.top ().distance > entry.distance)
{
queue.pop ();
queue.push (entry);
}
}
}
k_indices.resize (queue.size ());
k_distances.resize (queue.size ());
std::size_t idx = queue.size () - 1;
while (!queue.empty ())
{
k_indices [idx] = queue.top ().index;
k_distances [idx] = queue.top ().distance;
queue.pop ();
--idx;
}
return (static_cast<int> (k_indices.size ()));
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::search::BruteForce<PointT>::sparseKSearch (
const PointT &point, int k, Indices &k_indices, std::vector<float> &k_distances) const
{
// result used to collect the first k neighbors -> unordered
std::vector<Entry> result;
result.reserve (k);
std::priority_queue<Entry> queue;
if (indices_)
{
auto iIt =indices_->cbegin ();
for (; iIt != indices_->cend () && result.size () < static_cast<unsigned> (k); ++iIt)
{
if (std::isfinite ((*input_)[*iIt].x))
result.push_back (Entry (*iIt, getDistSqr ((*input_)[*iIt], point)));
}
queue = std::priority_queue<Entry> (result.begin (), result.end ());
// either we have k elements, or there are none left to iterate >in either case we're fine
// add the rest
Entry entry;
for (; iIt != indices_->cend (); ++iIt)
{
if (!std::isfinite ((*input_)[*iIt].x))
continue;
entry.distance = getDistSqr ((*input_)[*iIt], point);
if (queue.top ().distance > entry.distance)
{
entry.index = *iIt;
queue.pop ();
queue.push (entry);
}
}
}
else
{
Entry entry;
for (entry.index = 0; (entry.index < static_cast<pcl::index_t>(input_->size ())) && (result.size () < static_cast<std::size_t> (k)); ++entry.index)
{
if (std::isfinite ((*input_)[entry.index].x))
{
entry.distance = getDistSqr ((*input_)[entry.index], point);
result.push_back (entry);
}
}
queue = std::priority_queue<Entry> (result.begin (), result.end ());
// add the rest
for (; entry.index < static_cast<pcl::index_t>(input_->size ()); ++entry.index)
{
if (!std::isfinite ((*input_)[entry.index].x))
continue;
entry.distance = getDistSqr ((*input_)[entry.index], point);
if (queue.top ().distance > entry.distance)
{
queue.pop ();
queue.push (entry);
}
}
}
k_indices.resize (queue.size ());
k_distances.resize (queue.size ());
std::size_t idx = queue.size () - 1;
while (!queue.empty ())
{
k_indices [idx] = queue.top ().index;
k_distances [idx] = queue.top ().distance;
queue.pop ();
--idx;
}
return (static_cast<int> (k_indices.size ()));
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::search::BruteForce<PointT>::denseRadiusSearch (
const PointT& point, double radius,
Indices &k_indices, std::vector<float> &k_sqr_distances,
unsigned int max_nn) const
{
radius *= radius;
std::size_t reserve = max_nn;
if (reserve == 0)
{
if (indices_)
reserve = std::min (indices_->size (), input_->size ());
else
reserve = input_->size ();
}
k_indices.reserve (reserve);
k_sqr_distances.reserve (reserve);
float distance;
if (indices_)
{
for (const auto& idx : *indices_)
{
distance = getDistSqr ((*input_)[idx], point);
if (distance <= radius)
{
k_indices.push_back (idx);
k_sqr_distances.push_back (distance);
if (k_indices.size () == max_nn) // max_nn = 0 -> never true
break;
}
}
}
else
{
for (std::size_t index = 0; index < input_->size (); ++index)
{
distance = getDistSqr ((*input_)[index], point);
if (distance <= radius)
{
k_indices.push_back (index);
k_sqr_distances.push_back (distance);
if (k_indices.size () == max_nn) // never true if max_nn = 0
break;
}
}
}
if (sorted_results_)
this->sortResults (k_indices, k_sqr_distances);
return (static_cast<int> (k_indices.size ()));
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::search::BruteForce<PointT>::sparseRadiusSearch (
const PointT& point, double radius,
Indices &k_indices, std::vector<float> &k_sqr_distances,
unsigned int max_nn) const
{
radius *= radius;
std::size_t reserve = max_nn;
if (reserve == 0)
{
if (indices_)
reserve = std::min (indices_->size (), input_->size ());
else
reserve = input_->size ();
}
k_indices.reserve (reserve);
k_sqr_distances.reserve (reserve);
float distance;
if (indices_)
{
for (const auto& idx : *indices_)
{
if (!std::isfinite ((*input_)[idx].x))
continue;
distance = getDistSqr ((*input_)[idx], point);
if (distance <= radius)
{
k_indices.push_back (idx);
k_sqr_distances.push_back (distance);
if (k_indices.size () == max_nn) // never true if max_nn = 0
break;
}
}
}
else
{
for (std::size_t index = 0; index < input_->size (); ++index)
{
if (!std::isfinite ((*input_)[index].x))
continue;
distance = getDistSqr ((*input_)[index], point);
if (distance <= radius)
{
k_indices.push_back (index);
k_sqr_distances.push_back (distance);
if (k_indices.size () == max_nn) // never true if max_nn = 0
break;
}
}
}
if (sorted_results_)
this->sortResults (k_indices, k_sqr_distances);
return (static_cast<int> (k_indices.size ()));
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointT> int
pcl::search::BruteForce<PointT>::radiusSearch (
const PointT& point, double radius, Indices &k_indices,
std::vector<float> &k_sqr_distances, unsigned int max_nn) const
{
assert (isFinite (point) && "Invalid (NaN, Inf) point coordinates given to nearestKSearch!");
k_indices.clear ();
k_sqr_distances.clear ();
if (radius <= 0)
return 0;
if (input_->is_dense)
return denseRadiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);
return sparseRadiusSearch (point, radius, k_indices, k_sqr_distances, max_nn);
}
#define PCL_INSTANTIATE_BruteForce(T) template class PCL_EXPORTS pcl::search::BruteForce<T>;
pcl::search::BruteForce
Implementation of a simple brute force search algorithm.
Definition: brute_force.h:52
pcl::search::BruteForce::nearestKSearch
int nearestKSearch(const PointT &point, int k, Indices &k_indices, std::vector< float > &k_distances) const override
Search for the k-nearest neighbors for the given query point.
Definition: brute_force.hpp:54
pcl::search::BruteForce::radiusSearch
int radiusSearch(const PointT &point, double radius, Indices &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const override
Search for all the nearest neighbors of the query point in a given radius.
Definition: brute_force.hpp:334
pcl::geometry::distance
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
pcl::index_t
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition: types.h:112
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:675