2010-05-11 19:44:00 +02:00
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/***********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright 2008-2009 Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
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* Copyright 2008-2009 David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
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*
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* THE BSD LICENSE
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*************************************************************************/
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#ifndef RESULTSET_H
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#define RESULTSET_H
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#include <algorithm>
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#include <limits>
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#include <vector>
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#include "dist.h"
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using namespace std;
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2010-05-21 22:37:05 +02:00
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namespace cvflann
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2010-05-11 19:44:00 +02:00
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{
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/* This record represents a branch point when finding neighbors in
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the tree. It contains a record of the minimum distance to the query
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point, as well as the node at which the search resumes.
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*/
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template <typename T>
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struct BranchStruct {
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T node; /* Tree node at which search resumes */
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float mindistsq; /* Minimum distance to query for all nodes below. */
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bool operator<(const BranchStruct<T>& rhs)
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{
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return mindistsq<rhs.mindistsq;
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}
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static BranchStruct<T> make_branch(T aNode, float dist)
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{
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BranchStruct<T> branch;
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branch.node = aNode;
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branch.mindistsq = dist;
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return branch;
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}
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};
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class ResultSet
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{
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protected:
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const float* target;
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const float* target_end;
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int veclen;
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public:
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ResultSet(float* target_ = NULL, int veclen_ = 0) :
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target(target_), veclen(veclen_) { target_end = target + veclen;}
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virtual ~ResultSet() {}
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virtual void init(const float* target_, int veclen_) = 0;
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virtual int* getNeighbors() = 0;
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virtual float* getDistances() = 0;
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virtual int size() const = 0;
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virtual bool full() const = 0;
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virtual bool addPoint(float* point, int index) = 0;
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virtual float worstDist() const = 0;
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};
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class KNNResultSet : public ResultSet
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{
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int* indices;
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float* dists;
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int capacity;
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int count;
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public:
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KNNResultSet(int capacity_, float* target_ = NULL, int veclen_ = 0 ) :
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ResultSet(target_, veclen_), capacity(capacity_), count(0)
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{
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indices = new int[capacity_];
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dists = new float[capacity_];
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}
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~KNNResultSet()
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{
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delete[] indices;
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delete[] dists;
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}
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void init(const float* target_, int veclen_)
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{
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target = target_;
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veclen = veclen_;
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target_end = target + veclen;
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count = 0;
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}
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int* getNeighbors()
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{
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return indices;
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}
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float* getDistances()
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{
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return dists;
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}
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int size() const
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{
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return count;
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}
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bool full() const
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{
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return count == capacity;
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}
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bool addPoint(float* point, int index)
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{
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for (int i=0;i<count;++i) {
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if (indices[i]==index) return false;
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}
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float dist = (float)flann_dist(target, target_end, point);
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if (count<capacity) {
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indices[count] = index;
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dists[count] = dist;
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++count;
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}
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else if (dist < dists[count-1] || (dist == dists[count-1] && index < indices[count-1])) {
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// else if (dist < dists[count-1]) {
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indices[count-1] = index;
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dists[count-1] = dist;
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}
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else {
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return false;
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}
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int i = count-1;
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// bubble up
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while (i>=1 && (dists[i]<dists[i-1] || (dists[i]==dists[i-1] && indices[i]<indices[i-1]) ) ) {
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// while (i>=1 && (dists[i]<dists[i-1]) ) {
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swap(indices[i],indices[i-1]);
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swap(dists[i],dists[i-1]);
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i--;
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}
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return true;
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}
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float worstDist() const
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{
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return (count<capacity) ? numeric_limits<float>::max() : dists[count-1];
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}
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};
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/**
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* A result-set class used when performing a radius based search.
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*/
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class RadiusResultSet : public ResultSet
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{
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struct Item {
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int index;
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float dist;
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bool operator<(Item rhs) {
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return dist<rhs.dist;
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}
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};
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vector<Item> items;
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float radius;
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bool sorted;
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int* indices;
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float* dists;
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size_t count;
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private:
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void resize_vecs()
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{
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if (items.size()>count) {
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if (indices!=NULL) delete[] indices;
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if (dists!=NULL) delete[] dists;
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count = items.size();
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indices = new int[count];
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dists = new float[count];
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}
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}
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public:
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RadiusResultSet(float radius_) :
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radius(radius_), indices(NULL), dists(NULL)
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{
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sorted = false;
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items.reserve(16);
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count = 0;
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}
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~RadiusResultSet()
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{
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if (indices!=NULL) delete[] indices;
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if (dists!=NULL) delete[] dists;
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}
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void init(const float* target_, int veclen_)
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{
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target = target_;
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veclen = veclen_;
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target_end = target + veclen;
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items.clear();
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sorted = false;
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}
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int* getNeighbors()
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{
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if (!sorted) {
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sorted = true;
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sort_heap(items.begin(), items.end());
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}
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resize_vecs();
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for (size_t i=0;i<items.size();++i) {
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indices[i] = items[i].index;
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}
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return indices;
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}
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float* getDistances()
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{
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if (!sorted) {
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sorted = true;
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sort_heap(items.begin(), items.end());
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}
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resize_vecs();
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for (size_t i=0;i<items.size();++i) {
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dists[i] = items[i].dist;
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}
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return dists;
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}
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int size() const
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{
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return items.size();
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}
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bool full() const
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{
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return true;
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}
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bool addPoint(float* point, int index)
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{
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Item it;
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it.index = index;
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it.dist = (float)flann_dist(target, target_end, point);
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if (it.dist<=radius) {
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items.push_back(it);
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push_heap(items.begin(), items.end());
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return true;
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}
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return false;
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}
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float worstDist() const
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{
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return radius;
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}
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};
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}
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#endif //RESULTSET_H
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