예제 #1
0
ANNkd_ptr rkd_tree(				// recursive construction of kd-tree
	ANNpointArray		pa,				// point array
	ANNidxArray			pidx,			// point indices to store in subtree
	int					n,				// number of points
	int					dim,			// dimension of space
	int					bsp,			// bucket space
	ANNorthRect			&bnd_box,		// bounding box for current node
	ANNkd_splitter		splitter,       // splitting routine
    vector<ANNkd_leaf*>* ppointToLeafVec)
{
	if (n <= bsp) {						// n small, make a leaf node
		if (n == 0)						// empty leaf node
			return KD_TRIVIAL;			// return (canonical) empty leaf
		else {						// construct the node and return
            ANNkd_leaf* res = new ANNkd_leaf(n, pidx); 
            if ( 1 == bsp) {
                (*ppointToLeafVec)[*pidx] = res;
            }
			return res;
        }
	}
	else {								// n large, make a splitting node
		int cd;							// cutting dimension
		ANNcoord cv;					// cutting value
		int n_lo;						// number on low side of cut
		ANNkd_node *lo, *hi;			// low and high children

										// invoke splitting procedure
		(*splitter)(pa, pidx, bnd_box, n, dim, cd, cv, n_lo);

		ANNcoord lv = bnd_box.lo[cd];	// save bounds for cutting dimension
		ANNcoord hv = bnd_box.hi[cd];

		bnd_box.hi[cd] = cv;			// modify bounds for left subtree
		lo = rkd_tree(					// build left subtree
				pa, pidx, n_lo,			// ...from pidx[0..n_lo-1]
				dim, bsp, bnd_box, splitter, ppointToLeafVec);
		bnd_box.hi[cd] = hv;			// restore bounds

		bnd_box.lo[cd] = cv;			// modify bounds for right subtree
		hi = rkd_tree(					// build right subtree
				pa, pidx + n_lo, n-n_lo,// ...from pidx[n_lo..n-1]
				dim, bsp, bnd_box, splitter, ppointToLeafVec);
		bnd_box.lo[cd] = lv;			// restore bounds

										// create the splitting node
		ANNkd_split *ptr = new ANNkd_split(cd, cv, lv, hv, lo, hi);
        if (lo != KD_TRIVIAL)
            lo->setParent(ptr);
        if (hi != KD_TRIVIAL)
            hi->setParent(ptr);
        ptr->setNumPoints(lo->getNumPoints() + hi->getNumPoints());

		return ptr;						// return pointer to this node
	}
} 
예제 #2
0
ANNkd_tree::ANNkd_tree(					// construct from point array
	ANNpointArray		pa,				// point array (with at least n pts)
	int					n,				// number of points
	int					dd,				// dimension
	int					bs,				// bucket size
	ANNsplitRule		split)			// splitting method
{
	SkeletonTree(n, dd, bs);			// set up the basic stuff
	pts = pa;							// where the points are
    actual_num_points = n;
	if (n == 0) return;					// no points--no sweat

	ANNorthRect bnd_box(dd);			// bounding box for points
	annEnclRect(pa, pidx, n, dd, bnd_box);// construct bounding rectangle
										// copy to tree structure
	bnd_box_lo = annCopyPt(dd, bnd_box.lo);
	bnd_box_hi = annCopyPt(dd, bnd_box.hi);

	switch (split) {					// build by rule
	case ANN_KD_STD:					// standard kd-splitting rule
		root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, kd_split, &pointToLeafVec);
		break;
	case ANN_KD_MIDPT:					// midpoint split
		root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, midpt_split, &pointToLeafVec);
		break;
	case ANN_KD_FAIR:					// fair split
		root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, fair_split, &pointToLeafVec);
		break;
	case ANN_KD_SUGGEST:				// best (in our opinion)
	case ANN_KD_SL_MIDPT:				// sliding midpoint split
		root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_midpt_split, &pointToLeafVec);
		break;
	case ANN_KD_SL_FAIR:				// sliding fair split
		root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_fair_split, &pointToLeafVec);
		break;
    // for kd-trees with deletion
    /*
	//case ANN_KD_SUGGEST:				
    case ANN_KD_STD_WD:
		root = rkd_tree_wd(pa, pidx, n, dd, bs, bnd_box, kd_split_wd);
        break;
    case ANN_KD_MIDPT_WD:
		root = rkd_tree_wd(pa, pidx, n, dd, bs, bnd_box, kd_split_wd);
        break;
	case ANN_KD_SL_MIDPT_WD:				
		root = rkd_tree_wd(pa, pidx, n, dd, bs, bnd_box, kd_split_wd);
        break;
        */
	default:
		annError("Illegal splitting method", ANNabort);
	}
}
예제 #3
0
파일: kd_tree.C 프로젝트: joseparnau/rosjac
ANNkd_tree::ANNkd_tree(			// construct from point array
    ANNpointArray	pa,		// point array (with at least n pts)
    int			n,		// number of points
    int			dd,		// dimension
    double     		*ss,		// scaling coefficient
    int			*tt,		// topology of space 
    int			bs,		// bucket size
    ANNsplitRule	split)		// splitting method
{
    SkeletonTree(n, dd, bs);		// set up the basic stuff
    pts = pa;				// where the points are
    if (n == 0) return;			// no points--no sweat

