nabo.h

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/*
 
Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the author at <stephane at magnenat dot net>
 
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the <organization> nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
*/
 
#ifndef __NABO_H
#define __NABO_H
 
#include "Eigen/Core"
#if EIGEN_VERSION_AT_LEAST(2,92,0)
        #define EIGEN3_API
#endif
#ifndef EIGEN3_API
        #include "Eigen/Array"
#endif
#include <vector>
#include <map>
#include "third_party/any.hpp"
 
namespace Nabo
{
 
 
        #define NABO_VERSION "1.1.2"
        #define NABO_VERSION_INT 10102
 
        // TODO (c++14) Convert invalidIndex, invalidValue to constexpr templated variables.
        template <typename IndexType>
        inline constexpr IndexType invalidIndex() {
                static_assert(std::is_integral<IndexType>::value, "");
                return std::is_unsigned<IndexType>::value ? std::numeric_limits<IndexType>::max() : IndexType(-1);
        }
 
        template <typename ValueType>
        inline constexpr ValueType invalidValue() {
                static_assert(std::is_floating_point<ValueType>::value, "");
                return std::numeric_limits<ValueType>::infinity();
        }
 
        //
        // TODO: replace with C++17 std::any.
        struct Parameters: public std::map<std::string, linb::any>
        {
                Parameters(){}
 
                Parameters(const std::string& key, const linb::any& value){(*this)[key] = value;}
 
                template<typename  T>
                T get(const std::string& key, const T& defaultValue) const
                {
                        const_iterator it(find(key));
                        if (it != end())
                                return linb::any_cast<T>(it->second);
                        else
                                return defaultValue;
                }
        };
        
        template<typename T, typename Cloud_T = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> >
        struct NearestNeighbourSearch
        {
                typedef typename Eigen::Matrix<T, Eigen::Dynamic, 1> Vector; 
                typedef typename Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Matrix;
                typedef Cloud_T CloudType;
                typedef int Index;
                typedef typename Eigen::Matrix<Index, Eigen::Dynamic, 1> IndexVector;
                typedef typename Eigen::Matrix<Index, Eigen::Dynamic, Eigen::Dynamic> IndexMatrix;
                
                const CloudType& cloud;
                const Index dim;
                const unsigned creationOptionFlags;
                const Vector minBound;
                const Vector maxBound;
 
                static constexpr Index InvalidIndex = invalidIndex<Index>();
                static constexpr T InvalidValue = invalidValue<T>();
 
                enum SearchType
                {
                        BRUTE_FORCE = 0, 
                        KDTREE_LINEAR_HEAP, 
                        KDTREE_TREE_HEAP, 
                        KDTREE_CL_PT_IN_NODES, 
                        KDTREE_CL_PT_IN_LEAVES, 
                        BRUTE_FORCE_CL, 
                        SEARCH_TYPE_COUNT 
                };
                
                enum CreationOptionFlags
                {
                        TOUCH_STATISTICS = 1 
                };
                
                enum SearchOptionFlags
                {
                        ALLOW_SELF_MATCH = 1, 
                        SORT_RESULTS = 2 
                };
                
 
                unsigned long knn(const Vector& query, IndexVector& indices, Vector& dists2, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0, const T maxRadius = std::numeric_limits<T>::infinity()) const;
                
 
                virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0, const T maxRadius = std::numeric_limits<T>::infinity()) const = 0;
                
 
                virtual unsigned long knn(const Matrix& query, IndexMatrix& indices, Matrix& dists2, const Vector& maxRadii, const Index k = 1, const T epsilon = 0, const unsigned optionFlags = 0) const = 0;
                
 
                static NearestNeighbourSearch* create(const CloudType& cloud, const Index dim = std::numeric_limits<Index>::max(), const SearchType preferedType = KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters());
                
 
                static NearestNeighbourSearch* createBruteForce(const CloudType& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0);
                
 
                static NearestNeighbourSearch* createKDTreeLinearHeap(const CloudType& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters());
                
 
                static NearestNeighbourSearch* createKDTreeTreeHeap(const CloudType& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters());
                
 
 
                template <typename WrongMatrixType>
                static NearestNeighbourSearch* create(const WrongMatrixType& cloud, const Index dim = std::numeric_limits<Index>::max(), const SearchType preferedType = KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters())
                {
                  typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1];
                  Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy;
                  return NULL;
                }
 
                template <typename WrongMatrixType>
                static NearestNeighbourSearch* createBruteForce(const WrongMatrixType& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0)
                {
                  typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1];
                  Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy;
                  return NULL;
                }
 
                template <typename WrongMatrixType>
                static NearestNeighbourSearch* createKDTreeLinearHeap(const WrongMatrixType& cloud, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters())
                {
                  typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1];
                  Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy;
                  return NULL;
                }
 
                template <typename WrongMatrixType>
                static NearestNeighbourSearch* createKDTreeTreeHeap(const WrongMatrixType&, const Index dim = std::numeric_limits<Index>::max(), const unsigned creationOptionFlags = 0, const Parameters& additionalParameters = Parameters())
                {
                  typedef int Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef[sizeof(WrongMatrixType) > 0 ? -1 : 1];
                  Please_make_sure_that_the_decltype_of_the_first_parameter_is_equal_to_the_Matrix_typedef dummy;
                  return NULL;
                }
 
                virtual ~NearestNeighbourSearch() {}
                
        protected:
                NearestNeighbourSearch(const CloudType& cloud, const Index dim, const unsigned creationOptionFlags);
                
 
                void checkSizesKnn(const Matrix& query, const IndexMatrix& indices, const Matrix& dists2, const Index k, const unsigned optionFlags, const Vector* maxRadii = 0) const;
        };
        
        // Convenience typedefs
        
        typedef NearestNeighbourSearch<float> NNSearchF;
        typedef NearestNeighbourSearch<double> NNSearchD;
        
}
 
#endif // __NABO_H