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/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.1 2005/09/26 18:33:16 m_di_benedetto
First Commit.
****************************************************************************/
#ifndef __VCGLIB_AABBBINARYTREE_KCLOSEST_H
#define __VCGLIB_AABBBINARYTREE_KCLOSEST_H
// stl headers
#include <queue>
#include <deque>
// vcg headers
#include <vcg/space/index/aabb_binary_tree/base.h>
#include <wrap/utils.h>
/***************************************************************************/
namespace vcg {
template <class TREETYPE>
class AABBBinaryTreeKClosest {
public:
typedef AABBBinaryTreeKClosest<TREETYPE> ClassType;
typedef TREETYPE TreeType;
typedef typename TreeType::ScalarType ScalarType;
typedef typename TreeType::CoordType CoordType;
typedef typename TreeType::NodeType NodeType;
typedef typename TreeType::ObjPtr ObjPtr;
protected:
class ClosestObjType {
public:
ObjPtr pObj;
ScalarType minDist;
CoordType closestPt;
};
class CompareClosest {
public:
bool operator () (const ClosestObjType & a, const ClosestObjType & b) {
return (a.minDist < b.minDist);
}
};
typedef std::priority_queue<ClosestObjType, std::deque<ClosestObjType>, CompareClosest> PQueueType;
public:
template <class OBJPOINTDISTANCEFUNCT, class OBJPTRCONTAINERTYPE, class DISTCONTAINERTYPE, class POINTCONTAINERTYPE>
static inline unsigned int KClosest(TreeType & tree, OBJPOINTDISTANCEFUNCT & getPointDistance, const unsigned int k, const CoordType & p, const ScalarType & maxDist, OBJPTRCONTAINERTYPE & objects, DISTCONTAINERTYPE & distances, POINTCONTAINERTYPE & points) {
typedef std::vector<NodeType *> NodePtrVector;
typedef typename NodePtrVector::const_iterator NodePtrVector_ci;
if (k == 0) {
return (0);
}
NodeType * pRoot = tree.pRoot;
if (pRoot == 0) {
return (0);
}
PQueueType pq;
ScalarType mindmax = maxDist;
ClassType::DepthFirstCollect(pRoot, getPointDistance, k, p, mindmax, pq);
const unsigned int sz = (unsigned int)(pq.size());
while (!pq.empty()) {
ClosestObjType cobj = pq.top();
pq.pop();
objects.push_back(cobj.pObj);
distances.push_back(cobj.minDist);
points.push_back(cobj.closestPt);
}
return (sz);
}
protected:
template <class OBJPOINTDISTANCEFUNCT>
static void DepthFirstCollect(NodeType * node, OBJPOINTDISTANCEFUNCT & getPointDistance, const unsigned int k, const CoordType & p, ScalarType & mindmax, PQueueType & pq) {
const CoordType dc = Abs(p - node->boxCenter);
if (pq.size() >= k) {
const ScalarType dmin = LowClampToZero(dc - node->boxHalfDims).SquaredNorm();
if (dmin >= mindmax) {
return;
}
}
if (node->IsLeaf()) {
bool someInserted = true;
for (typename TreeType::ObjPtrVectorConstIterator si=node->oBegin; si!=node->oEnd; ++si) {
ScalarType minDst = (pq.size() >= k) ? (pq.top().minDist) : (mindmax);
ClosestObjType cobj;
if (getPointDistance(*(*si), p, minDst, cobj.closestPt)) {
someInserted = true;
cobj.pObj = (*si);
cobj.minDist = minDst;
if (pq.size() >= k) {
pq.pop();
}
pq.push(cobj);
}
}
if (someInserted) {
if (pq.size() >= k) {
const ScalarType dmax = pq.top().minDist;
const ScalarType sqdmax = dmax * dmax;
if (sqdmax < mindmax) {
mindmax = sqdmax;
}
}
}
}
else {
if (node->children[0] != 0) {
ClassType::DepthFirstCollect(node->children[0], getPointDistance, k, p, mindmax, pq);
}
if (node->children[1] != 0) {
ClassType::DepthFirstCollect(node->children[1], getPointDistance, k, p, mindmax, pq);
}
}
}
};
} // end namespace vcg
#endif // #ifndef __VCGLIB_AABBBINARYTREE_KCLOSEST_H
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