    Scale = new double [dim];
    Topology = new int [dim];
    TreeTopology = new int [dim];
    TreeP3Topology = new int [dim];
    for (int i = 0; i < dim; i++) {
      Scale[i] = ss[i];
      Topology[i] = tt[i];
      TreeTopology[i] = tt[i];
    }
    for (int i = 0; i < dim; i++) {
      if (tt[i] != 3) TreeP3Topology[i] = 0;
      else {
	TreeP3Topology[i++] = 0;
	TreeP3Topology[i++] = 1;
	TreeP3Topology[i++] = 2;
	TreeP3Topology[i] = 3;
      }
    }

    ANNorthRect bnd_box(dd);		// bounding box for points
    annEnclRect(pa, pidx, n, dd, bnd_box);// construct bounding rectangle
					// copy to tree structure
    bnd_box_lo = annCopyPt(dd, bnd_box.lo);
    bnd_box_hi = annCopyPt(dd, bnd_box.hi);

    switch (split) {			// build by rule
    case ANN_KD_STD:			// standard kd-splitting rule
	root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, kd_split);
	break;
    case ANN_KD_MIDPT:			// midpoint split
	root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, midpt_split);
	break;
    case ANN_KD_FAIR:			// fair split
	root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, fair_split);
	break;
    case ANN_KD_SUGGEST:		// best (in our opinion)
    case ANN_KD_SL_MIDPT:		// sliding midpoint split
	root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_midpt_split);
	break;
    case ANN_KD_SL_FAIR:		// sliding fair split
	root = rkd_tree(pa, pidx, n, dd, bs, bnd_box, sl_fair_split);
	break;
    default:
	annError("Illegal splitting method", ANNabort);
    }
    delete [] TreeTopology;
    delete [] TreeP3Topology;

}
예제 #4
0
파일: kd_tree.C 프로젝트: joseparnau/rosjac
ANNkd_ptr rkd_tree(		// recursive construction of kd-tree
    ANNpointArray	pa,		// point array
    ANNidxArray		pidx,		// point indices to store in subtree
    int			n,		// number of points
    int			dim,		// dimension of space
    int			bsp,		// bucket space
    ANNorthRect		&bnd_box,	// bounding box for current node
    ANNkd_splitter	splitter)	// splitting routine
{
    if (n <= bsp) {			// n small, make a leaf node
	if (n == 0)			// empty leaf node
	    return KD_TRIVIAL;		// return (canonical) empty leaf
	else				// construct the node and return
	    return new ANNkd_leaf(n, pidx); 
    }
    else {				// n large, make a splitting node
	int cd;				// cutting dimension
	ANNcoord cv;			// cutting value
	int n_lo;			// number on low side of cut
	ANNkd_node *lo, *hi;		// low and high children

					// invoke splitting procedure
	(*splitter)(pa, pidx, bnd_box, n, dim, cd, cv, n_lo);

	ANNcoord lv = bnd_box.lo[cd];	// save bounds for cutting dimension
	ANNcoord hv = bnd_box.hi[cd];

	bnd_box.hi[cd] = cv;		// modify bounds for left subtree
	lo = rkd_tree(			// build left subtree
		pa, pidx, n_lo,		// ...from pidx[0..n_lo-1]
		dim, bsp, bnd_box, splitter);
	bnd_box.hi[cd] = hv;		// restore bounds

	bnd_box.lo[cd] = cv;		// modify bounds for right subtree
	hi = rkd_tree(			// build right subtree
		pa, pidx + n_lo, n-n_lo,// ...from pidx[n_lo..n-1]
		dim, bsp, bnd_box, splitter);
	bnd_box.lo[cd] = lv;		// restore bounds

					// create the splitting node
	ANNkd_split *ptr;
	if (TreeTopology[cd] == 3) {
	   if (TreeP3Topology[cd] == 0)
	     ptr = new ANNkd_split(cd, cv, lv, hv, cd + 1, cd + 2, cd + 3,
				  bnd_box.lo[cd + 1], bnd_box.hi[cd + 1],
				  bnd_box.lo[cd + 2], bnd_box.hi[cd + 2],
				  bnd_box.lo[cd + 3], bnd_box.hi[cd + 3],
				  lo, hi);  
	  if (TreeP3Topology[cd] == 1)
	    ptr = new ANNkd_split(cd, cv, lv, hv, cd - 1, cd + 1, cd + 2,
				  bnd_box.lo[cd - 1], bnd_box.hi[cd - 1],
				  bnd_box.lo[cd + 1], bnd_box.hi[cd + 1],
				  bnd_box.lo[cd + 2], bnd_box.hi[cd + 2],
				  lo, hi);  
	  if (TreeP3Topology[cd] == 2)
	    ptr = new ANNkd_split(cd, cv, lv, hv, cd - 2, cd - 1, cd + 1,
				  bnd_box.lo[cd - 2], bnd_box.hi[cd - 2],
				  bnd_box.lo[cd - 1], bnd_box.hi[cd - 1],
				  bnd_box.lo[cd + 1], bnd_box.hi[cd + 1],
				  lo, hi);  
	  if (TreeP3Topology[cd] == 3)
	    ptr = new ANNkd_split(cd, cv, lv, hv, cd - 3, cd - 2, cd - 1,
				  bnd_box.lo[cd - 3], bnd_box.hi[cd - 3],
				  bnd_box.lo[cd - 2], bnd_box.hi[cd - 2],
				  bnd_box.lo[cd - 1], bnd_box.hi[cd - 1],
				  lo, hi);  
	  }
	else {
	  ptr = new ANNkd_split(cd, cv, lv, hv, lo, hi);
	}

	return ptr;			// return pointer to this node
    }
}