int main(int argc, char **argv)
{
int k = 1;
if (argc == 2) {
k = atoi(argv[1]);
}
//generate data points
Point *ps = new Point[N];
for (size_t i = 0; i < N; ++i) {
ps[i][0] = 500*(double)rand()/(double)RAND_MAX;
ps[i][1] = 500*(double)rand()/(double)RAND_MAX;
}
//generate data points
Point *ps2 = new Point[N];
memcpy(ps2, ps, N*sizeof(Point));
//generate query points
Point *qs = new Point[M];
for (size_t i = 0; i < M; ++i) {
qs[i] = distfn();
}
OddsonTree<Point> oot(2, ps, N, qs, M, MAX_DEPTH);
KdTree<Point, double> kdt(2, ps2, N);
int errors = 0;
if (k == 1) {
for (size_t i = 0; i < Q; ++i) {
Point pt = distfn();
std::list<std::pair<Point *, double> > qr = oot.nn(pt, 0.0);
std::list<std::pair<Point *, double> > qr2 = kdt.knn(k, pt, 0.0);
if (!std::equal(qr.begin(), qr.end(), qr2.begin(), pred)) {
++errors;
}
}
} else {
for (size_t i = 0; i < Q; ++i) {
Point pt = distfn();
std::list<std::pair<Point *, double> > qr = oot.knn(k, pt, 0.0);
std::list<std::pair<Point *, double> > qr2 = kdt.knn(k, pt, 0.0);
if (!std::equal(qr.begin(), qr.end(), qr2.begin(), pred)) {
++errors;
}
}
}
std::cerr << "# of errors: " << errors << " of " << Q << " : "
<< (float)errors/(float)Q*100.0f << " percent.\n";
}
/** estimate the normals of a point cloud */
static PointCloud<Normal>::Ptr
compute_pcn(PointCloud<PointXYZ>::ConstPtr in, float vx, float vy, float vz)
{
PointCloud<Normal>::Ptr pcn (new PointCloud<Normal>());
NormalEstimation<PointXYZ, Normal> ne;
search::KdTree<PointXYZ>::Ptr kdt (new search::KdTree<PointXYZ>());
ne.setInputCloud(in);
ne.setSearchMethod(kdt);
ne.setKSearch(20);
ne.setViewPoint(vx, vy, vz);
ne.compute(*pcn);
return pcn;
}
void NormalEstimator::fitNormal(){
//
//compute surface normal
int ptCnt = m_pt.size();
if (ptCnt <= 0)
{
std::cout << "no point set provided" << std::endl;
return;
}
ANNpointArray ptArray = annAllocPts(ptCnt, 3);
//assign point values
for (int i=0; i<ptCnt; i++) {
cv::Vec3f pt = m_pt[i];
ANNpoint ptPtr = ptArray[i];
ptPtr[0] = pt[0];
ptPtr[1] = pt[1];
ptPtr[2] = pt[2];
}
///
ANNkd_tree kdt(ptArray, ptCnt, 3);
ANNpoint queryPt = annAllocPt(3);
int nnCnt = 100;
ANNidxArray nnIdx = new ANNidx[nnCnt];
ANNdistArray nnDist = new ANNdist[nnCnt];
float sigma = -1;
float evalRatio = 0.05;
//estimate sigma
for (int i=0; i < ptCnt; i++) {
cv::Vec3f pt = m_pt[i];
queryPt[0] = pt[0];
queryPt[1] = pt[1];
queryPt[2] = pt[2];
//kdt.annkSearch(queryPt,nnCnt, nnIdx, nnDist);
kdt.annkSearch(queryPt,50, nnIdx, nnDist);
if (nnDist[49] < sigma ||sigma == -1 )
{
sigma = nnDist[49];
}
}
sigma = 0.001;
std::cout << "search radius:" << sigma << std::endl;
std::cout << "estimating normals for point set by PCA, be patient..." << std::endl;
for (int i=0; i < ptCnt; i++) {
cv::Vec3f pt = m_pt[i];
queryPt[0] = pt[0];
queryPt[1] = pt[1];
queryPt[2] = pt[2];
//kdt.annkSearch(queryPt,nnCnt, nnIdx, nnDist);
kdt.annkFRSearch(queryPt, sigma, nnCnt, nnIdx, nnDist);
int validCnt = 0;
for (int j = 0; j < nnCnt; j++)
{
if (nnIdx[j] == ANN_NULL_IDX)
{
break;
}
validCnt++;
}
//std::cout << validCnt << std::endl;
if (validCnt < 3)
{
continue;
}
cv::Mat pcaVec(validCnt,3,CV_64FC1);
cv::Mat pcaMean(1,3,CV_64FC1);
for (int j = 0; j < validCnt; j++)
{
pcaVec.at<double>(j,0) = m_pt[nnIdx[j]][0];
pcaVec.at<double>(j,1) = m_pt[nnIdx[j]][1];
pcaVec.at<double>(j,2) = m_pt[nnIdx[j]][2];
}
cv::PCA pca(pcaVec,cv::Mat(),CV_PCA_DATA_AS_ROW);
if (pca.eigenvalues.at<double>(2,0) / pca.eigenvalues.at<double>(1,0) > evalRatio)
{
continue;
}
m_ptNorm[i] = cv::Vec3f(pca.eigenvectors.at<double>(2,0),pca.eigenvectors.at<double>(2,1),pca.eigenvectors.at<double>(2,2));
