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bugfix nearest neighbor search

This commit is contained in:
Sven Oesau 2024-02-28 10:28:19 +01:00
parent 3251248b68
commit 08a7a66991
2 changed files with 28 additions and 34 deletions
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43
Orthtree/examples/Orthtree/octree_find_nearest_neighbor.cpp
View File

@ -44,7 +44,6 @@ int main(int argc, char** argv) {
{-0.46026, -0.25353, 0.32051},
{-0.460261, -0.253533, 0.320513}
};
typename Octree::Sphere s(Point(0, -0.1, 0), 5.0);
for (const Point& p : points_to_find)
octree.nearest_neighbors
@ -56,31 +55,25 @@ int main(int argc, char** argv) {
") is (" << points.point(nearest) << ")" << std::endl;
}));
typename Octree::Sphere s(points_to_find[0], 0.0375);
std::cout << std::endl << "Closest points within the sphere around " << s.center() << " with squared radius of " << s.squared_radius() << ":" << std::endl;
octree.nearest_neighbors
(s,
boost::make_function_output_iterator
([&](const Point_set::Index& nearest)
{
std::cout << points.point(nearest) << " dist: " << (Point(0, 0, 0) - points.point(nearest)).squared_length() << std::endl;
}));
std::cout << std::endl << "Closest points within sphere" << std::endl;
/*
for (const Point& p : points_to_find)
octree.nearest_neighbors
(s,
boost::make_function_output_iterator
([&](const Point_set::Index& nearest)
{
std::cout << points.point(nearest) << std::endl;
}));*/
std::cout << std::endl << "Closest points within sphere" << std::endl;
for (const Point& p : points_to_find) {
std::cout << "The up to three closest points to (" << p <<
") within a squared radius of " << s.squared_radius() << " are:" << std::endl;
octree.nearest_k_neighbors_in_radius
(s, 3,
boost::make_function_output_iterator
([&](const Point_set::Index& nearest)
{
std::cout << "(" << points.point(nearest) << ")" << std::endl;
}));
std::cout << std::endl;
}
std::size_t k = 3;
std::cout << std::endl << "The up to " << k << " closest points to(" << s.center() << ") within a squared radius of " << s.squared_radius() << " are:" << std::endl;
octree.nearest_k_neighbors_in_radius
(s, k,
boost::make_function_output_iterator
([&](const Point_set::Index& nearest)
{
std::cout << "(" << points.point(nearest) << " dist: " << (Point(0, 0, 0) - points.point(nearest)).squared_length() << std::endl;
}));
return EXIT_SUCCESS;
}

19
Orthtree/include/CGAL/Orthtree.h
View File

@ -678,6 +678,7 @@ public:
std::size_t k,
OutputIterator output) const -> std::enable_if_t<supports_neighbor_search, OutputIterator> {
Sphere query_sphere(query, (std::numeric_limits<FT>::max)());
CGAL_precondition(k > 0);
return nearest_k_neighbors_in_radius(query_sphere, k, output);
}
@ -697,9 +698,7 @@ public:
*/
template<typename OutputIterator>
auto nearest_neighbors(const Sphere& query, OutputIterator output) const -> std::enable_if_t<supports_neighbor_search, OutputIterator> {
Sphere query_sphere = query;
return nearest_k_neighbors_in_radius(query_sphere, (std::numeric_limits<std::size_t>::max)(), output);
return nearest_k_neighbors_in_radius(query, (std::numeric_limits<std::size_t>::max)(), output);
}
/*!
@ -721,10 +720,12 @@ public:
*/
template <typename OutputIterator>
auto nearest_k_neighbors_in_radius(
Sphere& query,
const Sphere& query,
std::size_t k,
OutputIterator output
) const -> std::enable_if_t<supports_neighbor_search, OutputIterator> {
CGAL_precondition(k > 0);
Sphere query_sphere = query;
// todo: this type is over-constrained, this must be made more generic
struct Node_element_with_distance {
@ -738,7 +739,7 @@ public:
element_list.reserve(k);
// Invoking the recursive function adds those elements to the vector (passed by reference)
nearest_k_neighbors_recursive(query, root(), element_list);
nearest_k_neighbors_recursive(query_sphere, root(), element_list, k);
// Add all the points found to the output
for (auto& item : element_list)
@ -1294,6 +1295,7 @@ private: // functions :
Sphere& search_bounds,
Node_index node,
std::vector<Result>& results,
std::size_t k,
FT epsilon = 0) const -> std::enable_if_t<supports_neighbor_search> {
// Check whether the node has children
@ -1313,8 +1315,7 @@ private: // functions :
if (current_element_with_distance.distance < m_traits.compute_squared_radius_d_object()(search_bounds)) {
// Check if the results list is full
if (results.size() == results.capacity()) {
if (results.size() == k) {
// Delete a element if we need to make room
results.pop_back();
}
@ -1328,7 +1329,7 @@ private: // functions :
});
// Check if the results list is full
if (results.size() == results.capacity()) {
if (results.size() == k) {
// Set the search radius
search_bounds = m_traits.construct_sphere_d_object()(m_traits.construct_center_d_object()(search_bounds), results.back().distance + epsilon);
@ -1381,7 +1382,7 @@ private: // functions :
if (CGAL::do_intersect(bbox(child_with_distance.index), search_bounds)) {
// Recursively invoke this function
nearest_k_neighbors_recursive(search_bounds, child_with_distance.index, results);
nearest_k_neighbors_recursive(search_bounds, child_with_distance.index, results, k);
}
}
}