nflannSetup.h

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/*
 * -------------------------------------------
 * Copyright (c) 2021 - 2024 Prashant K. Jha
 * -------------------------------------------
 * PeriDEM https://github.com/prashjha/PeriDEM
 *
 * Distributed under the Boost Software License, Version 1.0. (See accompanying
 * file LICENSE)
 */
 
#ifndef NSEARCH_NFLANNSETUP_H
#define NSEARCH_NFLANNSETUP_H
 
#include "util/point.h" // definition of Point
#include "nanoflann/include/nanoflann.hpp"
 
namespace nsearch {
 
typedef std::vector<util::Point> PointCloud;
 
struct PointCloudAdaptor {
  typedef double coord_t;
 
  const PointCloud &d_obj;
 
  PointCloudAdaptor(const PointCloud &obj) : d_obj(obj) {}
 
  inline const PointCloud &pointCloud() const { return d_obj; }
 
  inline size_t kdtree_get_point_count() const { return pointCloud().size(); }
 
 
  inline coord_t kdtree_get_pt(const size_t idx, const size_t dim) const {
    return pointCloud()[idx][dim];
  }
 
  template <class BBOX> bool kdtree_get_bbox(BBOX & /*bb*/) const {
    return false;
  }
};
 
template <typename _DistanceType, typename _IndexType = size_t>
class TreeSearchResult {
public:
  typedef _DistanceType DistanceType;
 
  typedef _IndexType IndexType;
 
public:
  const DistanceType d_r;
 
  std::vector<IndexType> &d_indices;
 
  std::vector<DistanceType> &d_dists;
 
  inline TreeSearchResult(DistanceType radius_,
                            std::vector<IndexType> &indices,
                            std::vector<DistanceType> &dists)
      : d_r(radius_), d_indices(indices), d_dists(dists) {
    init();
  }
 
  inline void init() { clear(); }
 
  inline void clear() {
    d_indices.clear();
    d_dists.clear();
  }
 
  inline size_t size() const { return d_indices.size(); }
 
  inline bool full() const { return true; }
 
  inline bool addPoint(DistanceType dist, IndexType index) {
    if (dist < d_r) {
      d_indices.push_back(index);
      d_dists.push_back(dist);
    }
    return true;
  }
 
  inline DistanceType worstDist() const { return d_r; }
 
  std::pair<IndexType, DistanceType> worst_item() const {
    if (d_indices.empty())
      throw std::runtime_error("Cannot invoke RadiusResultSet::worst_item() on "
                               "an empty list of results.");
    return std::make_pair(0, 0.);
  }
};
 
template <typename _DistanceType, typename _IndexType = size_t>
class TreeSearchCheckIDExcludeResult {
public:
    typedef _DistanceType DistanceType;
 
    typedef _IndexType IndexType;
 
public:
    const DistanceType d_r;
 
    const IndexType &d_tag;
 
    std::vector<IndexType> &d_indices;
 
    std::vector<DistanceType> &d_dists;
 
    const std::vector<IndexType> &d_dataTags;
 
    inline TreeSearchCheckIDExcludeResult(DistanceType radius_,
                            std::vector<IndexType> &indices,
                            std::vector<DistanceType> &dists,
                            const IndexType &searchPointTag,
                            const std::vector<IndexType> &dataTags)
            : d_r(radius_),
              d_tag(searchPointTag),
              d_indices(indices),
              d_dists(dists),
              d_dataTags(dataTags) {
      init();
    }
 
    inline void init() { clear(); }
 
    inline void clear() {
      d_indices.clear();
      d_dists.clear();
    }
 
    inline size_t size() const { return d_indices.size(); }
 
    inline bool full() const { return true; }
 
    inline bool addPoint(DistanceType dist, IndexType index) {
      if (dist < d_r) {
        if (d_dataTags[index] != d_tag) {
          d_indices.push_back(index);
          d_dists.push_back(dist);
        }
      }
      return true;
    }
 
    inline DistanceType worstDist() const { return d_r; }
 
    std::pair<IndexType, DistanceType> worst_item() const {
      if (d_indices.empty())
        throw std::runtime_error("Cannot invoke RadiusResultSet::worst_item() on "
                                 "an empty list of results.");
      return std::make_pair(0, 0.);
    }
};
 
template <typename _DistanceType, typename _IndexType = size_t>
class TreeSearchCheckIDIncludeResult {
public:
    typedef _DistanceType DistanceType;
 
    typedef _IndexType IndexType;
 
public:
    const DistanceType d_r;
 
    const IndexType &d_tag;
 
    std::vector<IndexType> &d_indices;
 
    std::vector<DistanceType> &d_dists;
 
    const std::vector<IndexType> &d_dataTags;
 
    inline TreeSearchCheckIDIncludeResult(DistanceType radius_,
                                          std::vector<IndexType> &indices,
                                          std::vector<DistanceType> &dists,
                                          const IndexType &searchPointTag,
                                          const std::vector<IndexType> &dataTags)
            : d_r(radius_),
              d_tag(searchPointTag),
              d_indices(indices),
              d_dists(dists),
              d_dataTags(dataTags) {
      init();
    }
 
    inline void init() { clear(); }
 
    inline void clear() {
      d_indices.clear();
      d_dists.clear();
    }
 
    inline size_t size() const { return d_indices.size(); }
 
    inline bool full() const { return true; }
 
    inline bool addPoint(DistanceType dist, IndexType index) {
      if (dist < d_r) {
        if (d_dataTags[index] == d_tag) {
          d_indices.push_back(index);
          d_dists.push_back(dist);
        }
      }
      return true;
    }
 
    inline DistanceType worstDist() const { return d_r; }
 
    std::pair<IndexType, DistanceType> worst_item() const {
      if (d_indices.empty())
        throw std::runtime_error("Cannot invoke RadiusResultSet::worst_item() on "
                                 "an empty list of results.");
      return std::make_pair(0, 0.);
    }
};
 
 
typedef TreeSearchResult<double, size_t> TreeSearchRes;
typedef TreeSearchCheckIDIncludeResult<double, size_t> TreeSearchCheckIDIncludeRes;
typedef TreeSearchCheckIDExcludeResult<double, size_t> TreeSearchCheckIDExcludeRes;
 
 
typedef nanoflann::KDTreeSingleIndexAdaptor<
    nanoflann::L2_Simple_Adaptor<double, PointCloudAdaptor>, PointCloudAdaptor,
    3 /* dim */
>
NFlannKdTree;
 
typedef nanoflann::KDTreeSingleIndexAdaptor<
        nanoflann::L2_Simple_Adaptor<double, PointCloudAdaptor>, PointCloudAdaptor,
        3 /* dim */
>
NFlannKdTree3D;
 
typedef nanoflann::KDTreeSingleIndexAdaptor<
  nanoflann::L2_Simple_Adaptor<double, PointCloudAdaptor>, PointCloudAdaptor,
  2 /* dim */
>
NFlannKdTree2D;
 
} // namespace nsearch
 
#endif // NSEARCH_NFLANNSETUP_H