float nr = cv::norm(m_ptNorm[i]);
m_ptNorm[i][0] /= nr;
m_ptNorm[i][1] /= nr;
m_ptNorm[i][2] /= nr;
//std::cout << m_ptNorm[i][0] << " " << m_ptNorm[i][1] << " " << m_ptNorm[i][2] << std::endl;
m_ptNormFlag[i] = true;
}
//
std::cout << "done..." << std::endl;
//////////////////////////////////////////////////////////////////////////
//std::cout << "correct normal direction..." << std::endl;
//sigma *= 1; //
//nnCnt *= 1; //
////reallocate the space for nn idx and nn dist array
//delete [] nnDist;
//delete [] nnIdx;
//nnIdx = new ANNidx[nnCnt];
//nnDist = new ANNdist[nnCnt];
//int invertCnt = 0;
//for (int i = 0; i < ptCnt; i++)
//{
// if (!m_ptNormFlag[i])
// {
// continue;
// }
//
// cv::Vec3f pt = m_pt[i];
// queryPt[0] = pt[0];
// queryPt[1] = pt[1];
// queryPt[2] = pt[2];
// kdt.annkFRSearch(queryPt, sigma, nnCnt, nnIdx, nnDist);
// int validCnt = 0, normConsCnt = 0, distConsCnt = 0;
// for (int j = 0; j < nnCnt; j++)
// {
// if (nnIdx[j] == ANN_NULL_IDX)
// {
// break;
// }
// else{
// //check the direction
// cv::Vec3f v1 = m_ptNorm[i];
// cv::Vec3f v2 = m_ptNorm[nnIdx[j]];
//
// if (!m_ptNormFlag[nnIdx[j]])
// {
// continue;
// }else{
// //
// validCnt++;
// if( v2.ddot(v1) > 0 )
// normConsCnt++;
// }
// }
// }
// //inconsistency detected, invert the direction
// if (normConsCnt / validCnt < 0.9)
// {
// //std::cout << "invert" << std::endl;
// invertCnt++;
// m_ptNorm[i] = cv::Vec3f(0,0,0) - m_ptNorm[i];
// }
//}
//std::cout << "# of inverted vertex:" << invertCnt << std::endl;
////////////////////////////////////////////////////////////////////////////
annDeallocPt(queryPt);
annDeallocPts(ptArray);
delete [] nnDist;
delete [] nnIdx;
}
void ANNCluster::doCluster(mat_f& data, grpEle_vect& grpVect, float radius) {
//
int ptCnt = data.size().height;
int dim = data.size().width;
//this is ANN implementation, but it is changed to FLANN now, please refer the updated block below
float *ptWeight = new float[ptCnt];
std::vector<bool> mFlag(ptCnt,false);
#ifdef __USE_ANN__
ANNpointArray ptArray = annAllocPts(ptCnt, dim);
//assign point values
for (int i=0; i<ptCnt; i++) {
ANNpoint ptPtr = ptArray[i];
for(int j = 0; j < dim; j++){
float tmp = data(i,j);
ptPtr[j] = data(i , j);
}
}
///
ANNkd_tree kdt(ptArray, ptCnt, dim);
ANNpoint queryPt = annAllocPt(dim);
ANNidxArray nnIdx = new ANNidx[ptCnt];
ANNdistArray nnDist = new ANNdist[ptCnt];
int grpCounter = 0;
for (int i=0; i<ptCnt; i++) {
if(mFlag[i])
continue; //skip matched point
for(int j = 0; j < dim; j++){
queryPt[j] = data(i,j);
}
int resultCnt = kdt.annkFRSearch(queryPt, radius, ptCnt, nnIdx, nnDist);
std::vector<cv::Vec3f> nnPt;
GrpEle ge;
ge.m_gID = grpCounter++ ;
for (int j=0; j < resultCnt; j++) {
ANNidx idx = nnIdx[j];
mFlag[idx] = true;
ANNpoint tmpNNPt = ptArray[idx];
cv::Vec3f cvPt(tmpNNPt[0], tmpNNPt[1], tmpNNPt[2]);
ptWeight[j] = exp(-nnDist[j]/radius);
ge.m_eMember.push_back(Element(idx,ptWeight[j]));
}
grpVect.push_back(ge);
}
annDeallocPt(queryPt);
annDeallocPts(ptArray);
delete [] nnDist;
delete [] nnIdx;
delete [] ptWeight;
#else
cv::flann::KDTreeIndexParams idxParams(4);
cv::flann::SearchParams scParams(32);
cv::flann::Index indexer(data,idxParams);
std::vector<float> nnDists(dim);
std::vector<int> nnInds(dim);
std::vector<float> queryPt(dim);
for(int i = 0; i < ptCnt; i++){
if(mFlag[i])
continue;
for(int j = 0; j < dim; j++)
queryPt[j] = data(i,j);
int nnCnt = indexer.radiusSearch(queryPt,nnInds,nnDists,radius,scParams);
GrpEle ge;
for(int k = 0; k < nnCnt; k++){
int tmpIdx = nnInds[k];
