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 Shader::uploadAttrib(const std::string &name, const mat_f &m)
{
uploadAttrib(name, static_cast<uint32_t >(m.size()), static_cast<unsigned int>(m.rows()),
sizeof(float), GL_FLOAT, 0, (const int *) m.data());
}