float tmpDist = nnDists[k];
float tmpWeight = exp(-tmpDist/radius);
ge.m_eMember.push_back(Element(tmpIdx,tmpWeight));
}
grpVect.push_back(ge);
}
#endif
}
void modCalcEquinox::slotCompute()
{
KStarsData* data = KStarsData::Instance();
KSSun Sun;
int year0 = Year->value();
KStarsDateTime dt( QDate(year0, 1, 1), QTime(0,0,0) );
long double jd0 = dt.djd(); //save JD on Jan 1st
for ( int imonth=0; imonth < 12; imonth++ ) {
KStarsDateTime kdt( QDate(year0, imonth+1, 1), QTime(0,0,0) );
DMonth[imonth] = kdt.djd() - jd0;
}
Plot->removeAllPlotObjects();
//Add the celestial equator, just a single line bisecting the plot horizontally
KPlotObject *ce = new KPlotObject( data->colorScheme()->colorNamed( "EqColor" ), KPlotObject::Lines, 2.0 );
ce->addPoint( 0.0, 0.0 );
ce->addPoint( 366.0, 0.0 );
Plot->addPlotObject( ce );
//Add Ecliptic. This is more complicated than simply incrementing the
//ecliptic longitude, because we want the x-axis to be time, not RA.
//For each day in the year, compute the Sun's position.
KPlotObject *ecl = new KPlotObject( data->colorScheme()->colorNamed( "EclColor" ), KPlotObject::Lines, 2 );
ecl->setLinePen( QPen( ecl->pen().color(), 4 ) );
Plot->setLimits( 1.0, double(dt.date().daysInYear()), -30.0, 30.0 );
//Add top and bottom axis lines, and custom tickmarks at each month
addDateAxes();
for ( int i=1; i<=dt.date().daysInYear(); i++ ) {
KSNumbers num( dt.djd() );
Sun.findPosition( &num );
ecl->addPoint( double(i), Sun.dec().Degrees() );
dt = dt.addDays( 1 );
}
Plot->addPlotObject( ecl );
dSpring = findEquinox( Year->value(), true, ecl );
dSummer = findSolstice( Year->value(), true );
dAutumn = findEquinox( Year->value(), false, ecl );
dWinter = findSolstice( Year->value(), false );
//Display the Date/Time of each event in the text fields
VEquinox->setText( KGlobal::locale()->formatDateTime( dSpring, KLocale::LongDate ) );
SSolstice->setText( KGlobal::locale()->formatDateTime( dSummer, KLocale::LongDate ) );
AEquinox->setText( KGlobal::locale()->formatDateTime( dAutumn, KLocale::LongDate ) );
WSolstice->setText( KGlobal::locale()->formatDateTime( dWinter, KLocale::LongDate ) );
//Add vertical dotted lines at times of the equinoxes and solstices
KPlotObject *poSpring = new KPlotObject( Qt::white, KPlotObject::Lines, 1 );
poSpring->setLinePen( QPen( Qt::white, 1.0, Qt::DotLine ) );
poSpring->addPoint( dSpring.djd()-jd0, Plot->dataRect().top() );
poSpring->addPoint( dSpring.djd()-jd0, Plot->dataRect().bottom() );
Plot->addPlotObject( poSpring );
KPlotObject *poSummer = new KPlotObject( Qt::white, KPlotObject::Lines, 1 );
poSummer->setLinePen( QPen( Qt::white, 1.0, Qt::DotLine ) );
poSummer->addPoint( dSummer.djd()-jd0, Plot->dataRect().top() );
poSummer->addPoint( dSummer.djd()-jd0, Plot->dataRect().bottom() );
Plot->addPlotObject( poSummer );
KPlotObject *poAutumn = new KPlotObject( Qt::white, KPlotObject::Lines, 1 );
poAutumn->setLinePen( QPen( Qt::white, 1.0, Qt::DotLine ) );
poAutumn->addPoint( dAutumn.djd()-jd0, Plot->dataRect().top() );
poAutumn->addPoint( dAutumn.djd()-jd0, Plot->dataRect().bottom() );
Plot->addPlotObject( poAutumn );
KPlotObject *poWinter = new KPlotObject( Qt::white, KPlotObject::Lines, 1 );
poWinter->setLinePen( QPen( Qt::white, 1.0, Qt::DotLine ) );
poWinter->addPoint( dWinter.djd()-jd0, Plot->dataRect().top() );
poWinter->addPoint( dWinter.djd()-jd0, Plot->dataRect().bottom() );
Plot->addPlotObject( poWinter );
}
KStarsDateTime KStarsDateTime::addSecs( double s ) const {
long double ds = (long double)s/86400.;
KStarsDateTime kdt( djd() + ds );
return kdt;
}